Open device success
Motion Intrinsics: {accel: {scale: [1.00116999824541697, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00574000000000008, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00368999999999997], assembly: [1.00000000000000000, -0.00085117100000000, -0.00167800000000000, 0.00000000000000000, 1.00000000000000000, -0.00092446900000000, -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: [0.00721885660000000, -0.00002738025600000], y: [0.00851315170000000, 0.00010687025000000], z: [-0.00813580470000000, 0.00005845499900000]}, gyro: {scale: [1.00130999999999992, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00093999999999994, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00435000000000008], assembly: [1.00000000000000000, 0.00057769300000000, -0.00030928800000000, -0.00011987300000000, 1.00000000000000000, 0.00199108000000000, 0.00033164000000000, -0.00228316000000000, 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: [0.23946206002000001, -0.00103628300000000], y: [0.12068726130000000, -0.00450523140000000], z: [0.10734478983000000, -0.00182436730000000]}}
Motion Extrinsics left to imu: {rotation: [0.99996651999999997, 0.00430873000000000, 0.00695718000000000, 0.00434878000000000, -0.99997400999999997, -0.00575128000000000, 0.00693222000000000, 0.00578135000000000, -0.99995926000000002], translation: [-47.77362000000000108, -2.23730999999999991, -1.60071000000000008]}
Imu params saved to imu_params.params in current folder.
assembly (3x3 matrix) has 10 values.
std::ostream &operator<<(std::ostream &os, const ImuIntrinsics &in) {
...
os << ", assembly: [";
for (int i = 0; i <= 2; i++)
os << in.assembly[0][i] << ", ";
for (int i = 0; i <= 2; i++)
os << in.assembly[1][i] << ", ";
for (int i = 0; i <= 2; i++)
os << in.assembly[2][i] << ", ";
os << in.assembly[2][2] << "]";
...