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t/calib: Add IMU intrinsics struct

+75
+22
src/xrt/auxiliary/tracking/t_data_utils.c
··· 356 356 t_calibration_gui_params_parse_from_json(scene, p); 357 357 } 358 358 } 359 + 360 + void 361 + t_inertial_calibration_dump(struct t_inertial_calibration *c) 362 + { 363 + U_LOG_RAW("t_inertial_calibration {"); 364 + dump_mat("transform", c->transform); 365 + dump_vector("offset", c->offset); 366 + dump_vector("bias_std", c->bias_std); 367 + dump_vector("noise_std", c->noise_std); 368 + U_LOG_RAW("}"); 369 + } 370 + 371 + void 372 + t_imu_calibration_dump(struct t_imu_calibration *c) 373 + { 374 + U_LOG_RAW("t_imu_calibration {"); 375 + U_LOG_RAW("accel = "); 376 + t_inertial_calibration_dump(&c->accel); 377 + U_LOG_RAW("gyro = "); 378 + t_inertial_calibration_dump(&c->gyro); 379 + U_LOG_RAW("}"); 380 + }
+53
src/xrt/auxiliary/tracking/t_tracking.h
··· 217 217 218 218 /* 219 219 * 220 + * IMU calibration data. 221 + * 222 + */ 223 + 224 + /*! 225 + * @brief Parameters for accelerometer and gyroscope calibration. 226 + * @see slam_tracker::imu_calibration for a more detailed description and references. 227 + */ 228 + struct t_inertial_calibration 229 + { 230 + //! Linear transformation for raw measurements alignment and scaling. 231 + double transform[3][3]; 232 + 233 + //! Offset to apply to raw measurements. 234 + double offset[3]; 235 + 236 + //! Modeled sensor bias. @see slam_tracker::imu_calibration. 237 + double bias_std[3]; 238 + 239 + //! Modeled measurement noise. @see slam_tracker::imu_calibration. 240 + double noise_std[3]; 241 + }; 242 + 243 + /*! 244 + * @brief Combined IMU calibration data. 245 + */ 246 + struct t_imu_calibration 247 + { 248 + //! Accelerometer calibration data. 249 + struct t_inertial_calibration accel; 250 + 251 + //! Gyroscope calibration data. 252 + struct t_inertial_calibration gyro; 253 + }; 254 + /*! 255 + * Prints a @ref t_inertial_calibration struct 256 + * 257 + * @relates t_camera_calibration 258 + */ 259 + void 260 + t_inertial_calibration_dump(struct t_inertial_calibration *c); 261 + 262 + /*! 263 + * Small helper function that dumps the imu calibration data to logging. 264 + * 265 + * @relates t_camera_calibration 266 + */ 267 + void 268 + t_imu_calibration_dump(struct t_imu_calibration *c); 269 + 270 + 271 + /* 272 + * 220 273 * Conversion functions. 221 274 * 222 275 */