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-rw-r--r--LibOVR/Src/Util/Util_MagCalibration.cpp360
1 files changed, 180 insertions, 180 deletions
diff --git a/LibOVR/Src/Util/Util_MagCalibration.cpp b/LibOVR/Src/Util/Util_MagCalibration.cpp
index f3e72f5..c537154 100644
--- a/LibOVR/Src/Util/Util_MagCalibration.cpp
+++ b/LibOVR/Src/Util/Util_MagCalibration.cpp
@@ -1,180 +1,180 @@
-/************************************************************************************
-
-Filename : Util_MagCalibration.cpp
-Content : Procedures for calibrating the magnetometer
-Created : April 16, 2013
-Authors : Steve LaValle, Andrew Reisse
-
-Copyright : Copyright 2013 Oculus VR, Inc. All Rights reserved.
-
-Use of this software is subject to the terms of the Oculus license
-agreement provided at the time of installation or download, or which
-otherwise accompanies this software in either electronic or hard copy form.
-
-*************************************************************************************/
-
-#include "Util_MagCalibration.h"
-
-namespace OVR { namespace Util {
-
-void MagCalibration::BeginAutoCalibration(SensorFusion& sf)
-{
- Status = Mag_AutoCalibrating;
- // This is a "hard" reset of the mag, so need to clear stored values
- sf.ClearMagCalibration();
- SampleCount = 0;
-}
-
-unsigned MagCalibration::UpdateAutoCalibration(SensorFusion& sf)
-{
- if (Status != Mag_AutoCalibrating)
- return Status;
-
- Quatf q = sf.GetOrientation();
- Vector3f m = sf.GetMagnetometer();
-
- InsertIfAcceptable(q, m);
-
- if ((SampleCount == 4) && (Status == Mag_AutoCalibrating))
- SetCalibration(sf);
-
- return Status;
-
-}
-
-void MagCalibration::BeginManualCalibration(SensorFusion& sf)
-{
- Status = Mag_ManuallyCalibrating;
- sf.ClearMagCalibration();
- SampleCount = 0;
-}
-
-bool MagCalibration::IsAcceptableSample(const Quatf& q, const Vector3f& m)
-{
- switch (SampleCount)
- {
- // Initial sample is always acceptable
- case 0:
- return true;
- break;
- case 1:
- return (q.DistanceSq(QuatSamples[0]) > MinQuatDistanceSq)&&
- ((m - MagSamples[0]).LengthSq() > MinMagDistanceSq);
- break;
- case 2:
- return (q.DistanceSq(QuatSamples[0]) > MinQuatDistanceSq)&&
- (q.DistanceSq(QuatSamples[1]) > MinQuatDistanceSq)&&
- ((m - MagSamples[0]).LengthSq() > MinMagDistanceSq)&&
- ((m - MagSamples[1]).LengthSq() > MinMagDistanceSq);
- break;
- case 3:
- return (q.DistanceSq(QuatSamples[0]) > MinQuatDistanceSq)&&
- (q.DistanceSq(QuatSamples[1]) > MinQuatDistanceSq)&&
- (q.DistanceSq(QuatSamples[2]) > MinQuatDistanceSq)&&
- ((PointToPlaneDistance(MagSamples[0],MagSamples[1],MagSamples[2],m) > MinMagDistance)||
- (PointToPlaneDistance(MagSamples[1],MagSamples[2],m,MagSamples[0]) > MinMagDistance)||
- (PointToPlaneDistance(MagSamples[2],m,MagSamples[0],MagSamples[1]) > MinMagDistance)||
- (PointToPlaneDistance(m,MagSamples[0],MagSamples[1],MagSamples[2]) > MinMagDistance));
- }
-
- return false;
-}
-
-
-bool MagCalibration::InsertIfAcceptable(const Quatf& q, const Vector3f& m)
-{
- if (IsAcceptableSample(q, m))
- {
- MagSamples[SampleCount] = m;
- QuatSamples[SampleCount] = q;
- SampleCount++;
- return true;
- }
-
- return false;
-}
-
-
-bool MagCalibration::SetCalibration(SensorFusion& sf)
-{
- if (SampleCount < 4)
- return false;
-
- MagCenter = CalculateSphereCenter(MagSamples[0],MagSamples[1],MagSamples[2],MagSamples[3]);
