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我正在尝试使用 Google Project Tango 平板电脑，我目前正在将数据从我的平板电脑发送到 Epic 的 Unreal Engine 4 并尝试正确地对其进行可视化。然而，云数据的方向与 Tango 姿势数据的方向一致存在问题。

目前我正在从与 xyzIj 数据相同的帧中拍摄姿势，但生成的点云从来没有完全正确地排列。我尝试对云数据进行手动旋转和校正，以使其与姿势数据匹配，但是旋转一组 xyzIj 数据的解决方案也不能校正其余组。

我目前假设我用来匹配这些集合的姿势是错误的，但我不确定如何找到正确的姿势。我还发现使用 getPoseAtTime 往往会产生类似的有缺陷的结果，但这可能与我不太了解它的用法有关。

除了手动纠正我未能意识到的每个数据集之外，是否有解决这个问题的方法，或者每个人都处理类似的问题？

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2 回答 2

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让我们从一些基础知识开始

1) 您是否在捕获数据之前创建并随后加载了 ADF？

2）您是在捕捉相对于 ADF 还是 Session sart 的姿势 - 前者更准确

3）旋转不应该有太多的漂移——这些传感器相当准确——看起来旋转漂移要么是位置错误，要么是使用了错误的姿势

4) 确保您有一种操作模式，可以让您专注于稳定数据，即在相机不运动时获取点集 - 这是确定其来自 Tango 的不良数据还是矩阵链问题的好方法

于 2015-02-20T13:21:01.350 回答
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Can't append to that answer with this data

You may be right about hiccups - this is a grab from my database, with data that Tango Tricorder shipped up - I think my software is OK, but you never know - it seems that Tango hiccuped on start, but then at the end things got going ok - maybe this will help you with a heuristic - the data you are looking at is effectively the raw pose records.

On another note, I do suspect your matrix chain - I do see drift and anomalies, but I can't per se claim tango is bad at math - I will be publishing a writeup of the matrix chains I use across 3 platforms and support libraries (Android, Windows,OpenGL, raw .net math classes,WebGL) on the G+ page in the next few days - in any case, have some example data of what I think was a hiccup 

Device  At  Timestamp   Quality PX  PY  PZ  AX  AY  AZ  AW  ADF
e75de7b04768f83a    2015-02-15 23:38:08.0910000 1211.9930910005 0   0   0   0   -6.72623262875912E-44   0   -2.21596756341829E-36   -2.21603644004041E-36   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:08.6520000 1212.5919690005 0   0   0   0   -6.72623262875912E-44   0   -2.35768121342709E-36   -2.35775009004921E-36   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:08.9690000 1212.9246790005 0   0   0   0   0   0   -4.46572875271279E-33   -4.46586760798299E-33   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:09.6010000 1213.5568280005 0   0   0   0   0   0   -8.56151098540779E-38   -8.5617228617356E-38    00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:09.9590000 1213.8895380005 0   0   0   0   0   0   -2.35768228962431E-36   -2.35775009004921E-36   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:10.5790000 1214.5216870005 0   -5.04611733348779E-33   -6.72623262875912E-44   -5.04611733348779E-33   0   0   0   -7.09253042359596E-30   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:10.9350000 1214.8543970005 0   0   0   0   -6.72623262875912E-44   0   -4.46572654866089E-33   -4.46586760798299E-33   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:11.2480000 1215.1871070005 0   0   0   0   0   0   -8.71705399390908E-38   -8.7172692333532E-38    00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:11.6140000 1215.5198170005 0   0   0   0   -6.72623262875912E-44   0   -4.46572654866089E-33   -4.46586760798299E-33   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:11.9170000 1215.8525270005 0   0   0   0   -6.72623262875912E-44   0   -4.46572654866089E-33   -4.46586760798299E-33   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:12.2280000 1216.1852370005 0   0   0   0   0   0   -2.35768228962431E-36   -2.35775009004921E-36   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:12.6080000 1216.5179470005 0   -7.49758949629256E-33   -6.72623262875912E-44   -7.49758949629256E-33   0   0   0   -7.09253042359596E-30   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:12.8930000 1216.8506570005 0   -7.50624113471461E-33   -6.72623262875912E-44   -7.50624113471461E-33   -7.5062367266108E-33    0   -7.50624113471461E-33   -7.09253042359596E-30   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:13.2440000 1217.1833670005 0   0   0   0   -6.72623262875912E-44   0   -4.46572654866089E-33   -4.46586760798299E-33   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:13.5540000 1217.5160770005 0   0   0   0   -2.11694608368399E-30   0   -2.35768211025811E-36   -2.35775009004921E-36   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:13.9260000 1217.8487870005 0   -7.46970677029106E-33   -6.72623262875912E-44   -7.46970677029106E-33   0   0   0   -7.09253042359596E-30   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:14.2170000 1218.1814970005 0   -6.23929332339835E-33   -6.72623262875912E-44   -6.23929332339835E-33   -6.23928891529454E-33   0   -6.23929332339835E-33   -7.09253042359596E-30   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:14.5710000 1218.5142070005 0   0   0   0   0   0   -8.72060880785337E-38   -8.72082068418118E-38   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:14.9260000 1218.8469170005 0   0   0   0   -6.72623262875912E-44   -3.30428292727447E-06   -8.56150762229148E-38   -8.5617228617356E-38    00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:15.2410000 1219.1796270005 0   0   0   0   -6.72623262875912E-44   0   -2.27243491411843E-36   -2.27250379074055E-36   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:15.5500000 1219.5123370005 0   0   0   0   -6.72623262875912E-44   0   -8.72060544473706E-38   -8.72082068418118E-38   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:15.8870000 1219.8450470005 0   0   0   0   -6.72623262875912E-44   0   -2.35768121342709E-36   -2.35775009004921E-36   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:16.2580000 1220.1777570005 0   0   0   0   -6.72623262875912E-44   0   -8.71705399390908E-38   -8.7172692333532E-38    00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:16.5740000 1220.5104670005 0   0   0   0   0   0   -2.21596863961551E-36   -2.21603644004041E-36   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:16.9130000 1220.8431770005 0   0   0   0   0   0   0   0   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:17.2580000 1221.1758870005 0   0   0   0   -6.72623262875912E-44   0   -4.46572654866089E-33   -4.46586760798299E-33   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:17.5860000 1221.5085970005 0   0   0   0   0   0   -2.21596863961551E-36   -2.21603644004041E-36   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:17.9240000 1221.8745780005 0   0   0   0   -6.72623262875912E-44   0   0   0   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:18.2900000 1222.2072880005 0   0   0   0   -6.72623262875912E-44   0   -4.46572654866089E-33   -4.46586760798299E-33   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:18.5980000 1222.5399980005 0   0   0   0   -6.72623262875912E-44   0   0   0   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:18.6860000 1222.783591 0   -0.489519119262695  -2.58179521560669   0.296925604343414   0.695962131023407   0.607802748680115   0.237487226724625   0.299687057733536   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:18.7360000 1222.816918 0   -0.509992599487305  -2.66766571998596   0.299138188362122   0.695954203605652   0.605366230010986   0.240672022104263   0.302086800336838   00000000-0000-0000-0000-000000000000
e75de7b04768f83a    2015-02-15 23:38:18.8280000 1222.916901 1   -0.242476642131805  -2.10855436325073   0.997836887836456   0.706526875495911   0.588680744171143   0.261307954788208   0.293245434761047   00000000-0000-0000-0000-000000000000
于 2015-02-23T23:55:44.580 回答