SHS

FOR SHS SDK 2018.12.11 The project is used for the pdr systerm.Shs contains three parts.

1. Stride length is estimated by the fomular of paper mixed the time and the integrated acceleration.
2. Euler angle is calculated by more than five methods included ekf,ekf with geomagnetic and error estimation and so on.
3. Altitude estimation is simpled by calculating the floor index.That means calculated the floor index in a floor height list.
4. Apart from that,there is another part to dynamicly show phone's attitude by opencv and Eigen in ubuntu.
5. Another AR displaying combining body's attitude with poi's position other than image processing avoids large of calculation,power. Real Time demo 1 Real Time demo 2