1 # Copyright (c) 2017, NVIDIA CORPORATION. All rights reserved.
3 @page dwx_imu_calibration_tool IMU Calibration Tool
5 The IMU calibration tool calibrates the orientation of IMU with respect to the
6 car ("Rig") coordinate system.
8 To use the tool, you must first capture IMU data with the car performing
9 the special calibration sequence:
11 1. Find a level surface. It is important for the surface to have no significant
14 2. Start recording the IMU data with the car stopped. (To obtain the IMU data,
15 you can use `recorder` application that DriveWorks provides.)
17 3. With recording on, wait for at least 5 seconds before driving. This is needed
18 for the tool to find the gravity vector.
20 4. Rapidly accelerate and rapidly stop multiple times (try to avoid skidding).
21 This is needed for the calibration utility to find forward and backward
24 5. Stop the recording.
26 Once you have the IMU data file, you can run the tool providing `--params=file=`
27 and `--rig=` arguments. For example,
29 calibration_imu --params=file=imu.bin --rig=rig.xml
31 This command finds the orientation of the IMU, with respect to the car and
32 creates a new file called `calibrated-imu-rig.xml` that has an IMU
33 node with the orientation written in a quaternion form.
