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Fix sporadic spinning bug in rs-motion.cpp #7500

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merged 2 commits into from
Oct 8, 2020
Merged

Fix sporadic spinning bug in rs-motion.cpp #7500

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cad2d26
Update rs-motion.cpp
krazycoder2k Oct 2, 2020
7fec4bf
Merge pull request #1 from krazycoder2k/krazycoder2k-patch-1
krazycoder2k Oct 2, 2020
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10 changes: 6 additions & 4 deletions examples/motion/rs-motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -117,15 +117,17 @@ class rotation_estimator
/* alpha indicates the part that gyro and accelerometer take in computation of theta; higher alpha gives more weight to gyro, but too high
values cause drift; lower alpha gives more weight to accelerometer, which is more sensitive to disturbances */
float alpha = 0.98;
bool first = true;
bool firstGyro = true;
bool firstAccel = true;
// Keeps the arrival time of previous gyro frame
double last_ts_gyro = 0;
public:
// Function to calculate the change in angle of motion based on data from gyro
void process_gyro(rs2_vector gyro_data, double ts)
{
if (first) // On the first iteration, use only data from accelerometer to set the camera's initial position
if (firstGyro) // On the first iteration, use only data from accelerometer to set the camera's initial position
{
firstGyro = false;
last_ts_gyro = ts;
return;
}
Expand Down Expand Up @@ -160,9 +162,9 @@ class rotation_estimator

// If it is the first iteration, set initial pose of camera according to accelerometer data (note the different handling for Y axis)
std::lock_guard<std::mutex> lock(theta_mtx);
if (first)
if (firstAccel)
{
first = false;
firstAccel = false;
theta = accel_angle;
// Since we can't infer the angle around Y axis using accelerometer data, we'll use PI as a convetion for the initial pose
theta.y = PI;
Expand Down