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Modified representations_example to getting IMU data from pcap and display #607

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Modified representations_example to getting IMU data from pcap and display #607

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01c834c
Modified representation_example to show case display IMU
alexchua0108 Aug 15, 2024
7faac9a
Added getting imu message to representation example
alexchua0108 Aug 15, 2024
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29 changes: 28 additions & 1 deletion examples/representations_example.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,9 @@

using namespace ouster;

const size_t UDP_BUF_SIZE = 65536;
auto packet_buf = std::make_unique<uint8_t[]>(UDP_BUF_SIZE);

//! [docs-stag-x-image-form]
img_t<double> get_x_in_image_form(const LidarScan& scan, bool destaggered,
const sensor::sensor_info& info) {
Expand Down Expand Up @@ -164,4 +167,28 @@ int main(int argc, char* argv[]) {
<< " and an x coordinate of "
<< x_image_destaggered(print_row, print_column) << "."
<< std::endl;
}

// 5. getting IMU
std::cerr << "\n5. Getting IMU data..." << std::endl;
sensor::packet_format pf = sensor::get_format(info);
ouster::sensor_utils::read_packet(*handle, packet_buf.get(), UDP_BUF_SIZE);
std::cout << "IMU Timestamp: " << pf.imu_gyro_ts(packet_buf.get()) << " ns" << std::endl;

const double standard_g = 9.80665;
auto linear_acceleration_x = pf.imu_la_x(packet_buf.get()) * standard_g;
auto linear_acceleration_y = pf.imu_la_y(packet_buf.get()) * standard_g;
auto linear_acceleration_z = pf.imu_la_z(packet_buf.get()) * standard_g;

auto angular_velocity_x = pf.imu_av_x(packet_buf.get()) * M_PI / 180.0;
auto angular_velocity_y = pf.imu_av_y(packet_buf.get()) * M_PI / 180.0;
auto angular_velocity_z = pf.imu_av_z(packet_buf.get()) * M_PI / 180.0;

std::cerr << "IMU Acceleration: ["
<< linear_acceleration_x << ", "
<< linear_acceleration_y << ", "
<< linear_acceleration_z << "] G" << std::endl;
std::cerr << "IMU Angular Velocity: ["
<< angular_velocity_x << ", "
<< angular_velocity_y << ", "
<< angular_velocity_z << "] deg/s" << std::endl;
}