Hi, I have ZED Mini. I get stable camera frames, depth and related functionality is working well. But I am getting invalid data from IMU, specifically NaNs.
**
ZED SDK: 5.2.3**
I tried re-calibrating/resetting using:
$ ZED_Calibration --cimu
→ ZED-M Found
############## Starting Calibration … Camera must stay still… please wait until finished ##############
Opening Camera IMU… SUCCESS
→ OLD Bias Gyro : 0 0 0 rad/s
Starting capture…
In progress… 0 %
In progress… 10 %
In progress… 20 %
In progress… 30 %
In progress… 40 %
In progress… 50 %
In progress… 60 %
In progress… 70 %
In progress… 80 %
In progress… 90 %
>>>> Calibration Err Code: 0
→ NEW Bias Gyro : 0 0 0 rad/s
Done… IMU bias has been recalibrated
ZED Diagnostics passes successfully (at least on front end).
Here’s result of sudo udevadm monitor when connecting camera to my PC:
$ sudo udevadm monitor
monitor will print the received events for:
UDEV - the event which udev sends out after rule processing
KERNEL - the kernel uevent
KERNEL[9298.549768] add /devices/pci0000:00/0000:00:14.0/usb3/3-3 (usb)
KERNEL[9298.550995] change /devices/pci0000:00/0000:00:14.0/usb3/3-3 (usb)
KERNEL[9298.551083] add /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0 (usb)
KERNEL[9298.551871] add /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0/0003:2B03:F681.003D (hid)
KERNEL[9298.551967] add /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0/usbmisc/hiddev0 (usbmisc)
KERNEL[9298.552076] add /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0/0003:2B03:F681.003D/hidraw/hidraw1 (hidraw)
KERNEL[9298.552114] bind /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0/0003:2B03:F681.003D (hid)
KERNEL[9298.552146] bind /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0 (usb)
KERNEL[9298.552181] bind /devices/pci0000:00/0000:00:14.0/usb3/3-3 (usb)
UDEV [9298.560857] add /devices/pci0000:00/0000:00:14.0/usb3/3-3 (usb)
UDEV [9298.563403] change /devices/pci0000:00/0000:00:14.0/usb3/3-3 (usb)
UDEV [9298.565062] add /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0 (usb)
UDEV [9298.565681] add /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0/0003:2B03:F681.003D (hid)
UDEV [9298.566058] add /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0/usbmisc/hiddev0 (usbmisc)
UDEV [9298.567284] add /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0/0003:2B03:F681.003D/hidraw/hidraw1 (hidraw)
UDEV [9298.567619] bind /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0/0003:2B03:F681.003D (hid)
UDEV [9298.567993] bind /devices/pci0000:00/0000:00:14.0/usb3/3-3/3-3:1.0 (usb)
UDEV [9298.569796] bind /devices/pci0000:00/0000:00:14.0/usb3/3-3 (usb)
KERNEL[9298.669870] add /devices/pci0000:00/0000:00:14.0/usb4/4-3 (usb)
KERNEL[9298.671948] add /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0 (usb)
KERNEL[9298.674579] add /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0 (video4linux)
KERNEL[9298.674590] add /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video1 (video4linux)
KERNEL[9298.674598] add /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/media0 (media)
KERNEL[9298.674608] bind /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0 (usb)
KERNEL[9298.674775] add /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.1 (usb)
KERNEL[9298.674784] bind /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.1 (usb)
KERNEL[9298.674796] bind /devices/pci0000:00/0000:00:14.0/usb4/4-3 (usb)
UDEV [9298.677036] add /devices/pci0000:00/0000:00:14.0/usb4/4-3 (usb)
UDEV [9298.677754] add /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0 (usb)
