IMU sample in Unity

[mtschoen]

Hello there,

I'm sure this is being worked on, but is there an available sample using IMU data in Unity? I'd like to try a simple experiment where the point cloud is counter-rotated by IMU data to stabilize the horizon. I'm a little confused about where to start. I think I want to add a POSE profile to my stream reader, but I'm unsure what kind of format/dimensions this "frame" should be.

Thanks!

[MartyG-RealSense]

As you observed, there is not a Unity sample program for IMU data yet. A RealSense community member has contributed a non-Unity program for rotating the point cloud with the IMU though. Looking at this code may provide some useful insights.

https://github.com/GruffyPuffy/imutest

[mtschoen]

Thanks for the quick reply. I am currently looking through samples and actually encountered this one already. It seems that the Unity wrapper has a slightly different way of accessing frame data than the C++ examples, so I'm still not entirely sure how to proceed. I will keep searching, and if/when I have a solution I will post here.

[ogoshen]

The C# wrapper doesn't yet contain the high-level APIs to support IMU (i.e MotionFrame\Profile), but I can point you in the right direction for low-level access (not tested).

class Program
{
    struct Vector3
    {
        public float x, y, z;
    }

    static void Main(string[] args)
    {
        var pipeline = new Pipeline();
        var cfg = new Config();
        cfg.EnableAllStreams();
        pipeline.Start();

        while (true)
        {
            using (var frameset = pipeline.WaitForFrames())
            {
                var gyroFrame = frameset.FirstOrDefault<Frame>(Stream.Gyro, Format.MotionXyz32f).DisposeWith(frameset);
                var a = Marshal.PtrToStructure<Vector3>(gyroFrame.Data);
                
                var accelFrame = frameset.FirstOrDefault<Frame>(Stream.Accel, Format.MotionXyz32f).DisposeWith(frameset);
                var b = Marshal.PtrToStructure<Vector3>(accelFrame.Data);
            }
        }
    }
}

[dorodnic]

We are working on better IMU support across the SDK.

The plans is:
a. Motion and Pose frames support in C++ and python (Done)
b. IMU integration with existing C++ examples (Done)
c. Adding new C++ examples with IMU (WIP)
d. Adjust the .NET wrapper and add to Unity example

[mtschoen]

Thanks for the update. I probably won't have time to try @ogoshen's suggestion, but thanks for that, too! :)