t265 imu problem

[lishanggui]

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Required Info
Camera Model	{ t265 }
Firmware Version	0.2.0.951
Operating System & Version	Ubunut 16.04
Kernel Version (Linux Only)	4.15.0-112-generic
Platform	PC
SDK Version	librealsense SDK 2.36
Language	C++
Segment	{Robot/Smartphone/VR/AR/others }

Issue Description

The sensor of T265 (including IMU) is calibrated on the production line, so no further calibration process is required (unlike the IMU on D435i). However, realsense-viewer shows that the acceleration will vary from 8 to 10 when placed at rest in different directions. Does this have an impact on vio and how to solve it?

[lishanggui]

Hi @dorodnic can any people help me? thanks!

[youwyu]

As far as I know, D435i has the same problem. D435i and T265 share the same imu. After I do rs-imu-calibration on D435i, its acceleration varies from 9.7-9.9, before calibration the range is 8-10. So I guess if I can modify the rs-imu-calibration tool to run on T265, then the problem will be handled. Will update this comment.

[davesmivers]

@youwyu did it work?