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-rw-r--r--ftnoir_tracker_rift/ftnoir_tracker_rift.cpp32
1 files changed, 18 insertions, 14 deletions
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
index 4e9dd7a3..eb05d5f9 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
@@ -19,6 +19,7 @@ Rift_Tracker::Rift_Tracker()
bEnableY = true;
bEnableZ = true;
#endif
+ isCalibrated = false;
should_quit = false;
for (int i = 0; i < 6; i++)
newHeadPose[i] = 0;
@@ -68,7 +69,7 @@ void Rift_Tracker::StartTracker(QFrame* videoFrame)
}
isCalibrated = false;
MagCal.BeginAutoCalibration(SFusion);
- SFusion.SetMagReference(SFusion.GetOrientation());
+
}
}
@@ -76,22 +77,25 @@ void Rift_Tracker::StartTracker(QFrame* videoFrame)
bool Rift_Tracker::GiveHeadPoseData(double *data)
{
if (pHMD.GetPtr() != NULL) {
-#if 0
- if (SFusion.IsMagReady() && !isCalibrated ){
- SFusion.SetYawCorrectionEnabled(true);
- QMessageBox::warning(0,"OpenTrack Info", "Calibrated magnetic sensor",QMessageBox::Ok,QMessageBox::NoButton);
- isCalibrated = true;
- }else{
- if(isCalibrated){
- isCalibrated = false;
- QMessageBox::warning(0,"OpenTrack Info", "Lost magnetic calibration",QMessageBox::Ok,QMessageBox::NoButton);
+
+ if (MagCal.IsAutoCalibrating())
+ {
+ MagCal.UpdateAutoCalibration(SFusion);
+ if (MagCal.IsCalibrated())
+ {
+ if(isCalibrated == false){
+ //QMessageBox::warning(0,"OpenTrack Info", "Calibrated magnetic sensor",QMessageBox::Ok,QMessageBox::NoButton);
+ //fprintf(stderr,"magnetic calibration complete\n");
+ isCalibrated = true;
+ }
+ //Vector3f mc = MagCal.GetMagCenter();
+ //SetAdjustMessage("Magnetometer Calibration Complete\nCenter: %f %f %f",mc.x,mc.y,mc.z);
}
- }
+ //SetAdjustMessage("Mag has been successfully calibrated");
+ }
- // Magnetometer calibration procedure
- MagCal.UpdateAutoCalibration(SFusion);
-#endif
Quatf hmdOrient = SFusion.GetOrientation();
+
float yaw = 0.0f;
float pitch = 0.0f;
float roll = 0.0f;