From b666b8b017baa38d090c7b214e5b03469d32882a Mon Sep 17 00:00:00 2001 From: Mateo de Mayo Date: Fri, 10 Feb 2023 18:06:25 -0300 Subject: [PATCH] t/slam: Use accel for prediction by default 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. --- src/xrt/auxiliary/tracking/t_tracker_slam.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/xrt/auxiliary/tracking/t_tracker_slam.cpp b/src/xrt/auxiliary/tracking/t_tracker_slam.cpp index 1279f2bec..39e1ed02d 100644 --- a/src/xrt/auxiliary/tracking/t_tracker_slam.cpp +++ b/src/xrt/auxiliary/tracking/t_tracker_slam.cpp @@ -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)