Digitabulum: Live data, wirelessly, with full quaternions

2015-05-13 00:27 by Ian

CPU not even breaking a sweat. All 17 IMUs are returning good data (with quaternions) in synchronized frames. Render was only running at 5Hz or so in this video, but real frame rate of the data stream was 20fps.

Sensor rates were ~100fps, but we have since run at 400fps with full AHRS quaternion on each IMU. That comes out to ~6800 AHRS calculations/sec, and it appears we still have headroom.


With the debug console disconnected...


A brief description of Digitabulum's current state:


Using Digitabulum as a magnetoscope to find residual magnetic fields in a piece of steel.


Once we had enough confidence in the data we were generating, Josh and Brent started dealing with the kinematic model. What you see here was demo code from my friend Matt Mensah that Brent and I had adapted into his 3JS browser rendering stack.


Brent had some beautiful renders up and running, and was able to implement a gesture recognition from the raw inertial data (IE, without the kinematic model).


It wasn't long before we had a sensible kinematic render with good congruence with reality.


This concludes the prototype phase

About 8-months after we began, we stopped work on rev0. It worked really well. Even more surprising for it being a first-stab at something so complicated and nuanced.
So I set to work designing rev1.

Previous:
Next: