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Normalize IMU pitch/roll values to [-180, 180] #2171

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merged 2 commits into from
Jul 28, 2021
Merged

Normalize IMU pitch/roll values to [-180, 180] #2171

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b04c5be
Normalize IMU pitch/roll values to [-180, 180]
N-M-T Jul 28, 2021
c3d6284
Applied @papr suggestions
N-M-T Jul 28, 2021
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Normalize IMU pitch/roll values to [-180, 180]
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@N-M-T
N-M-T committed Jul 28, 2021
commit b04c5bea7b1a4be832db9660709ae902baaa2d8c
11 changes: 9 additions & 2 deletions pupil_src/shared_modules/imu_timeline.py
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Original file line number Diff line number Diff line change
Expand Up @@ -204,13 +204,17 @@ def update(self, accel, gyro): # 2-tuples (x, y, z) for accel, gyro

# These are modified to account for Invisible IMU coordinate system and positioning of
# the IMU within the invisible headset
self.roll = (
roll = (
np.degrees(
-np.arcsin(2.0 * (self.q[1] * self.q[3] - self.q[0] * self.q[2]))
)
+ 7
)
self.pitch = (
# bring to range [-180. 180)
roll = ((roll + 180) % 360) - 180
self.roll = roll
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Suggested change
roll = ((roll + 180) % 360) - 180
self.roll = roll
self.roll = ((roll + 180) % 360) - 180


pitch = (
np.degrees(
np.arctan2(
2.0 * (self.q[0] * self.q[1] + self.q[2] * self.q[3]),
Expand All @@ -222,6 +226,9 @@ def update(self, accel, gyro): # 2-tuples (x, y, z) for accel, gyro
)
+ 90
)
# bring to range [-180. 180)
pitch = ((pitch + 180) % 360) - 180
self.pitch = pitch
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Suggested change
pitch = ((pitch + 180) % 360) - 180
self.pitch = pitch
self.pitch = ((pitch + 180) % 360) - 180



class IMURecording:
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