diff options
| author | Justin Berger <j.david.berger@gmail.com> | 2018-03-21 09:11:54 -0600 |
|---|---|---|
| committer | Justin Berger <j.david.berger@gmail.com> | 2018-03-21 09:11:54 -0600 |
| commit | 8a0831f2b9e458d8f1976c27f7865166ad8de6a4 (patch) | |
| tree | 028773b7a0ae042c6bb9b3cc21933a617c939b65 /src/poser_sba.c | |
| parent | 0bc3b02ff3c4f975004fb19e226c3177fa811b4e (diff) | |
| download | libsurvive-8a0831f2b9e458d8f1976c27f7865166ad8de6a4.tar.gz libsurvive-8a0831f2b9e458d8f1976c27f7865166ad8de6a4.tar.bz2 | |
Moved pose to linmath to support stronger typing
Diffstat (limited to 'src/poser_sba.c')
| -rw-r--r-- | src/poser_sba.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/poser_sba.c b/src/poser_sba.c index b5962f8..870f541 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -36,7 +36,7 @@ void metric_function(int j, int i, double *aj, double *xij, void *adata) { SurvivePose obj2world = ctx->obj_pose; FLT sensorInWorld[3] = {}; - ApplyPoseToPoint(sensorInWorld, obj2world.Pos, &so->sensor_locations[i * 3]); + ApplyPoseToPoint(sensorInWorld, &obj2world, &so->sensor_locations[i * 3]); survive_reproject_from_pose_with_config(so->ctx, &ctx->calibration_config, j, (SurvivePose *)aj, sensorInWorld, xij); } @@ -134,7 +134,7 @@ void str_metric_function_single_sweep(int j, int i, double *bi, double *xij, voi quatnormalize(obj.Rot, obj.Rot); FLT xyz[3]; - ApplyPoseToPoint(xyz, obj.Pos, &so->sensor_locations[sensor_idx * 3]); + ApplyPoseToPoint(xyz, &obj, &so->sensor_locations[sensor_idx * 3]); // std::cerr << "Processing " << sensor_idx << ", " << lh << std::endl; SurvivePose *camera = &so->ctx->bsd[lh].Pose; @@ -157,7 +157,7 @@ void str_metric_function(int j, int i, double *bi, double *xij, void *adata) { quatnormalize(obj.Rot, obj.Rot); FLT xyz[3]; - ApplyPoseToPoint(xyz, obj.Pos, &so->sensor_locations[sensor_idx * 3]); + ApplyPoseToPoint(xyz, &obj, &so->sensor_locations[sensor_idx * 3]); // std::cerr << "Processing " << sensor_idx << ", " << lh << std::endl; SurvivePose *camera = &so->ctx->bsd[lh].Pose; |