quaternion filter
I am currently using optitrack to track a rigid body which has both position and orientation. I have the position and orientation of my rigid object published in a ros topic, all is good there.
What I would want is a filter for the orientation (at least) and position. The orientation is described in quaternions. A quick google search has shown that a kalman filter for this exists. In general I have found that optitrack can easily flip the orientation completely when the tracking of some of the markers is suboptimal. This is why I would need a filter.
Is there a ros pakage (solution) already out there,... before I go ahead and implement my own.
Thanks
I will implement : kalman filter, unless anybody has an alternative already done and tested piece of code for this.
The link you post filters orientation in Euler angles, so if I read it correctly, you might still experience discrete jumps in the orientation values. The Euler angle representation is subject to singularities, aka gimball lock.
Yea.. I have just noticed.. thanks.