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mbrossar / ai-imu-dr

AI-IMU Dead-Reckoning
MIT License
788 stars 222 forks source link

How to get poses from IMU intergreation #51

Open ghost opened 3 years ago

ghost commented 3 years ago

Hello ， I want to know how to get poses from the pure IMU integration .It doesn't seem to appear in your paper.Thank you !

mbrossar commented 3 years ago

The simple way is to run the filter after commenting the update step.

En 20 oct. 2020 10:21, en 10:21, "宁缺毋滥" notifications@github.com escribió:

Hello ， I want to know how to get poses from the pure IMU integration .It doesn't seem to appear in your paper.Thank you !

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ghost commented 3 years ago

sorry,I don't find the updating step, can you tell me in detail?

gustavovelascoh commented 3 years ago

Hi, I think @mbrossar refers to these lines:

https://github.com/mbrossar/ai-imu-dr/blob/ddf2a52f758a10f5c20cc1649f747918bade766a/src/utils_numpy_filter.py#L130-132

https://github.com/mbrossar/ai-imu-dr/blob/ddf2a52f758a10f5c20cc1649f747918bade766a/src/utils_torch_filter.py#L123-125