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stereolabs / zed-ros-wrapper

ROS wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros/
MIT License
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IMU data #816

Closed wildpig888 closed 2 years ago

wildpig888 commented 2 years ago

Preliminary Checks

Proposal

IMU.NoiseGyro IMU.NoiseAcc IMU.GyroWalk IMU.AccWalk IMU.Frequency

Can I get these data directly? Or I need to calibriate the camera. Beside, I want to know about the Camera-IMU Transform: 0.999998 0.000336 -0.001944 -0.002000 -0.000335 1.000000 0.000816 -0.023000 0.001944 -0.000816 0.999998 -0.002000 0.000000 0.000000 0.000000 1.000000 Does it mean the transformation for IMU to camera? Thanks for help.

Use-Case

No response

Anything else?

No response

Myzhar commented 2 years ago

Does it mean the transformation for IMU to camera? Yes, exactly.

IMU.NoiseGyro IMU.NoiseAcc IMU.GyroWalk IMU.AccWalk IMU.Frequency The ROS wrapper does not provide the values, but they are available in the SDK. You can modify the code to add this feature: https://www.stereolabs.com/docs/api/structsl_1_1SensorParameters.html

wildpig888 commented 2 years ago

Thanks for your help.