Contains inertial positional tracking data which gives the orientation of the ZEDM. More...
General Functions  
IMUData ()  
Default constructor which creates an empty IMUData (identity). More...  
IMUData (const IMUData &pose)  
IMUData constructor with deep copy. More...  
IMUData (const Transform &pose_data, unsigned long long timestamp=0, int confidence=0)  
IMUData constructor with deep copy. More...  
~IMUData ()  
IMUData destructor. More...  
Translation  getTranslation () 
Returns the translation from the pose. More...  
Orientation  getOrientation () 
Returns the orientation from the pose. More...  
Rotation  getRotationMatrix () 
Returns the rotation (3x3) from the pose. More...  
Rotation  getRotation () 
Returns the rotation (3x3) from the pose. More...  
float3  getRotationVector () 
Returns the rotation (3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula) from the pose. More...  
float3  getEulerAngles (bool radian=true) 
Convert the Rotation of the Transform as Euler angles. More...  
Attributes  
sl::Matrix3f  orientation_covariance 
sl::float3  angular_velocity 
sl::float3  linear_acceleration 
sl::Matrix3f  angular_velocity_convariance 
sl::Matrix3f  linear_acceleration_convariance 
int  image_sync_trigger 
Transform  pose_data 
sl::timeStamp  timestamp 
int  pose_confidence 
float  pose_covariance [36] 
6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values) More...  
bool  valid 
Contains inertial positional tracking data which gives the orientation of the ZEDM.
Different representations of orientation can be retrieved, along with timestamp and pose confidence. Raw data (linear acceleration and angular velocity) are also given along with the calculated orientation.
IMUData constructor with deep copy.

inherited 
Returns the translation from the pose.

inherited 
Returns the orientation from the pose.

inherited 
Returns the rotation (3x3) from the pose.

inlineinherited 
Returns the rotation (3x3) from the pose.

inherited 
Returns the rotation (3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula) from the pose.

inherited 
sl::Matrix3f orientation_covariance 
(3x3) 3x3 Covariance matrix for orientation (x,y,z axes)
sl::float3 angular_velocity 
(3x1) Vector for angular velocity of the IMU, given in deg/s. In other words, the current velocity at which the sensor is rotating around the x, y, and z axes.
sl::float3 linear_acceleration 
(3x1) Vector for linear acceleration of the IMU, given in m/s^2. In other words, the current acceleration of the sensor, along with the x, y, and z axes.
sl::Matrix3f angular_velocity_convariance 
(3x3) 3x3 Covariance matrix for the angular velocity
sl::Matrix3f linear_acceleration_convariance 
(3x3) 3x3 Covariance matrix for the linear acceleration
int image_sync_trigger 
Indicates if the IMUData has been taken during a frame capture on sensor. If value is 1, IMUData has been taken during the same time than a frame has been acquired by the left sensor (the time precision is linked to the IMU rate, therefore 800Hz == 1.3ms) If value is 0, the data has not been taken during a frame acquisition.

inherited 
4x4 Matrix which contains the rotation (3x3) and the translation. Orientation is extracted from this transform as well.

inherited 
Timestamp of the pose. This timestamp should be compared with the camera timestamp for synchronization.

inherited 
Confidence/Quality of the pose estimation for the target frame.
A confidence metric of the tracking [0100], 0 means that the tracking is lost, 100 means that the tracking can be fully trusted.

inherited 
6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values)

inherited 
boolean that indicates if tracking is activated or not. You should check that first if something wrong.