Contains IMU sensor data. More...
Contains IMU sensor data.
| bool is_available |
Defines if the sensor is available in your camera.
| sl::Timestamp timestamp |
Defines the sensors data timestamp
| sl::Transform pose |
IMU pose (IMU 6-dof fusion)
| sl::Matrix3f pose_covariance |
(3x3) 3x3 Covariance matrix for pose orientation (x,y,z axes)
| 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.
| 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.
| 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.
| 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.
| sl::Matrix3f angular_velocity_covariance |
(3x3) 3x3 Covariance matrix for the angular velocity of the gyroscope, given in deg/s Can be converted in rad/s using pi/180 factor
| sl::Matrix3f linear_acceleration_covariance |
(3x3) 3x3 Covariance matrix for the linear acceleration of the accelerometer
| float effective_rate |
Realtime data acquisition rate [Hz]
