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83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
/************************************************************************************
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Filename : OVR_SensorCalibration.h
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Content : Calibration data implementation for the IMU messages
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Created : January 28, 2014
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Authors : Max Katsev
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Copyright : Copyright 2014 Oculus VR, Inc. All Rights reserved.
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Licensed under the Oculus VR Rift SDK License Version 3.1 (the "License");
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you may not use the Oculus VR Rift SDK except in compliance with the License,
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which is provided at the time of installation or download, or which
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otherwise accompanies this software in either electronic or hard copy form.
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You may obtain a copy of the License at
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http://www.oculusvr.com/licenses/LICENSE-3.1
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Unless required by applicable law or agreed to in writing, the Oculus VR SDK
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*************************************************************************************/
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#ifndef OVR_SensorCalibration_h
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#define OVR_SensorCalibration_h
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#include "OVR_Device.h"
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#include "OVR_SensorFilter.h"
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namespace OVR {
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class OffsetInterpolator
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{
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public:
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void Initialize(Array<Array<TemperatureReport> > const& temperatureReports, int coord);
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double GetOffset(double targetTemperature, double autoTemperature, double autoValue);
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Array<double> Temperatures;
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Array<double> Values;
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};
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class SensorCalibration : public NewOverrideBase
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{
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public:
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SensorCalibration(SensorDevice* pSensor);
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// Load data from the HW and perform the necessary preprocessing
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void Initialize();
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// Apply the calibration
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void Apply(MessageBodyFrame& msg);
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// Is mag calibration available?
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bool IsMagCalibrated() { return MagCalibrated; }
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protected:
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void StoreAutoOffset();
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void AutocalibrateGyro(MessageBodyFrame const& msg);
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void DebugPrintLocalTemperatureTable();
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void DebugClearHeadsetTemperatureReports();
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SensorDevice* pSensor;
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// Factory calibration data
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bool MagCalibrated;
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Matrix4f AccelMatrix, GyroMatrix, MagMatrix;
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Vector3f AccelOffset;
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// Temperature based data
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Array<Array<TemperatureReport> > TemperatureReports;
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OffsetInterpolator Interpolators[3];
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// Autocalibration data
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SensorFilterf GyroFilter;
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Vector3f GyroAutoOffset;
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float GyroAutoTemperature;
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};
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} // namespace OVR
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#endif //OVR_SensorCalibration_h
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