Merged in fixes to hydra and rift code, along with a bug in the pitch inversion of FTNoIR itself.

Also added an include directory the Rift needs which was absent before.

3 files changed, 105 insertions, 85 deletions

diff --git a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui
index 789d2d25..eaf5b9d6 100644
--- a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui
+++ b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
  <class>UIRiftControls</class>
- <widget class="QWidget" name="UIRiftControls">
+ <widget class="QWidget" name="UIHydraControls">
   <property name="geometry">
    <rect>
     <x>0</x>
@@ -45,78 +45,97 @@
        </rect>
       </property>
       <layout class="QGridLayout" name="gridLayout_2">
-       <item row="0" column="0">
-        <widget class="QLabel" name="label_6">
-         <property name="text">
-          <string>Roll:</string>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="0">
-        <widget class="QLabel" name="label_11">
-         <property name="text">
-          <string>Yaw:</string>
-         </property>
-        </widget>
-       </item>
-       <item row="1" column="1">
-        <widget class="QCheckBox" name="chkEnablePitch">
-         <property name="maximumSize">
-          <size>
-           <width>20</width>
-           <height>16777215</height>
-          </size>
-         </property>
-         <property name="layoutDirection">
-          <enum>Qt::LeftToRight</enum>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-       <item row="1" column="0">
-        <widget class="QLabel" name="label_9">
-         <property name="text">
-          <string>Pitch:</string>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="1">
-        <widget class="QCheckBox" name="chkEnableRoll">
-         <property name="maximumSize">
-          <size>
-           <width>20</width>
-           <height>16777215</height>
-          </size>
-         </property>
-         <property name="layoutDirection">
-          <enum>Qt::LeftToRight</enum>
-         </property>
-         <property name="styleSheet">
-          <string notr="true"/>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="1">
-        <widget class="QCheckBox" name="chkEnableYaw">
-         <property name="maximumSize">
-          <size>
-           <width>20</width>
-           <height>16777215</height>
-          </size>
-         </property>
-         <property name="layoutDirection">
-          <enum>Qt::LeftToRight</enum>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
+
+
+
+        <item row="0" column="0">
+          <widget class="QLabel" name="label_6">
+            <property name="text">
+              <string>Pitch:</string>
+            </property>
+          </widget>
+        </item>
+
+        <item row="0" column="1">
+          <widget class="QCheckBox" name="chkEnablePitch">
+            <property name="maximumSize">
+              <size>
+                <width>20</width>
+                <height>16777215</height>
+              </size>
+            </property>
+            <property name="layoutDirection">
+              <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="styleSheet">
+              <string notr="true"/>
+            </property>
+            <property name="text">
+              <string/>
+            </property>
+          </widget>
+        </item>
+
+        <item row="1" column="0">
+          <widget class="QLabel" name="label_9">
+            <property name="text">
+              <string>Yaw:</string>
+            </property>
+          </widget>
+        </item>
+
+
+        <item row="1" column="1">
+          <widget class="QCheckBox" name="chkEnableYaw">
+            <property name="maximumSize">
+              <size>
+                <width>20</width>
+                <height>16777215</height>
+              </size>
+            </property>
+            <property name="layoutDirection">
+              <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="text">
+              <string/>
+            </property>
+          </widget>
+        </item>
+
+
+
+        <item row="2" column="0">
+          <widget class="QLabel" name="label_11">
+            <property name="text">
+              <string>Roll:</string>
+            </property>
+          </widget>
+        </item>
+
+        <item row="2" column="1">
+          <widget class="QCheckBox" name="chkEnableRoll">
+            <property name="maximumSize">
+              <size>
+                <width>20</width>
+                <height>16777215</height>
+              </size>
+            </property>
+            <property name="layoutDirection">
+              <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="text">
+              <string/>
+            </property>
+          </widget>
+        </item>
+
+
+
+
+
+
+
+
       </layout>
      </widget>
     </widget>
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
index 367ab389..4e9dd7a3 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
@@ -66,7 +66,8 @@ void Rift_Tracker::StartTracker(QFrame* videoFrame)
         }else{
             QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to find Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
         }
-        //MagCal.BeginAutoCalibration(SFusion);
+		isCalibrated = false;
+		MagCal.BeginAutoCalibration(SFusion);
         SFusion.SetMagReference(SFusion.GetOrientation());
     }
 }
@@ -79,32 +80,27 @@ bool Rift_Tracker::GiveHeadPoseData(double *data)
 		 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);
 			}
         }
-#endif
 
 		// Magnetometer calibration procedure
-		//MagCal.UpdateAutoCalibration(SFusion);
+		MagCal.UpdateAutoCalibration(SFusion);
+#endif
         Quatf hmdOrient = SFusion.GetOrientation();
         float yaw = 0.0f;
         float pitch = 0.0f;
         float roll = 0.0f;
-        //hmdOrient.GetEulerAngles< Axis_X, Axis_Y, Axis_Z>(&pitch, &yaw, &roll);
-		//hmdOrient.GetEulerAngles< Axis_X, Axis_Z, Axis_Y>(&pitch, &roll, &yaw);
         hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll);
-		//hmdOrient.GetEulerAngles< Axis_Y, Axis_Z, Axis_X>(&yaw, &roll, &pitch);
-		//hmdOrient.GetEulerAngles< Axis_Z, Axis_X, Axis_Y>(&roll, &pitch, &yaw);
-		//hmdOrient.GetEulerAngles< Axis_Z, Axis_Y, Axis_X>(&roll, &yaw, &pitch);
-        newHeadPose[Pitch] = pitch;
-        newHeadPose[Roll]  = roll;
-        newHeadPose[Yaw]   = yaw;
+        newHeadPose[Yaw] = yaw;
+        newHeadPose[Pitch] =pitch;
+        newHeadPose[Roll] = roll;
 
 #if 0
-		sixenseControllerData cd;
 	
 		newHeadPose[TX] = acd.controllers[0].pos[0]/50.0f;
 		newHeadPose[TY] = acd.controllers[0].pos[1]/50.0f;
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.h b/ftnoir_tracker_rift/ftnoir_tracker_rift.h
index 0f3bc099..7bacb91c 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift.h
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.h
@@ -6,6 +6,7 @@
 #include <math.h>
 #include "facetracknoir/global-settings.h"
 #include "OVR.h"
+#include "Util/Util_MagCalibration.h"
 class Rift_Tracker : public ITracker
 {
 public:
@@ -26,6 +27,10 @@ private:
 	OVR::Ptr<OVR::HMDDevice> pHMD;
 	OVR::Ptr<OVR::SensorDevice> pSensor;
 	OVR::SensorFusion SFusion;
+    // Magnetometer calibration and yaw correction
+    OVR::Util::MagCalibration MagCal;
+	bool isCalibrated;
+
     double newHeadPose[6];								// Structure with new headpose
 	bool bEnableRoll;
 	bool bEnablePitch;