Retrieving Image and IMU sensor data together using MATLAB


I am currently using a ZED 2i camera and have encountered difficulties in simultaneously retrieving IMU sensor data and image data. The recorded .svo files do not include the IMU sensor data. Is there a method to capture both sets of data concurrently?

Also, I have seen in the earlier posts that, due to aliasing, I may not be able to retrieve imu data together with the image data through the .svo file, but orientation data can be retrieved along with the image data. How to call that orientation from the .svo file through MATLAB?