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How to use imu info of ZR300?

ZCai5
Beginner
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I run the ROS driver of ZR300(https://github.com/IntelRealSense/realsense_samples_ros GitHub - IntelRealSense/realsense_samples_ros: Sample code illustrating how to develop ROS applications using the Intel®… ), and get imu data and imu info. I find that imu data is not calibrated. So I try to use imu info to calibrate the data.

The accelerometer info is like this : data: [1.0236904621124268, 0.0, 0.0, -0.0455622673034668,

0.0, 1.0147671699523926,0.0, 0.14746201038360596,

0.0, 0.0, 0.9979372620582581, -0.41241949796676636]

I think it is a homogeneous coordinate transformation matrix, so I multiply it by raw accelerometer data[x y z 1]', but it seems not right. The scale misalignment is still apparent.

So I would like to know how to use imu info to calibrate raw imu data.

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idata
Employee
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Hi cza1019,

Thanks for your interest in the Intel® Realsense™ Platform.

Looking at https://github.com/IntelRealSense/librealsense/issues/537 【ZR300】Camera & IMU intrinsics and Extrinsics unreliable from API? · Issue # 537 · IntelRealSense/librealsense · GitHub . It seems like there is a bug in the calibration process, a Github user recommends this workaround: "I suspect this to be a bug in the calibration process. It seems like MM-Color and MM-Depth tables are empty. As a work-around, I believe you can get the relevant extrinsics by multiplying extrinsics from Depth to FE by extrinsics from FE to MM (this multiplication might cause some small degradation in precision, that's why librealsense tries to read from dedicated tables)"

Hope you find this information useful, have a nice day!

Best Regards,

 

-Jose P.
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idata
Employee
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Hi cza1019,

 

 

Do you have any more questions? Please let me know in order to assist you.

 

 

Have a nice day!

 

 

Best Regards,

 

-Jose P.
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