[Discussion] Is there a way to accept pre-integrated gyroscope quaternions without interfering with features of VQF? #21
Description
(I'd make this a discussion instead of an issue, but discussions don't appear to be enabled on this repo.)
For context: Joycons have a mode that sends pre-integrated quaternions instead of raw gyro samples for every timestamp (https://github.com/kitlith/joycon-quat). This feels useful to use in situations where you're missing packets because the environment isn't great, and would cause missed packets to not cause instant drift.
Simply setting state.gyrQuat seems like it'd be a simple way to import these pre-integrated quaternion into VQF, but it looks like I'd be interfering with... basically all of the nice features that aren't in BasicVQF.
Taking consecutive quaternions, turning them back into "gyroscope measurements", then running them through VQF seems possible, but I don't know how to do that correctly, if it's possible. Feels like a brittle solution.
Do you know of anything nifty that would help with this (rather weird) usecase? I'd be interested in throwing it into carl-anders/slimevr-wrangler#40, though it's rather low on my priority list. If nothing else, maybe it's an interesting question?