ZR300 SLAM: higher data rate and velocity signals

[AWern2]

Hi!

Currently the API of the ZR300 SLAM only provides the estimated camera

pose (with get_camera_pose()). For robotic applications is would be very useful

to have also the estimated velocities. Would it be possible to add an API like

get_camera_velocity() which returns the current translational and rotational

velocities? Of course rotational velocities can be obtained by the IMU directly,

but the SLAM probably estimates the biases of all sensors so it would be

better to use the bias free signals.

Additionally the callback is now called every 30Hz. It would be useful to have a

higher data rate. As the IMU data arrives with >200Hz and is probably processed

immediately, there should be a possiblity to have a higher output rate. It tried

querying get_camera_pose() more often, but that does not do the job.

Thanks.

[idata]

Hello yalahG4e,

Thank you for your interest in the Intel® RealSense™ Development Kit Featuring the ZR300We really appreciate this kind of feedback, since it allows us to improve our products according to the developer's needs.I assure you that I will inform the corresponding team of your requests.Have a nice day.Regards,Andres V.

[AWern2]

Hi,

thanks for the reply. Can any estimate be given if/when this is implemented?

I think this really enables a much broader use of the Realsense Sensors and

SDK in robotic applications. Basically in addition to the current use in navigation,

path planning and mapping, the sensor could also be used in control applications.

Regards

[idata]

Hello yalahG4e,

I would like you to know that the corresponding team has already being informed of your requests. I can't provided and estimate time for arrival, this is because the process of analyzing the request and implementing it (if that is the case) varies depending on a lot of factors.Please keep visiting the community in order to get the latest news.Have a nice day.Regards,Andres V.