Pose matching: Match the gravity vector of the HMD

Question

Pose matching: Match the gravity vector of the HMD

thaytan opened this issue 5 years ago · 3 comments

Given gravity vectors from the IMU, we can make sure that the extracted poses all align the gravity vector in (approximately) the same direction to reject obviously wrong poses. The CV code usually manages to match the HMD most strongly, so if we get a really good pose for the HMD we can use that to sanity check the controllers.

Answer 1 · 2020-12-21T17:09:28.000Z

This was somewhat implemented in 7f2a7d3, but will need re-visiting later

Answer 2 · 2021-01-31T17:46:50.000Z

An improved implementation of this idea is in b35e5e9 and 3b586b9

Answer 3 · 2021-03-16T13:54:53.000Z

Discovered that I actually completely broke this in b35e5e9, but it's working now (as of ed1c530) and really helps