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t/psmv: Use new imu fusion in psmv positional tracking.

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Ryan Pavlik 2019-10-10 11:22:14 -05:00 committed by Jakob Bornecrantz
parent 18f9760986
commit 430e27d084
1 changed files with 8 additions and 5 deletions
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13
src/xrt/auxiliary/tracking/t_tracker_psmv.cpp
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@ -13,6 +13,7 @@
#include "tracking/t_tracking.h" #include "tracking/t_tracking.h"
#include "tracking/t_calibration_opencv.h" #include "tracking/t_calibration_opencv.h"
#include "tracking/t_fusion.h" #include "tracking/t_fusion.h"
#include "tracking/t_imu_fusion.h"
#include "util/u_var.h" #include "util/u_var.h"
#include "util/u_misc.h" #include "util/u_misc.h"
@ -97,6 +98,8 @@ struct TrackerPSMV
State filter_state; State filter_state;
ProcessModel process_model; ProcessModel process_model;
xrt_fusion::SimpleIMUFusion imu;
xrt_vec3 tracked_object_position; xrt_vec3 tracked_object_position;
Eigen::Isometry3f room_transform; Eigen::Isometry3f room_transform;
}; };
@ -455,14 +458,14 @@ imu_data(TrackerPSMV &t,
} }
float dt = time_ns_to_s(delta_ns); float dt = time_ns_to_s(delta_ns);
// Super simple fusion. t.imu.handleAccel(map_vec3(sample->accel_m_s2).cast<double>(), dt);
math_quat_integrate_velocity(&t.fusion.rot, &sample->gyro_rad_secs, dt, t.imu.handleGyro(map_vec3(sample->gyro_rad_secs).cast<double>(), dt);
&t.fusion.rot); t.imu.postCorrect();
//! @todo use better measurements instead of the above "simple fusion" //! @todo use better measurements instead of the above "simple fusion"
flexkalman::predict(t.filter_state, t.process_model, dt); flexkalman::predict(t.filter_state, t.process_model, dt);
Eigen::Quaterniond quat = Eigen::Quaternionf(map_quat(t.fusion.rot)).cast<double>();
auto meas = flexkalman::AbsoluteOrientationMeasurement{ auto meas = flexkalman::AbsoluteOrientationMeasurement{
quat, Eigen::Vector3d::Constant(0.01)}; t.imu.getQuat(), Eigen::Vector3d::Constant(0.01)};
if (!flexkalman::correctUnscented(t.filter_state, meas)) { if (!flexkalman::correctUnscented(t.filter_state, meas)) {
fprintf(stderr, fprintf(stderr,
"Got non-finite something when filtering IMU!\n"); "Got non-finite something when filtering IMU!\n");