d435i gyro data unit

September 12, 2022 23:16

I have data from the gyro of the D435i, and they go roughly between -6 and +6.

What is the unit there? Is it radians per seconds? Or degree per seconds? OR some scaled value?
The device was mounted on the head of a person, so 6 deg/sec max is too small, but 5.64rad/sec would be 323deg/sec, and seems too much...

Thank you

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3 comments

MartyG

September 13, 2022 05:32
Hi Agostino Gibaldi

The unit of the RealSense IMU's gyro is radians per second (rad/sec), as verified in Intel's Getting IMU Data guide.

https://www.intelrealsense.com/how-to-getting-imu-data-from-d435i-and-t265/

A discussion about angular velocity at the link below may be a helpful reference.

https://github.com/IntelRealSense/librealsense/issues/3107
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Agostino Gibaldi

September 13, 2022 07:26
Hi Marty,

thank you for the response! For some reasons I had hard time finding it...

Also, I cannot see the first link, seems broken

Take care,

Agostino
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MartyG

September 13, 2022 07:40
It appears to be a web-browser related issue with the link rather than a problem with the article itself. It can be opened on Firefox, or opened in Chrome by right-clicking on the link and selecting the Open link in incognito window option.

The section of the guide that I referred to is shown below as an image.
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