A trivial solution to adding accelerometer to Xtion or Kinect is:
1. Firmly attach the Xtion to the Tegra 3, hot glue is recommended :)
2. Initialize the Accelerometer callbacks (the events) and set it to 30Hz. Can go higher if we would like to smooth the data.
3. Apply a simple lowpass filter to the raw accelerometer data, and use it for the tracking next.
You can found these new implementation on my svn repository! Have fun!
Coming up next!