diff options
Diffstat (limited to 'LibOVR/Src/Util')
| -rw-r--r-- | LibOVR/Src/Util/Util_MagCalibration.cpp | 57 | ||||
| -rw-r--r-- | LibOVR/Src/Util/Util_MagCalibration.h | 19 | ||||
| -rw-r--r-- | LibOVR/Src/Util/Util_Render_Stereo.cpp | 4 |
3 files changed, 72 insertions, 8 deletions
diff --git a/LibOVR/Src/Util/Util_MagCalibration.cpp b/LibOVR/Src/Util/Util_MagCalibration.cpp index c537154..58b8c45 100644 --- a/LibOVR/Src/Util/Util_MagCalibration.cpp +++ b/LibOVR/Src/Util/Util_MagCalibration.cpp @@ -23,6 +23,12 @@ void MagCalibration::BeginAutoCalibration(SensorFusion& sf) // This is a "hard" reset of the mag, so need to clear stored values sf.ClearMagCalibration(); SampleCount = 0; + + // reset the statistics + 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); } unsigned MagCalibration::UpdateAutoCalibration(SensorFusion& sf) @@ -36,7 +42,11 @@ unsigned MagCalibration::UpdateAutoCalibration(SensorFusion& sf) InsertIfAcceptable(q, m); if ((SampleCount == 4) && (Stat == Mag_AutoCalibrating)) + { + //LogText("Magnetometer Output Spread: %f %f %f\n",MagSpread.x,MagSpread.y,MagSpread.z); + //LogText("Quaternion Spread: %f %f %f %f\n",QuatSpread.x,QuatSpread.y,QuatSpread.z,QuatSpread.w); SetCalibration(sf); + } return Stat; @@ -83,7 +93,39 @@ bool MagCalibration::IsAcceptableSample(const Quatf& q, const Vector3f& m) bool MagCalibration::InsertIfAcceptable(const Quatf& q, const Vector3f& m) { - if (IsAcceptableSample(q, m)) + // Update some statistics + if (m.x < MinMagValues.x) + MinMagValues.x = m.x; + if (m.y < MinMagValues.y) + MinMagValues.y = m.y; + if (m.z < MinMagValues.z) + MinMagValues.z = m.z; + if (m.x > MaxMagValues.x) + MaxMagValues.x = m.x; + if (m.y > MaxMagValues.y) + MaxMagValues.y = m.y; + if (m.z > MaxMagValues.z) + MaxMagValues.z = m.z; + if (q.x < MinQuatValues.x) + MinQuatValues.x = q.x; + if (q.y < MinQuatValues.y) + MinQuatValues.y = q.y; + if (q.z < MinQuatValues.z) + MinQuatValues.z = q.z; + if (q.w < MinQuatValues.w) + MinQuatValues.w = q.w; + if (q.x > MaxQuatValues.x) + MaxQuatValues.x = q.x; + if (q.y > MaxQuatValues.y) + MaxQuatValues.y = q.y; + if (q.z > MaxQuatValues.z) + MaxQuatValues.z = q.z; + if (q.w > MaxQuatValues.w) + MaxQuatValues.w = q.w; + MagSpread = MaxMagValues - MinMagValues; + QuatSpread = MaxQuatValues - MinQuatValues; + + if (IsAcceptableSample(q, m)) { MagSamples[SampleCount] = m; QuatSamples[SampleCount] = q; @@ -94,6 +136,14 @@ bool MagCalibration::InsertIfAcceptable(const Quatf& q, const Vector3f& m) return false; } +Matrix4f MagCalibration::GetMagCalibration() const +{ + Matrix4f calMat = Matrix4f(); + calMat.M[0][3] = -MagCenter.x; + calMat.M[1][3] = -MagCenter.y; + calMat.M[2][3] = -MagCenter.z; + return calMat; +} bool MagCalibration::SetCalibration(SensorFusion& sf) { @@ -101,10 +151,7 @@ bool MagCalibration::SetCalibration(SensorFusion& sf) 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; + Matrix4f calMat = GetMagCalibration(); sf.SetMagCalibration(calMat); Stat = Mag_Calibrated; //LogText("MagCenter: %f %f %f\n",MagCenter.x,MagCenter.y,MagCenter.z); 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]; diff --git a/LibOVR/Src/Util/Util_Render_Stereo.cpp b/LibOVR/Src/Util/Util_Render_Stereo.cpp index b16cfb5..e2600a9 100644 --- a/LibOVR/Src/Util/Util_Render_Stereo.cpp +++ b/LibOVR/Src/Util/Util_Render_Stereo.cpp @@ -247,7 +247,7 @@ void StereoConfig::update2D() // eye, where hmd screen projection surface is at 0.05m distance. // This introduces an extra off-center pixel projection shift based on eye distance. // This offCenterShift is the pixel offset of the other camera's center - // in your reference camera based on surface distance. + // in your reference camera based on surface distance. float metersToPixels = (HMD.HResolution / HMD.HScreenSize); float lensDistanceScreenPixels= metersToPixels * HMD.LensSeparationDistance; float eyeDistanceScreenPixels = metersToPixels * InterpupillaryDistance; @@ -278,7 +278,7 @@ void StereoConfig::update2D() void StereoConfig::updateEyeParams() { // Projection matrix for the center eye, which the left/right matrices are based on. - Matrix4f projCenter = Matrix4f::PerspectiveRH(YFov, Aspect, 0.01f, 1000.0f); + Matrix4f projCenter = Matrix4f::PerspectiveRH(YFov, Aspect, 0.01f, 2000.0f); switch(Mode) { |