Reading IMU data from raw (binary) data.

Note

SW Release Applicability: This tutorial is applicable to modules in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

The dwSensorIMU_processRawData() and dwSensorIMU_popFrame() functions can be used to parse raw sensor data and read the measurements in the dwIMUFrame format. dwSensorIMU_processRawData() copies parsed data, therefore the raw data can be returned after the call.

Example

The following code shows the general structure of a program reading raw data from a sensor, serializing it and parsing it.

dwSensorHandle_t imuSensor;
dwSAL_createSensor(&imuSensor, ..., ...);

dwSensor_start(imuSensor);

const uint8_t *data = nullptr;
size_t size         = 0;

while(loop)
{
    dwStatus status = DW_NOT_READY;

    while (status == DW_NOT_READY)
    {
        dwSensor_readRawData(&data, &size, 1000000, imuSensor);

        status = dwSensorIMU_processRawData(data, size, imuSensor);

        dwSensorSerializer_serializeDataAsync(data, size, ...);

        dwSensor_returnRawData(data, imuSensor);
    }

    dwIMUFrame frame{};
    dwSensorIMU_popFrame(&frame, imuSensor);

    ...
}

dwSensor_stop(imuSensor);
dwSAL_releaseSensor(&imuSensor);

For more details see Simple Sensor Recording Sample