Merge branch 'master' of https://github.com/cnlohr/libsurvive

11 files changed, 366 insertions, 29 deletions

diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index 65343b7..c1bb52c 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -323,8 +323,7 @@ void RegisterDriver(const char *name, void *data);
 
 #ifdef _MSC_VER
 #define REGISTER_LINKTIME(func)                                                                                        \
-	__pragma(comment(linker, "/export:REGISTER" #func));                                                               \
-	void REGISTER##func() { RegisterDriver(#func, &func); }
+	SURVIVE_EXPORT void REGISTER##func() { RegisterDriver(#func, &func); }
 #else
 #define REGISTER_LINKTIME(func)                                                                                        \
 	void __attribute__((constructor)) REGISTER##func() { RegisterDriver(#func, &func); }
diff --git a/include/libsurvive/survive_imu.h b/include/libsurvive/survive_imu.h
index 8a86425..11635aa 100644
--- a/include/libsurvive/survive_imu.h
+++ b/include/libsurvive/survive_imu.h
@@ -4,6 +4,7 @@
 #include "poser.h"
 #include "survive_types.h"
 #include <stdint.h>
+#include <stdbool.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -12,6 +13,8 @@ extern "C" {
 struct SurviveIMUTracker_p;
 
 typedef struct {
+	bool is_initialized;
+
 	FLT updir[3];
 	FLT accel_scale_bias;
 
diff --git a/src/poser_sba.c b/src/poser_sba.c
index fcf4f2e..23e03fc 100644
--- a/src/poser_sba.c
+++ b/src/poser_sba.c
@@ -399,7 +399,7 @@ int PoserSBA(SurviveObject *so, PoserData *pd) {
 		d->failures_to_reset_cntr = 0;
 		d->failures_to_reset = survive_configi(ctx, "sba-failures-to-reset", SC_GET, 1);
 		d->successes_to_reset_cntr = 0;
-		d->successes_to_reset = survive_configi(ctx, "sba-successes-to-reset", SC_GET, 100);
+		d->successes_to_reset = survive_configi(ctx, "sba-successes-to-reset", SC_GET, -1);
 		d->useIMU = survive_configi(ctx, "sba-use-imu", SC_GET, 1);
 		d->required_meas = survive_configi(ctx, "sba-required-meas", SC_GET, 8);
 		d->max_error = survive_configf(ctx, "sba-max-error", SC_GET, .0001);
@@ -435,27 +435,28 @@ int PoserSBA(SurviveObject *so, PoserData *pd) {
 
 			d->last_lh = lightData->lh;
 			d->last_acode = lightData->acode;
-		}
 
-		if (error < 0) {
-			if (d->failures_to_reset_cntr > 0)
-				d->failures_to_reset_cntr--;
-		} else {
-			if (d->useIMU) {
-				FLT var_meters = 0.5;
-				FLT var_quat = error + .05;
-				FLT var[7] = {error * var_meters, error * var_meters, error * var_meters, error * var_quat,
-							  error * var_quat,   error * var_quat,   error * var_quat};
-
-				survive_imu_tracker_integrate_observation(so, lightData->timecode, &d->tracker, &estimate, var);
-				estimate = d->tracker.pose;
+
+			if (error < 0) {
+				if (d->failures_to_reset_cntr > 0)
+					d->failures_to_reset_cntr--;
 			}
+			else {
+				if (d->useIMU) {
+					FLT var_meters = 0.5;
+					FLT var_quat = error + .05;
+					FLT var[7] = { error * var_meters, error * var_meters, error * var_meters, error * var_quat,
+								  error * var_quat,   error * var_quat,   error * var_quat };
+
+					survive_imu_tracker_integrate_observation(so, lightData->timecode, &d->tracker, &estimate, var);
+					estimate = d->tracker.pose;
+				}
 
-			PoserData_poser_pose_func(&lightData->hdr, so, &estimate);
-			if (d->successes_to_reset_cntr > 0)
-				d->successes_to_reset_cntr--;
+				PoserData_poser_pose_func(&lightData->hdr, so, &estimate);
+				if (d->successes_to_reset_cntr > 0)
+					d->successes_to_reset_cntr--;
+			}
 		}
-
 		return 0;
 	}
 	case POSERDATA_FULL_SCENE: {
diff --git a/src/survive.c b/src/survive.c
index b024bbb..9e750f9 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -106,7 +106,7 @@ SurviveContext *survive_init_internal(int argc, char *const *argv) {
 	static int did_manual_driver_registration = 0;
 	if (did_manual_driver_registration == 0) {
 #define MANUAL_DRIVER_REGISTRATION(func)                                                                               \
-	int func(SurviveObject *so, PoserData *pd);                                                                        \
+ 	int func(SurviveObject *so, PoserData *pd);                                                                        \
 	RegisterDriver(#func, &func);
 
