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| author | Justin Berger <j.david.berger@gmail.com> | 2018-04-07 10:15:23 -0600 |
|---|---|---|
| committer | Justin Berger <j.david.berger@gmail.com> | 2018-04-08 16:19:39 -0600 |
| commit | bb0d186e967421c48ba781759063dca165f69df2 (patch) | |
| tree | 3a6bdfe417bc53b675c335fd01c03449bdf740b3 /src/poser_sba.c | |
| parent | 5b07e56094f2f765d679ac06bc07d4081338bb29 (diff) | |
| download | libsurvive-bb0d186e967421c48ba781759063dca165f69df2.tar.gz libsurvive-bb0d186e967421c48ba781759063dca165f69df2.tar.bz2 | |
Detailed messages about sba failures
Diffstat (limited to 'src/poser_sba.c')
| -rw-r--r-- | src/poser_sba.c | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/src/poser_sba.c b/src/poser_sba.c index 827e420..1eefc80 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -294,23 +294,23 @@ static double run_sba_find_3d_structure(SBAData *d, PoserDataLight *pdl, Survive } double rtn = -1; - if (status > 0 && (info[1] / meas_size * 2) < d->max_error) { + bool status_failure = status <= 0; + bool error_failure = (info[1] / meas_size * 2) >= d->max_error; + if (!status_failure && !error_failure) { d->failures_to_reset_cntr = d->failures_to_reset; quatnormalize(soLocation.Rot, soLocation.Rot); *out = soLocation; rtn = info[1] / meas_size * 2; - } else if ((info[1] / meas_size * 2) >= d->max_error) { + } else if (error_failure) { d->stats.error_failures++; } { SurviveContext *ctx = so->ctx; // Docs say info[0] should be divided by meas; I don't buy it really... - static int cnt = 0; - if (cnt++ > 1000 || meas_size < d->required_meas || (info[1] / meas_size * 2) > d->max_error) { - // SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); - // SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); - cnt = 0; + if (error_failure) { + SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); + SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); } } |