Working PS Move plugin for UE4; need help coreg with DK2

Hello all,

I recently made a PSMove plugin for UE4 that works in both Windows and OSX. It should work in Linux too with a simple compile of the psmoveapi binaries. The changes I had to make to the psmoveapi and PS3EYEDriver should also help anyone that wants to use the PSMove controllers in Windows or OSX (it's always worked in Linux) outside of UE4.

I need help co-registering the coordinates I get from the psmove (in cm from the camera) with the DK2's coordinate space.

For orientation, the roll and pitch are easy. The PSMove has a magnetometer so it's possible to get its true yaw but to make that useful in game I would also need access the DK2's magnetometer (I've read mixed reports that it even has one). Does anyone have any ideas here? Does it truly have a magnetometer? If so, does anyone know how to access it from within UE4?

If it does not then I'll need to somehow coregister the orientations by relying on the user to somehow point the controller in a specific orientation and pressing a button. I'm not too excited about that option.

For position, I would love it if I could access the DK2's camera's image feed. I could have the users run a quick calibration app that asked them to draw in the air then for each frame I would estimate the PSMove controller's position in 3D space relative to each camera, then create a transformation matrix from PS3Eye coordinates -> DK2 camera coordinates. This matrix could be stored in a data file somewhere (or registry entry) and as long as the cameras don't move relative to each other then it should stay the same. Any ideas on accessing the DK2's images, even outside of a game engine or the SDK?

If I can't access the DK2's camera feed then I'll probably need to touch the PSMove at specific locations on the surface of the DK2 and sample >=4 fiducial locations. I would need accurate dimensions of the DK2 body relative to whatever origin
it uses. Anyone have any experience with this?

Accuracy is important to me. We've all read that accuracy goes a long way to helping with immersion, so I hope that it's important to you too, but it's especially important to me because I'm using the data for research. So I can't really accept calibration methods that simply ask the user to put the controller near where they think it should be in the world and press a button.