SensorsData::MagnetometerData Struct Reference

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

Types

enum class  HEADING_STATE
 Lists the different states of the magnetic heading. More...
 

Attributes

bool is_available
 Whether the magnetometer sensor is available in your camera. More...
 
sl::Timestamp timestamp
 Data acquisition timestamp. More...
 
sl::float3 magnetic_field_uncalibrated
 Uncalibrated magnetic field local vector in microtesla (μT). More...
 
sl::float3 magnetic_field_calibrated
 Magnetic field local vector in microtesla (μT). More...
 
float magnetic_heading
 Camera heading in degrees relative to the magnetic North Pole. More...
 
HEADING_STATE magnetic_heading_state
 State of magnetic_heading. More...
 
float magnetic_heading_accuracy
 Accuracy of magnetic_heading measure in the range [0.0, 1.0]. More...
 
float effective_rate
 Realtime data acquisition rate in hertz (Hz). More...
 

Detailed Description

Structure containing data from the magnetometer sensor.

Enumeration

◆ HEADING_STATE

enum HEADING_STATE
strong

Lists the different states of the magnetic heading.

Enumerator
GOOD 

The heading is reliable and not affected by iron interferences.

OK 

The heading is reliable, but affected by slight iron interferences.

NOT_GOOD 

The heading is not reliable because affected by strong iron interferences.

NOT_CALIBRATED 

The magnetometer has not been calibrated.

MAG_NOT_AVAILABLE 

The magnetometer sensor is not available.

Variables

◆ is_available

bool is_available

Whether the magnetometer sensor is available in your camera.

◆ timestamp

sl::Timestamp timestamp

Data acquisition timestamp.

◆ magnetic_field_uncalibrated

sl::float3 magnetic_field_uncalibrated

Uncalibrated magnetic field local vector in microtesla (μT).

Note
The magnetometer raw values are affected by soft and hard iron interferences.
The sensor must be calibrated by placing the camera in the working environment and using ZED Sensor Viewer tool.
Not available in SVO or STREAM mode.

◆ magnetic_field_calibrated

sl::float3 magnetic_field_calibrated

Magnetic field local vector in microtesla (μT).

Note
To calibrate the magnetometer sensor, please use ZED Sensor Viewer tool after placing the camera in the final operating environment.

◆ magnetic_heading

float magnetic_heading

Camera heading in degrees relative to the magnetic North Pole.

Note
The magnetic North Pole has an offset with respect to the geographic North Pole, depending on the geographic position of the camera.
To get a correct magnetic heading, the magnetometer sensor must be calibrated using ZED Sensor Viewer tool.

◆ magnetic_heading_state

HEADING_STATE magnetic_heading_state

State of magnetic_heading.

◆ magnetic_heading_accuracy

float magnetic_heading_accuracy

Accuracy of magnetic_heading measure in the range [0.0, 1.0].

Note
A negative value means that the magnetometer must be calibrated using ZED Sensor Viewer tool.

◆ effective_rate

float effective_rate

Realtime data acquisition rate in hertz (Hz).