One of the key things during the interaction period is knowing our position on the field. We had trouble getting accurate positioning data from the FLIR Firefly camera, so we decided to use a different camera. The a camera we purchased is called the Intel RealSense Tracking Camera T265.
<aside> 📷 Link to camera: https://www.intelrealsense.com/tracking-camera-t265/
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The camera works by combining vision sensing with data from a built in inertial sensor. The camera takes several pictures and compares how different points in the pictures have moved. The inertial sensor senses acceleration and gyroscope in 3 axises. The camera using all of this to calculate the current position of the camera relative to where it started. One issue we ran into while coding the position tracking was offsetting the camera from the center of the robot. We had to do math calculations to solve this problem, which can be found at: