#!/usr/bin/python
from __future__ import print_function
import numpy as np
import sys
import json
import ctypes
import os
import binascii
import struct
import pyrealsense2 as rs
import ctypes
import time
import enum
import threading
# L515
READ_TABLE = 0x43 # READ_TABLE 0x243 0
WRITE_TABLE = 0x44 # WRITE_TABLE 0 <table>
# L515 minimum firmware version required to support IMU calibration
L515_FW_VER_REQUIRED = '01.04.01.00'
is_data = None
get_key = None
if os.name == 'posix':
import select
import tty
import termios
is_data = lambda : select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], [])
get_key = lambda : sys.stdin.read(1)
elif os.name == 'nt':
import msvcrt
is_data = msvcrt.kbhit
get_key = lambda : msvcrt.getch()
else:
raise Exception('Unsupported OS: %s' % os.name)
if sys.version_info[0] < 3:
input = raw_input
max_float = struct.unpack('f',b'\xff\xff\xff\xff')[0]
max_int = struct.unpack('i',b'\xff\xff\xff\xff')[0]
max_uint8 = struct.unpack('B', b'\xff')[0]
g = 9.80665 # SI Gravity page 52 of https://nvlpubs.nist.gov/nistpubs/Legacy/SP/nistspecialpublication330e2008.pdf
COLOR_RED = "\033[1;31m"
COLOR_BLUE = "\033[1;34m"
COLOR_CYAN = "\033[1;36m"
COLOR_GREEN = "\033[0;32m"
COLOR_RESET = "\033[0;0m"
COLOR_BOLD = "\033[;1m"
COLOR_REVERSE = "\033[;7m"
def int_to_bytes(num, length=4, order='big'):
res = bytearray(length)
for i in range(length):
res[i] = num & 0xff
num >>= 8
if num:
raise OverflowError("Number {} doesn't fit into {} bytes.".format(num, length))
if order == 'little':
res.reverse()
return res
def bytes_to_uint(bytes_array, order='little'):
bytes_array = list(bytes_array)
bytes_array.reverse()
if order == 'little':
return struct.unpack('>i', struct.pack('BBBB', *([0] * (4 - len(bytes_array))) + bytes_array))[0] & 0xffffffff
else:
return struct.unpack('>i', struct.pack('BBBB', *([0] * (4 - len(bytes_array))) + bytes_array))[0] & 0xffffffff
class imu_wrapper:
class Status(enum.Enum):
idle = 0,
rotate = 1,
wait_to_stable = 2,
collect_data = 3
def __init__(self):
self.pipeline = None
self.imu_sensor = None
self.status = self.Status(self.Status.idle) # 0 - idle, 1 - rotate to position, 2 - wait to stable, 3 - pick data
self.thread = threading.Condition()
self.step_start_time = time.time()
self.time_to_stable = 3
self.time_to_collect = 2
self.samples_to_collect = 1000
self.rotating_threshold = 0.1
self.moving_threshold_factor = 0.1
self.collected_data_gyro = []
self.collected_data_accel = []
self.callback_lock = threading.Lock()
self.max_norm = np.linalg.norm(np.array([0.5, 0.5, 0.5]))
self.line_length = 20
self.is_done = False
self.is_data = False
def escape_handler(self):
self.thread.acquire()
self.status = self.Status.idle
self.is_done = True
self.thread.notify()
self.thread.release()
sys.exit(-1)
def imu_callback(self, frame):
if not self.is_data:
self.is_data = True
with self.callback_lock:
try:
if is_data():
c = get_key()
if c == '\x1b': # x1b is ESC
self.escape_handler()
if self.status == self.Status.idle:
return
pr = frame.get_profile()
data = frame.as_motion_frame().get_motion_data()
data_np = np.array([data.x, data.y, data.z])
elapsed_time = time.time() - self.step_start_time
## Status.collect_data
if self.status == self.Status.collect_data:
sys.stdout.write('\r %15s' % self.status)
part_done = len(self.collected_data_accel) / float(self.samples_to_collect)
# sys.stdout.write(': %-3.1f (secs)' % (self.time_to_collect - elapsed_time))
color = COLOR_GREEN
if pr.stream_type() == rs.stream.gyro:
self.collected_data_gyro.append(np.append(frame.get_timestamp(), data_np))
is_moving = any(abs(data_np) > self.rotating_threshold)
else:
is_in_norm = np.linalg.norm(data_np - self.crnt_bucket) < self.max_norm
if is_in_norm:
self.collected_data_accel.append(np.append(frame.get_timestamp(), data_np))
else:
color = COLOR_RED
is_moving = abs(np.linalg.norm(data_np) - g) / g > self.moving_threshold_factor
sys.stdout.write(color)
sys.stdout.write('['+'.'*int(part_done*self.line_length)+' '*int((1-part_done)*self.line_length) + ']')
sys.stdout.write(COLOR_RESET)
if is_moving:
print('WARNING: MOVING')
self.status = self.Status.rotate
return
# if elapsed_time > self.time_to_collect:
if part_done >= 1:
self.status = self.Status.collect_data
sys.stdout.write('\n\nDirection data collected.')
self.thread.acquire()
self.status = self.Status.idle
self.thread.notify()
self.thread.release()
return
if pr.stream_type() == rs.stream.gyro:
return
sys.stdout.write('\r %15s' % self.status)
crnt_dir = np.array(data_np) / np.linalg.norm(data_np)
crnt_diff = self.crnt_direction - crnt_dir
is_in_norm = np.linalg.norm(data_np - self.crnt_bucket) < self.max_norm
## Status.rotate
if self.status == self.Status.rotate:
sys.stdout.write(': %35s' % (np.array2string(crnt_diff, precision=4, suppress_small=True)))
sys.stdout.write(': %35s' % (np.array2string(abs(crnt_diff) < 0.1)))
if is_in_norm:
self.status = self.Status.wait_to_stable
sys.stdout.write('\r'+' '*90)
self.step_start_time = time.time()
return
## Status.wait_to_stable
if self.status == self.Status.wait_to_stable:
sys.stdout.write(': %-3.1f (secs)' % (self.time_to_stable - elapsed_time))
if not is_in_norm:
self.status = self.Status.rotate
return
if elapsed_time > self.time_to_stable:
self.collected_data_gyro = []
self.collected_data_accel = []
self.status = self.Status.collect_data
self.step_start_time = time.time()
return
return
except Exception as e:
print('ERROR?' + str(e))
self.thread.acquire()
self.status = self.Status.idle
self.thread.notify()
self.thread.release()
def get_measurements(self, buckets, bucket_labels):
measurements = []
print('-------------------------')
print('*** Press ESC to Quit ***')
print('-------------------------')
for bucket,bucket_label in zip(buckets, bucket_labels):
self.crnt_bucket = np.array(bucket)
self.crnt_direction = np.array(bucket) / np.linalg.norm(np.array(bucket))
print('\nAlign to direction: ', self.crnt_direction, ' ', bucket_label)
self.status = self.Status.rotate
self.thread.acquire()
while (not self.is_done and self.status != self.Status.idle):
self.thread.wait(3)
if not self.is_data:
raise Exception('No IMU data. Check connectivity.')
if self.is_done:
raise Exception('User Abort.')
measurements.append(np.array(self.collected_data_accel))
return np.array(measurements), np.array(self.collected_data_gyro)
def enable_imu_device(self, serial_no):
self.pipeline = rs.pipeline()
cfg = rs.config()
cfg.enable_device(serial_no)
try:
self.pipeline.start(cfg)
except Exception as e:
print('ERROR: ', str(e))
return False
# self.sync_imu_by_this_stream = rs.stream.any
active_imu_profiles = []
active_profiles = dict()
self.imu_sensor = None
for sensor in self.pipeline.get_active_profile().get_device().sensors:
for pr in sensor.get_stream_profiles():
if pr.stream_type() == rs.stream.gyro and pr.format() == rs.format.motion_xyz32f:
active_profiles[pr.stream_type()] = pr
self.imu_sensor = sensor
if pr.stream_type() == rs.stream.accel and pr.format() == rs.format.motion_xyz32f:
active_profiles[pr.stream_type()] = pr
self.imu_sensor = sensor
if self.imu_sensor:
break
if not self.imu_sensor:
print('No IMU sensor found.')
return False
print('\n'.join(['FOUND %s with fps=%s' % (str(ap[0]).split('.')[1].upper(), ap[1].fps()) for ap in active_profiles.items()]))
active_imu_profiles = list(active_profiles.values())
if len(active_imu_profiles) < 2:
print('Not all IMU streams found.')
return False
self.imu_sensor.stop()
self.imu_sensor.close()
self.imu_sensor.open(active_imu_profiles)
self.imu_start_loop_time = time.time()
self.imu_sensor.start(self.imu_callback)
# Make the device use the original IMU values and not already calibrated:
if self.imu_sensor.supports(rs.option.enable_motion_correction):
self.imu_sensor.set_option(rs.option.enable_motion_correction, 0)
return True
class CHeader:
def __init__(self, version, table_type):
self.buffer = np.ones(16, dtype=np.uint8) * 255
self.buffer[0] = int(version[0], 16)
self.buffer[1] = int(version[1], 16)
self.buffer.dtype=np.uint16
self.buffer[1] = int(table_type, 16)
def size(self):
return 16
def set_data_size(self, size):
self.buffer.dtype=np.uint32
self.buffer[1] = size
def set_crc32(self, crc32):
self.buffer.dtype=np.uint32
self.buffer[3] = crc32 % (1<<32) # convert from signed to unsigned 32 bit
def get_buffer(self):
self.buffer.dtype=np.uint8
return self.buffer
def bitwise_int_to_float(ival):
return struct.unpack('f', struct.pack('i', ival))[0]
def bitwise_float_to_int(fval):
return struct.unpack('i', struct.pack('f', fval))[0]
def parse_buffer(buffer):
cmd_size = 24
header_size = 16
buffer.dtype=np.uint32
tab1_size = buffer[3]
buffer.dtype=np.uint8
print('tab1_size (all_data): ', tab1_size)
tab1 = buffer[cmd_size:cmd_size+tab1_size] # 520 == epprom++
tab1.dtype=np.uint32
tab2_size = tab1[1]
tab1.dtype=np.uint8
print('tab2_size (calibration_table): ', tab2_size)
tab2 = tab1[header_size:header_size+tab2_size] # calibration table
tab2.dtype=np.uint32
tab3_size = tab2[1]
tab2.dtype=np.uint8
print('tab3_size (calibration_table): ', tab3_size)
tab3 = tab2[header_size:header_size+tab3_size] # D435 IMU Calib Table
tab3.dtype=np.uint32
tab4_size = tab3[1]
tab3.dtype=np.uint8
print('tab4_size (D435_IMU_Calib_Table): ', tab4_size)
tab4 = tab3[header_size:header_size+tab4_size] # calibration data
return tab1, tab2, tab3, tab4
def get_IMU_Calib_Table(X, product_line):
version = ['0x02', '0x01']
table_type = '0x20'
if product_line == 'L500':
version = ['0x05', '0x01']
table_type = '0x243'
header = CHeader(version, table_type)
header_size = header.size()
data_size = 37*4 + 96
size_of_buffer = header_size + data_size # according to table "D435 IMU Calib Table" here: https://user-images.githubusercontent.com/6958867/50902974-20507500-1425-11e9-8ca5-8bd2ac2d0ea1.png
assert(size_of_buffer % 4 == 0)
buffer = np.ones(size_of_buffer, dtype=np.uint8) * 255
use_extrinsics = False
use_intrinsics = True
data_buffer = np.ones(data_size, dtype=np.uint8) * 255
data_buffer.dtype = np.float32
data_buffer[0] = bitwise_int_to_float(np.int32(int(use_intrinsics)) << 8 |
np.int32(int(use_extrinsics)))
intrinsic_vector = np.zeros(24, dtype=np.float32)
intrinsic_vector[:9] = X[:3,:3].T.flatten()
intrinsic_vector[9:12] = X[:3,3]
intrinsic_vector[12:21] = X[3:,:3].flatten()
intrinsic_vector[21:24] = X[3:,3]
data_buffer[13:13+X.size] = intrinsic_vector
data_buffer.dtype = np.uint8
header.set_data_size(data_size)
header.set_crc32(binascii.crc32(data_buffer))
buffer[:header_size] = header.get_buffer()
buffer[header_size:] = data_buffer
return buffer
def get_calibration_table(d435_imu_calib_table):
version = ['0x02', '0x00']
table_type = '0x20'
header = CHeader(version, table_type)
d435_imu_calib_table_size = d435_imu_calib_table.size
sn_table_size = 32
data_size = d435_imu_calib_table_size + sn_table_size
header_size = header.size()
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"
assert(size_of_buffer % 4 == 0)
buffer = np.ones(size_of_buffer, dtype=np.uint8) * 255
data_buffer = np.ones(data_size, dtype=np.uint8) * 255
data_buffer[:d435_imu_calib_table_size] = d435_imu_calib_table
header.set_data_size(data_size)
header.set_crc32(binascii.crc32(data_buffer))
buffer[:header_size] = header.get_buffer()
buffer[header_size:header_size+data_size] = data_buffer
return buffer
def get_eeprom(calibration_table):
version = ['0x01', '0x01']
table_type = '0x09'
header = CHeader(version, table_type)
DC_MM_EEPROM_SIZE = 520
# data_size = calibration_table.size
header_size = header.size()
size_of_buffer = DC_MM_EEPROM_SIZE
data_size = size_of_buffer - header_size
# size_of_buffer = header_size + data_size
assert(size_of_buffer % 4 == 0)
buffer = np.ones(size_of_buffer, dtype=np.uint8) * 255
header.set_data_size(data_size)
buffer[header_size:header_size+calibration_table.size] = calibration_table
header.set_crc32(binascii.crc32(buffer[header_size:]))
buffer[:header_size] = header.get_buffer()
return buffer
def write_eeprom_to_camera(eeprom, serial_no=''):
# DC_MM_EEPROM_SIZE = 520
DC_MM_EEPROM_SIZE = eeprom.size
DS5_CMD_LENGTH = 24
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
cmd = np.array(struct.unpack('I'*6, MMEW_Cmd_bytes), dtype=np.uint32)
cmd.dtype = np.uint16
cmd[0] += DC_MM_EEPROM_SIZE
cmd.dtype = np.uint32
cmd[3] = DC_MM_EEPROM_SIZE # command 1 = 0x50
# command 2 = 0
# command 3 = size
cmd.dtype = np.uint8
buffer[:len(cmd)] = cmd
buffer[len(cmd):len(cmd)+eeprom.size] = eeprom
debug = get_debug_device(serial_no)
if not debug:
print('Error getting RealSense Device.')
return
# tab1, tab2, tab3, tab4 = parse_buffer(buffer)
rcvBuf = debug.send_and_receive_raw_data(bytearray(buffer))
if rcvBuf[0] == buffer[4]:
print('SUCCESS: saved calibration to camera.')
else:
print('FAILED: failed to save calibration to camera.')
print(rcvBuf)
def get_debug_device(serial_no):
ctx = rs.context()
devices = ctx.query_devices()
found_dev = False
for dev in devices:
if len(serial_no) == 0 or serial_no == dev.get_info(rs.camera_info.serial_number):
found_dev = True
break
if not found_dev:
print('No RealSense device found' + str('.' if len(serial_no) == 0 else ' with serial number: '+serial_no))
return 0
# print(a few basic information about the device)
print(' Device PID: ', dev.get_info(rs.camera_info.product_id))
print(' Device name: ', dev.get_info(rs.camera_info.name))
print(' Serial number: ', dev.get_info(rs.camera_info.serial_number))
print(' Firmware version: ', dev.get_info(rs.camera_info.firmware_version))
debug = rs.debug_protocol(dev)
return debug
def check_X(X, accel, show_graph):
fdata = np.apply_along_axis(np.dot, 1, accel, X[:3,:3]) - X[3,:]
norm_data = (accel**2).sum(axis=1)**(1./2)
norm_fdata = (fdata**2).sum(axis=1)**(1./2)
if show_graph:
import pylab
pylab.plot(norm_data, '.b')
#pylab.hold(True)
pylab.plot(norm_fdata, '.g')
pylab.show()
print ('norm (raw data ): %f' % np.mean(norm_data))
print ('norm (fixed data): %f' % np.mean(norm_fdata), "A good calibration will be near %f" % g)
def l500_send_command(dev, op_code, param1=0, param2=0, param3=0, param4=0, data=[], retries=1):
for i in range(retries):
try:
debug_device = rs.debug_protocol(dev)
gvd_command_length = 0x14 + len(data)
magic_number1 = 0xab
magic_number2 = 0xcd
buf = bytearray()
buf += bytes(int_to_bytes(gvd_command_length, 2))
#buf += bytes(int_to_bytes(0, 1))
buf += bytes(int_to_bytes(magic_number1, 1))
buf += bytes(int_to_bytes(magic_number2, 1))
buf += bytes(int_to_bytes(op_code))
buf += bytes(int_to_bytes(param1))
buf += bytes(int_to_bytes(param2))
buf += bytes(int_to_bytes(param3))
buf += bytes(int_to_bytes(param4))
buf += bytearray(data)
l = list(buf)
res = debug_device.send_and_receive_raw_data(buf)
if res[0] == op_code:
res1 = res[4:]
return res1
else:
raise Exception("send_command return error", res[0])
except:
if i < retries - 1:
time.sleep(0.1)
else:
raise
def wait_for_rs_device(serial_no):
ctx = rs.context()
start = int(round(time.time() * 1000))
now = int(round(time.time() * 1000))
while now - start < 5000:
devices = ctx.query_devices()
for dev in devices:
pid = str(dev.get_info(rs.camera_info.product_id))
if len(serial_no) == 0 or serial_no == dev.get_info(rs.camera_info.serial_number):
# print(a few basic information about the device)
print(' Device PID: ', dev.get_info(rs.camera_info.product_id))
print(' Device name: ', dev.get_info(rs.camera_info.name))
print(' Serial number: ', dev.get_info(rs.camera_info.serial_number))
print(' Product Line: ', dev.get_info(rs.camera_info.product_line))
print(' Firmware version: ', dev.get_info(rs.camera_info.firmware_version))
return dev
time.sleep(5)
now = int(round(time.time() * 1000))
raise Exception('No RealSense device' + str('.' if len(serial_no) == 0 else ' with serial number: '+serial_no))
def main():
if any([help_str in sys.argv for help_str in ['-h', '--help', '/?']]):
print("Usage:", sys.argv[0], "[Options]")
print
print('[Options]:')
print('-i : /path/to/accel.txt [/path/to/gyro.txt]')
print('-s : serial number of device to calibrate.')
print('-g : show graph of norm values - original values in blue and corrected in green.')
print
print('If -i option is given, calibration is done using previosly saved files')
print('Otherwise, an interactive process is followed.')
sys.exit(1)
try:
accel_file = None
gyro_file = None
serial_no = ''
show_graph = '-g' in sys.argv
for idx in range(len(sys.argv)):
if sys.argv[idx] == '-i':
accel_file = sys.argv[idx+1]
if len(sys.argv) > idx+2 and not sys.argv[idx+2].startswith('-'):
gyro_file = sys.argv[idx+2]
if sys.argv[idx] == '-s':
serial_no = sys.argv[idx+1]
print('waiting for realsense device...')
dev = wait_for_rs_device(serial_no)
product_line = dev.get_info(rs.camera_info.product_line)
if product_line == 'L500':
print('checking minimum firmware requirement ...')