 		MANUAL_DRIVER_REGISTRATION(PoserCharlesSlow)
diff --git a/src/survive_imu.c b/src/survive_imu.c
index 36d1aeb..8f4266a 100644
--- a/src/survive_imu.c
+++ b/src/survive_imu.c
@@ -174,7 +174,7 @@ static void iterate_velocity(LinmathVec3d result, SurviveIMUTracker *tracker, do
 }
 
 void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker, PoserDataIMU *data) {
-	if (tracker->last_data.timecode == 0) {
+	if (!tracker->is_initialized) {
 		tracker->pose.Rot[0] = 1.;
 		if (tracker->last_data.datamask == imu_calibration_iterations) {
 			tracker->last_data = *data;
@@ -182,7 +182,7 @@ void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker
 			const FLT up[3] = {0, 0, 1};
 			quatfrom2vectors(tracker->pose.Rot, tracker->updir, up);
 			tracker->accel_scale_bias = 1. / magnitude3d(tracker->updir);
-
+			tracker->is_initialized = true;
 			return;
 		}
 
@@ -233,6 +233,11 @@ void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker
 
 void survive_imu_tracker_integrate_observation(SurviveObject *so, uint32_t timecode, SurviveIMUTracker *tracker,
 											   SurvivePose *pose, const FLT *R) {
+	if (!tracker->is_initialized) {
+		tracker->pose = *pose;
+		return;
+	}
+		
 	// Kalman filter assuming:
 	// F -> Identity
 	// H -> Identity
diff --git a/winbuild/calibrate/calibrate.vcxproj b/winbuild/calibrate/calibrate.vcxproj
index d0b1c48..feb72fd 100644
--- a/winbuild/calibrate/calibrate.vcxproj
+++ b/winbuild/calibrate/calibrate.vcxproj
@@ -17,6 +17,14 @@
       <Configuration>Release</Configuration>
       <Platform>x64</Platform>
     </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|Win32">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|x64">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
   </ItemGroup>
   <PropertyGroup Label="Globals">
     <VCProjectVersion>15.0</VCProjectVersion>
@@ -39,6 +47,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
@@ -52,6 +67,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
+  </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
   <ImportGroup Label="ExtensionSettings">
   </ImportGroup>
@@ -63,12 +85,18 @@
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
     <LinkIncremental>true</LinkIncremental>
@@ -80,9 +108,15 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
     <ClCompile>
       <PrecompiledHeader>
@@ -152,6 +186,30 @@
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     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;RUNTIME_SYMNUMX;HIDAPI;_CRT_SECURE_NO_WARNINGS;WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalLibraryDirectories>
+      </AdditionalLibraryDirectories>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
@@ -176,6 +234,30 @@
       <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;RUNTIME_SYMNUMX;HIDAPI;_CRT_SECURE_NO_WARNINGS;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalLibraryDirectories>
+      </AdditionalLibraryDirectories>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemGroup>
     <ClCompile Include="..\..\calibrate.c" />
     <ClCompile Include="..\..\redist\CNFG3D.c" />
diff --git a/winbuild/data_recorder/data_recorder.vcxproj b/winbuild/data_recorder/data_recorder.vcxproj
index e63d474..9f3f86a 100644
--- a/winbuild/data_recorder/data_recorder.vcxproj
+++ b/winbuild/data_recorder/data_recorder.vcxproj
@@ -17,6 +17,14 @@
       <Configuration>Release</Configuration>
       <Platform>x64</Platform>
     </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|Win32">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|x64">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
   </ItemGroup>
   <PropertyGroup Label="Globals">
     <VCProjectVersion>15.0</VCProjectVersion>
@@ -39,6 +47,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
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   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
@@ -52,6 +67,13 @@
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     <CharacterSet>MultiByte</CharacterSet>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
+  </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
   <ImportGroup Label="ExtensionSettings">
   </ImportGroup>
@@ -63,12 +85,18 @@
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <LinkIncremental>true</LinkIncremental>
@@ -80,9 +108,15 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <ClCompile>
       <PrecompiledHeader>
@@ -143,6 +177,28 @@
