Made SBA calibrate with 1lh

2 files changed, 9 insertions, 3 deletions

diff --git a/src/poser.c b/src/poser.c
index 7dcdc33..ea5812e 100644
--- a/src/poser.c
+++ b/src/poser.c
@@ -21,7 +21,8 @@ void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, ui
 
 		if (quatmagnitude(lighthouse_pose->Rot) == 0) {
 			SurviveContext *ctx = so->ctx;
-			SV_ERROR("Pose func called with invalid pose.");
+			SV_INFO("Pose func called with invalid pose.");
+			return;
 		}
 
 		// Assume that the space solved for is valid but completely arbitrary. We are going to do a few things:
diff --git a/src/poser_sba.c b/src/poser_sba.c
index 226f387..82fbd56 100644
--- a/src/poser_sba.c
+++ b/src/poser_sba.c
@@ -439,8 +439,13 @@ static double run_sba(survive_calibration_config options, PoserDataFullScene *pd
 
 	if (status >= 0) {
 		SurvivePose additionalTx = {};
-		PoserData_lighthouse_pose_func(&pdfs->hdr, so, 0, &additionalTx, &sbactx.camera_params[0], &sbactx.obj_pose);
-		PoserData_lighthouse_pose_func(&pdfs->hdr, so, 1, &additionalTx, &sbactx.camera_params[1], &sbactx.obj_pose);
+		for (int i = 0; i < NUM_LIGHTHOUSES; i++) {
+			if (quatmagnitude(sbactx.camera_params[i].Rot) != 0) {
+				PoserData_lighthouse_pose_func(&pdfs->hdr, so, i, &additionalTx, &sbactx.camera_params[i],
+											   &sbactx.obj_pose);
+			}
+		}
+
 	} else {
 		SurviveContext *ctx = so->ctx;
 		SV_INFO("SBA was unable to run %d", status);