The open source OpenXR runtime
t/calib: Add IMU intrinsics struct
+75
+22
src/xrt/auxiliary/tracking/t_data_utils.c
+22
src/xrt/auxiliary/tracking/t_data_utils.c
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t_calibration_gui_params_parse_from_json(scene, p);
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}
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}
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void
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t_inertial_calibration_dump(struct t_inertial_calibration *c)
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{
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U_LOG_RAW("t_inertial_calibration {");
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dump_mat("transform", c->transform);
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dump_vector("offset", c->offset);
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dump_vector("bias_std", c->bias_std);
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dump_vector("noise_std", c->noise_std);
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U_LOG_RAW("}");
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}
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void
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t_imu_calibration_dump(struct t_imu_calibration *c)
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{
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U_LOG_RAW("t_imu_calibration {");
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U_LOG_RAW("accel = ");
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t_inertial_calibration_dump(&c->accel);
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U_LOG_RAW("gyro = ");
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t_inertial_calibration_dump(&c->gyro);
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U_LOG_RAW("}");
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}
+53
src/xrt/auxiliary/tracking/t_tracking.h
+53
src/xrt/auxiliary/tracking/t_tracking.h
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/*
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*
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* IMU calibration data.
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*
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*/
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/*!
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* @brief Parameters for accelerometer and gyroscope calibration.
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* @see slam_tracker::imu_calibration for a more detailed description and references.
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*/
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struct t_inertial_calibration
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{
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//! Linear transformation for raw measurements alignment and scaling.
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double transform[3][3];
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//! Offset to apply to raw measurements.
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double offset[3];
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//! Modeled sensor bias. @see slam_tracker::imu_calibration.
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double bias_std[3];
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//! Modeled measurement noise. @see slam_tracker::imu_calibration.
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double noise_std[3];
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};
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/*!
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* @brief Combined IMU calibration data.
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*/
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struct t_imu_calibration
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{
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//! Accelerometer calibration data.
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struct t_inertial_calibration accel;
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//! Gyroscope calibration data.
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struct t_inertial_calibration gyro;
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};
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/*!
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* Prints a @ref t_inertial_calibration struct
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*
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* @relates t_camera_calibration
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*/
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void
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t_inertial_calibration_dump(struct t_inertial_calibration *c);
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/*!
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* Small helper function that dumps the imu calibration data to logging.
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*
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* @relates t_camera_calibration
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*/
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void
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t_imu_calibration_dump(struct t_imu_calibration *c);
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/*
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*
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* Conversion functions.
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*
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*/