Crate imu_calib 

Kalibr-compatible IMU intrinsic calibration for Rust.

• allan estimates noise densities and bias random walks from a long stationary recording.
• estimate estimates scale, axis misalignment and biases from static orientations and the rotations between them.
• ImuIntrinsics and ImuCorrector hold those parameters in Kalibr’s YAML layout and apply them to a live stream.

use imu_calib::ImuIntrinsics;

let intrinsics = ImuIntrinsics::identity();
let corrector = intrinsics.corrector().unwrap();

let (accel, gyro) = corrector.correct([0.0, 0.0, 9.81], [0.01, -0.02, 0.0]);

Modules

allan

Allan-variance estimation of the IMU noise parameters.

estimate

Estimating the deterministic IMU intrinsics from static orientations.

kalibr

Reading and writing Kalibr’s IMU YAML files.

Structs

ImuCorrector

Applies ImuIntrinsics to raw measurements.

ImuIntrinsics

Kalibr-compatible IMU intrinsic parameters.

ImuMsg

IMU message container compatible with standard ROS sensor messages.

ImuNoise

Continuous-time stochastic error model of an IMU.

Enums

ImuModel

Which of Kalibr’s IMU intrinsic models a parameter set belongs to.

Constants

IDENTITY3

Plain-array matrix and vector types. The public API is expressed entirely in these, so nalgebra stays an implementation detail of this crate. The 3×3 identity.

ZERO3

Plain-array matrix and vector types. The public API is expressed entirely in these, so nalgebra stays an implementation detail of this crate. The 3×3 zero matrix.

ZERO_VEC3

Plain-array matrix and vector types. The public API is expressed entirely in these, so nalgebra stays an implementation detail of this crate. The zero vector.

Type Aliases

Mat3

Plain-array matrix and vector types. The public API is expressed entirely in these, so nalgebra stays an implementation detail of this crate. A 3×3 matrix in row-major order: m[row][col].

Mat4

Plain-array matrix and vector types. The public API is expressed entirely in these, so nalgebra stays an implementation detail of this crate. A 4×4 homogeneous transform in row-major order: m[row][col].

Vec3

Plain-array matrix and vector types. The public API is expressed entirely in these, so nalgebra stays an implementation detail of this crate. A 3-element vector, [x, y, z].