Chapter 7
7.2 Wired hybrid targets
i
The residual specifies how well the rotational data from the inertial
sensor matches the optical tracking data. Thus it is a measure of the
accuracy of the hybrid body calibration. Values up to 1
◦
are ideal, while
anything less than 3
◦
is still acceptable.
i
The sensor delay specifies the latency of the inertial data compared to
real-time. This is sensor specific and dependent on the type of con-
nection (wired / wireless). Values up to 5 ms are ideal for HMD applica-
tions.
You can accept the calibration by pressing OK to return to the Hybrid Body Calibration.
Press Exit to return to the Hybrid Bodies sub-dialogue. Now, the sensor should show a
green tick in the column Calibration under selected bodies on the left side of the window.
Show details You can display the result of the hybrid body calibration as a rotation
matrix by pressing the button Show details.
7.2.4 Inertial Sensor Calibration
After successful calibration of all hybrid bodies, a drift correction for all inertial sensors
should be measured and applied. To this end, all sensors have to be warmed-up before-
hand. Please refer to chapter 7.2.4.1 on page 118 for more details.
To start the inertial sensor calibration, select Inertial Sensor Calibration from the sub-
dialogue Hybrid bodies inside the dialogue Inertial Sensor Settings (see figure 7.8 on
114). The upcoming window shows a list of all available hybrid targets, i.e. bodies with
successful optical calibration and assigned inertial sensor (see figure 7.12 on page 117).
Figure 7.12: Inertial Sensor Calibration
Put the respective sensor inside the tracking volume on a level surface (pre-condition: a
successful Hybrid Body Calibration for each inertial sensor). Tick the checkboxes in the
column Calibrate of all sensors to be calibrated and press Calibrate. Do not move or
117
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