diff options
| -rw-r--r-- | src/poser_charlesrefine.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/poser_charlesrefine.c b/src/poser_charlesrefine.c index e6f6a57..61bd575 100644 --- a/src/poser_charlesrefine.c +++ b/src/poser_charlesrefine.c @@ -141,9 +141,9 @@ int PoserCharlesRefine(SurviveObject *so, PoserData *pd) { #define MIN_HIT_QUALITY 0.5 //Determines which hits to cull. #define HIT_QUALITY_BASELINE 0.0001 //Determines which hits to cull. Actually SQRT(baseline) if 0.0001, it is really 1cm -#define CORRECT_LATERAL_POSITION_COEFFICIENT 0.2 //Explodes if you exceed 1.0 -#define CORRECT_TELESCOPTION_COEFFICIENT 1.0 //Converges even as high as 10.0 and doesn't explode. -#define CORRECT_ROTATION_COEFFICIENT 5.0 //This starts to fall apart above 5.0, but for good reason. It is amplified by the number of points seen. +#define CORRECT_LATERAL_POSITION_COEFFICIENT 0.1 //Explodes if you exceed 1.0 +#define CORRECT_TELESCOPTION_COEFFICIENT 0.5 //Converges even as high as 10.0 and doesn't explode. +#define CORRECT_ROTATION_COEFFICIENT 1.0 //This starts to fall apart above 5.0, but for good reason. It is amplified by the number of points seen. #define ROTATIONAL_CORRECTION_MAXFORCE 0.10 //Step 1: Determine standard of deviation, and average in order to @@ -299,7 +299,7 @@ int PoserCharlesRefine(SurviveObject *so, PoserData *pd) { //correction_in_object_space[0], correction_in_object_space[1], correction_in_object_space[2], //corrective_quaternion[0],corrective_quaternion[1],corrective_quaternion[1],corrective_quaternion[3]); } - printf( "Applying: %f %f %f %f\n", correction[0], correction[1], correction[2], correction[3] ); + //printf( "Applying: %f %f %f %f\n", correction[0], correction[1], correction[2], correction[3] ); //Apply our corrective quaternion to the output. quatrotateabout( object_pose_out.Rot, object_pose_out.Rot, correction ); quatnormalize( object_pose_out.Rot, object_pose_out.Rot ); |