diff options
Diffstat (limited to 'LibOVR/Src/Util/Util_MagCalibration.h')
| -rw-r--r-- | LibOVR/Src/Util/Util_MagCalibration.h | 19 |
1 files changed, 18 insertions, 1 deletions
diff --git a/LibOVR/Src/Util/Util_MagCalibration.h b/LibOVR/Src/Util/Util_MagCalibration.h index fd26d22..1f8e8cb 100644 --- a/LibOVR/Src/Util/Util_MagCalibration.h +++ b/LibOVR/Src/Util/Util_MagCalibration.h @@ -41,7 +41,11 @@ public: { MinMagDistanceSq = MinMagDistance * MinMagDistance; MinQuatDistanceSq = MinQuatDistance * MinQuatDistance; - } + MinMagValues = Vector3f(10000.0f,10000.0f,10000.0f); + MaxMagValues = Vector3f(-10000.0f,-10000.0f,-10000.0f); + MinQuatValues = Quatf(1.0f,1.0f,1.0f,1.0f); + MaxQuatValues = Quatf(0.0f,0.0f,0.0f,0.0f); + } // Methods that are useful for either auto or manual calibration bool IsUnitialized() const { return Stat == Mag_Uninitialized; } @@ -93,6 +97,12 @@ public: // A result of the calibration, which is the center of a sphere that // roughly approximates the magnetometer data. Vector3f GetMagCenter() const { return MagCenter; } + // Retrieves the full magnetometer calibration matrix + Matrix4f GetMagCalibration() const; + // Retrieves the range of each quaternion term during calibration + Quatf GetCalibrationQuatSpread() const { return QuatSpread; } + // Retrieves the range of each magnetometer term during calibration + Vector3f GetCalibrationMagSpread() const { return MagSpread; } private: // Determine the unique sphere through 4 non-coplanar points @@ -109,6 +119,13 @@ private: float MinQuatDistance; float MinMagDistanceSq; float MinQuatDistanceSq; + // For gathering statistics during calibration + Vector3f MinMagValues; + Vector3f MaxMagValues; + Vector3f MagSpread; + Quatf MinQuatValues; + Quatf MaxQuatValues; + Quatf QuatSpread; unsigned SampleCount; Vector3f MagSamples[4]; |