IMU in SVO data

Software Python
1

Hi, I have recorded svo and Iwant to get IMU datas how can I reach them?

2

Hi @OnurS
the SVO file does not contain IMU data, only orientation information.
IMU runs at a higher frequency with respect to image grabbing and saving IMU data at this rate would have caused the introduction of the subsampling effect known as aliasing.

We are working on a new SVO format that will store all the sensors’ information at full rate.
It will be released as soon as our R&D team will validate it.

3

Thanks for your reply.
Is there any way for me to get orientation then?

26 Tem 2023 Çar 15:28 tarihinde Walter Lucetti (Stereolabs) support@stereolabs.com şunu yazdı:

4

Yes, you retrieve it from the Sensors Data structure:

5

Unfornately it gives 0 0 0 1 in quaternion which is 0 in all dimensions for Euler

6

Can you please share the SVO to check it?

7

Can you please share the SVO to check it?

[Discourse post]

Walter

Walter Lucetti
Senior Developer
SDK / Robotics / HW
Stereolabs Support

8

here it is
thanks

9

drive.google.com

SVO_SN38738369.svo

Google Drive file.

here it is
thanks

[Discourse post]

10

Hi @OnurS
the SVO contains the required data.
Please be sure to call getSensorsData with TIME_REFERENCE::IMAGE and not TIME_REFERENCE::CURRENT because the SVO has synchronized data with images.

e.g. C++:
sl::ERROR_CODE err = zed.getSensorsData(sensors_data, TIME_REFERENCE::IMAGE);