How to us rs_motion_device_intrinsic confirm

[hlc111]

| Required Info | How to us rs_motion_device_intrinsic confirm |
| Camera Model | ZR300 |
Gyro intrinsic like below:
/* Scale X cross axis cross axis Bias X /
/ cross axis Scale Y cross axis Bias Y /
/ cross axis cross axis Scale Z Bias Z */
and i confirmed all cross axis value is 0.
So real value should be (raw -Bias)*Scale (should not be (raw +Bias)*Scale ).
e.g. GyroX = (RawGyroX -Bias X )*Scale X.
Am i right?

Thanks!

[dorodnic]

Hi @hlc111,
It should be GyroX = (RawGyroX * Scale X) - Bias X.
If you apply the same formula to the accelerometer values, you should get sqrt(x^2 + y^2 + z^2) = 9.8 when the camera is in inertial reference frame.

[cza1019]

@dorodnic
What does " when the camera is in inertial reference frame" mean? I do the same formula to the accelerometer values, but the mean of sqrt(x^2 + y^2 + z^2) isn't equal to 9.8.

[dorodnic]

The camera isn't moving. Can you share more info about the device? (the output of enumerate-devices)