diff options
Diffstat (limited to 'src/survive_reproject.c')
| -rw-r--r-- | src/survive_reproject.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/survive_reproject.c b/src/survive_reproject.c index 7bfc7d7..eabdb07 100644 --- a/src/survive_reproject.c +++ b/src/survive_reproject.c @@ -75,13 +75,13 @@ static FLT gibf(bool useSin, FLT v) { void survive_reproject_from_pose_with_config( const SurviveContext *ctx, const survive_calibration_config *config, int lighthouse, const SurvivePose *pose, const FLT *pt, FLT *out) { - FLT invq[4]; + LinmathQuat invq; quatgetreciprocal(invq, pose->Rot); - FLT tvec[3]; + LinmathPoint3d tvec; quatrotatevector(tvec, invq, pose->Pos); - FLT t_pt[3]; + LinmathPoint3d t_pt; quatrotatevector(t_pt, invq, pt); for (int i = 0; i < 3; i++) t_pt[i] = t_pt[i] - tvec[i]; |