- Matrix4f calMat = Matrix4f();
- calMat.M[0][3] = -MagCenter.x;
- calMat.M[1][3] = -MagCenter.y;
- calMat.M[2][3] = -MagCenter.z;
- sf.SetMagCalibration(calMat);
- Status = Mag_Calibrated;
- //LogText("MagCenter: %f %f %f\n",MagCenter.x,MagCenter.y,MagCenter.z);
-
- return true;
-}
-
-
-// Calculate the center of a sphere that passes through p1, p2, p3, p4
-Vector3f MagCalibration::CalculateSphereCenter(const Vector3f& p1, const Vector3f& p2,
- const Vector3f& p3, const Vector3f& p4)
-{
- Matrix4f A;
- int i;
- Vector3f p[4];
- p[0] = p1;
- p[1] = p2;
- p[2] = p3;
- p[3] = p4;
-
- for (i = 0; i < 4; i++)
- {
- A.M[i][0] = p[i].x;
- A.M[i][1] = p[i].y;
- A.M[i][2] = p[i].z;
- A.M[i][3] = 1.0f;
- }
- float m11 = A.Determinant();
- OVR_ASSERT(m11 != 0.0f);
-
- for (i = 0; i < 4; i++)
- {
- A.M[i][0] = p[i].x*p[i].x + p[i].y*p[i].y + p[i].z*p[i].z;
- A.M[i][1] = p[i].y;
- A.M[i][2] = p[i].z;
- A.M[i][3] = 1.0f;
- }
- float m12 = A.Determinant();
-
- for (i = 0; i < 4; i++)
- {
- A.M[i][0] = p[i].x*p[i].x + p[i].y*p[i].y + p[i].z*p[i].z;
- A.M[i][1] = p[i].x;
- A.M[i][2] = p[i].z;
- A.M[i][3] = 1.0f;
- }
- float m13 = A.Determinant();
-
- for (i = 0; i < 4; i++)
- {
- A.M[i][0] = p[i].x*p[i].x + p[i].y*p[i].y + p[i].z*p[i].z;
- A.M[i][1] = p[i].x;
- A.M[i][2] = p[i].y;
- A.M[i][3] = 1.0f;
- }
- float m14 = A.Determinant();
-
- float c = 0.5f / m11;
- return Vector3f(c*m12, -c*m13, c*m14);
-}
-
-// Distance from p4 to the nearest point on a plane through p1, p2, p3
-float MagCalibration::PointToPlaneDistance(const Vector3f& p1, const Vector3f& p2,
- const Vector3f& p3, const Vector3f& p4)
-{
- Vector3f v1 = p1 - p2;
- Vector3f v2 = p1 - p3;
- Vector3f planeNormal = v1.Cross(v2);
- planeNormal.Normalize();
- return (fabs((planeNormal * p4) - planeNormal * p1));
-}
-
-}}
+/************************************************************************************
+
+Filename : Util_MagCalibration.cpp
+Content : Procedures for calibrating the magnetometer
+Created : April 16, 2013
+Authors : Steve LaValle, Andrew Reisse
+
+Copyright : Copyright 2013 Oculus VR, Inc. All Rights reserved.
+
+Use of this software is subject to the terms of the Oculus license
+agreement provided at the time of installation or download, or which
+otherwise accompanies this software in either electronic or hard copy form.
+
+*************************************************************************************/
+
+#include "Util_MagCalibration.h"
+
+namespace OVR { namespace Util {
+
+void MagCalibration::BeginAutoCalibration(SensorFusion& sf)
+{
+ Stat = Mag_AutoCalibrating;
+ // This is a "hard" reset of the mag, so need to clear stored values
+ sf.ClearMagCalibration();
+ SampleCount = 0;
+}
+
+unsigned MagCalibration::UpdateAutoCalibration(SensorFusion& sf)
+{
+ if (Stat != Mag_AutoCalibrating)
+ return Stat;
+
+ Quatf q = sf.GetOrientation();
+ Vector3f m = sf.GetMagnetometer();
+
+ InsertIfAcceptable(q, m);
+
+ if ((SampleCount == 4) && (Stat == Mag_AutoCalibrating))
+ SetCalibration(sf);
+
+ return Stat;
+
+}
+
+void MagCalibration::BeginManualCalibration(SensorFusion& sf)
+{
+ Stat = Mag_ManuallyCalibrating;
+ sf.ClearMagCalibration();
+ SampleCount = 0;
+}
+
+bool MagCalibration::IsAcceptableSample(const Quatf& q, const Vector3f& m)
+{
+ switch (SampleCount)
