SensorsData::IMUData Class Reference

Contains IMU sensor data. More...

Attributes

bool is_available
 
sl::Timestamp timestamp
 
sl::Transform pose
 
sl::Matrix3f pose_covariance
 
sl::float3 angular_velocity
 
sl::float3 linear_acceleration
 
sl::float3 angular_velocity_uncalibrated
 
sl::float3 linear_acceleration_uncalibrated
 
sl::Matrix3f angular_velocity_covariance
 
sl::Matrix3f linear_acceleration_covariance
 
float effective_rate
 

Detailed Description

Contains IMU sensor data.

Variables

◆ is_available

bool is_available

Defines if the sensor is available in your camera.

◆ timestamp

sl::Timestamp timestamp

Defines the sensors data timestamp

◆ pose

IMU pose (IMU 6-dof fusion)

◆ pose_covariance

sl::Matrix3f pose_covariance

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

◆ angular_velocity

sl::float3 angular_velocity

(3x1) Vector for 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.

Note
Those values can be directly ingested in a IMU fusion algorithm to extract quaternion
Not available in SVO or Stream mode.

◆ linear_acceleration

sl::float3 linear_acceleration

(3x1) Vector for linear acceleration of the gyroscope given in m/s^2. Values are corrected from bias, scale and misalignment In other words, the current acceleration of the sensor, along with the x, y, and z axes.

Note
Those values can be directly ingested in a IMU fusion algorithm to extract quaternion

◆ angular_velocity_uncalibrated

sl::float3 angular_velocity_uncalibrated

(3x1) Vector for angular velocity of the gyroscope, given in deg/s, uncorrected from imu calibration. In other words, the current velocity at which the sensor is rotating around the x, y, and z axes.

Note
those values are the exact raw values from the IMU
Not available in SVO or Stream mode.

◆ linear_acceleration_uncalibrated

sl::float3 linear_acceleration_uncalibrated

(3x1) Vector for linear acceleration of the accelerometer, given in m/s^2, uncorrected from imu calibration. In other words, the current acceleration of the sensor, along with the x, y, and z axes.

Note
those values are the exact raw values from the IMU
Not available in SVO or Stream mode.

◆ angular_velocity_covariance

sl::Matrix3f angular_velocity_covariance

(3x3) 3x3 Covariance matrix for the angular velocity of the gyroscope

Note
Not available in SVO or Stream mode.

◆ linear_acceleration_covariance

sl::Matrix3f linear_acceleration_covariance

(3x3) 3x3 Covariance matrix for the linear acceleration of the accelerometer

Note
Not available in SVO or Stream mode.

◆ effective_rate

float effective_rate

Realtime data acquisition rate [Hz]