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| author | Michael Turvey <mwturvey@users.noreply.github.com> | 2017-03-30 11:52:06 -0700 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2017-03-30 11:52:06 -0700 |
| commit | 44ba20dbd8aa5d8a1d7624f4ce674e5e228a76e2 (patch) | |
| tree | 6adbefbcb4f6daf7f3d484b5a24df53277c0891a | |
| parent | 73b55567e8868139ae23bee5b1085a389abccbfd (diff) | |
| parent | 7ea900d3c0ce02bf5867e73dc2bbe3988207c477 (diff) | |
| download | libsurvive-44ba20dbd8aa5d8a1d7624f4ce674e5e228a76e2.tar.gz libsurvive-44ba20dbd8aa5d8a1d7624f4ce674e5e228a76e2.tar.bz2 | |
Merge pull request #49 from mwturvey/ToriCleanup
Tori cleanup
| -rw-r--r-- | src/poser_turveytori.c | 37 |
1 files changed, 23 insertions, 14 deletions
diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index 76dd7fe..5d25294 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -529,9 +529,18 @@ static Point RefineEstimateUsingModifiedGradientDescent1(Point initialEstimate, } - + // from empiracle evidence, we're probably "good enough" at this point. + // So, even though we could still improve, we're likely to be improving + // very slowly, and we should just take what we've got and move on. + // This also seems to happen almost only when data is a little more "dirty" + // because the tracker is being rotated. + if (i > 900) + { + //printf("i got big"); + break; + } } - printf(" i=%d ", i); + printf(" i=%3d ", i); return lastPoint; } @@ -950,7 +959,11 @@ static void RefineRotationEstimateAxisAngle(FLT *rotOut, Point lhPoint, FLT *ini } - + if (i > 1000) + { + //printf("Ri got big"); + break; + } } printf(" Ri=%d ", i); } @@ -1188,18 +1201,14 @@ static Point SolveForLighthouse(TrackedObject *obj, char doLogOutput) FLT fitGd = getPointFitness(refinedEstimateGd, pna, pnaCount); - printf("(%4.4f, %4.4f, %4.4f) Dist: %8.8f Fit:%4f ", refinedEstimateGd.x, refinedEstimateGd.y, refinedEstimateGd.z, distance, fitGd); + FLT distance = FLT_SQRT(SQUARED(refinedEstimateGd.x) + SQUARED(refinedEstimateGd.y) + SQUARED(refinedEstimateGd.z)); + printf(" SensorCount(%d) LhPos:(%4.4f, %4.4f, %4.4f) Dist: %8.8f ", obj->numSensors, refinedEstimateGd.x, refinedEstimateGd.y, refinedEstimateGd.z, distance); + //printf("Distance is %f, Fitness is %f\n", distance, fitGd); - //if (fitGd > 5) - { - FLT distance = FLT_SQRT(SQUARED(refinedEstimateGd.x) + SQUARED(refinedEstimateGd.y) + SQUARED(refinedEstimateGd.z)); - printf("(%4.4f, %4.4f, %4.4f) Dist: %8.8f Fit:%4f ", refinedEstimateGd.x, refinedEstimateGd.y, refinedEstimateGd.z, distance, fitGd); - //printf("Distance is %f, Fitness is %f\n", distance, fitGd); + FLT rot[4]; + SolveForRotation(rot, obj, refinedEstimateGd); - FLT rot[4]; - SolveForRotation(rot, obj, refinedEstimateGd); - } - if (logFile) + if (logFile) { updateHeader(logFile); fclose(logFile); @@ -1351,7 +1360,7 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) counter++; // let's just do this occasionally for now... - if (counter % 1 == 0) + if (counter % 2 == 0) QuickPose(so); } // axis changed, time to increment the circular buffer index. |