fw_version = dev.get_info(rs.camera_info.firmware_version)
if fw_version < L515_FW_VER_REQUIRED:
raise Exception('L515 requires firmware ' + L515_FW_VER_REQUIRED + " or later to support IMU calibration. Please upgrade firmware and try again.")
else:
print(' firmware ' + fw_version + ' passed check.')
buckets = [[0, -g, 0], [ g, 0, 0],
[0, g, 0], [-g, 0, 0],
[0, 0, -g], [ 0, 0, g]]
# all D400 and L500 cameras with IMU equipped with a mounting screw at the bottom of the device
# when device is in normal use position upright facing out, mount screw is pointing down, aligned with positive Y direction in depth coordinate system
# IMU output on each of these devices is transformed into the depth coordinate system, i.e.,
# looking from back of the camera towards front, the positive x-axis points to the right, the positive y-axis points down, and the positive z-axis points forward.
# output of motion data is consistent with convention that positive direction aligned with gravity leads to -1g and opposite direction leads to +1g, for example,
# positive z_aixs points forward away from front glass of the device,
# 1) if place the device flat on a table, facing up, positive z-axis points up, z-axis acceleration is around +1g
# 2) facing down, positive z-axis points down, z-axis accleration would be around -1g
#
buckets_labels = ["Mounting screw pointing down, device facing out", "Mounting screw pointing left, device facing out", "Mounting screw pointing up, device facing out", "Mounting screw pointing right, device facing out", "Viewing direction facing down", "Viewing direction facing up"]
gyro_bais = np.zeros(3, np.float32)
old_settings = None
if accel_file:
if gyro_file:
#compute gyro bais
#assume the first 4 seconds the device is still
gyro = np.loadtxt(gyro_file, delimiter=",")
gyro = gyro[gyro[:, 0] < gyro[0, 0]+4000, :]
gyro_bais = np.mean(gyro[:, 1:], axis=0)
print(gyro_bais)
#compute accel intrinsic parameters
max_norm = np.linalg.norm(np.array([0.5, 0.5, 0.5]))
measurements = [[], [], [], [], [], []]
import csv
with open(accel_file, 'r') as csvfile:
reader = csv.reader(csvfile)
rnum = 0
for row in reader:
M = np.array([float(row[1]), float(row[2]), float(row[3])])
is_ok = False
for i in range(0, len(buckets)):
if np.linalg.norm(M - buckets[i]) < max_norm:
is_ok = True
measurements[i].append(M)
rnum += 1
print('read %d rows.' % rnum)
else:
print('Start interactive mode:')
if os.name == 'posix':
old_settings = termios.tcgetattr(sys.stdin)
tty.setcbreak(sys.stdin.fileno())
imu = imu_wrapper()
if not imu.enable_imu_device(serial_no):
print('Failed to enable device.')
return -1
measurements, gyro = imu.get_measurements(buckets, buckets_labels)
con_mm = np.concatenate(measurements)
if os.name == 'posix':
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
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. >')
print('\n')
if header:
accel_file = 'accel_%s.txt' % header
gyro_file = 'gyro_%s.txt' % header
print('Writing files:\n%s\n%s' % (accel_file, gyro_file))
np.savetxt(accel_file, con_mm, delimiter=',', fmt='%s')
np.savetxt(gyro_file, gyro, delimiter=',', fmt='%s')
else:
print('Not writing to files.')
# remove times from measurements:
measurements = [mm[:,1:] for mm in measurements]
gyro_bais = np.mean(gyro[:, 1:], axis=0)
print(gyro_bais)
mlen = np.array([len(meas) for meas in measurements])
print(mlen)
print('using %d measurements.' % mlen.sum())
nrows = mlen.sum()
w = np.zeros([nrows, 4])
Y = np.zeros([nrows, 3])
row = 0
for i in range(0, len(buckets)):
for m in measurements[i]:
w[row, 0] = m[0]
w[row, 1] = m[1]
w[row, 2] = m[2]
w[row, 3] = -1
Y[row, 0] = buckets[i][0]
Y[row, 1] = buckets[i][1]
Y[row, 2] = buckets[i][2]
row += 1
np_version = [int(x) for x in np.version.version.split('.')]
