Module imu mod IFICR

Overview

This module is designed to perform a manual rotation, meaning using user defined angles, on the provided camera attached frame initial conditions. This module is integrated into the CSPS in order to be able to perform manual or partially manual initial alignement of the camera frame. This can be necessary when IMU earth self-alignement is not possible or only partially.

Module nomenclature

The module waits the camera frame initial conditions through three physical streams that store the components of the three vectors defining the initial conditions.

Using the user-defined angles, the module initiates three physical streams that store the components of the three rotated frame vectors. Initial conditions components are stored twice to give initial and final timestamps on which they apply.

Module interface

This section gives a summary of the module interface in terms of streams and devices. The order of devices and streams is given as waited by the module. The devices interface is given by :

device( Physical ) IMU sensor

The stream input interface is :

stream( Physical | IMU ) Frame initial x-vector
stream( Physical | IMU ) Frame initial y-vector
stream( Physical | IMU ) Frame initial z-vector

and the stream output interface is :

stream( Physical | IMU ) Frame initial x-vector
stream( Physical | IMU ) Frame initial y-vector
stream( Physical | IMU ) Frame initial z-vector

The three input streams are attached as well as the three output ones.

Module operation

The module considers the three provided angles and perform successively the three fundamental rotations around z, y and x axis of the referential, in this specific order.