dwSelfCalibrationIMUNode.hpp File Reference

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Classes
class	dw::framework::dwSelfCalibrationIMUNode
	This node computes the IMUs's extrinsic properties (rotation+translation) with respect to the configured nominals. More...
struct	dw::framework::dwSelfCalibrationIMUNodeParams
	Parameters for dwSelfCalibrationIMUNode. More...

Namespaces
namespace	dw
namespace	dw::framework

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Class Documentation

dw::framework::dwSelfCalibrationIMUNodeParams

struct dw::framework::dwSelfCalibrationIMUNodeParams

Class Members
char8_t const *	calibrationOutputFileName	Output path where calibration overlay will be written, used to determine the location where calibration state is loaded/saved.
FixedString< 64 >	calibrationSaveFileSuffix	Output file suffix.
uint32_t	channelFifoSize	Size of the input channel FIFO queues (must be >0)
bool	enableCalibration	Flag to enable and disable calibration.
uint32_t	histogramMaxOutlierFailureCount	Calibration will fail if histogram accumulates more outliers than configured here.
bool	loadStateOnStartup	Flag to enable loading of stored calibration state on startup.
dwConstRigHandle_t	rigHandle	Rig handle.
uint32_t	sensorIndex	Sensor type index (e.g. IMU [0-2]), provided as parameter.
uint32_t	sensorRigIndex	Sensor rig index (e.g. sensor [0-127]), auto-populated by RR2 Loader.
uint64_t	stateWriteTimerOffsetInCycles	offset, in cycles, for the write counter. The intention is to allow to delay the first write (and subsequently other writes) so that a few cycles occur before serialization is attempted must be less than stateWriteTimerPeriodInCycles for serialization to occur.
uint64_t	stateWriteTimerPeriodInCycles	How often to serialize in node pass cycles. 0 means turn off serialization.