The open source OpenXR runtime
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.
authored by
Mateo de Mayo
and committed by
Moshi Turner
b666b8b0
4ac9d985
+1
-1
+1
-1
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
+1
-1
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
···
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DEBUG_GET_ONCE_OPTION(slam_config, "SLAM_CONFIG", nullptr)
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DEBUG_GET_ONCE_BOOL_OPTION(slam_ui, "SLAM_UI", false)
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DEBUG_GET_ONCE_BOOL_OPTION(slam_submit_from_start, "SLAM_SUBMIT_FROM_START", false)
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-
DEBUG_GET_ONCE_NUM_OPTION(slam_prediction_type, "SLAM_PREDICTION_TYPE", long(SLAM_PRED_SP_SO_IA_SL))
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+
DEBUG_GET_ONCE_NUM_OPTION(slam_prediction_type, "SLAM_PREDICTION_TYPE", long(SLAM_PRED_SP_SO_IA_IL))
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DEBUG_GET_ONCE_BOOL_OPTION(slam_write_csvs, "SLAM_WRITE_CSVS", false)
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DEBUG_GET_ONCE_OPTION(slam_csv_path, "SLAM_CSV_PATH", "evaluation/")
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DEBUG_GET_ONCE_BOOL_OPTION(slam_timing_stat, "SLAM_TIMING_STAT", true)