Closed LoicFerrot closed 2 years ago
Hi @LoicFerrot the SVO does not have acceleration and angular velocity data from the IMU, but only the fused attitude information. That's because the IMU samples are provided at a higher framerate with respect to the camera frames (400 Hz vs max 100Hz) and saving them at a reduced sampled rate could generate unwanted effects like aliasing.
Hey @Myzhar, thanks for your answer! Do you have any idea on how I could retrieve the gravity vector of a static camera ?
I used the example code snippet from the documentation on Camera.get_position() (which has to be slightly adapted), and as it seems expected since it gives the pose relative to the first frame, I only get a constant 0 translation and unit quaternion...
That's not possible by using the SVO.
You must write your own recorder for IMU data to save the information that you require at maximum rate retrieving them with the command get_sensors_data
and the parameter TIME_REFERENCE.CURRENT
.
Please note that the sensors' data grabbing must run in a separated thread with respect to the image data grabbing because the grab
call is blocking.
Preliminary Checks
Description
I'm trying to access the IMU data when playing back a .svo file, but calling
imu_data.get_linear_acceleration()
always returns the same vector of[4.585188705117234e-41, 0., 0.]
across different svo files. I also tried to get the temperature data, but it always returns -1. From what I understood of the documentation, onlyget_linear_acceleration_uncalibrated
shouldn't be available in svo mode...Steps to Reproduce
Expected Result
Real changing values, linear acceleration of norm 9.81 (camera is static)
Actual Result
Constant values, not making sense
ZED Camera model
ZED2i
Environment
Anything else?
No response