Trackers, filters and associated helper code. More...
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Files | |
| file | t_calibration.cpp |
| Calibration code. | |
| file | t_calibration_opencv.hpp |
| OpenCV calibration helpers. | |
| file | t_convert.cpp |
| Code to build conversion tables and convert images. | |
| file | t_data_utils.c |
| Small data helpers for calibration. | |
| file | t_debug_hsv_filter.cpp |
| HSV filter debug code. | |
| file | t_debug_hsv_picker.cpp |
| HSV Picker Debugging code. | |
| file | t_debug_hsv_viewer.cpp |
| HSV debug viewer code. | |
| file | t_file.cpp |
| Handling of files and calibration data. | |
| file | t_fusion.hpp |
| C++ sensor fusion/filtering code that uses flexkalman. | |
| file | t_helper_debug_sink.hpp |
| Small helper struct that for debugging views. | |
| file | t_hsv_filter.c |
| A simple HSV filter. | |
| file | t_imu.cpp |
| IMU fusion implementation - for inclusion into the single kalman-incuding translation unit. | |
| file | t_imu.h |
| C interface to basic IMU fusion. | |
| file | t_imu_fusion.hpp |
| C++ sensor fusion/filtering code that uses flexkalman. | |
| file | t_kalman.cpp |
| Single compiled file for all kalman filter using source. | |
| file | t_lowpass.hpp |
| Low-pass IIR filter. | |
| file | t_lowpass_vector.hpp |
| Low-pass IIR filter on vectors. | |
| file | t_tracker_psmv.cpp |
| PS Move tracker code. | |
| file | t_tracker_psmv_fusion.cpp |
| PS Move tracker code that is expensive to compile. | |
| file | t_tracker_psmv_fusion.hpp |
| PS Move tracker code. | |
| file | t_tracker_psvr.cpp |
| PSVR tracker code. | |
| file | t_tracking.h |
| Tracking API interface. | |
Functions | |
| struct imu_fusion * | imu_fusion::imu_fusion_create () |
| Create a struct imu_fusion. More... | |
| void | imu_fusion::imu_fusion_destroy (struct imu_fusion *fusion) |
| Destroy a struct imu_fusion. More... | |
| int | imu_fusion::imu_fusion_incorporate_gyros (struct imu_fusion *fusion, uint64_t timestamp_ns, struct xrt_vec3 const *ang_vel, struct xrt_vec3 const *ang_vel_variance) |
| Predict and correct fusion with a gyroscope reading. More... | |
| int | imu_fusion::imu_fusion_incorporate_accelerometer (struct imu_fusion *fusion, uint64_t timestamp_ns, struct xrt_vec3 const *accel, struct xrt_vec3 const *accel_variance, struct xrt_vec3 *out_world_accel) |
| Predict and correct fusion with an accelerometer reading. More... | |
| int | imu_fusion::imu_fusion_incorporate_gyros_and_accelerometer (struct imu_fusion *fusion, uint64_t timestamp_ns, struct xrt_vec3 const *ang_vel, struct xrt_vec3 const *ang_vel_variance, struct xrt_vec3 const *accel, struct xrt_vec3 const *accel_variance, struct xrt_vec3 *out_world_accel) |
| Predict and correct fusion with a simultaneous accelerometer and gyroscope reading. More... | |
| int | imu_fusion::imu_fusion_get_prediction (struct imu_fusion const *fusion, uint64_t timestamp_ns, struct xrt_quat *out_quat, struct xrt_vec3 *out_ang_vel) |
| Get the predicted state. More... | |
| int | imu_fusion::imu_fusion_get_prediction_rotation_vec (struct imu_fusion const *fusion, uint64_t timestamp_ns, struct xrt_vec3 *out_rotation_vec) |
| Get the predicted state as a rotation vector. More... | |
Detailed Description
Trackers, filters and associated helper code.
Coordinate system
Right now there is no specific convention on where a tracking systems coordinate system is centered, and is something we probably need to figure out. Right now the stereo based tracking system used by the PSVR and PSMV tracking system is centered on the camera that OpenCV decided is origin.
To go a bit further on the PSVR/PSMV case. Think about a idealized start up case, the user is wearing the HMD headset and holding two PSMV controllers. The HMD's coordinate system axis are perfectly parallel with the user coordinate with the user's coordinate system. Where -Z is forward. The user holds the controllers with the ball pointing up and the buttons on the back pointing forward. Which if you read the documentation of psmv_device will that the axis of the PSMV are also perfectly aligned with the users coordinate system. So everything "attached" to the user have it's coordinate system parallel to the user's.
The camera on the other hand is looking directly at the user, it's Z-axis and X-axis is flipped in relation to the user's. So to compare what is sees to what the user sees, everything is rotated 180° around the Y-axis.