UDEV [9298.678034] add /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.1 (usb)
UDEV [9298.678558] bind /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.1 (usb)
UDEV [9298.678918] add /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/media0 (media)
UDEV [9298.681130] add /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0 (video4linux)
UDEV [9298.681379] add /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video1 (video4linux)
UDEV [9298.681879] bind /devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0 (usb)
UDEV [9298.683563] bind /devices/pci0000:00/0000:00:14.0/usb4/4-3 (usb)
$ lsusb -t
/: Bus 001.Port 001: Dev 001, Class=root_hub, Driver=xhci_hcd/1p, 480M
/: Bus 002.Port 001: Dev 001, Class=root_hub, Driver=xhci_hcd/4p, 10000M
/: Bus 003.Port 001: Dev 001, Class=root_hub, Driver=xhci_hcd/16p, 480M
|__ Port 001: Dev 010, If 0, Class=Human Interface Device, Driver=usbhid, 12M
|__ Port 001: Dev 010, If 1, Class=Human Interface Device, Driver=usbhid, 12M
|__ Port 001: Dev 010, If 2, Class=Human Interface Device, Driver=usbhid, 12M
|__ Port 001: Dev 010, If 3, Class=Human Interface Device, Driver=usbhid, 12M
|__ Port 003: Dev 012, If 0, Class=Human Interface Device, Driver=usbhid, 12M
|__ Port 004: Dev 004, If 0, Class=Human Interface Device, Driver=usbhid, 12M
|__ Port 004: Dev 004, If 1, Class=Human Interface Device, Driver=usbhid, 12M
|__ Port 005: Dev 005, If 0, Class=Video, Driver=uvcvideo, 480M
|__ Port 005: Dev 005, If 1, Class=Video, Driver=uvcvideo, 480M
|__ Port 007: Dev 006, If 0, Class=Human Interface Device, Driver=usbhid, 12M
|__ Port 008: Dev 007, If 0, Class=Vendor Specific Class, Driver=[none], 12M
|__ Port 008: Dev 007, If 1, Class=Human Interface Device, Driver=usbhid, 12M
|__ Port 014: Dev 008, If 0, Class=Wireless, Driver=btusb, 12M
|__ Port 014: Dev 008, If 1, Class=Wireless, Driver=btusb, 12M
/: Bus 004.Port 001: Dev 001, Class=root_hub, Driver=xhci_hcd/8p, 20000M/x2
|__ Port 003: Dev 005, If 0, Class=Video, Driver=uvcvideo, 5000M
|__ Port 003: Dev 005, If 1, Class=Video, Driver=uvcvideo, 5000M$ lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 004: ID 3554:fc00 Compx 2.4G Receiver
Bus 003 Device 005: ID 0c45:6725 Microdia Integrated_Webcam_HD
Bus 003 Device 006: ID 187c:0550 Alienware Corporation LED controller
Bus 003 Device 007: ID 0d62:3740 Darfon Electronics Corp.
Bus 003 Device 008: ID 8087:0026 Intel Corp. AX201 Bluetooth
Bus 003 Device 010: ID 046d:c548 Logitech, Inc. Logi Bolt Receiver
Bus 003 Device 012: ID 2b03:f681 STEREOLABS ZED-M HID Interface
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 004 Device 005: ID 2b03:f682 STEREOLABS ZED-M camera
And here’s the result of sensor data script:
Sample 288
IMU:
Timestamp : {1775837433254}
Orientation: {-nan -nan -nan -nan}
Acceleration: {-nan -nan -nan} [m/sec^2]
Angular Velocitiy: {-nan -nan -nan} [deg/sec]
Sample 289
IMU:
Timestamp : {1775837433264}
Orientation: {-nan -nan -nan -nan}
Acceleration: {-nan -nan -nan} [m/sec^2]
Angular Velocitiy: {-nan -nan -nan} [deg/sec]
Sample 290
IMU:
Timestamp : {1775837433273}
Orientation: {-nan -nan -nan -nan}
Acceleration: {-nan -nan -nan} [m/sec^2]
Angular Velocitiy: {-nan -nan -nan} [deg/sec]
Sample 291
IMU:
Timestamp : {1775837433283}
Orientation: {-nan -nan -nan -nan}
Acceleration: {-nan -nan -nan} [m/sec^2]
Angular Velocitiy: {-nan -nan -nan} [deg/sec]
Sample 292
IMU:
Timestamp : {1775837433294}
Orientation: {-nan -nan -nan -nan}
Acceleration: {-nan -nan -nan} [m/sec^2]
Angular Velocitiy: {-nan -nan -nan} [deg/sec]
Thanks