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author | Michael Turvey <mwturvey@users.noreply.github.com> | 2018-01-05 04:12:26 -0700 |
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committer | GitHub <noreply@github.com> | 2018-01-05 04:12:26 -0700 |
commit | 3c64031e671e14eb3baf90ec12cfaa8c0ecb5eff (patch) | |
tree | e5fea4c0e03d09122ac90de0f28617f3b62326e6 /src/poser_turveytori.c | |
parent | 98d62e595b90a76ecd6d4f87e95e5cc6af45a4ce (diff) | |
parent | ed85661121c3ed8769a69d059fd3162aec33c6fe (diff) | |
download | libsurvive-3c64031e671e14eb3baf90ec12cfaa8c0ecb5eff.tar.gz libsurvive-3c64031e671e14eb3baf90ec12cfaa8c0ecb5eff.tar.bz2 |
Merge pull request #91 from mwturvey/MakeTrackingGood
Provide standard way for posers to report pose output
Diffstat (limited to 'src/poser_turveytori.c')
-rw-r--r-- | src/poser_turveytori.c | 20 |
1 files changed, 18 insertions, 2 deletions
diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index ac979c7..ad30f6c 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -1177,7 +1177,7 @@ static void RefineRotationEstimateQuaternion(FLT *rotOut, Point lhPoint, FLT *in } - printf("Ri=%3d Fitness=%3f ", i, lastMatchFitness); + if (ttDebug) printf("Ri=%3d Fitness=%3f ", i, lastMatchFitness); } @@ -1638,7 +1638,11 @@ static void QuickPose(SurviveObject *so, int lh) SolveForLighthouse(pos, quat, to, so, 0, lh, 0); - printf("P&O: [% 08.8f,% 08.8f,% 08.8f] [% 08.8f,% 08.8f,% 08.8f,% 08.8f]\n", pos[0], pos[1], pos[2], quat[0], quat[1], quat[2], quat[3]); + //printf("P&O: [% 08.8f,% 08.8f,% 08.8f] [% 08.8f,% 08.8f,% 08.8f,% 08.8f]\n", pos[0], pos[1], pos[2], quat[0], quat[1], quat[2], quat[3]); + if (so->ctx->rawposeproc) + { + so->ctx->rawposeproc(so, lh, pos, quat); + } if (ttDebug) printf("!\n"); } @@ -1852,6 +1856,18 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) // } //} + for (int i=0; i < ctx->activeLighthouses; i++) + { + printf("Lighthouse Pose: [%1.1x][% 08.8f,% 08.8f,% 08.8f] [% 08.8f,% 08.8f,% 08.8f,% 08.8f]\n", + i, + ctx->bsd[i].Pose.Pos[0], + ctx->bsd[i].Pose.Pos[1], + ctx->bsd[i].Pose.Pos[2], + ctx->bsd[i].Pose.Rot[0], + ctx->bsd[i].Pose.Rot[1], + ctx->bsd[i].Pose.Rot[2], + ctx->bsd[i].Pose.Rot[3]); + } config_set_lighthouse(ctx->lh_config, ctx->bsd[0], 0); config_set_lighthouse(ctx->lh_config, ctx->bsd[1], 1); |