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

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

sl::Timestamp	timestamp
	Data acquisition timestamp. More...

sl::Transform	pose
	IMU pose (IMU 6-DoF fusion). More...

sl::Matrix3f	pose_covariance
	Covariance matrix of the IMU pose (pose). More...

sl::float3	angular_velocity
	Angular velocity vector of the gyroscope in deg/s. More...

sl::float3	linear_acceleration
	Linear acceleration vector of the gyroscope in m/s². More...

sl::float3	angular_velocity_uncalibrated
	Angular velocity vector of the gyroscope in deg/s (uncorrected from the IMU calibration). More...

sl::float3	linear_acceleration_uncalibrated
	Linear acceleration vector of the gyroscope in m/s² (uncorrected from the IMU calibration). More...

sl::Matrix3f	angular_velocity_covariance
	Covariance matrix of the angular velocity of the gyroscope in deg/s (angular_velocity). More...

sl::Matrix3f	linear_acceleration_covariance
	Covariance matrix of the linear acceleration of the gyroscope in m/s² (linear_acceleration). More...

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

Detailed Description

Structure containing data from the IMU sensor.

Variables

◆ is_available

bool is_available

Whether the IMU sensor is available in your camera.

◆ timestamp

sl::Timestamp timestamp

Data acquisition timestamp.

◆ pose

sl::Transform pose

IMU pose (IMU 6-DoF fusion).

◆ pose_covariance

sl::Matrix3f pose_covariance

Covariance matrix of the IMU pose (pose).

◆ angular_velocity

sl::float3 angular_velocity

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.

◆ linear_acceleration

sl::float3 linear_acceleration

Linear acceleration vector 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.

◆ angular_velocity_uncalibrated

sl::float3 angular_velocity_uncalibrated

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.

◆ linear_acceleration_uncalibrated

sl::float3 linear_acceleration_uncalibrated

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.

◆ angular_velocity_covariance

sl::Matrix3f angular_velocity_covariance

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

Note: Not available in SVO or STREAM mode.

◆ linear_acceleration_covariance

sl::Matrix3f linear_acceleration_covariance

Covariance matrix of the linear acceleration of the gyroscope in m/s² (linear_acceleration).

Note: Not available in SVO or STREAM mode.

◆ effective_rate

float effective_rate

Realtime data acquisition rate in hertz (Hz).

Attributes