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robotology / human-dynamics-estimation

Software repository for estimating human dynamics
BSD 3-Clause "New" or "Revised" License
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Add base calibration #237

Closed lrapetti closed 3 years ago

lrapetti commented 3 years ago

With this PR, we add the possibility to apply the secondary calibration also to the model base position and orientation.

This calibration procedure works analogously to the calibrateAll command, but the difference is that also a secondary calibration is applied to the base position and orientation.

lrapetti commented 3 years ago

I would like to run a couple of further test before merging, I will add the video of the outcome in this PR

lrapetti commented 3 years ago

Today I have tested the PR again and I have found out that it was not behaving as expected. Indeed with https://github.com/robotology/human-dynamics-estimation/pull/237/commits/ccd7687fb1cec0ede2e5d75342968fcce8bc7736 the problems should be fixed.

Note that I have changed the new method name to calibrateAllWithWorld because the main difference with calibrateAll command, it is that we apply also a pre-multiplication calibration matrix which change the world in order to centre it in the desired link (the link given as argument). This is documented in https://github.com/lrapetti/human-dynamics-estimation/blob/baf97260d984b42b012224da69a37b2fc0ef49a1/devices/HumanStateProvider/HumanStateProvider.cpp#L327.

I will still run some test, and put here the output, before considering the PR ready to be merged.

lrapetti commented 3 years ago

The following video shows the different output between the two calibration methods:

https://user-images.githubusercontent.com/35487806/109328533-d2439900-7859-11eb-9ba9-9f4cfdb50aa7.mov

https://user-images.githubusercontent.com/35487806/109328562-dc659780-7859-11eb-94f7-e1e69e9c4dfd.mov

lrapetti commented 3 years ago

@Yeshasvitvs @prashanthr05 I have updated the PR and tested the results (https://github.com/robotology/human-dynamics-estimation/pull/237#issuecomment-786758973), I think you can proceed with the reviews.

yeshasvitirupachuri commented 3 years ago

Thanks @lrapetti LGTM!