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| Code Block |
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"fusion": {
"type": "ImuOpticalFusion",
"settings": {
"echoFusedPose": false,
"echoOpticalPose": true,
"runIntercalibration": true,
"Autocalibration": {
"minAgeS": 60.0,
"nSamplesForAutocalibration": 1500,
"nSamplesForSteady": 256,
"noiseRmsLimit": 0.02,
"steadyThresholdAverage": 0.2,
"steadyThresholdRms": 1.0
},
"MotionDetection": {
"omegaLimit": 2.0,
"positionSampleInterval": 1000,
"rotationFilterAlpha": 0.9,
"timeToUnknown": 500
},
"PredictionSensorFusion": {
"filterOrderalignment": 2, {
"predictionIntervalw": 1.0.01,
}, "x": 0.0,
"SensorFusion": { "alignmenty": {0.0,
"wz": 10.0,
},
"xorientationWeight": 0.0005,
"ytiltCorrection": 0.0null,
"zyawWeight": 0.001,
},
"orientationWeightpredictionInterval": 0.00501,
"tiltCorrectionsggPointsEachSide": null5,
"yawWeightsggPolynomialOrder": 0.01 5
}
}
} |
Parameter name | Description | Default |
|---|---|---|
type | Type of sensor fusion. At the moment only default option possible. | ImuOpticalFusion |
echoFusedPose | Print fused pose like it is output | false |
echoOpticalPose | Print optical pose like it is received by fusion | false |
runIntercalibration | Starts intercalibration between IMU and optical target | true |
minAgeS | Minimum time between two autocalibrations | 60.0 |
nSamplesForAutocalibration | Number of samples used by autocalibration | 1500 |
nSamplesForSteady | Number of samples needed below threshold to trigger calibration | 256 |
noiseRmsLimit | Noise limit | 0.02 |
steadyThresholdAverage | Threshold average limit | 0.2 |
steadyThresholdRms | Threshold RMS limit | 1.0 |
omegaLimit | Omega limit | 2.0 |
positionSampleInterval | Interval between two position samples for motion detection | 1000 |
rotationFilterAlpha | Weight for rotation low-pass filter | 0.9 |
timeToUnknown | Interval to autocalibration “unknown” state | 500 |
alignment | Alignment quaternion between IMU and optical target. Insert the result of the intercalibration here. | 1, 0, 0, 0 |
orientationWeight | Amount of correction of angle calculated from gyroscope data by optical measurements (roll, pitch, yaw) | 0.005 |
tiltCorrection | Specify for correcting tilt of angle calculated from gyroscope data by vertical calculated from gravity measurements. This feature is not available yet. | null |
yawWeight | Amount of yaw correction by optical data, if tilt correction is active | 0.01 |
predictionInterval | Time to look into the future for calculation of the output quaternion | 0.01 |
sggPointsEachSide | Smoothing filter points each side | 5 |
sggPolynomialOrder | Smoothing filter polynomial order | 5 |
This filter needs as input:
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Apply the output from the fusion hub to an Unreal object eg. a cine camera actor.
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Hardware Preparation
Inertial
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Measurement Units
General documentation for LPMS IMUs is here.
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