diff options
Diffstat (limited to 'LibOVR/Src/Util/Util_MagCalibration.h')
| -rw-r--r-- | LibOVR/Src/Util/Util_MagCalibration.h | 236 |
1 files changed, 121 insertions, 115 deletions
diff --git a/LibOVR/Src/Util/Util_MagCalibration.h b/LibOVR/Src/Util/Util_MagCalibration.h index 9371125..fd26d22 100644 --- a/LibOVR/Src/Util/Util_MagCalibration.h +++ b/LibOVR/Src/Util/Util_MagCalibration.h @@ -1,115 +1,121 @@ -/************************************************************************************
-
-PublicHeader: OVR.h
-Filename : Util_MagCalibration.h
-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.
-
-*************************************************************************************/
-
-#ifndef OVR_Util_MagCalibration_h
-#define OVR_Util_MagCalibration_h
-
-#include "../OVR_SensorFusion.h"
-#include "../Kernel/OVR_String.h"
-#include "../Kernel/OVR_Log.h"
-
-namespace OVR { namespace Util {
-
-class MagCalibration
-{
-public:
- enum MagStatus
- {
- Mag_Uninitialized = 0,
- Mag_AutoCalibrating = 1,
- Mag_ManuallyCalibrating = 2,
- Mag_Calibrated = 3,
- };
-
- MagCalibration() :
- Status(Mag_Uninitialized),
- MinMagDistance(0.3f), MinQuatDistance(0.5f),
- SampleCount(0)
- {
- MinMagDistanceSq = MinMagDistance * MinMagDistance;
- MinQuatDistanceSq = MinQuatDistance * MinQuatDistance;
- }
-
- // Methods that are useful for either auto or manual calibration
- bool IsUnitialized() const { return Status == Mag_Uninitialized; }
- bool IsCalibrated() const { return Status == Mag_Calibrated; }
- int NumberOfSamples() const { return SampleCount; }
- int RequiredSampleCount() const { return 4; }
- void ClearCalibration(SensorFusion& sf)
- {
- Status = Mag_Uninitialized;
- SampleCount = 0;
- sf.ClearMagCalibration();
- };
-
- // Methods for automatic magnetometer calibration
- void BeginAutoCalibration(SensorFusion& sf);
- unsigned UpdateAutoCalibration(SensorFusion& sf);
- bool IsAutoCalibrating() const { return Status == Mag_AutoCalibrating; }
-
- // Methods for building a manual (user-guided) calibraton procedure
- void BeginManualCalibration(SensorFusion& sf);
- bool IsAcceptableSample(const Quatf& q, const Vector3f& m);
- bool InsertIfAcceptable(const Quatf& q, const Vector3f& m);
- // Returns true if successful, requiring that SampleCount = 4
- bool SetCalibration(SensorFusion& sf);
- bool IsManuallyCalibrating() const { return Status == Mag_ManuallyCalibrating; }
-
- // This is the minimum acceptable distance (Euclidean) between raw
- // magnetometer values to be acceptable for usage in calibration.
- void SetMinMagDistance(float dist)
- {
- MinMagDistance = dist;
- MinMagDistanceSq = MinMagDistance * MinMagDistance;
- }
-
- // The minimum acceptable distance (4D Euclidean) between orientations
- // to be acceptable for calibration usage.
- void SetMinQuatDistance(float dist)
- {
- MinQuatDistance = dist;
- MinQuatDistanceSq = MinQuatDistance * MinQuatDistance;
- }
-
- // A result of the calibration, which is the center of a sphere that
- // roughly approximates the magnetometer data.
