Allow calibration with one lighthouse

2 files changed, 3 insertions, 3 deletions

diff --git a/src/poser_epnp.c b/src/poser_epnp.c
index eaa1659..7e922e7 100644
--- a/src/poser_epnp.c
+++ b/src/poser_epnp.c
@@ -66,7 +66,7 @@ static SurvivePose solve_correspondence(SurviveObject *so, epnp *pnp, bool camer
 
 static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) {
 	SurvivePose additionalTx = {0};
-	for (int lh = 0; lh < 2; lh++) {
+	for (int lh = 0; lh < so->ctx->activeLighthouses; lh++) {
 		epnp pnp = {.fu = 1, .fv = 1};
 		epnp_set_maximum_number_of_correspondences(&pnp, so->sensor_ct);
 
diff --git a/src/survive_cal.c b/src/survive_cal.c
index 3015b68..4d26bfb 100755
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -81,7 +81,7 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
 	config_set_lighthouse(ctx->lh_config,b,id);
 	lighthouses_completed++;
 
-	if (lighthouses_completed >= NUM_LIGHTHOUSES) {
+	if (lighthouses_completed >= ctx->activeLighthouses) {
 		config_save(ctx, survive_configs(ctx, "configfile", SC_GET, "config.json"));
 	}
 }
@@ -225,7 +225,7 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int
 				ootx_pump_bit( &cd->ootx_decoders[lhid], dbit );
 			}
 			int i;
-			for( i = 0; i < NUM_LIGHTHOUSES; i++ )
+			for( i = 0; i < ctx->activeLighthouses; i++ )
 				if( ctx->bsd[i].OOTXSet == 0 ) break;
 			if( i == ctx->activeLighthouses ) cd->stage = 2;  //TODO: Make this configuratble to allow single lighthouse.
 		}