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| author | Justin Berger <j.david.berger@gmail.com> | 2018-04-07 07:36:23 -0600 |
|---|---|---|
| committer | Justin Berger <j.david.berger@gmail.com> | 2018-04-07 07:36:23 -0600 |
| commit | 5d43c7f5541b91f29aa3138a8a460f48198e11d0 (patch) | |
| tree | 37559b3c307b005703bade537028404aa39a5163 /src/poser_sba.c | |
| parent | 9dc7a7ed589db16cc040c7eeeae0343977f3f885 (diff) | |
| download | libsurvive-5d43c7f5541b91f29aa3138a8a460f48198e11d0.tar.gz libsurvive-5d43c7f5541b91f29aa3138a8a460f48198e11d0.tar.bz2 | |
Fixed terrible bug in SBA which slowed it way down
Diffstat (limited to 'src/poser_sba.c')
| -rw-r--r-- | src/poser_sba.c | 37 |
1 files changed, 19 insertions, 18 deletions
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: { |