Hi everyone!
I’ve been able to retrieve a library for reading PSMove and succesfully integrated it in Unity
I can read accelerometers and Gyroscope data, and i would like to integrate both and implement a tracking system… Something like that
It would be FU***NG AWESOME!
I read a LOT of questions about pitch, roll and yaw, i broke my head against Quaternions and Euler rotations for something like a month now, but i still don’t have a satisfying result… I could really use some help…
Here’s my whole code… I was planning to use Kalmann filtering, but i still don’t have a good estimation for the accelerometer output… Any help? Suggestions?
With this code I have a fine tracking on the “front” semisphere, but it still lacks of the third axis (z), and I can’t rotate it backwards… I could rotate the accelerometer reading to match the gyroscope orientation or use the integrated magnetometer (yeah there’s a magnetometer too) but it’s far too slow… I’m starting to think i should track the whole joystick with a camera!
P.S.
I was planning on creating a library for movements tracking and publish it as good as done, but… I’m sorry i’m too ignorant for this 
My code is
Here’s my code btw
void Update(){
int res = psmove_poll(PSMove);
if (res>0) {
int[] x,y,z;
x = new int[1];
y = new int[1];
z = new int[1];
//Calculating estimated position based on previous + gyroscope readings
//These are c functions, needing (int*) as a parameter, since this is C# I came up with this array trick ;)
psmove_get_gyroscope(PSMove,x,y,z);
Vector3 RGyro = new Vector3(x[0],y[0],z[0]);
//720.0f is just a "sensitivity" number (should be calibrated more accurately, but this looks fine >.< )
RGyro = (RGyro-GyroFixedError)/720.0f;
//GyroFixedError is a first reading done in the "start" method
Quaternion GyroReadRotation = Quaternion.Euler(-RGyro.x,-RGyro.y,RGyro.z);
//EstPos is an instance variable
GyroSword.transform.rotation = EstPos*GyroReadRotation;
//Reading Accelerometers and estimating actual position
psmove_get_accelerometer(PSMove,x,y,z);
Vector3 RAcc = new Vector3(x[0],y[0],z[0]);
RAcc = RAcc/RAcc.magnitude;
//These should be something like pitch and roll
float pitch = Mathf.Acos(RAcc.y);
float roll = Mathf.Atan2(RAcc.x,RAcc.z);
float angle = 0;
Vector3 axis = Vector3.zero;
EstPos.ToAngleAxis(out angle, out axis);
GameObject helper = new GameObject();
//Nothing much, applying pitch and roll i found..
helper.transform.rotation = Quaternion.identity;
helper.transform.RotateAround(Vector3.right,pitch);
helper.transform.RotateAround(helper.transform.TransformDirection(Vector3.up),roll);
Quaternion AccRead = helper.transform.rotation;
float w = Quaternion.Angle(AccRead,EstPos);
EstPos = Quaternion.Slerp(EstPos,AccRead,w/90.0f);
AccSword.transform.rotation = AccRead;
GameObject.Destroy(helper);
}