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