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

Functions
list[float]	get_angular_velocity_uncalibrated (self, angular_velocity_uncalibrated=[0, 0, 0])
	Gets the angular velocity vector (3x1) of the gyroscope in deg/s (uncorrected from the IMU calibration). More...

list[float]	get_angular_velocity (self, angular_velocity=[0, 0, 0])
	Gets the angular velocity vector (3x1) of the gyroscope in deg/s. More...

list[float]	get_linear_acceleration (self, linear_acceleration=[0, 0, 0])
	Gets the linear acceleration vector (3x1) of the gyroscope in m/s². More...

list[float]	get_linear_acceleration_uncalibrated (self, linear_acceleration_uncalibrated=[0, 0, 0])
	Gets the linear acceleration vector (3x1) of the gyroscope in m/s² (uncorrected from the IMU calibration). More...

Matrix3f	get_angular_velocity_covariance (self, angular_velocity_covariance=Matrix3f())
	Gets the covariance matrix of the angular velocity of the gyroscope in deg/s (get_angular_velocity()). More...

Matrix3f	get_linear_acceleration_covariance (self, linear_acceleration_covariance=Matrix3f())
	Gets the covariance matrix of the linear acceleration of the gyroscope in deg/s (get_angular_velocity()). More...

bool	is_available (self)
	Whether the IMU sensor is available in your camera.

int	timestamp (self)
	Data acquisition timestamp.

float	effective_rate (self)
	Realtime data acquisition rate in hertz (Hz).

Matrix3f	get_pose_covariance (self, pose_covariance=Matrix3f())
	Covariance matrix of the IMU pose (get_pose()). More...

Transform	get_pose (self, pose=Transform())
	IMU pose (IMU 6-DoF fusion). More...

Detailed Description

Class containing data from the IMU sensor.

Functions

◆ get_angular_velocity_uncalibrated()

list[float] get_angular_velocity_uncalibrated	(	self,
		angular_velocity_uncalibrated = `[0, 0, 0]`
	)

Gets the angular velocity vector (3x1) of the gyroscope in deg/s (uncorrected from the IMU calibration).

Parameters

angular_velocity_uncalibrated : List to be returned. It creates one by default.

Returns: List fill with the raw angular velocity vector.

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

◆ get_angular_velocity()

list[float] get_angular_velocity	(	self,
		angular_velocity = `[0, 0, 0]`
	)

Gets the angular velocity vector (3x1) of the gyroscope in deg/s.

The value is corrected from bias, scale and misalignment.

Parameters

angular_velocity : List to be returned. It creates one by default.

Returns: List fill with the angular velocity vector.

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

◆ get_linear_acceleration()

list[float] get_linear_acceleration	(	self,
		linear_acceleration = `[0, 0, 0]`
	)

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

The value is corrected from bias, scale and misalignment.

Parameters

linear_acceleration : List to be returned. It creates one by default.

Returns: List fill with the linear acceleration vector.

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

◆ get_linear_acceleration_uncalibrated()

list[float] get_linear_acceleration_uncalibrated	(	self,
		linear_acceleration_uncalibrated = `[0, 0, 0]`
	)

Gets the linear acceleration vector (3x1) of the gyroscope in m/s² (uncorrected from the IMU calibration).

The value is corrected from bias, scale and misalignment.

Parameters

linear_acceleration_uncalibrated : List to be returned. It creates one by default.

Returns: List fill with the raw linear acceleration vector.

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

◆ get_angular_velocity_covariance()

Matrix3f get_angular_velocity_covariance	(	self,
		angular_velocity_covariance = `Matrix3f()`
	)

Gets the covariance matrix of the angular velocity of the gyroscope in deg/s (get_angular_velocity()).

Parameters

angular_velocity_covariance : sl.Matrix3f to be returned. It creates one by default.

Returns: sl.Matrix3f filled with the covariance matrix of the angular velocity.

Note: Not available in SVO or STREAM mode.

◆ get_linear_acceleration_covariance()

Matrix3f get_linear_acceleration_covariance	(	self,
		linear_acceleration_covariance = `Matrix3f()`
	)

Gets the covariance matrix of the linear acceleration of the gyroscope in deg/s (get_angular_velocity()).

Parameters

linear_acceleration_covariance : sl.Matrix3f to be returned. It creates one by default.

Returns: sl.Matrix3f filled with the covariance matrix of the linear acceleration.

Note: Not available in SVO or STREAM mode.

◆ get_pose_covariance()

Matrix3f get_pose_covariance	(	self,
		pose_covariance = `Matrix3f()`
	)

Covariance matrix of the IMU pose (get_pose()).

Parameters

pose_covariance : sl.Matrix3f to be returned. It creates one by default.

Returns: sl.Matrix3f filled with the covariance matrix.

◆ get_pose()

Transform get_pose	(	self,
		pose = `Transform()`
	)

IMU pose (IMU 6-DoF fusion).

Parameters

pose	: sl.Transform() to be returned. It creates one by default.

Returns: sl.Transform filled with the IMU pose.