       <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;HIDAPI;_CRT_SECURE_NO_WARNINGS;WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
@@ -165,6 +221,28 @@
       <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;HIDAPI;_CRT_SECURE_NO_WARNINGS;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemGroup>
     <ProjectReference Include="..\libsurvive\libsurvive.vcxproj">
       <Project>{435cfd2c-8724-42ee-8fde-71ef7d2c6b2f}</Project>
diff --git a/winbuild/libsurvive.sln b/winbuild/libsurvive.sln
index b525975..3a8b2da 100644
--- a/winbuild/libsurvive.sln
+++ b/winbuild/libsurvive.sln
@@ -55,4 +55,7 @@ Global
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
 	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {5C1AB415-DC8F-42C0-B2E0-7300D0C79E09}
+	EndGlobalSection
 EndGlobal
diff --git a/winbuild/libsurvive/libsurvive.vcxproj b/winbuild/libsurvive/libsurvive.vcxproj
index 4b76c99..fb1b9a5 100644
--- a/winbuild/libsurvive/libsurvive.vcxproj
+++ b/winbuild/libsurvive/libsurvive.vcxproj
@@ -17,6 +17,14 @@
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       <Platform>x64</Platform>
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+    <ProjectConfiguration Include="RelWDebInfo|Win32">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|x64">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
   </ItemGroup>
   <PropertyGroup Label="Globals">
     <VCProjectVersion>15.0</VCProjectVersion>
@@ -33,7 +41,14 @@
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   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
     <PlatformToolset>v141</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
@@ -46,7 +61,14 @@
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
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+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="Configuration">
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
     <PlatformToolset>v141</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
@@ -64,12 +86,18 @@
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     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <IncludePath>$(IncludePath)</IncludePath>
@@ -89,7 +117,7 @@
       <SubSystem>Windows</SubSystem>
       <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <GenerateMapFile>true</GenerateMapFile>
-      <MapFileName>$(IntDir)Test.txt</MapFileName>
+      <MapFileName>libsurvive.map</MapFileName>
       <MapExports>true</MapExports>
       <ModuleDefinitionFile>
       </ModuleDefinitionFile>
@@ -106,11 +134,15 @@
       </PrecompiledHeader>
       <WarningLevel>Level3</WarningLevel>
       <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>USE_DOUBLE;RUNTIME_SYMNUM;RUNTIME_SYMNUMX;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;WIN32;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <PreprocessorDefinitions>FLT=double;USE_DOUBLE;MANUAL_REGISTRATION;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;HAVE_LAPACK_CONFIG_H;LAPACK_COMPLEX_STRUCTURE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <AdditionalIncludeDirectories>..\..\winbuild;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
+      <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateMapFile>true</GenerateMapFile>
+      <MapExports>true</MapExports>
+      <MapFileName>libsurvive.map</MapFileName>
     </Link>
     <ProjectReference />
   </ItemDefinitionGroup>
@@ -122,13 +154,39 @@
       <Optimization>MaxSpeed</Optimization>
       <FunctionLevelLinking>true</FunctionLevelLinking>
       <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>USE_DOUBLE;RUNTIME_SYMNUM;RUNTIME_SYMNUMX;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <PreprocessorDefinitions>FLT=double;USE_DOUBLE;MANUAL_REGISTRATION;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;HAVE_LAPACK_CONFIG_H;LAPACK_COMPLEX_STRUCTURE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\winbuild;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateMapFile>true</GenerateMapFile>
+      <MapExports>true</MapExports>
+      <MapFileName>libsurvive.map</MapFileName>
+    </Link>
+    <ProjectReference />
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>FLT=double;USE_DOUBLE;MANUAL_REGISTRATION;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;HAVE_LAPACK_CONFIG_H;LAPACK_COMPLEX_STRUCTURE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <AdditionalIncludeDirectories>..\..\winbuild;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateMapFile>true</GenerateMapFile>
+      <MapExports>true</MapExports>
