data_init.m

IMU姿态跟踪

clear all;
load('train.mat');
bias_w=[1.877636469484222,2.975504869932269,2.187291659354183];
bias_a=[0.098790322580645,0.292338709677420,0.122983870967742];
 test_ind=[3050:3500,6250:6750,6950:7450,8550:9550,15000:17000];
% test_ind=15000:17000;
test_imu=imu(1,test_ind);
test_vicon=vicon(1,test_ind);

[a_t,w_t,tstamp_t,rot_t]=change_format(imu,vicon);
a_t=a_t-repmat(bias_a,size(a_t,1),1);
w_t=w_t-repmat(bias_w,size(w_t,1),1);
tstamp_t=[tstamp_t,0.15];
[a,w,tstamp,rot]=change_format(test_imu);
a=a-repmat(bias_a,size(a,1),1);
w=w-repmat(bias_w,size(w,1),1);