Function getRotation

apps/diagnose-rotation.cpp:74–117

}

Eigen::AngleAxisd getRotation(const char name[], ClientMainloopThread &client,
                              osvr::clientkit::Interface &iface) {
    cout << "\n\n--- " << name << "---" << endl;
    cout << "Current rotation: " << name << " - please see the image file for "
                                            "desired axis and direction of "
                                            "rotation." << endl;
    cout << "Once you're ready, put your device in a level, forward-looking "
            "orientation, then press enter." << endl;
    std::cin.ignore();
    Eigen::Quaterniond initial;
    Eigen::Quaterniond current;
    {
        ClientMainloopThread::lock_type lock(client.getMutex());
        initial = getOrientationState(iface);
        cout << "Initial axes:" << endl;
        cout << " - sensor X points "
             << (initial * Eigen::Vector3d::UnitX()).transpose() << endl;
        cout << " - sensor Y points "
             << (initial * Eigen::Vector3d::UnitY()).transpose() << endl;
        cout << " - sensor Z points "
             << (initial * Eigen::Vector3d::UnitZ()).transpose() << endl;
        cout << endl;
        cout << "Now, please rotate the device as shown in the image. " << endl;
        cout << "Keep rotating";
        double absRads = 0;
        int dots = 0;
        do {
            client.oneLoop();
            current = getOrientationState(iface);
            absRads = current.angularDistance(initial);
            int currentDots = (absRads / minAbsRadians) * totalDots;
            while (dots < currentDots) {
                cout << ".";
                dots++;
            }
        } while (absRads < minAbsRadians);
    }
    cout << "  OK!" << endl;
    auto relative = initial.conjugate() * current;
    auto angleAxis = Eigen::AngleAxisd(relative);
    cout << " - " << name << " - Rotated " << angleAxis.angle()
         << " radians about " << angleAxis.axis().transpose() << "\n" << endl;
    return angleAxis;
}

int main(int argc, char *argv[]) {
    namespace po = boost::program_options;