IMUData Class Reference

Contains inertial positional tracking data which gives the orientation of the ZED-M. 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
float	twist [6]
float	twist_covariance [36]

Detailed Description

Contains inertial positional tracking data which gives the orientation of the ZED-M.

Note

This data will not be filled if you are using a ZED camera

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.

Constructor and Destructor

IMUData() [1/3]

IMUData

(

)

Default constructor which creates an empty IMUData (identity).

IMUData() [2/3]

IMUData

(

const IMUData &

pose

)

IMUData constructor with deep copy.

IMUData() [3/3]

IMUData	(	const Transform &	pose_data,
		unsigned long long	timestamp = 0,
		int	confidence = 0
	)

IMUData constructor with deep copy.

~IMUData()

~IMUData

(

)

IMUData destructor.

Functions

getTranslation()

Translation getTranslation ( )

inherited

Returns the translation from the pose.

Returns

The (3x1) translation vector.

getOrientation()

Orientation getOrientation ( )

inherited

Returns the orientation from the pose.

Returns

The (4x1) orientation vector.

getRotationMatrix()

Rotation getRotationMatrix ( )

inherited

Returns the rotation (3x3) from the pose.

Returns

The (3x3) rotation matrix.

getRotation()

Rotation getRotation ( )

inlineinherited

Returns the rotation (3x3) from the pose.

Returns

The (3x3) rotation matrix.

Deprecated:

See getRotationMatrix

getRotationVector()

float3 getRotationVector ( )

inherited

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

Returns

The (3x1) rotation vector.

getEulerAngles()

float3 getEulerAngles ( bool  radian = true )

inherited

Convert the Rotation of the Transform as Euler angles.

Parameters

radian

: Define if the angle in is radian or degree. default : true.

Returns

The Euler angles, as a float3 representing the rotations around the X, Y and Z axes. (YZX convention)

Variables

orientation_covariance

sl::Matrix3f orientation_covariance

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

angular_velocity

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.

linear_acceleration

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.

angular_velocity_convariance

sl::Matrix3f angular_velocity_convariance

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

linear_acceleration_convariance

sl::Matrix3f linear_acceleration_convariance

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

image_sync_trigger

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.

pose_data

Transform pose_data

inherited

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

timestamp

sl::timeStamp timestamp

inherited

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

pose_confidence

int pose_confidence

inherited

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

pose_covariance

float pose_covariance[36]

inherited

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

Note

Computed only if sl::TrackingParameters::enable_spatial_memory is disabled.

valid

bool valid

inherited

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

twist

float twist[6]

inherited

twist and twist covariance of the camera available in reference camera

twist_covariance

float twist_covariance[36]

inherited