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Normalize quats in predicted poses #14

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Normalize quats in predicted poses #14

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14 changes: 10 additions & 4 deletions driver_files/src/Driver/TrackerDevice.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
#include "TrackerDevice.hpp"

#define EPSILON 1.e-6

void normalizeQuat(double pose[])
{

Expand All @@ -9,10 +11,13 @@ void normalizeQuat(double pose[])
pose[5] * pose[5] +
pose[6] * pose[6]);

pose[3] /= mag;
pose[4] /= mag;
pose[5] /= mag;
pose[6] /= mag;
if (mag > EPSILON)
{
pose[3] /= mag;
pose[4] /= mag;
pose[5] /= mag;
pose[6] /= mag;
}
}

ExampleDriver::TrackerDevice::TrackerDevice(std::string serial, std::string role):
Expand Down Expand Up @@ -267,6 +272,7 @@ int ExampleDriver::TrackerDevice::get_next_pose(double time_offset, double pred[


}
normalizeQuat(pred);
//printf("::: %f\n", pred[0]);
return statuscode;
//return pred[0], pred[1], pred[2], pred[3], pred[4], pred[5], pred[6];
Expand Down