diff options
-rw-r--r-- | src/poser_epnp.c | 2 | ||||
-rw-r--r-- | src/poser_general_optimizer.c | 3 | ||||
-rw-r--r-- | src/poser_mpfit.c | 15 | ||||
-rw-r--r-- | src/poser_sba.c | 2 | ||||
-rw-r--r-- | src/survive.c | 2 | ||||
-rw-r--r-- | winbuild/libsurvive/libsurvive.vcxproj | 6 | ||||
-rw-r--r-- | winbuild/libsurvive/libsurvive.vcxproj.filters | 18 |
7 files changed, 34 insertions, 14 deletions
diff --git a/src/poser_epnp.c b/src/poser_epnp.c index 615c01c..851ce29 100644 --- a/src/poser_epnp.c +++ b/src/poser_epnp.c @@ -129,7 +129,7 @@ int PoserEPNP(SurviveObject *so, PoserData *pd) { case POSERDATA_LIGHT: { PoserDataLight *lightData = (PoserDataLight *)pd; - SurvivePose posers[2] = {}; + SurvivePose posers[2] = { 0 }; int meas[2] = {0, 0}; for (int lh = 0; lh < so->ctx->activeLighthouses; lh++) { if (so->ctx->bsd[lh].PositionSet) { diff --git a/src/poser_general_optimizer.c b/src/poser_general_optimizer.c index 313e378..b3c4e65 100644 --- a/src/poser_general_optimizer.c +++ b/src/poser_general_optimizer.c @@ -1,6 +1,7 @@ #include "poser_general_optimizer.h" #include "string.h" -#include <alloca.h> + +#include <malloc.h> #include <assert.h> #include <stdio.h> diff --git a/src/poser_mpfit.c b/src/poser_mpfit.c index 03ef522..439d151 100644 --- a/src/poser_mpfit.c +++ b/src/poser_mpfit.c @@ -167,22 +167,15 @@ static double run_mpfit_find_3d_structure(MPFITData *d, PoserDataLight *pdl, Sur } failure_count = 0; - SurvivePose soLocation = {}; + SurvivePose soLocation = { 0 }; if (!general_optimizer_data_record_current_pose(&d->opt, &pdl->hdr, sizeof(*pdl), &soLocation)) { return -1; } - mp_result result = {}; - mp_par pars[7] = {}; - pars[0].parname = "X"; - pars[1].parname = "Y"; - pars[2].parname = "Z"; - pars[3].parname = "w"; - pars[4].parname = "i"; - pars[5].parname = "j"; - pars[6].parname = "k"; - + mp_result result = { 0 }; + mp_par pars[7] = { 0 }; + const bool debug_jacobian = false; if (d->use_jacobian_function) { for (int i = 0; i < 7; i++) { diff --git a/src/poser_sba.c b/src/poser_sba.c index 4c7fcd1..5166951 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -230,7 +230,7 @@ static double run_sba_find_3d_structure(SBAData *d, PoserDataLight *pdl, Survive } failure_count = 0; - SurvivePose soLocation = {}; + SurvivePose soLocation = { 0 }; if (!general_optimizer_data_record_current_pose(&d->opt, &pdl->hdr, sizeof(*pdl), &soLocation)) { return -1; diff --git a/src/survive.c b/src/survive.c index 9e750f9..1ab09da 100644 --- a/src/survive.c +++ b/src/survive.c @@ -114,6 +114,8 @@ SurviveContext *survive_init_internal(int argc, char *const *argv) { MANUAL_DRIVER_REGISTRATION(PoserDummy) MANUAL_DRIVER_REGISTRATION(PoserEPNP) MANUAL_DRIVER_REGISTRATION(PoserSBA) + MANUAL_DRIVER_REGISTRATION(PoserCharlesRefine) + MANUAL_DRIVER_REGISTRATION(PoserMPFIT) MANUAL_DRIVER_REGISTRATION(DriverRegHTCVive) MANUAL_DRIVER_REGISTRATION(DriverRegPlayback) diff --git a/winbuild/libsurvive/libsurvive.vcxproj b/winbuild/libsurvive/libsurvive.vcxproj index fb1b9a5..8a0aaf1 100644 --- a/winbuild/libsurvive/libsurvive.vcxproj +++ b/winbuild/libsurvive/libsurvive.vcxproj @@ -244,6 +244,7 @@ <ClCompile Include="..