- Vector3f GetMagCenter() const { return MagCenter; }
-
-private:
- // Determine the unique sphere through 4 non-coplanar points
- Vector3f CalculateSphereCenter(const Vector3f& p1, const Vector3f& p2,
- const Vector3f& p3, const Vector3f& p4);
-
- // Distance from p4 to the nearest point on a plane through p1, p2, p3
- float PointToPlaneDistance(const Vector3f& p1, const Vector3f& p2,
- const Vector3f& p3, const Vector3f& p4);
-
- Vector3f MagCenter;
- unsigned Status;
- float MinMagDistance;
- float MinQuatDistance;
- float MinMagDistanceSq;
- float MinQuatDistanceSq;
-
- unsigned SampleCount;
- Vector3f MagSamples[4];
- Quatf QuatSamples[4];
-
-};
-
-}}
-
-#endif
+/************************************************************************************ + +PublicHeader: OVR.h +Filename : Util_MagCalibration.h +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. + +*************************************************************************************/ + +#ifndef OVR_Util_MagCalibration_h +#define OVR_Util_MagCalibration_h + +#include "../OVR_SensorFusion.h" +#include "../Kernel/OVR_String.h" +#include "../Kernel/OVR_Log.h" + +namespace OVR { namespace Util { + +class MagCalibration +{ +public: + enum MagStatus + { + Mag_Uninitialized = 0, + Mag_AutoCalibrating = 1, + Mag_ManuallyCalibrating = 2, + Mag_Calibrated = 3 + }; + + MagCalibration() : + Stat(Mag_Uninitialized), + MinMagDistance(0.2f), MinQuatDistance(0.5f), + SampleCount(0) + { + MinMagDistanceSq = MinMagDistance * MinMagDistance; + MinQuatDistanceSq = MinQuatDistance * MinQuatDistance; + } + + // Methods that are useful for either auto or manual calibration + bool IsUnitialized() const { return Stat == Mag_Uninitialized; } + bool IsCalibrated() const { return Stat == Mag_Calibrated; } + int NumberOfSamples() const { return SampleCount; } + int RequiredSampleCount() const { return 4; } + void AbortCalibration() + { + Stat = Mag_Uninitialized; + SampleCount = 0; + } + + void ClearCalibration(SensorFusion& sf) + { + Stat = Mag_Uninitialized; + SampleCount = 0; + sf.ClearMagCalibration(); + }; + + // Methods for automatic magnetometer calibration + void BeginAutoCalibration(SensorFusion& sf); + unsigned UpdateAutoCalibration(SensorFusion& sf); + bool IsAutoCalibrating() const { return Stat == Mag_AutoCalibrating; } + + // Methods for building a manual (user-guided) calibraton procedure + void BeginManualCalibration(SensorFusion& sf); + bool IsAcceptableSample(const Quatf& q, const Vector3f& m); + bool InsertIfAcceptable(const Quatf& q, const Vector3f& m); + // Returns true if successful, requiring that SampleCount = 4 + bool SetCalibration(SensorFusion& sf); + bool IsManuallyCalibrating() const { return Stat == Mag_ManuallyCalibrating; } + + // This is the minimum acceptable distance (Euclidean) between raw + // magnetometer values to be acceptable for usage in calibration. + void SetMinMagDistance(float dist) + { + MinMagDistance = dist; + MinMagDistanceSq = MinMagDistance * MinMagDistance; + } + + // The minimum acceptable distance (4D Euclidean) between orientations + // to be acceptable for calibration usage. + void SetMinQuatDistance(float dist) + { + MinQuatDistance = dist; + MinQuatDistanceSq = MinQuatDistance * MinQuatDistance; + } + + // A result of the calibration, which is the center of a sphere that + // roughly approximates the magnetometer data. + Vector3f GetMagCenter() const { return MagCenter; } + +private: + // Determine the unique sphere through 4 non-coplanar points + Vector3f CalculateSphereCenter(const Vector3f& p1, const Vector3f& p2, + const Vector3f& p3, const Vector3f& p4); + + // Distance from p4 to the nearest point on a plane through p1, p2, p3 + float PointToPlaneDistance(const Vector3f& p1, const Vector3f& p2, + const Vector3f& p3, const Vector3f& p4); + + Vector3f MagCenter; + unsigned Stat; + float MinMagDistance; + float MinQuatDistance; + float MinMagDistanceSq; + float MinQuatDistanceSq; + + unsigned SampleCount; + Vector3f MagSamples[4]; + Quatf QuatSamples[4]; + +}; + +}} + +#endif |