//Runs the calibration algorithm
void calibrateThreadFunction()
{
addMessage("Starting Calibration with " + compassSamples.Count.ToString() + " samples.");
cal = new Calibration(this);
bool calSuccess = false;
if(threeAxisButton.Checked)
calSuccess = cal.calibrate3(compassSamples);
else
calSuccess = cal.calibrate2(compassSamples);
if (calSuccess)
{
//Calibration was successful - redraw all the samples in green.
addMessage("Calibration successful.");
if (localFieldTextBox.Text == "")
setLocalField(cal.estimatedLocalField.ToString("F5"));
for (int i = 0; i < compassSamples.Count; i++)
{
//apply calibration
Vector3 rawData = new Vector3(compassSamples[i].data[0], compassSamples[i].data[1], compassSamples[i].data[2]);
Vector3 calibratedData = Matrix3x3.Multiply(Vector3.Subtract(rawData, cal.offset), cal.gainAndTransform);
//apply local mag field - calibrate returns a unit (mag 1) field
calibratedData = Vector3.Multiply(double.Parse(localFieldTextBox.Text), calibratedData);
lock (p)
{
if (twoAxisButton.Checked)
{
p.addPoint(new Vector3(
calibratedData.X,
calibratedData.Y,
-calibratedData.Z), Brushes.Green);
}
else
{
p.addPoint(new Vector3(
calibratedData.X,
calibratedData.Z,
-calibratedData.Y), Brushes.Green);
}
}
}
calibrated = true;
}
else
{
//failed
addMessage("Calibration failed, try again.");
}
setButtonEnabled(sampleDoneButton, true, "Start");
}