Function Documentation
◆ imu_fusion_create()
| struct imu_fusion * imu_fusion_create | ( | ) |
Create a struct imu_fusion.
◆ imu_fusion_destroy()
| void imu_fusion_destroy | ( | struct imu_fusion * | fusion | ) |
Destroy a struct imu_fusion.
Should not be called simultaneously with any other imu_fusion function.
- Parameters
-
fusion The IMU Fusion object
◆ imu_fusion_get_prediction()
| int imu_fusion_get_prediction | ( | struct imu_fusion const * | fusion, |
| uint64_t | timestamp_ns, | ||
| struct xrt_quat * | out_quat, | ||
| struct xrt_vec3 * | out_ang_vel | ||
| ) |
Get the predicted state.
Does not advance the internal state clock.
Non-zero return means error.
- Parameters
-
fusion The IMU Fusion object timestamp_ns The timestamp corresponding to the predicted state you want. out_quat The quaternion to populate with the predicted orientation. out_ang_vel The vector to poluate with the predicted angular velocity.
◆ imu_fusion_get_prediction_rotation_vec()
| int imu_fusion_get_prediction_rotation_vec | ( | struct imu_fusion const * | fusion, |
| uint64_t | timestamp_ns, | ||
| struct xrt_vec3 * | out_rotation_vec | ||
| ) |
Get the predicted state as a rotation vector.
Does not advance the internal state clock.
This is mostly for debugging: a rotation vector can be easier to visualize or understand intuitively.
Non-zero return means error.
- Parameters
-
fusion The IMU Fusion object timestamp_ns The timestamp corresponding to the predicted state you want. out_rotation_vec The vector to poluate with the predicted orientation rotation vector.
◆ imu_fusion_incorporate_accelerometer()
| int imu_fusion_incorporate_accelerometer | ( | struct imu_fusion * | fusion, |
| uint64_t | timestamp_ns, | ||
| struct xrt_vec3 const * | accel, | ||
| struct xrt_vec3 const * | accel_variance, | ||
| struct xrt_vec3 * | out_world_accel | ||
| ) |
Predict and correct fusion with an accelerometer reading.
If you're receiving accel and gyro data at the same time, call imu_fusion_incorporate_gyros_and_accelerometer() instead.
Should not be called simultaneously with any other imu_fusion function.
Non-zero return means error.
- Parameters
-
fusion The IMU Fusion object timestamp_ns The timestamp corresponding to the information being processed with this call. accel Accelerometer data (in m/s/s) including the effect of gravity - assumed to be +y when aligned with the world. accel_variance The variance of the accelerometer measurements: part of the characteristics of the IMU being used. out_world_accel Optional output parameter: will contain the non-gravity acceleration in the world frame.
◆ imu_fusion_incorporate_gyros()
| int imu_fusion_incorporate_gyros | ( | struct imu_fusion * | fusion, |
| uint64_t | timestamp_ns, | ||
| struct xrt_vec3 const * | ang_vel, | ||
| struct xrt_vec3 const * | ang_vel_variance | ||
| ) |
Predict and correct fusion with a gyroscope reading.
dt should not be zero: If you're receiving accel and gyro data at the same time, call imu_fusion_incorporate_gyros_and_accelerometer() instead.
Should not be called simultaneously with any other imu_fusion function.
Non-zero return means error.
- Parameters
-
fusion The IMU Fusion object timestamp_ns The timestamp corresponding to the information being processed with this call. ang_vel Angular velocity vector from gyroscope: in radians per second. ang_vel_variance The variance of the angular velocity measurements: part of the characteristics of the IMU being used.
◆ imu_fusion_incorporate_gyros_and_accelerometer()
| int imu_fusion_incorporate_gyros_and_accelerometer | ( | struct imu_fusion * | fusion, |
| uint64_t | timestamp_ns, | ||
| struct xrt_vec3 const * | ang_vel, | ||
| struct xrt_vec3 const * | ang_vel_variance, | ||
| struct xrt_vec3 const * | accel, | ||
| struct xrt_vec3 const * | accel_variance, | ||
| struct xrt_vec3 * | out_world_accel | ||
| ) |
Predict and correct fusion with a simultaneous accelerometer and gyroscope reading.
Should not be called simultaneously with any other imu_fusion function.
Non-zero return means error.
- Parameters
-
fusion The IMU Fusion object timestamp_ns The timestamp corresponding to the information being processed with this call. ang_vel Angular velocity vector from gyroscope: radians/s ang_vel_variance The variance of the angular velocity measurements: part of the characteristics of the IMU being used. accel Accelerometer data (in m/s/s) including the effect of gravity - assumed to be +y when aligned with the world. accel_variance The variance of the accelerometer measurements: part of the characteristics of the IMU being used. out_world_accel Optional output parameter: will contain the non-gravity acceleration in the world frame.
