SensorsConfiguration Struct Reference

Structure containing information about all the sensors available in the current device. More...

Functions
bool	isSensorAvailable (const sl::SENSOR_TYPE &sensor_type)
	Checks if a sensor is available on the device. More...

Attributes
unsigned int	firmware_version = 0
	Firmware version of the sensor module. More...
sl::Transform	camera_imu_transform
	IMU to left camera transform matrix. More...
sl::Transform	imu_magnetometer_transform
	Magnetometer to IMU transform matrix. More...
sl::SensorParameters	accelerometer_parameters
	Configuration of the accelerometer. More...
sl::SensorParameters	gyroscope_parameters
	Configuration of the gyroscope. More...
sl::SensorParameters	magnetometer_parameters
	Configuration of the magnetometer. More...
sl::SensorParameters	barometer_parameters
	Configuration of the barometer. More...

Detailed Description

Structure containing information about all the sensors available in the current device.

Information about the camera sensors is available in the sl::CameraInformation struct returned by sl::Camera.getCameraInformation().

Note

This structure is meant to be used as a read-only container.

Editing any of its fields will not impact the ZED SDK.

Functions

isSensorAvailable()

bool isSensorAvailable

(

const sl::SENSOR_TYPE &

sensor_type

)

Checks if a sensor is available on the device.

Parameters

sensor_type

: Sensor type to check.

Returns

true if the sensor is available on the device, otherwise false.

Variables

firmware_version

unsigned int firmware_version = 0

Firmware version of the sensor module.

Note

0 if no sensors are available (sl::MODEL::ZED).

camera_imu_transform

sl::Transform camera_imu_transform

IMU to left camera transform matrix.

Note

It contains the rotation and translation between the IMU frame and camera frame.

imu_magnetometer_transform

sl::Transform imu_magnetometer_transform

Magnetometer to IMU transform matrix.

Note

It contains rotation and translation between IMU frame and magnetometer frame.

accelerometer_parameters

sl::SensorParameters accelerometer_parameters

Configuration of the accelerometer.

gyroscope_parameters

sl::SensorParameters gyroscope_parameters

Configuration of the gyroscope.

magnetometer_parameters

sl::SensorParameters magnetometer_parameters

Configuration of the magnetometer.

barometer_parameters

sl::SensorParameters barometer_parameters

Configuration of the barometer.