Lever arm between Zed2i IMU and GNSS antenna

ellarizza · March 11, 2026, 2:08pm

Hello,

I have a zed2i camera. I’d like to use the camera and imu data from this camera and integrate with gnss using my own program. I would need to calculate for the lever arm between GNSS antenna and ZED2i IMU. My question is where is the location of IMU origin in ZED2i? Or are there alternative ways to calculate for lever arm? Thank you.

Myzhar · March 11, 2026, 3:19pm

Hi @ellarizza

You can use the ZED SDK to obtain this information:

github.com/stereolabs/zed-ros2-wrapper

zed_components/src/zed_camera/src/zed_camera_component_main.cpp

master


      
          // Camera/IMU transform
          if (!sl_tools::isZED(mCamRealModel)) {
            mSlCamImuTransf = camInfo.sensors_configuration.camera_imu_transform;
          
            DEBUG_SENS("Camera-IMU Transform:\n%s", mSlCamImuTransf.getInfos().c_str());

ellarizza · March 17, 2026, 1:09am

Hi @Myzhar

Thanks. I was able to get the origin of IMU relative to the left sensor of ZED2i. However, how do I measure its distance to the GNSS antenna? does the blue power indicator of ZED 2i correspond to the location of IMU?

mattrouss · March 17, 2026, 11:05am

Hi @ellarizza,

You can use the transforms in the URDFs from the ROS2 wrapper here: zed-ros2-wrapper/zed_wrapper/urdf/zed_macro.urdf.xacro at master · stereolabs/zed-ros2-wrapper · GitHub