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| def | get_angular_velocity_uncalibrated (self, angular_velocity_uncalibrated=[0, 0, 0]) |
| | Gets the (3x1) Vector for raw angular velocity of the gyroscope, given in deg/s. More...
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| def | get_angular_velocity (self, angular_velocity=[0, 0, 0]) |
| | Gets the (3x1) Vector for uncalibrated angular velocity of the gyroscope, given in deg/s. More...
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| def | get_linear_acceleration (self, linear_acceleration=[0, 0, 0]) |
| | Gets the (3x1) Vector for linear acceleration of the gyroscope, given in m/s^2. More...
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| def | get_linear_acceleration_uncalibrated (self, linear_acceleration_uncalibrated=[0, 0, 0]) |
| | Gets the (3x1) Vector for uncalibrated linear acceleration of the gyroscope, given in m/s^2. More...
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| def | get_angular_velocity_covariance (self, angular_velocity_covariance=Matrix3f()) |
| | Gets the (3x3) Covariance matrix for angular velocity (x,y,z axes) More...
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| def | get_linear_acceleration_covariance (self, linear_acceleration_covariance=Matrix3f()) |
| | Gets the (3x3) Covariance matrix for linear acceleration (x,y,z axes) More...
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def | is_available (self) |
| | Defines if the sensor is available in your camera.
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def | timestamp (self) |
| | Defines the sensors data timestamp.
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def | effective_rate (self) |
| | Realtime data acquisition rate [Hz].
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| def | get_pose_covariance (self, pose_covariance=Matrix3f()) |
| | (3x3) 3x3 Covariance matrix for pose orientation (x,y,z axes) More...
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| def | get_pose (self, pose=Transform()) |
| | IMU pose (IMU 6-dof fusion) More...
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| |
Contains the IMU sensor data.
| def get_angular_velocity_uncalibrated |
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self, |
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angular_velocity_uncalibrated = [0, 0, 0] |
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) |
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Gets the (3x1) Vector for raw angular velocity of the gyroscope, given in deg/s.
Values are uncorrected from IMU calibration. In other words, the current velocity at which the sensor is rotating around the x, y, and z axes.
- Parameters
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| angular_velocity_uncalibrated | : An array to be returned. It creates one by default. |
- Returns
- The uncalibrated angular velocity (3x1) vector in an array
- Note
- Those values are the exact raw values from the IMU.
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Not available in SVO or Stream mode
| def get_angular_velocity |
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self, |
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angular_velocity = [0, 0, 0] |
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) |
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Gets the (3x1) Vector for uncalibrated 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.
- Parameters
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| angular_velocity | : An array to be returned. It creates one by default. |
- Returns
- The angular velocity (3x1) vector in an array
- Note
- Those values can be directly ingested in a IMU fusion algorithm to extract quaternion
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Not available in SVO or Stream mode
| def get_linear_acceleration |
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self, |
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linear_acceleration = [0, 0, 0] |
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) |
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Gets the (3x1) Vector for linear acceleration of the gyroscope, given in m/s^2.
In other words, the current acceleration of the sensor, along with the x, y, and z axes.
- Parameters
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| linear_acceleration | : An array to be returned. It creates one by default. |
- Returns
- The linear acceleration (3x1) vector in an array
- Note
- Those values can be directly ingested in a IMU fusion algorithm to extract quaternion
| def get_linear_acceleration_uncalibrated |
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self, |
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linear_acceleration_uncalibrated = [0, 0, 0] |
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) |
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Gets the (3x1) Vector for uncalibrated linear acceleration of the gyroscope, given in m/s^2.
Values are uncorrected from IMU calibration. In other words, the current acceleration of the sensor, along with the x, y, and z axes.
- Parameters
-
| linear_acceleration_uncalibrated | : An array to be returned. It creates one by default. |
- Returns
- The uncalibrated linear acceleration (3x1) vector in an array
- Note
- Those values are the exact raw values from the IMU.
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Those values can be directly ingested in a IMU fusion algorithm to extract quaternion.
-
Not available in SVO or Stream mode
