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t/psmv: Rotate IMU into something like camera space

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Ryan Pavlik 2019-10-15 10:32:35 +02:00 committed by Jakob Bornecrantz
parent ccd139ab68
commit c713ca61f2
1 changed files with 4 additions and 1 deletions
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5
src/xrt/auxiliary/tracking/t_tracker_psmv.cpp
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@ -510,7 +510,10 @@ imu_data(TrackerPSMV &t,
//! @todo use better measurements instead of the above "simple fusion"
flexkalman::predict(t.filter_state, t.process_model, dt);
auto meas = flexkalman::AbsoluteOrientationMeasurement{
t.imu.getQuat(), Eigen::Vector3d::Constant(0.01)};
Eigen::Quaterniond(
Eigen::AngleAxisd(EIGEN_PI, Eigen::Vector3d::UnitY())) *
t.imu.getQuat(),
Eigen::Vector3d::Constant(0.01)};
if (!flexkalman::correctUnscented(t.filter_state, meas)) {
fprintf(stderr,
"Got non-finite something when filtering IMU!\n");