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author | Justin Berger <j.david.berger@gmail.com> | 2018-04-02 10:10:33 -0600 |
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committer | Justin Berger <j.david.berger@gmail.com> | 2018-04-02 10:10:33 -0600 |
commit | 75460f240c9d003e4ca2e6dda9b2146a74df7ffa (patch) | |
tree | 957b26f0539df176b61ad2ec72fbb0658b147919 /src/poser_charlesslow.c | |
parent | 2b63278497130d01b1fbc7e6a94b6ad8e32ab4dd (diff) | |
parent | 1724abef15a4090640bd82ba408681438316de7e (diff) | |
download | libsurvive-75460f240c9d003e4ca2e6dda9b2146a74df7ffa.tar.gz libsurvive-75460f240c9d003e4ca2e6dda9b2146a74df7ffa.tar.bz2 |
Merge remote-tracking branch 'origin/master' into imu
Diffstat (limited to 'src/poser_charlesslow.c')
-rw-r--r-- | src/poser_charlesslow.c | 30 |
1 files changed, 20 insertions, 10 deletions
diff --git a/src/poser_charlesslow.c b/src/poser_charlesslow.c index c7d9033..b44225e 100644 --- a/src/poser_charlesslow.c +++ b/src/poser_charlesslow.c @@ -1,12 +1,13 @@ +#include "linmath.h" #include "survive_cal.h" +#include <dclapack.h> +#include <linmath.h> #include <math.h> -#include <string.h> -#include "linmath.h" -#include <survive.h> #include <stdio.h> #include <stdlib.h> -#include <dclapack.h> -#include <linmath.h> +#include <string.h> +#include <survive.h> +#include <survive_reproject.h> typedef struct { @@ -53,7 +54,7 @@ int PoserCharlesSlow( SurviveObject * so, PoserData * pd ) printf( "%f %f %f\n", hmd_points[p*3+0], hmd_points[p*3+1], hmd_points[p*3+2] ); } - SurvivePose additionalTx = {}; + SurvivePose additionalTx = {0}; int lh, cycle; FLT dz, dy, dx; @@ -255,9 +256,13 @@ static FLT RunOpti( SurviveObject * hmd, PoserDataFullScene * fs, int lh, int pr int dataindex = p*(2*NUM_LIGHTHOUSES)+lh*2; if( fs->lengths[p][lh][0] < 0 || fs->lengths[p][lh][1] < 0 ) continue; + FLT out[2] = {}; + survive_apply_bsd_calibration(hmd->ctx, lh, fs->angles[p][lh], out); + //Find out where our ray shoots forth from. - FLT ax = fs->angles[p][lh][0]; - FLT ay = fs->angles[p][lh][1]; + FLT ax = out[0]; + FLT ay = out[1]; + //NOTE: Inputs may never be output with cross product. //Create a fictitious normalized ray. Imagine the lighthouse is pointed //straight in the +z direction, this is the lighthouse ray to the point. @@ -338,8 +343,13 @@ static FLT RunOpti( SurviveObject * hmd, PoserDataFullScene * fs, int lh, int pr if( fs->lengths[p][lh][0] < 0 || fs->lengths[p][lh][1] < 0 ) continue; //Find out where our ray shoots forth from. - FLT ax = fs->angles[p][lh][0]; - FLT ay = fs->angles[p][lh][1]; + FLT out[2] = {}; + survive_apply_bsd_calibration(hmd->ctx, lh, fs->angles[p][lh], out); + + // Find out where our ray shoots forth from. + FLT ax = out[0]; + FLT ay = out[1]; + FLT RayShootOut[3] = { sin(ax), sin(ay), 0 }; RayShootOut[2] = sqrt( 1 - (RayShootOut[0]*RayShootOut[0] + RayShootOut[1]*RayShootOut[1]) ); |