获取 IMU 标定参数

通过API GetMotionIntrinsics(),GetMotionExtrinsics()函数，可以获取当前打开设备的IMU标定参数。

参考代码片段：

auto intrinsics = cam.GetMotionIntrinsics(&in_ok);
std::cout << "Motion Intrinsics: {" << intrinsics << "}" << std::endl;
out << "Motion Intrinsics: {" << intrinsics << "}" << std::endl;

运行结果保存在当前目录下，参考运行结果：

Motion Intrinsics: {accel: {scale: [1.00205999990004191, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00622999999999996, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00171999999999994], assembly: [1.00000000000000000, 0.00672262000000000, -0.00364474000000000, 0.00000000000000000, 1.00000000000000000, 0.00101348000000000, -0.00000000000000000, 0.00000000000000000, 1.00000000000000000, 1.00000000000000000], drift: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], noise: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], bias: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], x: [0.00856165620000000, -0.00009840052800000], y: [0.05968393300000000, -0.00130967680000000], z: [0.01861442050000000, -0.00016033523000000]}, gyro: {scale: [1.00008999999999992, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 0.99617599999999995, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00407000000000002], assembly: [1.00000000000000000, -0.00700362000000000, -0.00326206000000000, 0.00549571000000000, 1.00000000000000000, 0.00224867000000000, 0.00236088000000000, 0.00044507800000000, 1.00000000000000000, 1.00000000000000000], drift: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], noise: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], bias: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], x: [0.18721455299999998, 0.00077411070000000], y: [0.60837032000000002, -0.00939702710000000], z: [-0.78549276000000001, 0.02584820200000000]}}

完整代码样例，请见get_imu_params.cc 。