diff options
Diffstat (limited to 'src/poser_epnp.c')
| -rw-r--r-- | src/poser_epnp.c | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/src/poser_epnp.c b/src/poser_epnp.c index 7e86542..c05450a 100644 --- a/src/poser_epnp.c +++ b/src/poser_epnp.c @@ -6,6 +6,7 @@ #include <poser.h> #include <survive.h> +#include <survive_reproject.h> #include "epnp/epnp.h" #include "linmath.h" @@ -71,7 +72,9 @@ static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) for (size_t i = 0; i < so->sensor_ct; i++) { FLT *lengths = pdfs->lengths[i][lh]; - FLT *ang = pdfs->angles[i][lh]; + FLT *_ang = pdfs->angles[i][lh]; + FLT ang[2]; + survive_apply_bsd_calibration(so->ctx, lh, _ang, ang); if (lengths[0] < 0 || lengths[1] < 0) continue; @@ -103,7 +106,10 @@ static void add_correspondences(SurviveObject *so, epnp *pnp, SurviveSensorActiv for (size_t sensor_idx = 0; sensor_idx < so->sensor_ct; sensor_idx++) { if (SurviveSensorActivations_isPairValid(scene, SurviveSensorActivations_default_tolerance, timecode, sensor_idx, lh)) { - double *angles = scene->angles[sensor_idx][lh]; + FLT *_angles = scene->angles[sensor_idx][lh]; + FLT angles[2]; + survive_apply_bsd_calibration(so->ctx, lh, _angles, angles); + epnp_add_correspondence(pnp, so->sensor_locations[sensor_idx * 3 + 0], so->sensor_locations[sensor_idx * 3 + 1], so->sensor_locations[sensor_idx * 3 + 2], tan(angles[0]), tan(angles[1])); |