Unable to Calibrate IMU for D435i
Hello,
I received a new D435i yesterday and am having trouble calibrating the IMU. I am working on Ubuntu 18.04 and have followed the setup guide, so everything should be up to date.
When running rs-imu-calibration, the script gets stuck counting down from 3 on repeat and issuing "WARNING: MOVING." I ran rs-motion and the camera model was spinning erratically although the camera was still.
The camera works fine in depth and RGB from the realsense-viewer, but the motion model does not work and I receive this error upon booting the realsense-viewer:
Severity: Error
Description: Motion Module force pause
Thanks
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I read through the calibration script's code. It is designed to display a rotation status whenever motion is detected.
if is_moving:
print('WARNING: MOVING')
self.status = self.Status.rotate
returnDuring calibration, I recommend putting the camera on the tripod supplied with the camera if you have not done so already, as this will eliminate the possibility of motion being detected when the camera is held still in the hand. The base of the camera has a hole to screw it onto the thread on top of the tripod.
I believe the force pause message in the RealSense Viewer is just an indicator that an IMU calibration has not yet been completed.
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The IMU calibration documentation says that the program has a 3 second countdown for purposes of stabilization and then should move on to the next stage after the 3-second countdown is completed. It would seem that some component of your IMU is perhaps registering motion when there is none and preventing the countdown from reaching '0' seconds.
You could try leaving it alone for a bit, and go and do something else and see if it settles on its own during this period.
If that does not work, I recommend posting a question at the RealSense GitHub forum, where you can get expert advice on IMU calibration. You can do so by visiting the link below and clicking the 'New Issue' button.
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