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t/slam: Use accel for prediction by default

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Before we were not doing this because we have a hardcoded gravity vector.
Due to this, if the IMU gravity is too different, it causes the prediction to
bounce around slightly.
In practice the difference seems to be sufficiently small so as to be almost
not noticeable and we get the latency improvements we get are probably worth it.
This commit is contained in:
Mateo de Mayo 2023-02-10 18:06:25 -03:00 committed by Moshi Turner
parent 4ac9d985e5
commit b666b8b017
1 changed files with 1 additions and 1 deletions
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2
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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@ -68,7 +68,7 @@ DEBUG_GET_ONCE_LOG_OPTION(slam_log, "SLAM_LOG", U_LOGGING_INFO)
DEBUG_GET_ONCE_OPTION(slam_config, "SLAM_CONFIG", nullptr)
DEBUG_GET_ONCE_BOOL_OPTION(slam_ui, "SLAM_UI", false)
DEBUG_GET_ONCE_BOOL_OPTION(slam_submit_from_start, "SLAM_SUBMIT_FROM_START", false)
DEBUG_GET_ONCE_NUM_OPTION(slam_prediction_type, "SLAM_PREDICTION_TYPE", long(SLAM_PRED_SP_SO_IA_SL))
DEBUG_GET_ONCE_NUM_OPTION(slam_prediction_type, "SLAM_PREDICTION_TYPE", long(SLAM_PRED_SP_SO_IA_IL))
DEBUG_GET_ONCE_BOOL_OPTION(slam_write_csvs, "SLAM_WRITE_CSVS", false)
DEBUG_GET_ONCE_OPTION(slam_csv_path, "SLAM_CSV_PATH", "evaluation/")
DEBUG_GET_ONCE_BOOL_OPTION(slam_timing_stat, "SLAM_TIMING_STAT", true)