The zed camera is fixed and static in the scene.
However, through the ZED Sensor Viewer, you can see that the camera’s rotation Y value is constantly changing.
This causes some strange phenomena that prevent my program from running correctly.
As follows:
Every time zedManager is started, the Transform of zedRoot is quite different.
The rotation value is always close to 0 degrees, even if setFloorAsOrigin is not enabled. This is also the case when using zed.get_position(pose) in python. (The camera in reality has an angle rather than 0).
When I get the Orientation of ImuData, this value is also constantly changing. And it takes a while for the x and z values to change to the correct value, while the Y value still does not stop changing (on a normal camera, this value can get the correct value almost instantly).
During the execution of my python program, a warning of unhandled internal exception will appear. I don’t know what happened.
Does this command require double quotes?
If I don’t use double quotes, the terminal will get an error. Do I need to configure the name ZED in the environment variable
I didn’t seem to solve the drift issue after trying. The y value will jiggle within an error of 1 when placed on the ground, but the drift problem will still occur when it is mounted in the field at a certain angle
It depends on how you run it on the Windows shell.
Please note that if you place the camera on the desk and on the desk there is a laptop or a desktop PC running the fan fast, the vibrations can affect the gyroscope readings.
This is why you must recalibrate the camera on the floor.
