slightech / MYNT-EYE-S-SDK

MYNT EYE S SDK (MYNT® EYE Standard Camera)
http://www.myntai.com/mynteye/standard
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Cannot get quaternion data #26

Closed Jing-lun closed 5 years ago

Jing-lun commented 5 years ago

**Hi all, My problem is just like following: could only get the 6-axis data of imu but cannot directly get the quarternion data, any ideas?

---- when roslaunch start ---- W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error W/channels.cc:939 XuCamCtrlGet value of Option::ACCELEROMETER_RANGE failed W/uvc-v4l2.cc:245 xu_control_query failed error 5, Input/output error W/channels.cc:939 XuCamCtrlGet value of Option::GYROSCOPE_RANGE failed

---- when rostopic echo start ---- header: seq: 3495 stamp: secs: 1544135338 nsecs: 610696316 frame_id: "mynteye_imu_frame" orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0138484376684 y: 0.0154463343225 z: -0.0103863282513 angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] linear_acceleration: x: -0.992919921875 y: 1.63054199219 z: 9.93757324219 linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] ---**

KalmanXiong commented 5 years ago

IMU data is raw data acquired from sensors. You should get quaternion by converting it from raw data