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-rw-r--r--src/poser_sba.c14
1 files changed, 7 insertions, 7 deletions
diff --git a/src/poser_sba.c b/src/poser_sba.c
index 21dd74f..b049c80 100644
--- a/src/poser_sba.c
+++ b/src/poser_sba.c
@@ -50,7 +50,7 @@ typedef struct SBAData {
survive_kpose_t kpose;
SurviveIMUTracker tracker;
- bool useIMU;
+ int useIMU;
struct {
int meas_failures;
@@ -352,12 +352,12 @@ int PoserSBA(SurviveObject *so, PoserData *pd) {
general_optimizer_data_init(&d->opt, so);
- survive_attach_config( ctx, "sba-use-imu", &d->useIMU, 'i' );
- survive_attach_config( ctx, "sba-required-meas", &d->required_meas, 'i' );
- survive_attach_config( ctx, "sba-time-window", &d->sensor_time_window, 'i' );
- survive_attach_config( ctx, "sba-sensor-variance-per-sec", &d->sensor_variance_per_second, 'f' );
- survive_attach_config( ctx, "sba-sensor-variance", &d->sensor_variance, 'f' );
- survive_attach_config( ctx, "sba-use-jacobian-function", &d->use_jacobian_function, 'i' );
+ survive_attach_configi( ctx, "sba-use-imu", &d->useIMU );
+ survive_attach_configi( ctx, "sba-required-meas", &d->required_meas );
+ survive_attach_configi( ctx, "sba-time-window", &d->sensor_time_window );
+ survive_attach_configf( ctx, "sba-sensor-variance-per-sec", &d->sensor_variance_per_second );
+ survive_attach_configf( ctx, "sba-sensor-variance", &d->sensor_variance );
+ survive_attach_configi( ctx, "sba-use-jacobian-function", &d->use_jacobian_function );
SV_INFO("Initializing SBA:");
SV_INFO("\tsba-required-meas: %d", d->required_meas);