The open source OpenXR runtime
d/wmr: Apply HMD IMU correction from calibration.
Apply the mix_matrix and bias_offsets adjustments for
IMU readings.
+6
-2
+6
-2
src/xrt/drivers/wmr/wmr_hmd.c
+6
-2
src/xrt/drivers/wmr/wmr_hmd.c
···
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struct xrt_vec3 raw_accel[4];
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for (int i = 0; i < 4; i++) {
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-
struct xrt_vec3 sample;
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-
vec3_from_hololens_gyro(wh->packet.gyro, i, &sample);
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+
struct xrt_vec3 raw_sample, sample;
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+
vec3_from_hololens_gyro(wh->packet.gyro, i, &raw_sample);
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+
math_matrix_3x3_transform_vec3(&wh->config.sensors.gyro.mix_matrix, &raw_sample, &sample);
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+
math_vec3_accum(&wh->config.sensors.gyro.bias_offsets, &sample);
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math_quat_rotate_vec3(&wh->gyro_to_centerline.orientation, &sample, &raw_gyro[i]);
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vec3_from_hololens_accel(wh->packet.accel, i, &sample);
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+
math_matrix_3x3_transform_vec3(&wh->config.sensors.accel.mix_matrix, &raw_sample, &sample);
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+
math_vec3_accum(&wh->config.sensors.accel.bias_offsets, &sample);
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math_quat_rotate_vec3(&wh->accel_to_centerline.orientation, &sample, &raw_accel[i]);
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}
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