Integration of ArduPilot and VIO tracking camera (Part 1): Getting started with the Intel Realsense T265 on Rasberry Pi 3B

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@dwiel just to be sure, can you also plot the T265 position data (VISO)? From my experience, the T265 data usually correlates with the observations local_position_ned data, given that there are no other positioning data.

At the moment there are developments on multiple fronts:

  • It is now possible to use vision data with EKF3 and reported results seem ok so far. The EKF3 can also handle the position reset when it happens (the glitch).
  • The position + attitude data (VISION_POSITION_ESTIMATE message) is just one possible type of data. With EKF3 you can also use VISION_POSITION_DELTA (changes in position and orientation, now supported by the T265 script and this cpp implementation) and maybe VISION_SPEED_ESTIMATE or ODOMETRY might be available soon.

If you can have a try, maybe one of these will give you better results.

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