2 Replies Latest reply on Jul 13, 2017 4:56 PM by Intel Corporation

    How to use imu info of ZR300?


      I run the ROS driver of ZR300(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.