| Commit message (Collapse) | Author | Age | Files | Lines |
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Also updated the visualization in calibrate.c to show
position & orientation as calculated by each lighthouse
at the same time
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This feature removes the requirement that you calibrate
with the tracked object in any particular orientation.
The IMU on the tracked object will be used to determine
what direction is "up"
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quattomatrix33() needed to be updated after the fix in quatfrom2vectors
Additional poser updates to make it more robust.
Poser is now updating based on both lighthouses. Expect significant jitter from this.
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I've been seeing starvation that manifests itself as weird light data coming into the disambiguator. A major cause ended up being starvation. This change will cut the frequency of poser calls by by 75%
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Haven't tested it yet, low confidence it's right,
but the code is on the right track.
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The z=0 plane is now initially aligned to the
device's z=0 plane during calibration.
(works really well for the tracker, which is
oriented with Z in the proper direction when
sitting on a horizontal surface)
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Sometimes the search algorithm would spend way too much time making a bunch of small improvements, when it would have been better to just stop and call it "good enough"
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There's a ton of code cruft, and the algorithm is currently too slow. BUT I can track an object using only 1 lighthouse for tracking, at (I believe) an update rate of at least 7.5 HZ. By tracking, I know the position and orientation of the lighthouses relative to the tracked object, and I know the tracked object's location relative to the lighthouse. I don't have the orientation of the tracked object relative to the lighthouse yet, but that should be easy given the rest of the "knowns."
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# Conflicts:
# src/poser_turveytori.c
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Lots of cruft. Lots of room for improving performance.
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OctavioRadii converges to the right radius!!!!
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