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| author | Justin Berger <j.david.berger@gmail.com> | 2018-04-02 10:10:33 -0600 |
|---|---|---|
| committer | Justin Berger <j.david.berger@gmail.com> | 2018-04-02 10:10:33 -0600 |
| commit | 75460f240c9d003e4ca2e6dda9b2146a74df7ffa (patch) | |
| tree | 957b26f0539df176b61ad2ec72fbb0658b147919 /src/poser_turveytori.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_turveytori.c')
| -rw-r--r-- | src/poser_turveytori.c | 20 |
1 files changed, 15 insertions, 5 deletions
diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index 2d3f802..4628207 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -13,6 +13,8 @@ #include <stdlib.h> #else #include <malloc.h> //for alloca +#include <survive_reproject.h> + #endif @@ -1443,7 +1445,7 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob lighthousePose.Pos[1] = refinedEstimateGd.y; lighthousePose.Pos[2] = refinedEstimateGd.z; - SurvivePose assumedObj = {}; + SurvivePose assumedObj = {0}; FLT negZ[3] = {0, 0, 1}; quatfrom2vectors(assumedObj.Rot, toriData->down, negZ); @@ -1786,8 +1788,12 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) to->sensor[sensorCount].point.x = point[0]; to->sensor[sensorCount].point.y = point[1]; to->sensor[sensorCount].point.z = point[2]; - to->sensor[sensorCount].theta = fs->angles[i][0][0] + LINMATHPI / 2; // lighthouse 0, angle 0 (horizontal) - to->sensor[sensorCount].phi = fs->angles[i][0][1] + LINMATHPI / 2; // lighthouse 0, angle 1 (vertical) + + FLT out[2]; + survive_apply_bsd_calibration(ctx, 0, fs->angles[i][0], out); + + to->sensor[sensorCount].theta = out[0] + LINMATHPI / 2; // lighthouse 0, angle 0 (horizontal) + to->sensor[sensorCount].phi = out[1] + LINMATHPI / 2; // lighthouse 0, angle 1 (vertical) sensorCount++; } @@ -1822,8 +1828,12 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) to->sensor[sensorCount].point.x = point[0]; to->sensor[sensorCount].point.y = point[1]; to->sensor[sensorCount].point.z = point[2]; - to->sensor[sensorCount].theta = fs->angles[i][lh][0] + LINMATHPI / 2; // lighthouse 0, angle 0 (horizontal) - to->sensor[sensorCount].phi = fs->angles[i][lh][1] + LINMATHPI / 2; // lighthosue 0, angle 1 (vertical) + + FLT out[2]; + survive_apply_bsd_calibration(ctx, lh, fs->angles[i][lh], out); + + to->sensor[sensorCount].theta = out[0] + LINMATHPI / 2; // lighthouse 0, angle 0 (horizontal) + to->sensor[sensorCount].phi = out[1] + LINMATHPI / 2; // lighthosue 0, angle 1 (vertical) sensorCount++; } } |