From a2701988bb9eea04ee83de20b7e71caccbe5b5af Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 8 Nov 2022 15:06:43 +0100
Subject: Adding imu.json. Adding documentation about Tobii IMU.

---
 src/argaze/TobiiGlassesPro2/README.md               |  2 ++
 .../TobiiGlassesPro2/TobiiInertialMeasureUnit.py    |  2 +-
 src/argaze/TobiiGlassesPro2/utils/imu.json          | 21 +++++++++++++++++++++
 3 files changed, 24 insertions(+), 1 deletion(-)
 create mode 100644 src/argaze/TobiiGlassesPro2/utils/imu.json

diff --git a/src/argaze/TobiiGlassesPro2/README.md b/src/argaze/TobiiGlassesPro2/README.md
index 45f9924..881363d 100644
--- a/src/argaze/TobiiGlassesPro2/README.md
+++ b/src/argaze/TobiiGlassesPro2/README.md
@@ -7,6 +7,8 @@ This work is greatly inspired by the David de Tommaso and Agnieszka Wykowska [To
 
 Print **A4_calibration_target.pdf** onto A4 paper sheet to get calibration target at expected dimension.
 
+Load **imu.json** file with argaze utils **tobii_imu_calibrate.py** script with -i option. This is an example file to illustrate how to load Inertial Measure Unit (IMU) calibration parameters.
+
 ## Local network configuration
 
 If the tobii Glasses aren't connected to a router, here is how to configure a local DHCP server to enable IPv4 device connection.
diff --git a/src/argaze/TobiiGlassesPro2/TobiiInertialMeasureUnit.py b/src/argaze/TobiiGlassesPro2/TobiiInertialMeasureUnit.py
index 5c45d7c..e41055f 100644
--- a/src/argaze/TobiiGlassesPro2/TobiiInertialMeasureUnit.py
+++ b/src/argaze/TobiiGlassesPro2/TobiiInertialMeasureUnit.py
@@ -25,7 +25,7 @@ CAMERA_TO_IMU_ROTATION_VECTOR = [18, 0, 180]
 """Rotation vector from camera referential to imu referential (euler, degree)."""
 
 class TobiiInertialMeasureUnit():
-    """Ease Tobbi IMU data handling."""
+    """Ease Tobbi [Inertial Measure Unit](https://connect.tobii.com/s/article/How-are-the-MEMS-data-reported-for-Tobii-Pro-Glasses-2?language=en_US) data handling"""
 
     def __init__(self):
         """Define IMU calibration data."""
diff --git a/src/argaze/TobiiGlassesPro2/utils/imu.json b/src/argaze/TobiiGlassesPro2/utils/imu.json
new file mode 100644
index 0000000..b701b00
--- /dev/null
+++ b/src/argaze/TobiiGlassesPro2/utils/imu.json
@@ -0,0 +1,21 @@
+{
+    "gyroscope_offset": [
+        1.00506,
+        -3.338012,
+        1.9096039999999999
+    ],
+    "accelerometer_coefficients": [
+        [
+            0.9918761478460875,
+            -0.29679248712760953
+        ],
+        [
+            0.9749789492717152,
+            -0.15941685808576067
+        ],
+        [
+            0.9520423758351338,
+            0.23147323632416672
+        ]
+    ]
+}
\ No newline at end of file
-- 
cgit v1.1