Hi all,
I'm just looking for some clarification on how each IMU's orientation offset, as determined through the IMU placer, is used when running IMU IK. How are these offsets applied to collected orientation data / where and what in the source code completes this process?
Thanks,
Vincent
IMU Placer to IMU IK Clarification
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Vincent Tate
- Posts: 3
- Joined: Mon Jun 20, 2022 12:25 pm
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Dhyey Parikh
- Posts: 8
- Joined: Wed Jun 02, 2021 8:25 am
Re: IMU Placer to IMU IK Clarification
Have the same concern, want to better understand how IMU placer applies the offsets.
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Ayman Habib
- Posts: 2236
- Joined: Fri Apr 01, 2005 12:24 pm
Re: IMU Placer to IMU IK Clarification
Hello,
The orientation offsets computed by the IMU placer are used to "place" IMUs on the corresponding model segments (these are the offsets from segment frames to IMU frames). After IMU placement, the orientation of the IMUs never change relative to the model segments (i.e. never change by the IK process), instead the IK solver finds the values of coordinates that minimize the difference between the orientation of the IMUs and the recorded sensor orientations.
The documentation page below explains that process
https://simtk-confluence.stanford.edu/d ... h+IMU+Data
Hope this helps but please let us know if you continue to have questions.
-Ayman
The orientation offsets computed by the IMU placer are used to "place" IMUs on the corresponding model segments (these are the offsets from segment frames to IMU frames). After IMU placement, the orientation of the IMUs never change relative to the model segments (i.e. never change by the IK process), instead the IK solver finds the values of coordinates that minimize the difference between the orientation of the IMUs and the recorded sensor orientations.
The documentation page below explains that process
https://simtk-confluence.stanford.edu/d ... h+IMU+Data
Hope this helps but please let us know if you continue to have questions.
-Ayman