Is it possible to change the IMU-Camera-transform entries?

Hardware ZED2
1

Hello everyone!

I have a problem with the transformation between the camera lens and the IMU. I think that the transformation matrix is not correct like this. Is it possible to change these entries?
grafik

With kind regards
Dan

2

Hi @Dan
why do you think that the information is not correct?

3

It looks like these values are interpreted as meters (translation values). So when I rotate the camera around the Y-axis you can see that the coordinate system is outside the camera.
It may be that I understand it wrong, what does the transformation matrix look like with another ZED 2i?

4

Those values are in millimeters, what measurement units have you set when opening the camera?

5

measurement units a set to meter, but there is no difference between meters and millimeters in the result.

grafik

6

What version of the ZED SDK are you using?
With the latest ZED SDK v3.8.1 the problem is not present.

7

ok. i´m actually using the latest ZED SDK.
But if you say that the values in the imu_cam_transform are plausible and in millimeters,
I can work with that.

Thanks.

8

It’s odd because I just tested it and I can get the correct camera/IMU transform:

$ python3 hello_zed.py 
Hello! This is my serial number: 35199186
55BB7E909370
0.999999 0.000924 0.000770 0.023000
-0.000925 1.000000 0.000255 -0.000220
-0.000770 -0.000256 1.000000 -0.002000
0.000000 0.000000 0.000000 1.000000

This is the simple code that I used (I modified the hello_zed.py example):

import pyzed.sl as sl


def main():
    # Create a Camera object
    zed = sl.Camera()

    # Create a InitParameters object and set configuration parameters
    init_params = sl.InitParameters()
    init_params.coordinate_units = sl.UNIT.METER
    init_params.sdk_verbose = False

    # Open the camera
    err = zed.open(init_params)
    if err != sl.ERROR_CODE.SUCCESS:
        exit(1)

    # Get camera information (ZED serial number)
    zed_serial = zed.get_camera_information().serial_number
    print("Hello! This is my serial number: {0}".format(zed_serial))
    
    info = zed.get_camera_information()
    cam_imu_transf = info.sensors_configuration.camera_imu_transform
    print(cam_imu_transf)

    # Close the camera
    zed.close()

if __name__ == "__main__":
    main()
9

Oh no, that was my mistake unfortunately. I passed the init_params at sl.Camera() and not when opening the ZED zed.open(init_params).
sorry…

1 Like
10

No worries, the important is that you solved your issue :+1: