Setting the rs gyro, accelerometer to other values pyrealsense2

Brattlirannin

January 21, 2024 00:26

I am trying to create a function that can change the pitch, yaw, and roll reported by the realsense's imu

Is changing the gyro/accelerometer reports from the realsense even possible?

D435i

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MartyG

January 21, 2024 07:14
Hi Brattlirannin In a discussion at the link below, a RealSense user shares their Python code for retrieving pitch and roll and using it to calculate yaw.

https://github.com/IntelRealSense/librealsense/issues/4391

Whilst you cannot set the IMU values directly, you could retrieve their raw values and then apply mathematics to them to adjust them to a final value.

In the RealSense SDK's C++ rs-motion example, they demonstrate the principle of adjusting a value to give more weight to the gyro or the accelerometer.

https://github.com/IntelRealSense/librealsense/blob/master/examples/motion/rs-motion.cpp#L117-L118
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