Query about IMU measure in VIO

[lenardxu]

Greetings!
First off, I am currently using your rpg_svo_pro_open for VI Odometry. For that, I'd like to thank you for general share.

Then, I want to ask about the necessary IMU data. On my side, I have such a IMU sensor (BNO055) that has its own fusion algorithm that can output fused data including linear acceleration, angular rate and absolute/relative orientation. But when I check the related code of yours, I feel that your algorithm may instead simply need "raw" acceleration (i.e., with gravity vector integrated) and angular rate. Am I understanding that right?