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[Update]: ProcImuAssembly

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This commit is contained in:
Jacob.lsx 2021-02-04 19:48:06 +08:00
parent 5cd65a6952
commit c43526ceb8
1 changed files with 58 additions and 10 deletions
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68
src/mynteye/device/motions.cc
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@ -20,6 +20,9 @@ MYNTEYE_BEGIN_NAMESPACE
namespace { namespace {
#define RAD2DEG(rad) (rad/M_PI*180.)
#define MPSS2G(mpss) (mpss/9.81)
void matrix_3x1(const double (*src1)[3], const double (*src2)[1], void matrix_3x1(const double (*src1)[3], const double (*src2)[1],
double (*dst)[1]) { double (*dst)[1]) {
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
@ -199,29 +202,74 @@ void Motions::ProcImuAssembly(std::shared_ptr<ImuData> data) const {
if (nullptr == motion_intrinsics_ || if (nullptr == motion_intrinsics_ ||
IsNullAssemblyOrTempDrift()) IsNullAssemblyOrTempDrift())
return; return;
// use imu_tk to calibration the imu
// the param assembly is the Misalignment matrix: T
// the param scale is the scale matrix: K
// the param bias is the bias vector: B
// X' = T*K*(X - B)
static bool init = false;
static double TxK_accel[3][3] = {0};
static double TxK_gyro[3][3] = {0};
static double accel_bias[3] = {0};
static double gyro_bias[3] = {0};
if (!init) {
matrix_3x3(motion_intrinsics_->accel.assembly,
motion_intrinsics_->accel.scale, TxK_accel);
matrix_3x3(motion_intrinsics_->gyro.assembly,
motion_intrinsics_->gyro.scale, TxK_gyro);
for (int i = 0; i < 3; ++i) {
accel_bias[i] = MPSS2G(motion_intrinsics_->accel.bias[i]);
gyro_bias[i] = RAD2DEG(motion_intrinsics_->gyro.bias[i]);
}
double dst[3][3] = {0}; // LOG(INFO) << "-------------- accel T*K --------------" << std::endl;
if (data->flag == 1) { // for (int i = 0; i < 3; ++i)
matrix_3x3(motion_intrinsics_->accel.scale, // LOG(INFO) << TxK_accel[i][0] << ", " << TxK_accel[i][1] << ", " << TxK_accel[i][2];
motion_intrinsics_->accel.assembly, dst); // LOG(INFO) << "-------------- gyro T*K --------------" << std::endl;
// for (int i = 0; i < 3; ++i)
// LOG(INFO) << TxK_gyro[i][0] << ", " << TxK_gyro[i][1] << ", " << TxK_gyro[i][2];
// LOG(INFO) << "-------------- accel bias --------------" << std::endl;
// LOG(INFO) << accel_bias[0] << ", " << accel_bias[1] << ", " << accel_bias[2];
// LOG(INFO) << "-------------- gyro bias --------------" << std::endl;
// LOG(INFO) << gyro_bias[0] << ", " << gyro_bias[1] << ", " << gyro_bias[2];
init = true;
}
if (data->flag == 0) {
double s[3][1] = {0}; double s[3][1] = {0};
double d[3][1] = {0}; double d[3][1] = {0};
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
s[i][0] = data->accel[i]; s[i][0] = data->accel[i] - accel_bias[i];
} }
matrix_3x1(dst, s, d); matrix_3x1(TxK_accel, s, d);
for (int i = 0; i < 3; i++) {
data->accel[i] = d[i][0];
}
for (int i = 0; i < 3; i++) {
s[i][0] = data->gyro[i] - gyro_bias[i];
}
matrix_3x1(TxK_gyro, s, d);
for (int i = 0; i < 3; i++) {
data->gyro[i] = d[i][0];
}
} else if (data->flag == 1) {
double s[3][1] = {0};
double d[3][1] = {0};
for (int i = 0; i < 3; i++) {
s[i][0] = data->accel[i] - accel_bias[i];
}
matrix_3x1(TxK_accel, s, d);
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
data->accel[i] = d[i][0]; data->accel[i] = d[i][0];
} }
} else if (data->flag == 2) { } else if (data->flag == 2) {
matrix_3x3(motion_intrinsics_->gyro.scale,
motion_intrinsics_->gyro.assembly, dst);
double s[3][1] = {0}; double s[3][1] = {0};
double d[3][1] = {0}; double d[3][1] = {0};
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
s[i][0] = data->gyro[i]; s[i][0] = data->gyro[i] - gyro_bias[i];
} }
matrix_3x1(dst, s, d); matrix_3x1(TxK_gyro, s, d);
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
data->gyro[i] = d[i][0]; data->gyro[i] = d[i][0];
} }