Commit 5b1d5361 authored by Ryan Pavlik's avatar Ryan Pavlik

Turn off lever arm for now

parent 8d716802
......@@ -402,7 +402,7 @@ process(TrackerPSMV &t, struct xrt_frame *xf)
if (nearest_world.got_one) {
Eigen::Vector3f position =
t.room_transform * map_vec3(t.tracked_object_position);
#if 0
auto measurement =
xrt_fusion::AbsolutePositionLeverArmMeasurement{
position.cast<double>(),
......@@ -418,7 +418,19 @@ process(TrackerPSMV &t, struct xrt_frame *xf)
// Not sure how to estimate the depth variance without
// some research.
Eigen::Vector3d(1.e-4, 1.e-4, 4.e-4)};
#else
auto measurement = flexkalman::AbsolutePositionMeasurement{
position.cast<double>(),
//! @todo this should depend on distance
// Weirdly, this is where *not* applying the
// disparity-to-distance/rectification/etc would
// simplify things, since the measurement variance is
// related to the image sensor. 1.e-4 means 1cm std dev.
// Not sure how to estimate the depth variance without
// some research.
Eigen::Vector3d(1.e-4, 1.e-4, 4.e-4)};
#endif
//! @todo predict and use actual dt - right now only IMU updates
//! this time.
// flexkalman::predict(t.filter_state, t.process_model, 1.0
......
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