t_dead_reckoning.c File Reference

SLAM tracking code. More...

#include "xrt/xrt_defines.h"
#include "util/u_logging.h"
#include "util/u_time.h"
#include "math/m_filter_fifo.h"
#include "math/m_vec3.h"
#include "math/m_predict.h"
#include "math/m_api.h"
#include "t_dead_reckoning.h"

Include dependency graph for t_dead_reckoning.c:

Functions
void	t_apply_dead_reckoning (struct m_ff_vec3_f32 *gyro_ff, struct m_ff_vec3_f32 *accel_ff, const struct xrt_vec3 *gravity_correction, timepoint_ns when_ns, const struct xrt_space_relation *base_rel, timepoint_ns base_rel_ts, struct xrt_space_relation *out_relation)
	Apply dead reckoning to a base relation using IMU data from filter fifos. More...

Detailed Description

SLAM tracking code.

Author

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Mateo de Mayo mateo.nosp@m..dem.nosp@m.ayo@c.nosp@m.olla.nosp@m.bora..nosp@m.com

Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com

Function Documentation

t_apply_dead_reckoning()

void t_apply_dead_reckoning	(	struct m_ff_vec3_f32 *	gyro_ff,
		struct m_ff_vec3_f32 *	accel_ff,
		const struct xrt_vec3 *	gravity_correction,
		timepoint_ns	when_ns,
		const struct xrt_space_relation *	base_rel,
		timepoint_ns	base_rel_ts,
		struct xrt_space_relation *	out_relation
	)

Apply dead reckoning to a base relation using IMU data from filter fifos.

The filter fifos should be exclusively locked and unmodified during the runtime of this function.

Parameters

gyro_ff	The gyro filter fifo.
accel_ff	The accelerometer filter fifo. Can be NULL to only use gyro.
gravity_correction	Gravity correction to apply to accelerometer data. Can be NULL if accel_ff is NULL.
when_ns	The timestamp to predict to.
base_rel	The base relation to start dead reckoning from.
base_rel_ts	The timestamp of the base relation.
out_relation	The predicted relation output.

Todo:

Instead of using same a and g values, do an interpolated sample like this: