SingleSensorStaticIntervalCalibrator

Interface to notify when calibration is solved and completed.

Interface to notify when calibration starts being solved.

Interface to notify when an error occurs.

Interface to notify when calibrator successfully completes initialization.

Interface to notify when calibrator starts initialization.

Interface to notify when a new measurement is obtained for calibration purposes. Such measurements are determined each time a static period finishes (when sensor measurements stop being static). When enough of these measurements are obtained, calibration can actually be solved.

Interface to notify when enough measurements are obtained to start solving calibration.

Interface to notify when measurement collection stops. This happens automatically when enough measurements are found after periods when device stops being static, or if an error occurs.

Gets average time interval between magnetometer samples expressed in seconds (s). Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets average time interval between magnetometer samples. Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets sensor measurement base noise level that has been detected during initialization expressed in meters per squared second (m/s^2) for accelerometer or Teslas (T) for magnetometer. This is only available once initialization is completed.

Gets or sets overall absolute threshold to determine whether there has been excessive motion during the whole initialization phase. Failure will be detected if estimated base noise level exceeds this threshold when initialization completes. This threshold is expressed in meters per squared second (m/s^2) for accelerometer or Teslas (T) for magnetometer.

Gets or sets overall absolute threshold to determine whether there has been excessive motion during the whole initialization phase. Failure will be detected if estimated base noise level exceeds this threshold when initialization completes.

Gets sensor measurement base noise level that has been detected during initialization. This is only available once initialization is completed.

Gets measurement base noise level PSD (Power Spectral Density) expressed in (m^2 * s^-3) for accelerometer or (T^2 * s) for magnetometer. This is only available once initialization is completed.

Gets measurement base noise level root PSD (Power Spectral Density) expressed in (m * s^-1.5) for accelerometer or (T * s^0.5) for magnetometer. This is only available once initialization is completed.

listener to notify when calibration is successfully completed.

listener to notify when calibration solving starts.

Android context.

listener to notify errors.

Gets estimated chi square value or null if not available.

Gets estimated covariance matrix for estimated sensor parameters or null if not available. When bias or hard iron is known, diagonal elements of the covariance matrix contains variance for the following parameters (following indicated order): sx, sy, sz, mxy, mxz, myz, mzx, mzy. When bias or hard iron is not known, diagonal elements of the covariance matrix contains variance for the following parameters (following indicated order): bx, by, bz, sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy, where bx, by, bz corresponds to bias or hard iron coordinates.

Gets estimated mean square error respect to provided measurements or null if not available.

Gets estimated x-y cross-coupling error or null if not available.

Gets estimated x-z cross-coupling error or null if not available.

Gets estimated y-x cross-coupling error or null if not available.

Gets estimated y-z cross-coupling error or null if not available.

Gets estimated z-x cross-coupling error or null if not available.

Gets estimated z-y cross-coupling error or null if not available.

Gets estimated x-axis scale factor or null if not available.

Gets estimated y-axis scale factor or null if not available.

Gets estimated z-axis scale factor or null if not available.

listener to notify when initialization completes.

listener to notify when initialization starts.

Gets or sets initial x-y cross coupling error.

Gets or sets initial x-z cross coupling error.

Gets or sets initial y-x cross coupling error.

Gets or sets initial y-z cross coupling error.

Gets or sets initial z-x cross coupling error.

Gets or sets initial z-y cross coupling error.

Gets or sets number of samples to be processed initially by the internal interval detector while keeping the sensor static in order to find the base noise level when device is static.

Gets or sets initial x scaling factor.

Gets or sets initial y scaling factor.

Gets or sets initial z scaling factor.

Gets or sets factor to determine that a sudden movement has occurred during initialization if instantaneous noise level exceeds accumulated noise level by this factor amount. This factor is unit-less.

Indicates or specifies whether z-axis is assumed to be common for magnetometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.

Indicates whether enough measurements have been picked at static intervals so that the calibration process can be solved.

List of measurements that have been collected so far to be used for calibration. Items in return list can be modified if needed, but beware that this might have consequences on solved calibration result.

Gets minimum number of required measurements to start calibration. Each time that the device is kept static, a new measurement is collected. When the required number of measurements is collected, calibration can start.

listener to notify when a new calibration measurement is obtained.

mapper to convert collected measurements into quality scores, based on the amount of standard deviation (the larger the variability, the worse the score will be).

listener to notify when calibrator is ready to be solved.

Required number of measurements to be collected before calibration can start. The number of required measurements must be greater than minimumRequiredMeasurements, otherwise at least minimumRequiredMeasurements will be collected before calibration can start.

Confidence of estimated result expressed as a value between 0.0 and 1.0. By default 99% of confidence is used, which indicates that with a probability of 99% estimation will be accurate because chosen sub-samples will be inliers (in other terms, outliers will be correctly discarded). This properly is only taken into account if a not-null robustMethod is specified.

Maximum number of iterations to attempt to find a robust calibration solution. By default this is 5000. This properly is only taken into account if a not-null robustMethod is specified.

Indicates robust method used to solve calibration. If null, no robust method is used at all, and instead an LMSE solution is found.

Size of preliminary subsets picked while finding a robust calibration solution. By default this is the minimumRequiredMeasurements, which results in the smallest number of iterations to complete robust algorithms. Larger values can be used to ensure that error in each preliminary solution is minimized among more measurements (thus, softening the effect of outliers), but this comes at the expense of larger number of iterations. This properly is only taken into account if a not-null robustMethod is specified.

Additional factor to be taken into account for robust methods based on LMedS or PROMedS, where factor is not directly related to LMSE, but to a smaller value.

Threshold to be used to determine whether a measurement is considered an outlier by robust algorithms or not. Threshold varies depending on chosen robustMethod. By default, if null is provided, the estimated baseNoiseLevel will be used to determine a suitable threshold. Otherwise, if a value is provided, such value will be used instead. This properly is only taken into account if a not-null robustMethod is specified.

Factor to be used respect estimated base noise level to consider a measurement an outlier when using robust calibration methods. By default this is 3.0 times baseNoiseLevel, which considering the noise level as the standard deviation of a Gaussian distribution, should account for 99% of the cases. Any measurement having an error greater than that in the estimated solution, will be considered an outlier and be discarded.

Indicates whether calibrator is running. While calibrator is running, calibrator parameters cannot be changed.

Delay of sensor between samples.

true to automatically solve calibration once enough measurements are available, false otherwise.

listener to notify when measurement collection stops.

Gets estimated threshold to determine static/dynamic period changes expressed in meters per squared second (m/s^2) for accelerometer or Teslas (T) for magnetometer. This is only available once initialization is completed.

Gets estimated threshold to determine static/dynamic period changes. This is only available once initialization is completed.

Gets or sets factor to be applied to detected base noise level in order to determine a threshold for static/dynamic period changes. This factor is unit-less.

Gets estimated standard deviation of time interval between measurements expressed in seconds (s). Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets estimated standard deviation of time interval between measurements. Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets estimated variance of time interval between measurements expressed in squared seconds (s^2). Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets or sets length of number of samples to keep within the window being processed to determine instantaneous sensor noise level during initialization of the interval detector. Window size must always be larger than allowed minimum value, which is 2 and must have an odd value.

Solves calibration using collected measurements. This must be explicitly called after enough measurements are collected if solveCalibrationWhenEnoughMeasurements is false.

Gets average time interval between measurements. Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets overall absolute threshold to determine whether there has been excessive motion during the whole initialization phase. Failure will be detected if estimated base noise level exceeds this threshold when initialization completes.

Gets sensor measurement base noise level that has been detected during initialization. This is only available once initialization is completed.

Gets estimated threshold to determine static/dynamic period changes. This is only available once initialization is completed.

Gets estimated standard deviation of time interval between measurements. Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Sets initial cross coupling errors.

Sets initial scaling factors.

Sets initial scaling factors and cross couping errors.

Starts calibrator. This method starts collecting sensor measurements. When calibrator is started, it begins with an initialization stage where sensor noise is estimated while device remains static. Once initialization is completed, calibrator determines intervals where device remains static when device has different poses, so that measurements are collected to solve calibration. If solveCalibrationWhenEnoughMeasurements is true, calibration is automatically solved once enough measurements are collected, otherwise a call to calibrate must be done to solve calibration.

Stops calibrator. When this is called, no more sensor measurements are collected.