⚠️ this library is no longer actively maintained, but left for posterirty of users who need convenience wrappers to the APDM Opal v1 and v2 hardware model's HDF5 file specification

imuDataUtils

A general C++ library for constructing and holding IMU data

Class imu represents a generic class to hold IMU data. It may be constructed directly or a map may be created to map the IMU to its label. datapkgr namepspace handles this. It also provides an extended contructor for imu to conveniently construct that map from an IMU file.

Note: imuDataUtils does not perform estimation of any sort on IMU data. Its purpose is to simply read, write, and hold IMU data across different sources. It is intended to be a useful subcomponent of larger estimation frameworks.

Executables

In the /exe/ folder you'll find the source code for 3 executables which are built by CMake:

1. cutImuH5ByIdxs: cut an h5 file of IMUs down to certain indexes in the data.

usage: ./cutImuH5ByIdxs path/to/file.h5 file/to/save.h5 (int)StartIdx (int)StopIdx

2. cutImuH5ByUnixTimestamps: same as above but cut down by nearest unix time stamps in the data (microseconds UTC)

usage: ./cutImuH5ByUnixTimestamps path/to/file.h5 file/to/save.h5 (int)StartTime (int)StopTime

3. imuh5tocsv: convert an h5 file of IMU data to a csv file

usage: ./imuh5tocsv path/to/h5/file.h5 file/to/save/to.csv

Dependencies

• Boost::Filesystem
• installed HighFive library
• hdf5 libraries (Ubuntu: sudo apt-get install libhdf5-serial-dev)

Installation

Built using CMake From root of repo:

- mkdir build
- cd build
- cmake ..
- make install # (may require root privileges)
- make test # (optional, runs unit tests)

Supported IMU file types

See supported IMU file formats for more info.

• APDM .h5 files (version 5)