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Is there a way to calibrate the D435I IMU?

trix
New Contributor I
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I recently received the d435i, but for my purposes, I need to orient it to look downwards. Is there a way I can calibrate it to be facing down instead of upright? I'm using the ROS wrapper btw and I've only been successful in getting the separate gyro/accel data and the unified IMU data.

 

I've seen a similar post about the ZR300 IMU, which apparently cannot be calibrated beyond the factory settings, so would I have to write my own code to be able to rotate it how I want?

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Alexandra_C_Intel
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Hi trix, Thank you for your interest in the Intel RealSense D435i camera. The RealSense team is currently working on a solution for calibrating the IMU of the Intel® RealSense™ D435i camera. When the solution is ready it will be made available in the Intel® RealSense™ SDK 2.0, a.k.a. librealsense. Calibrating the IMU for a downward facing position will not be possible even when our calibration solution is ready. Our calibration for the IMU will calibrate it upright, that’s our configuration or expected configuration. You would have to do some compensations in SW on your own to translate the data into downward facing looking camera. Regards, Alexandra

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MartyG
Honored Contributor III
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Dorodnic the RealSense SDK Manager said 17 days ago, "We are also working on a white-paper / tutorial on IMU calibration".

 

This was in reply to a user who created a D435i IMU sample program that uses ACCEL to drift-compensate the gyro.

 

https://github.com/GruffyPuffy/imutest

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trix
New Contributor I
1,378 Views

Oh I see, good to know. Much thanks!

 

Best,

Trixie

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Alexandra_C_Intel
1,379 Views
Hi trix, Thank you for your interest in the Intel RealSense D435i camera. The RealSense team is currently working on a solution for calibrating the IMU of the Intel® RealSense™ D435i camera. When the solution is ready it will be made available in the Intel® RealSense™ SDK 2.0, a.k.a. librealsense. Calibrating the IMU for a downward facing position will not be possible even when our calibration solution is ready. Our calibration for the IMU will calibrate it upright, that’s our configuration or expected configuration. You would have to do some compensations in SW on your own to translate the data into downward facing looking camera. Regards, Alexandra
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adam_111
Beginner
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Hello, I am trying to calibrate the IMU of the realsense D435I, but, after I followed the calibration step of the document RealSense_Depth_D435i_IMU_Calibration.pdf, I got some dates like this:

[-0.00640009 -0.00022228 -0.00353566]

[1000 1000 1000 1000 1000 1000]

using 6000 measurements.

[[ 1.02251227  0.01179027 -0.03490604]

 [-0.00237312  1.02114746  0.05023271]

 [-0.00634576 -0.01135111  1.01233392]

 [ 0.04098671  0.49907973  0.18480323]]

residuals: [   8.80501604    2.88540103  203.73583407]

rank: 4

singular: [ 444.33796842  428.44206506  420.73433422   77.1061025 ]

norm (raw data  9.636864

norm (fixed data): 9.804282 A good calibration will be near 9.806650

 

I am very confused about the date ,because the company did not write it on the  document what the date's mean.so is there any way to understand the date?

Thank you very much!

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