Turning obtaining poses of THETA from accelerometer and gyroscope data

Hi everyone,

I am trying to obtain pose matrix (rotation + translation):
Screenshot 2023-01-04_13-00-20

using the accelerometer and gyro data which I’m able to obtain:

Anyone knows how to convert into pose matrix?

You may find this type of project interesting.

some information on sensor data, but nothing about pose.

Thanks a lot @craig, I found the latter two pretty useful as I need to estimate the pose of theta itself.

Btw have you ever heard of ARCore? I saw an project running on phones that can track Android smartphone’s pose. (GitHub - rfbr/IMU_and_pose_Android_Recorder)

However I couldn’t compile the code due to a bug that I could solve at the moment.
“Cause: com/android/tools/idea/gradle/run/OutputBuildAction has been compiled by a more recent version of the Java Runtime (class file version 55.0), this version of the Java Runtime only recognizes class file versions up to 52.0”

I then go ahead to try the ARCore example app (hello_ar_java) in (Krótkie wprowadzenie do Androida  |  ARCore  |  Google Developers) to see if I can run ARCore. But still couldn’t run it due to this issue:

Do you know if it’s possible to use ARCore in THETA V? If not then I’ll give up this approach.


It may be possible to run ARCore inside the RICOH THETA. I have not tried it. The camera would need to be unlocked in developer mode, which is free.

You can apply for the partner program at the link below:


I do not think the THETA can support ARCore.

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