+      <MapFileName>libsurvive.map</MapFileName>
     </Link>
     <ProjectReference />
   </ItemDefinitionGroup>
@@ -140,13 +198,39 @@
       <Optimization>MaxSpeed</Optimization>
       <FunctionLevelLinking>true</FunctionLevelLinking>
       <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>USE_DOUBLE;RUNTIME_SYMNUM;RUNTIME_SYMNUMX;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <PreprocessorDefinitions>FLT=double;USE_DOUBLE;MANUAL_REGISTRATION;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;HAVE_LAPACK_CONFIG_H;LAPACK_COMPLEX_STRUCTURE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <AdditionalIncludeDirectories>..\..\winbuild;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateMapFile>true</GenerateMapFile>
+      <MapExports>true</MapExports>
+      <MapFileName>libsurvive.map</MapFileName>
+    </Link>
+    <ProjectReference />
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>FLT=double;USE_DOUBLE;MANUAL_REGISTRATION;NOZLIB;_CRT_SECURE_NO_WARNINGS;HIDAPI;WINDOWS;_DEBUG;_LIB;HAVE_LAPACK_CONFIG_H;LAPACK_COMPLEX_STRUCTURE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\winbuild;..\..\include\libsurvive;..\..\redist;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>DbgHelp.lib;SetupAPI.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateMapFile>true</GenerateMapFile>
+      <MapExports>true</MapExports>
+      <MapFileName>libsurvive.map</MapFileName>
     </Link>
     <ProjectReference />
   </ItemDefinitionGroup>
@@ -184,6 +268,7 @@
     <ClCompile Include="..\..\src\survive_default_devices.c" />
     <ClCompile Include="..\..\src\survive_disambiguator.c" />
     <ClCompile Include="..\..\src\survive_driverman.c" />
+    <ClCompile Include="..\..\src\survive_imu.c" />
     <ClCompile Include="..\..\src\survive_playback.c" />
     <ClCompile Include="..\..\src\survive_process.c" />
     <ClCompile Include="..\..\src\survive_reproject.c" />
diff --git a/winbuild/libsurvive/libsurvive.vcxproj.filters b/winbuild/libsurvive/libsurvive.vcxproj.filters
index 1f98c68..d06f083 100644
--- a/winbuild/libsurvive/libsurvive.vcxproj.filters
+++ b/winbuild/libsurvive/libsurvive.vcxproj.filters
@@ -135,6 +135,9 @@
     <ClCompile Include="..\..\redist\sba\sba_chkjac.c">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="..\..\src\survive_imu.c">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="..\..\src\ootx_decoder.h">
diff --git a/winbuild/test/test.vcxproj b/winbuild/test/test.vcxproj
index 8df96d3..ae130b4 100644
--- a/winbuild/test/test.vcxproj
+++ b/winbuild/test/test.vcxproj
@@ -17,6 +17,14 @@
       <Configuration>Release</Configuration>
       <Platform>x64</Platform>
     </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|Win32">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWDebInfo|x64">
+      <Configuration>RelWDebInfo</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
   </ItemGroup>
   <PropertyGroup Label="Globals">
     <VCProjectVersion>15.0</VCProjectVersion>
@@ -39,6 +47,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
@@ -52,6 +67,13 @@
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
   <ImportGroup Label="ExtensionSettings">
   </ImportGroup>
@@ -63,12 +85,18 @@
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <LinkIncremental>true</LinkIncremental>
@@ -81,9 +109,15 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <LinkIncremental>false</LinkIncremental>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <ClCompile>
       <PrecompiledHeader>
@@ -144,6 +178,28 @@
       <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;HIDAPI;_CRT_SECURE_NO_WARNINGS;WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
@@ -166,6 +222,28 @@
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     </ProjectReference>
   </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWDebInfo|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>USE_DOUBLE;HIDAPI;_CRT_SECURE_NO_WARNINGS;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>..\..\windows;..\..\include\libsurvive;..\..\redist;</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <AdditionalDependencies>setupapi.lib;dbghelp.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+    <ProjectReference>
+      <UseLibraryDependencyInputs>true</UseLibraryDependencyInputs>
+    </ProjectReference>
+  </ItemDefinitionGroup>
   <ItemGroup>
     <ProjectReference Include="..\libsurvive\libsurvive.vcxproj">
       <Project>{435cfd2c-8724-42ee-8fde-71ef7d2c6b2f}</Project>