Add TS4231 data source that automatically calculates 3D positions #166
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- Qualify all TS4231* nodes with V1 because they data handle is produced by V1 basesations. - We have V2 basestation variants of the FPGA core, but these classes will not work with that data.
- Addresses #152 - Addresses feedback in #154 - Testedl - Provides two possitvle data sources for TS4231 lighthouse sensor arrays. - TS4231V1Data provides low-level sensor index, pulse type, and pulse widths in microseconds that can be potentially combined with IMU data in a predictive filter to improve 3D tracking - TS4231GeometricPositionData provides naive geometric calculation of 3D positions.
jonnew
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glopesdev
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Jul 26, 2024
OpenEphys.Onix/OpenEphys.Onix/TS4231V1GeometricPositionConverter.cs
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OpenEphys.Onix/OpenEphys.Onix/TS4231V1GeometricPositionConverter.cs
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| var t11 = time[2] + width[2] / 2 - time[0]; | ||
| var t21 = time[5] + width[5] / 2 - time[3]; | ||
| var theta0 = 2 * Math.PI * SweepFrequencyHz * t11 - Math.PI / 2; |
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Just a thought here: It could be useful to output these angles in the data frame, as they could be potentially used in other tracking algorithms for fusion and would spare the complication of calculating them.
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I think there is a lot of low level access one would potentially want and this is just one of those items.
I like the solution now because the other data class provides as low level as you would ever want and this one provides the opposite. I dont think we should mix the two personally.
- Fix typos - Add infinity check following matrix inversion
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Addresses #152