GitHub - RioDream/PhonePosition: try to get attitude and position of the phone, using IMU and AHRS

#获取尺度因子

SKF data的获取

ipad获取
使用imageRotate.py 旋转
将 documents 中的txt 和旋转之后的图像都拷贝到 raw_data
删除 img2time.txt 中前几帧黑的，一般从6.jpg开始
并行运行 a. skf_offline b. AnaSensor.py 获得的 IMU.txt 第一行需要和 img2time.txt 中第一行的image时间一致，就是说删掉之前的
将img2time.txt IMUdata.txt 拷贝到 skf_data 然后新建 summary.txt 文档
找一个 attitude.txt 中和 img2time 和 IMUdata.txt 第一行最接近的时间，使用其 gravity

Name		Name	Last commit message	Last commit date
Latest commit History 17 Commits
EX_data		EX_data
filtfilt_implementations		filtfilt_implementations
quaternion_library		quaternion_library
slprj		slprj
.gitignore		.gitignore
1.png		1.png
10.png		10.png
11.png		11.png
12.png		12.png
13.png		13.png
14.png		14.png
15.png		15.png
16.png		16.png
2.png		2.png
3.png		3.png
4.png		4.png
5.png		5.png
6.png		6.png
6DOF Animation.avi		6DOF Animation.avi
7.png		7.png
8.png		8.png
9.png		9.png
ANA_analyse.m		ANA_analyse.m
ANA_computeErrorAndAppend.m		ANA_computeErrorAndAppend.m
ANA_extractCovFromP_And_append.m		ANA_extractCovFromP_And_append.m
Debug_assertNearlyEqual.m		Debug_assertNearlyEqual.m
Debug_assertSymmetric.m		Debug_assertSymmetric.m
Debug_isNearlyEqual.m		Debug_isNearlyEqual.m
EX_compareTraj.m		EX_compareTraj.m
EX_compareTraj2.m		EX_compareTraj2.m
EX_compareTraj2.m~		EX_compareTraj2.m~
EX_convert2Scene.m		EX_convert2Scene.m
EX_convert_pCinS_2_G.m		EX_convert_pCinS_2_G.m
EX_data_linPosHp7.mat		EX_data_linPosHp7.mat
EX_do.m		EX_do.m
EX_plotBothTraj.m		EX_plotBothTraj.m
EX_plotScales.m		EX_plotScales.m
EX_plotTrackTime.m		EX_plotTrackTime.m
EX_positionWhenStill.m		EX_positionWhenStill.m
MAKE_SYMMETRIC.m		MAKE_SYMMETRIC.m
MahonyAHRS.m		MahonyAHRS.m
PLOT_ENV_configFigure.m		PLOT_ENV_configFigure.m
Pattern.bmp		Pattern.bmp
PatternAR_desktop		PatternAR_desktop
Plot_drawCovWithError.m		Plot_drawCovWithError.m
Plot_drawPose.m		Plot_drawPose.m
Plot_drawPose_useQuiverHandle.m		Plot_drawPose_useQuiverHandle.m
Plot_drawPose_useQuiverHandles.m		Plot_drawPose_useQuiverHandles.m
Plot_drawPoses.m		Plot_drawPoses.m
Plot_drawRectangle.m		Plot_drawRectangle.m
Plot_scalePlot.m		Plot_scalePlot.m
Proc_getCorrespondences.m		Proc_getCorrespondences.m
Prop_getDeltaQ.m		Prop_getDeltaQ.m
Prop_getPHI.m		Prop_getPHI.m
Prop_getQd.m		Prop_getQd.m
Prop_partitionP.m		Prop_partitionP.m
Prop_propagate.m		Prop_propagate.m
Prop_propagate_cov.m		Prop_propagate_cov.m
Prop_propagate_p.m		Prop_propagate_p.m
Prop_propagate_v.m		Prop_propagate_v.m
Quater_2Euler.m		Quater_2Euler.m
Quater_2Mat.m		Quater_2Mat.m
Quater_L.m		Quater_L.m
Quater_conj.m		Quater_conj.m
Quater_eular2mat.m		Quater_eular2mat.m
Quater_inv.m		Quater_inv.m
Quater_mat2q.m		Quater_mat2q.m
Quater_multi.m		Quater_multi.m
Quater_multiSym.m		Quater_multiSym.m
Quater_normalize.m		Quater_normalize.m
Quater_omega.m		Quater_omega.m
README.md		README.md
SF_calcTranslateByRanT.m		SF_calcTranslateByRanT.m
SF_getCameraPositionsInG.m		SF_getCameraPositionsInG.m
SF_getGoodIndexPairs.m		SF_getGoodIndexPairs.m
SF_getLinPosHP.m		SF_getLinPosHP.m
SF_getNeatTimeSensorInfoByInterpolation.m		SF_getNeatTimeSensorInfoByInterpolation.m
SF_getScaleFactor.m		SF_getScaleFactor.m
SF_getSceneTranslateByPairs.m		SF_getSceneTranslateByPairs.m
SF_getTimestampPairsFromIndexPairs.m		SF_getTimestampPairsFromIndexPairs.m
SF_getWorldTranslateByPairs.m		SF_getWorldTranslateByPairs.m
SKF.m		SKF.m
SKF_ANA_.m		SKF_ANA_.m
SKF_IMU_getWandA.m		SKF_IMU_getWandA.m
SKF_MATH_makeSymmetric.m		SKF_MATH_makeSymmetric.m
SKF_PROP_propagate.m		SKF_PROP_propagate.m
SKF_UPDATE_doEkfUpdate.m		SKF_UPDATE_doEkfUpdate.m
SKF_Update_computeJacobians.m		SKF_Update_computeJacobians.m
SKF_Update_getEstimateZ.m		SKF_Update_getEstimateZ.m
SKF_X_getIMUpart.m		SKF_X_getIMUpart.m
SKF_X_setIMUpart.m		SKF_X_setIMUpart.m
SKF_checkState.m		SKF_checkState.m
SKF_check_corres.m		SKF_check_corres.m
SKF_chiSquareTest.m		SKF_chiSquareTest.m
SKF_doIterEKFupdate.m		SKF_doIterEKFupdate.m
SKF_getFrameInfoByIdx.m		SKF_getFrameInfoByIdx.m
SKF_getImuInfoByIdx.m		SKF_getImuInfoByIdx.m
SKF_getOtherPart.m		SKF_getOtherPart.m
SKF_getPHI.m		SKF_getPHI.m
SKF_getQd.m		SKF_getQd.m

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