quaternions - Does OpenVR pre-process orientation data from Vive Trackers? -


according specifications (page "11"|14), vive tracker's coordinate system right-handed y-up, x-lateral, , reference orientation somehow determined area spanned htc vive base stations.

i trying align coordinate system , reference orientation imu (which uses z-up, x-lateral, rh-system , magnetic north pole reference), when rotating quaternion data obtain vive tracker through openvr c++ api in way should match imu's coordinate system , reference, there still yaw component in tracker data when perform roll motion on both imu , tracker simultaneously.

hence, openvr api orientation data pre-processing, quaternions received openvr don't correspond device's coordinate system more? or may doing else wrong?


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