\..\redist\json_helpers.c" /> <ClCompile Include="..\..\redist\linmath.c" /> <ClCompile Include="..\..\redist\minimal_opencv.c" /> + <ClCompile Include="..\..\redist\mpfit\mpfit.c" /> <ClCompile Include="..\..\redist\puff.c" /> <ClCompile Include="..\..\redist\sba\sba_chkjac.c" /> <ClCompile Include="..\..\redist\sba\sba_crsm.c" /> @@ -254,10 +255,13 @@ <ClCompile Include="..\..\src\epnp\epnp.c" /> <ClCompile Include="..\..\src\ootx_decoder.c" /> <ClCompile Include="..\..\src\poser.c" /> + <ClCompile Include="..\..\src\poser_charlesrefine.c" /> <ClCompile Include="..\..\src\poser_charlesslow.c" /> <ClCompile Include="..\..\src\poser_daveortho.c" /> <ClCompile Include="..\..\src\poser_dummy.c" /> <ClCompile Include="..\..\src\poser_epnp.c" /> + <ClCompile Include="..\..\src\poser_general_optimizer.c" /> + <ClCompile Include="..\..\src\poser_mpfit.c" /> <ClCompile Include="..\..\src\poser_octavioradii.c" /> <ClCompile Include="..\..\src\poser_sba.c" /> <ClCompile Include="..\..\src\poser_turveytori.c" /> @@ -288,11 +292,13 @@ <ClInclude Include="..\..\redist\json_helpers.h" /> <ClInclude Include="..\..\redist\linmath.h" /> <ClInclude Include="..\..\redist\minimal_opencv.h" /> + <ClInclude Include="..\..\redist\mpfit\mpfit.h" /> <ClInclude Include="..\..\redist\os_generic.h" /> <ClInclude Include="..\..\redist\sba\sba.h" /> <ClInclude Include="..\..\redist\symbol_enumerator.h" /> <ClInclude Include="..\..\src\epnp\epnp.h" /> <ClInclude Include="..\..\src\ootx_decoder.h" /> + <ClInclude Include="..\..\src\poser_general_optimizer.h" /> <ClInclude Include="..\..\src\survive_cal.h" /> <ClInclude Include="..\..\src\survive_config.h" /> <ClInclude Include="..\..\src\survive_default_devices.h" /> diff --git a/winbuild/libsurvive/libsurvive.vcxproj.filters b/winbuild/libsurvive/libsurvive.vcxproj.filters index d06f083..019631b 100644 --- a/winbuild/libsurvive/libsurvive.vcxproj.filters +++ b/winbuild/libsurvive/libsurvive.vcxproj.filters @@ -138,6 +138,18 @@ <ClCompile Include="..\..\src\survive_imu.c"> <Filter>Source Files</Filter> </ClCompile> + <ClCompile Include="..\..\redist\mpfit\mpfit.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\poser_general_optimizer.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\poser_mpfit.c"> + <Filter>Source Files</Filter> + </ClCompile> + <ClCompile Include="..\..\src\poser_charlesrefine.c"> + <Filter>Source Files</Filter> + </ClCompile> </ItemGroup> <ItemGroup> <ClInclude Include="..\..\src\ootx_decoder.h"> @@ -191,6 +203,12 @@ <ClInclude Include="..\..\redist\sba\sba.h"> <Filter>Source Files</Filter> </ClInclude> + <ClInclude Include="..\..\redist\mpfit\mpfit.h"> + <Filter>Source Files</Filter> + </ClInclude> + <ClInclude Include="..\..\src\poser_general_optimizer.h"> + <Filter>Source Files</Filter> + </ClInclude> </ItemGroup> <ItemGroup> <None Include="packages.config" /> |