IMUData Class Reference

Contains the IMU sensor data. More...

Functions

def get_angular_velocity_uncalibrated (self, angular_velocity_uncalibrated=[0, 0, 0])
 Gets the (3x1) Vector for raw angular velocity of the gyroscope, given in deg/s. More...
 
def get_angular_velocity (self, angular_velocity=[0, 0, 0])
 Gets the (3x1) Vector for uncalibrated angular velocity of the gyroscope, given in deg/s. More...
 
def get_linear_acceleration (self, linear_acceleration=[0, 0, 0])
  Gets the (3x1) Vector for linear acceleration of the gyroscope, given in m/s^2. More...
 
def get_linear_acceleration_uncalibrated (self, linear_acceleration_uncalibrated=[0, 0, 0])
  Gets the (3x1) Vector for uncalibrated linear acceleration of the gyroscope, given in m/s^2. More...
 
def get_angular_velocity_covariance (self, angular_velocity_covariance=Matrix3f())
  Gets the (3x3) Covariance matrix for angular velocity (x,y,z axes)   More...
 
def get_linear_acceleration_covariance (self, linear_acceleration_covariance=Matrix3f())
 Gets the (3x3) Covariance matrix for linear acceleration (x,y,z axes) More...
 
def is_available (self)
  Defines if the sensor is available in your camera.
 
def timestamp (self)
 Defines the sensors data timestamp.
 
def effective_rate (self)
 Realtime data acquisition rate [Hz].
 
def get_pose_covariance (self, pose_covariance=Matrix3f())
  (3x3) 3x3 Covariance matrix for pose orientation (x,y,z axes)   More...
 
def get_pose (self, pose=Transform())
  IMU pose (IMU 6-dof fusion)   More...
 

Detailed Description

Contains the IMU sensor data.

 

Functions

◆ get_angular_velocity_uncalibrated()

def get_angular_velocity_uncalibrated (   self,
  angular_velocity_uncalibrated = [0, 0, 0] 
)

Gets the (3x1) Vector for raw angular velocity of the gyroscope, given in deg/s.

 Values are uncorrected from IMU calibration. In other words, the current velocity at which the sensor is rotating around the x, y, and z axes.  

Parameters
angular_velocity_uncalibrated: An array to be returned. It creates one by default.  
Returns
The uncalibrated angular velocity (3x1) vector in an array  
Note
Those values are the exact raw values from the IMU.  
Not available in SVO or Stream mode

◆ get_angular_velocity()

def get_angular_velocity (   self,
  angular_velocity = [0, 0, 0] 
)

Gets the (3x1) Vector for uncalibrated angular velocity of the gyroscope, given in deg/s.

 Values are corrected from bias, scale and misalignment. In other words, the current velocity at which the sensor is rotating around the x, y, and z axes.  

Parameters
angular_velocity: An array to be returned. It creates one by default.  
Returns
The angular velocity (3x1) vector in an array  
Note
Those values can be directly ingested in a IMU fusion algorithm to extract quaternion  
Not available in SVO or Stream mode

◆ get_linear_acceleration()

def get_linear_acceleration (   self,
  linear_acceleration = [0, 0, 0] 
)

 Gets the (3x1) Vector for linear acceleration of the gyroscope, given in m/s^2.

In other words, the current acceleration of the sensor, along with the x, y, and z axes.  

Parameters
linear_acceleration: An array to be returned. It creates one by default.  
Returns
The linear acceleration (3x1) vector in an array  
Note
Those values can be directly ingested in a IMU fusion algorithm to extract quaternion

◆ get_linear_acceleration_uncalibrated()

def get_linear_acceleration_uncalibrated (   self,
  linear_acceleration_uncalibrated = [0, 0, 0] 
)

 Gets the (3x1) Vector for uncalibrated linear acceleration of the gyroscope, given in m/s^2.

Values are uncorrected from IMU calibration. In other words, the current acceleration of the sensor, along with the x, y, and z axes.  

Parameters
linear_acceleration_uncalibrated: An array to be returned. It creates one by default.  
Returns
The uncalibrated linear acceleration (3x1) vector in an array  
Note
Those values are the exact raw values from the IMU.  
Those values can be directly ingested in a IMU fusion algorithm to extract quaternion.  
Not available in SVO or Stream mode

◆ get_angular_velocity_covariance()

def get_angular_velocity_covariance (   self,
  angular_velocity_covariance = Matrix3f() 
)

 Gets the (3x3) Covariance matrix for angular velocity (x,y,z axes)  

Parameters
angular_velocity_covariance: Matrix3f to be returned. It creates one by default.  
Returns
The (3x3) Covariance matrix for angular velocity  
Note
Not available in SVO or Stream mode

◆ get_linear_acceleration_covariance()

def get_linear_acceleration_covariance (   self,
  linear_acceleration_covariance = Matrix3f() 
)

Gets the (3x3) Covariance matrix for linear acceleration (x,y,z axes)

Parameters
linear_acceleration_covariance: Matrix3f to be returned. It creates one by default.
Returns
The (3x3) Covariance matrix for linear acceleration  
Note
Not available in SVO or Stream mode

◆ get_pose_covariance()

def get_pose_covariance (   self,
  pose_covariance = Matrix3f() 
)

 (3x3) 3x3 Covariance matrix for pose orientation (x,y,z axes)  

Parameters
pose_covariance: Matrix3f to be returned. It creates one by default.  
Returns
the Matrix3f to be returned

◆ get_pose()

def get_pose (   self,
  pose = Transform() 
)

 IMU pose (IMU 6-dof fusion)  

Parameters
pose: Transform() to be returned. It creates one by default.  
Returns
the Transform to be returned