24 lines
772 B
Markdown
24 lines
772 B
Markdown
|
# IMU Params {#spec_imu_params}
|
||
|
|
|
||
|
|
## IMU Intrinsics
|
||
|
|
|
||
|
|
| Name | Field | Unit | Bytes | Note |
|
||
|
|
| :----- | :----- | :----- | :-------- | :----- |
|
||
|
|
| Scale matrix | acc_scale[3][3] | - | 72 | double |
|
||
|
|
| ^ | gyro_scale[3][3] | - | 72 | double |
|
||
|
|
| Zero-drift | acc_drift[3] | - | 24 | double |
|
||
|
|
| ^ | gyro_drift[3] | - | 24 | double |
|
||
|
|
| Noise density | acc_noise[3] | - | 24 | double |
|
||
|
|
| ^ | gyro_noise[3] | - | 24 | double |
|
||
|
|
| Random walk | acc_bias[3] | - | 24 | double |
|
||
|
|
| ^ | gyro_bias[3] | - | 24 | double |
|
||
|
|
|
||
|
|
## IMU Extrinsics
|
||
|
|
|
||
|
|
Transformation matrix from left image to IMU.
|
||
|
|
|
||
|
|
| Name | Field | Unit | Bytes | Note |
|
||
|
|
| :----- | :----- | :----- | :-------- | :----- |
|
||
|
|
| Rotation matrix | rotation[3][3] | - | 72 | double |
|
||
|
|
| Translation vector | translation[3] | - | 24 | double |
|