D435i IMU calibration script #3023

doronhi · 2019-01-08T08:16:11Z

python.cpp: Add binding of motion_frame.

…realsense2.

# Conflicts: # wrappers/python/python.cpp

barnjamin · 2019-01-08T11:28:32Z

tools/rs-calibration/rs-calibration.py

+
+    header_size = header.size()
+    data_size = 37*4 + 96
+    size_of_buffer = header_size + data_size    # according to table "D435 IMU Calib Table" in "https://sharepoint.ger.ith.intel.com/sites/3D_project/Shared%20Documents/Arch/D400/FW/D435i_IMU_Calibration_eeprom_0_52.xlsx"


will this be made public?

We usually do not release internal design documents directly. These get translated to white-papers and published on realsense.intel.com but it takes long time.
However, most of the information is already public inside ds5-motion.cpp.
The relevant table is structured this way:

This specific table is completely ignored by the firmware. If the calibration tool uses above table format, librealsense will automatically pick-up the values and apply them to the raw IMU data. In this case the calibration tool is this python script with linear regression along 6 known orientations.

Advanced user could implement a completely different calibration method and persist the calibration results on the device. In this case, librealsense will simply ignore it and pass raw IMU data to the application.

Awesome, thanks for the insight. Looking forward to trying this out.

ev-mp · 2019-01-08T09:38:21Z

tools/rs-calibration/README.md

+## Description
+D435i cameras arrive from the factory without IMU calibration. Hence the values may be slightly off.
+In order to improve accuracy, a calibration procedure should be done.
+The rs-calibration tool walks you through the calibration steps and saves the calibration coefficient to the EEPROM, to be used applied automatically by the driver.


coefficients,...
used (xor) applied

tools/rs-calibration/rs-calibration.py

* rs-calibration.py: Updated direction order and added direction labels as well as clarified prompts * rs-calibration.py: Added newline to status message

doronhi · 2019-01-10T11:23:01Z

@ev-mp
Thanks. Fixed.

barnjamin · 2019-01-12T12:10:41Z

Using Anaconda Python3 distribution I had to make a couple modifications to the script for it to complete.

I'm not sure if Python3 is officially supported so just including the diff below.

diff --git a/tools/rs-imu-calibration/rs-imu-calibration.py b/tools/rs-imu-calibration/rs-imu-calibration.py
index 0ed3173b..9ff8ec42 100644
--- a/tools/rs-imu-calibration/rs-imu-calibration.py
+++ b/tools/rs-imu-calibration/rs-imu-calibration.py
@@ -193,7 +193,7 @@ class imu_wrapper:
             return False
         self.imu_sensor.stop()
         self.imu_sensor.close()
-        self.imu_sensor.open(active_imu_profiles)
+        self.imu_sensor.open(list(active_imu_profiles))
         self.imu_start_loop_time = time.time()
         self.imu_sensor.start(self.imu_callback)

The above was because the call to dict.values returns a non list type

@@ -354,7 +354,7 @@ def write_eeprom_to_camera(eeprom, serial_no=''):
     DC_MM_EEPROM_SIZE = eeprom.size
     DS5_CMD_LENGTH = 24
 
-    MMEW_Cmd_bytes = '\x14\x00\xab\xcd\x50\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+    MMEW_Cmd_bytes = b'\x14\x00\xab\xcd\x50\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
 
 
     buffer = np.ones([DC_MM_EEPROM_SIZE + DS5_CMD_LENGTH, ], dtype = np.uint8) * 255

The above is because struct.unpack expects a 'bytes-like object'

@@ -491,7 +491,7 @@ def main():
         measurements, gyro = imu.get_measurements(buckets, buckets_labels)
         con_mm = np.concatenate(measurements)
 
-        header = raw_input('\nWould you like to save the raw data? Enter footer for saving files (accel_<footer>.txt and gyro_<footer>.txt)\nEnter nothing to not save raw data to disk. >')
+        header = input('\nWould you like to save the raw data? Enter footer for saving files (accel_<footer>.txt and gyro_<footer>.txt)\nEnter nothing to not save raw data to disk. >')
         if header:
             accel_file = 'accel_%s.txt' % header
             gyro_file = 'gyro_%s.txt' % header
@@ -564,7 +564,7 @@ def main():
     with open(os.path.join(directory,"calibration.bin"), 'wb') as outfile:
         outfile.write(eeprom.astype('f').tostring())
 
-    is_write = raw_input('Would you like to write the results to the camera\'s eeprom? (Y/N)')
+    is_write = input('Would you like to write the results to the camera\'s eeprom? (Y/N)')
     is_write = 'Y' in is_write.upper()
     if is_write:
         print('Writing calibration to device.')

raw_input now just input in python3

dorodnic · 2019-01-16T09:41:17Z

@barnjamin / @doronhi - we might need to add python3 in a separate PR, since I'd like to include this in the upcoming release.

doronhi added 7 commits December 27, 2018 09:18

add calibrate-six-pose.py

69913e4

python.cpp: temporarily remove save_to_ply - cause error importing py…

db1674f

…realsense2.

update readme.md to describe the current state of calibrate-six-pose.py.

3ff5e52

add rs-calibration tool

d552849

merged Python 3 support

651fccc

Merge remote-tracking branch 'doronhi/calibrate' into development

91601db

# Conflicts: # wrappers/python/python.cpp

python.cpp: add bind of frame to motion_frame.

7fdbde7

doronhi changed the title ~~Development~~ add python binding of frame to motion_frame Jan 8, 2019

barnjamin reviewed Jan 8, 2019

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ev-mp reviewed Jan 8, 2019

View reviewed changes

dmirota and others added 3 commits January 10, 2019 08:22

rs-calibration.py: Updated direction order and added direction (#1)

50c9152

* rs-calibration.py: Updated direction order and added direction labels as well as clarified prompts * rs-calibration.py: Added newline to status message

renamed rs-calibration to rs-imu-calibration

2f26eeb

Add box images to README.md file.

a848339

dorodnic changed the title ~~add python binding of frame to motion_frame~~ D435i IMU calibration script Jan 10, 2019

Enable 'ESC' key to quit

633329d

Add timeout of 3 seconds - If IMU data isn't available.

55ef9cb

dorodnic added python d435i labels Jan 16, 2019

fix rs-imu-calibration to support Python3.5 and Python2.7

50eb492

ev-mp approved these changes Jan 21, 2019

View reviewed changes

ev-mp merged commit 3f0c86d into IntelRealSense:development Jan 21, 2019

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D435i IMU calibration script #3023

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