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

Data Fields
bool	is_available
	Whether the IMU sensor is available in your camera.

uint64_t	timestamp_ns
	Data acquisition timestamp in nanoseconds.

struct SL_Vector3	angular_velocity
	Gets the angular velocity vector of the gyroscope in deg/s. More...

struct SL_Vector3	linear_acceleration
	Linear acceleration vector (3x1) of the gyroscope in m/s². More...

struct SL_Vector3	angular_velocity_unc
	Angular velocity vector of the gyroscope in deg/s (uncorrected from the IMU calibration). More...

struct SL_Vector3	linear_acceleration_unc
	Linear acceleration vector of the gyroscope in m/s² (uncorrected from the IMU calibration). More...

struct SL_Quaternion	orientation
	Orientation from the IMU sensor.

struct SL_Matrix3f	orientation_covariance
	Covariance matrix of the orientation from the IMU sensor (orientation).

struct SL_Matrix3f	angular_velocity_convariance
	Covariance matrix of the angular velocity of the gyroscope in deg/s (angular_velocity). More...

struct SL_Matrix3f	linear_acceleration_convariance
	Covariance matrix of the linear acceleration of the gyroscope in m/s² (linear_acceleration). More...

Detailed Description

Structure containing data from the IMU sensor.

Field Documentation

struct SL_Vector3 SL_IMUData::angular_velocity

Gets the 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.

struct SL_Vector3 SL_IMUData::linear_acceleration

Linear acceleration vector (3x1) 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.

struct SL_Vector3 SL_IMUData::angular_velocity_unc

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.

struct SL_Vector3 SL_IMUData::linear_acceleration_unc

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.

struct SL_Matrix3f SL_IMUData::angular_velocity_convariance

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

struct SL_Matrix3f SL_IMUData::linear_acceleration_convariance

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