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Using xSense in mrpt

I am a new user of mrpt library ! My project is about using IMU data (xSense 4th generation).

However, I guess that some xSense data are already treated through an AHRS filter (sort of embedded Kalman filter from the documentation). And I am not able to find in mrpt library which data are exactly retrieved from the sensor ? Could you help me out finding where this information is given ?

Solution

  • You can grab raw data as well. See all the available fields in the observation data type CObservationIMU (though, not all fields are available for all IMUs...).

    You can start by running the rawlog-grabber with an example configuration file for XSens IMUs (see the list of config files at the bottom of the former link) and inspect the resulting .rawlog dataset with RawLogViewer.

    Hope it helps!