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t_imu_fusion: Fix initialization of orientation from accelerometer.

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This commit is contained in:
Ryan Pavlik 2019-11-11 18:13:15 -06:00
parent 08903e67b3
commit af0515232f
1 changed files with 1 additions and 1 deletions
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2
src/xrt/auxiliary/tracking/t_imu_fusion.h
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@ -95,7 +95,7 @@ public:
// Initially, just set it to totally trust gravity. // Initially, just set it to totally trust gravity.
started_ = true; started_ = true;
quat_ = Eigen::Quaterniond::FromTwoVectors( quat_ = Eigen::Quaterniond::FromTwoVectors(
Eigen::Vector3d::UnitY(), accel.normalized()); accel.normalized(), Eigen::Vector3d::UnitY());
return true; return true;
} }
auto scale = 1. - diff; auto scale = 1. - diff;