cuvslam::ImuCalibration Struct Reference

IMU Calibration parameters. More...

Public Attributes
Pose	rig_from_imu
float	gyroscope_noise_density
	\(rad / (s * \sqrt{hz})\)
float	gyroscope_random_walk
	\(rad / (s^2 * \sqrt{hz})\)
float	accelerometer_noise_density
	\(m / (s^2 * \sqrt{hz})\)
float	accelerometer_random_walk
	\(m / (s^3 * \sqrt{hz})\)
float	frequency
	\(hz\)

Detailed Description

IMU Calibration parameters.

Describes intrinsic and extrinsic (noise and random walk) parameters of an IMU sensor. See IMU Noise Model

Member Data Documentation

rig_from_imu

Pose cuvslam::ImuCalibration::rig_from_imu

Rig from imu transformation. vRig = rig_from_imu * vImu

• vImu - vector in imu coordinate system
• vRig - vector in rig coordinate system

gyroscope_noise_density

float cuvslam::ImuCalibration::gyroscope_noise_density

\(rad / (s * \sqrt{hz})\)

gyroscope_random_walk

float cuvslam::ImuCalibration::gyroscope_random_walk

\(rad / (s^2 * \sqrt{hz})\)

accelerometer_noise_density

float cuvslam::ImuCalibration::accelerometer_noise_density

\(m / (s^2 * \sqrt{hz})\)

accelerometer_random_walk

float cuvslam::ImuCalibration::accelerometer_random_walk

\(m / (s^3 * \sqrt{hz})\)

frequency

float cuvslam::ImuCalibration::frequency

\(hz\)