Structure containing data from the IMU sensor. More...

Attributes
bool	available
	Whether the IMU sensor is available in your camera. More...

ulong	timestamp
	Data acquisition timestamp in nanoseconds. More...

Vector3	angularVelocity
	Angular velocity vector of the gyroscope in deg/s. More...

Vector3	linearAcceleration
	Linear acceleration vector (3x1) of the gyroscope in m/s². More...

Vector3	angularVelocityUncalibrated
	Angular velocity vector of the gyroscope in deg/s (uncorrected from the IMU calibration). More...

Vector3	linearAccelerationUncalibrated
	Linear acceleration vector of the gyroscope in m/s² (uncorrected from the IMU calibration). More...

Quaternion	fusedOrientation
	Orientation from the IMU sensor. More...

Matrix3x3	orientationCovariance
	Covariance matrix of the quaternion. More...

Matrix3x3	angularVelocityCovariance
	Covariance matrix of the angular velocity of the gyroscope in deg/s (angularVelocity). More...

Matrix3x3	linearAccelerationCovariance
	Accelerometer raw data covariance matrix. More...

Detailed Description

Structure containing data from the IMU sensor.

Variables

◆ available

bool available

Whether the IMU sensor is available in your camera.

◆ timestamp

ulong timestamp

Data acquisition timestamp in nanoseconds.

◆ angularVelocity

Vector3 angularVelocity

Angular velocity vector of the gyroscope in deg/s.

The value is corrected from bias, scale and misalignment.

Note: The value can be directly ingested in an IMU fusion algorithm to extract a quaternion.; Not available in SVO or STREAM mode.

◆ linearAcceleration

Vector3 linearAcceleration

Linear acceleration vector (3x1) of the gyroscope in m/s².

The value is corrected from bias, scale and misalignment.

Note: The value can be directly ingested in an IMU fusion algorithm to extract a quaternion.; Not available in SVO or STREAM mode.

◆ angularVelocityUncalibrated

Vector3 angularVelocityUncalibrated

Angular velocity vector of the gyroscope in deg/s (uncorrected from the IMU calibration).

Note: The value is the exact raw values from the IMU.; Not available in SVO or STREAM mode.

◆ linearAccelerationUncalibrated

Vector3 linearAccelerationUncalibrated

Linear acceleration vector of the gyroscope in m/s² (uncorrected from the IMU calibration).

Note: The value is the exact raw values from the IMU.; Not available in SVO or STREAM mode.

◆ fusedOrientation

Quaternion fusedOrientation

Orientation from the IMU sensor.

◆ orientationCovariance

Matrix3x3 orientationCovariance

Covariance matrix of the quaternion.

◆ angularVelocityCovariance

Matrix3x3 angularVelocityCovariance

Covariance matrix of the angular velocity of the gyroscope in deg/s (angularVelocity).

Note: Not available in SVO or STREAM mode.

◆ linearAccelerationCovariance

Matrix3x3 linearAccelerationCovariance

Accelerometer raw data covariance matrix.

Note: Not available in SVO or STREAM mode.

Attributes