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Attempt to fuse gyro readings with webcam data.

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This commit is contained in:
Andrzej Kapolka 2013-06-20 16:07:33 -07:00
parent 02b881aa33
commit 7e34bef01e
1 changed files with 17 additions and 2 deletions
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19
interface/src/SerialInterface.cpp
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@ -301,8 +301,17 @@ void SerialInterface::readData(float deltaTime) {
_estimatedVelocity += deltaTime * _estimatedAcceleration; _estimatedVelocity += deltaTime * _estimatedAcceleration;
_estimatedPosition += deltaTime * _estimatedVelocity; _estimatedPosition += deltaTime * _estimatedVelocity;
_estimatedVelocity *= DECAY_VELOCITY; _estimatedVelocity *= DECAY_VELOCITY;
_estimatedPosition *= DECAY_POSITION;
// Attempt to fuse gyro position with webcam position
Webcam* webcam = Application::getInstance()->getWebcam();
if (webcam->isActive()) {
_estimatedPosition = glm::mix(_estimatedPosition, webcam->getEstimatedPosition(),
1.0f / SENSOR_FUSION_SAMPLES);
} else {
_estimatedPosition *= DECAY_POSITION;
}
// Accumulate a set of initial baseline readings for setting gravity // Accumulate a set of initial baseline readings for setting gravity
if (totalSamples == 0) { if (totalSamples == 0) {
_gravity = _lastAcceleration; _gravity = _lastAcceleration;
@ -327,6 +336,12 @@ void SerialInterface::readData(float deltaTime) {
_estimatedRotation = safeEulerAngles(estimatedRotation); _estimatedRotation = safeEulerAngles(estimatedRotation);
// Fuse gyro roll with webcam roll
if (webcam->isActive()) {
_estimatedRotation.z = glm::mix(_estimatedRotation.z, webcam->getEstimatedRotation().z,
1.0f / SENSOR_FUSION_SAMPLES);
}
totalSamples++; totalSamples++;
} }