+ {
+ // Initial sample is always acceptable
+ case 0:
+ return true;
+ break;
+ case 1:
+ return (q.DistanceSq(QuatSamples[0]) > MinQuatDistanceSq)&&
+ ((m - MagSamples[0]).LengthSq() > MinMagDistanceSq);
+ break;
+ case 2:
+ return (q.DistanceSq(QuatSamples[0]) > MinQuatDistanceSq)&&
+ (q.DistanceSq(QuatSamples[1]) > MinQuatDistanceSq)&&
+ ((m - MagSamples[0]).LengthSq() > MinMagDistanceSq)&&
+ ((m - MagSamples[1]).LengthSq() > MinMagDistanceSq);
+ break;
+ case 3:
+ return (q.DistanceSq(QuatSamples[0]) > MinQuatDistanceSq)&&
+ (q.DistanceSq(QuatSamples[1]) > MinQuatDistanceSq)&&
+ (q.DistanceSq(QuatSamples[2]) > MinQuatDistanceSq)&&
+ ((PointToPlaneDistance(MagSamples[0],MagSamples[1],MagSamples[2],m) > MinMagDistance)||
+ (PointToPlaneDistance(MagSamples[1],MagSamples[2],m,MagSamples[0]) > MinMagDistance)||
+ (PointToPlaneDistance(MagSamples[2],m,MagSamples[0],MagSamples[1]) > MinMagDistance)||
+ (PointToPlaneDistance(m,MagSamples[0],MagSamples[1],MagSamples[2]) > MinMagDistance));
+ }
+
+ return false;
+}
+
+
+bool MagCalibration::InsertIfAcceptable(const Quatf& q, const Vector3f& m)
+{
+ if (IsAcceptableSample(q, m))
+ {
+ MagSamples[SampleCount] = m;
+ QuatSamples[SampleCount] = q;
+ SampleCount++;
+ return true;
+ }
+
+ return false;
+}
+
+
+bool MagCalibration::SetCalibration(SensorFusion& sf)
+{
+ if (SampleCount < 4)
+ return false;
+
+ MagCenter = CalculateSphereCenter(MagSamples[0],MagSamples[1],MagSamples[2],MagSamples[3]);
+ Matrix4f calMat = Matrix4f();
+ calMat.M[0][3] = -MagCenter.x;
+ calMat.M[1][3] = -MagCenter.y;
+ calMat.M[2][3] = -MagCenter.z;
+ sf.SetMagCalibration(calMat);
+ Stat = Mag_Calibrated;
+ //LogText("MagCenter: %f %f %f\n",MagCenter.x,MagCenter.y,MagCenter.z);
+
+ return true;
+}
+
+
+// Calculate the center of a sphere that passes through p1, p2, p3, p4
+Vector3f MagCalibration::CalculateSphereCenter(const Vector3f& p1, const Vector3f& p2,
+ const Vector3f& p3, const Vector3f& p4)
+{
+ Matrix4f A;
+ int i;
+ Vector3f p[4];
+ p[0] = p1;
+ p[1] = p2;
+ p[2] = p3;
+ p[3] = p4;
+
+ for (i = 0; i < 4; i++)
+ {
+ A.M[i][0] = p[i].x;
+ A.M[i][1] = p[i].y;
+ A.M[i][2] = p[i].z;
+ A.M[i][3] = 1.0f;
+ }
+ float m11 = A.Determinant();
+ OVR_ASSERT(m11 != 0.0f);
+
+ for (i = 0; i < 4; i++)
+ {
+ A.M[i][0] = p[i].x*p[i].x + p[i].y*p[i].y + p[i].z*p[i].z;
+ A.M[i][1] = p[i].y;
+ A.M[i][2] = p[i].z;
+ A.M[i][3] = 1.0f;
+ }
+ float m12 = A.Determinant();
+
+ for (i = 0; i < 4; i++)
+ {
+ A.M[i][0] = p[i].x*p[i].x + p[i].y*p[i].y + p[i].z*p[i].z;
+ A.M[i][1] = p[i].x;
+ A.M[i][2] = p[i].z;
+ A.M[i][3] = 1.0f;
+ }
+ float m13 = A.Determinant();
+
+ for (i = 0; i < 4; i++)
+ {
+ A.M[i][0] = p[i].x*p[i].x + p[i].y*p[i].y + p[i].z*p[i].z;
+ A.M[i][1] = p[i].x;
+ A.M[i][2] = p[i].y;
+ A.M[i][3] = 1.0f;
+ }
+ float m14 = A.Determinant();
+
+ float c = 0.5f / m11;
+ return Vector3f(c*m12, -c*m13, c*m14);
+}
+
+// Distance from p4 to the nearest point on a plane through p1, p2, p3
+float MagCalibration::PointToPlaneDistance(const Vector3f& p1, const Vector3f& p2,
+ const Vector3f& p3, const Vector3f& p4)
+{
+ Vector3f v1 = p1 - p2;
+ Vector3f v2 = p1 - p3;
+ Vector3f planeNormal = v1.Cross(v2);
+ planeNormal.Normalize();
+ return (fabs((planeNormal * p4) - planeNormal * p1));
+}
+
+}}
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