struct P1::ImageSdk::ImuData

Overview

An IMU data bundle, that defines the orientation of an auxillary IMU in space. More…

#include <P1ImageGpsImu.hpp>

struct ImuData
{
    // fields

    Rational yaw;
    Rational pitch;
    Rational roll;
    ImuYawRef yawRef;

    // methods

    std::string ToString() const;
};

Detailed Documentation

An IMU data bundle, that defines the orientation of an auxillary IMU in space.

If the camera has been been fitted with an IMU, this is the IMU orientation snapshot when the image was taken.

The orientation is defined by the principal axes yaw, pitch and roll expressed in degrees.

Fields

Rational yaw

Rotation on the vertical axis, where positive direction is clock-wise.

Rational pitch

Rotation on the tranversal axis, (wingtip to wingtip), positive direction raises the aircraft’s nose.

Rational roll

Rotation on the longitudinal axis (aircraft’s nose to tail), positive direction lifts the left wing, and lowers the right.

ImuYawRef yawRef

The definition of the Yaw reference point.