rcond_val = None if (np_version[1] >= 14 or np_version[0] > 1) else -1
X, residuals, rank, singular = np.linalg.lstsq(w, Y, rcond=rcond_val)
print(X)
print("residuals:", residuals)
print("rank:", rank)
print("singular:", singular)
check_X(X, w[:,:3], show_graph)
calibration = {}
if product_line == 'L500':
calibration["device_type"] = "L515"
else:
calibration["device_type"] = "D435i"
calibration["imus"] = list()
calibration["imus"].append({})
calibration["imus"][0]["accelerometer"] = {}
calibration["imus"][0]["accelerometer"]["scale_and_alignment"] = X.flatten()[:9].tolist()
calibration["imus"][0]["accelerometer"]["bias"] = X.flatten()[9:].tolist()
calibration["imus"][0]["gyroscope"] = {}
calibration["imus"][0]["gyroscope"]["scale_and_alignment"] = np.eye(3).flatten().tolist()
calibration["imus"][0]["gyroscope"]["bias"] = gyro_bais.tolist()
json_data = json.dumps(calibration, indent=4, sort_keys=True)
directory = os.path.dirname(accel_file) if accel_file else '.'
with open(os.path.join(directory,"calibration.json"), 'w') as outfile:
outfile.write(json_data)
#concatinate the two 12 element arrays and save
intrinsic_buffer = np.zeros([6,4])
intrinsic_buffer[:3,:4] = X.T
intrinsic_buffer[3:,:3] = np.eye(3)
intrinsic_buffer[3:,3] = gyro_bais
# intrinsic_buffer = ((np.array(range(24),np.float32)+1)/10).reshape([6,4])
imu_calib_table = get_IMU_Calib_Table(intrinsic_buffer, product_line)
with open(os.path.join(directory,"calibration.bin"), 'wb') as outfile:
outfile.write(imu_calib_table.astype('f').tostring())
is_write = input('Would you like to write the results to the camera? (Y/N)')
is_write = 'Y' in is_write.upper()
if is_write:
print('Writing calibration to device.')
if product_line == 'L500':
l500_send_command(dev, WRITE_TABLE, 0, 0, 0, 0, imu_calib_table)
else:
calibration_table = get_calibration_table(imu_calib_table)
eeprom = get_eeprom(calibration_table)
write_eeprom_to_camera(eeprom, serial_no)
print('Done.')
else:
print('Abort writing to device')
except Exception as e:
print ('\nError: %s' % e)
finally:
if os.name == 'posix' and old_settings is not None:
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
"""
wtw = dot(transpose(w),w)
wtwi = np.linalg.inv(wtw)
print(wtwi)
X = dot(wtwi, Y)
print(X)
"""
if __name__ == '__main__':
main()
运行效果：
(wind_2021) PS E:\LibRealsense\librealsense-master\tools\rs-imu-calibration> python rs-imu-calibration.py waiting for realsense device... Device PID: 0B3A Device name: Intel RealSense D435I Serial number: 843112073831 Product Line: D400 Firmware version: 05.10.13.00 Start interactive mode: FOUND ACCEL with fps=63 FOUND GYRO with fps=200 ------------------------- *** Press ESC to Quit *** ------------------------- Align to direction: [ 0. -1. 0.] Mounting screw pointing down, device facing out Status.collect_data[0;32m[...................][0;0mm Direction data collected. Align to direction: [1. 0. 0.] Mounting screw pointing left, device facing out Status.rotate: [ 1.0182 0.9982 -0.0566]: [False False True]Traceback (most recent call last): : [ 1.0172 0.9982 -0.0566]: [False False True] (wind_2021) PS E:\LibRealsense\librealsense-master\tools\rs-imu-calibration>
代码来自：librealsense-master\tools\rs-imu-calibration\rs-imu-calibration.py
#######################
标签：d435i,gyro,self,realsense,print,imu,np,data From： https://www.cnblogs.com/herd/p/17357445.html