From 9b13bad446be174e1727c151b73c3cbef7ba4698 Mon Sep 17 00:00:00 2001
From: jdavidberger <j.david.berger@gmail.com>
Date: Sun, 25 Mar 2018 16:31:35 -0600
Subject: Update Makefile

Made O3 default
---
 Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Makefile b/Makefile
index a6d139b..ac04d60 100644
--- a/Makefile
+++ b/Makefile
@@ -2,7 +2,7 @@ all : lib data_recorder test calibrate calibrate_client simple_pose_test
 
 CC?=gcc
 
-CFLAGS:=-Iinclude/libsurvive -fPIC -g -O0 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -llapacke  -lcblas -lm #-Wall -Wno-unused-variable -Wno-switch -Wno-unused-but-set-variable
+CFLAGS:=-Iinclude/libsurvive -fPIC -g -O3 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -llapacke  -lcblas -lm #-Wall -Wno-unused-variable -Wno-switch -Wno-unused-but-set-variable
 CFLAGS_RELEASE:=-Iinclude/libsurvive -fPIC -msse2 -ftree-vectorize -O3 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -llapacke  -lcblas -lm
 
 
-- 
cgit v1.2.3


From 2522e65f844d464dab7b5910d8183c3ad8ac922c Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Sun, 25 Mar 2018 12:38:28 -0600
Subject: Fixed typo in linmath

---
 redist/linmath.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/redist/linmath.h b/redist/linmath.h
index cacb1c6..5d5bed2 100644
--- a/redist/linmath.h
+++ b/redist/linmath.h
@@ -49,7 +49,7 @@
 
 typedef FLT LinmathQuat[4]; // This is the [wxyz] quaternion, in wxyz format.
 typedef FLT LinmathPoint3d[3];
-typedef FLT linmathVec3d[3];
+typedef FLT LinmathVec3d[3];
 
 typedef struct LinmathPose {
 	LinmathPoint3d Pos;
-- 
cgit v1.2.3


From 2dfd1ed1027e94b73048299b0cb8300694832a7c Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Sun, 25 Mar 2018 12:38:48 -0600
Subject: Added normals to viz

---
 tools/viz/survive_viewer.js | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/tools/viz/survive_viewer.js b/tools/viz/survive_viewer.js
index 70aecfa..df10ec3 100644
--- a/tools/viz/survive_viewer.js
+++ b/tools/viz/survive_viewer.js
@@ -164,16 +164,20 @@ function create_tracked_object(info) {
 	group.sensors = [];
 	if (info.config && info.config.lighthouse_config) {
 		for (var idx in info.config.lighthouse_config.modelPoints) {
-			var p = info.config.lighthouse_config.modelPoints[idx];
-			var color = 0xFFFFFF; // / info.points.length * idx;
-			if (idx === 10)
+            var p = info.config.lighthouse_config.modelPoints[idx];
+            var pn = info.config.lighthouse_config.modelNormals[idx];
+			var color = idx / info.config.lighthouse_config.modelPoints * 0xFFFFFF;
+			if (idx === 6)
 				color = 0x00ff00;
-			if (idx === 12)
-				color = 0x0000ff;
 			var sensorMaterial = new THREE.MeshBasicMaterial({color : color});
 			var newSensor = new THREE.Mesh(sensorGeometry, sensorMaterial);
 			newSensor.position.set(p[0], p[1], p[2]);
 
+            var normalGeom = new THREE.Geometry();
+            normalGeom.vertices.push(newSensor.position,
+				new THREE.Vector3(p[0] + pn[0] * .02, p[1] + pn[1] * .02, p[2] + pn[2] * .02));
+            var normal= new THREE.Line(normalGeom, new THREE.LineBasicMaterial({color : idx == 6 ? 0xFF0000 : 0x00FF00}));
+			group.add(normal);
 			group.sensors[idx] = sensorMaterial;
 			group.add(newSensor);
 		}
@@ -296,7 +300,7 @@ var survive_log_handlers = {
 				downAxes[obj.tracker] = new THREE.Geometry();
 				downAxes[obj.tracker].vertices.push(new THREE.Vector3(0, 0, 0), new THREE.Vector3(0, 0, 0));
 
-				var line = new THREE.Line(downAxes[obj.tracker], new THREE.LineBasicMaterial({color : 0xffffff}));
+                var line = new THREE.Line(downAxes[obj.tracker], new THREE.LineBasicMaterial({color : 0xffffff}));
 				scene.add(line);
 				}
 
-- 
cgit v1.2.3


From 287fc6886057e1773d572b2058222b38fd11122f Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Sun, 25 Mar 2018 21:19:05 -0600
Subject: Fixed out of array stepping in charles-biguator

---
 src/survive_charlesbiguator.c | 35 +++++++++++++++++++++--------------
 1 file changed, 21 insertions(+), 14 deletions(-)

diff --git a/src/survive_charlesbiguator.c b/src/survive_charlesbiguator.c
index fbba888..83b3681 100644
--- a/src/survive_charlesbiguator.c
+++ b/src/survive_charlesbiguator.c
@@ -1,6 +1,7 @@
 //<>< (C) 2016 C. N. Lohr, MOSTLY Under MIT/x11 License.
 //
 #include "survive_internal.h"
+#include <assert.h>
 #include <math.h> /* for sqrt */
 #include <stdint.h>
 #include <string.h>
@@ -15,12 +16,16 @@ static int32_t decode_acode(uint32_t length, int32_t main_divisor) {
 	if (acode & 1)
 		return -1;
 
-	return (acode >> 1) - 6;
+	int32_t rtn = (acode >> 1) - 6;
+	if (rtn > 7 || rtn < 0) {
+		return -1;
+	}
+	return rtn;
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 ///////The charles disambiguator.  Don't use this, mostly here for
-///debugging.///////////////////////////////////////////////////////
+/// debugging.///////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 static void HandleOOTX(SurviveContext *ctx, SurviveObject *so) {
@@ -169,21 +174,23 @@ void DisambiguatorCharles(SurviveObject *so, LightcapElement *le) {
 
 		int32_t main_divisor = so->timebase_hz / 384000; // 125 @ 48 MHz.
 		int acode = decode_acode(so->last_sync_length[0], main_divisor);
-		int whichlh;
-		if (acode < 0)
-			whichlh = 1;
-		else
-			whichlh = (acode >> 2);
-		int32_t dl = so->last_sync_time[whichlh];
 
-		if (!so->did_handle_ootx)
-			HandleOOTX(ctx, so);
+		// If acode isn't right; don't even think of emitting an event
+		if (acode >= 0) {
+			int whichlh = (acode >> 2);
+			assert(whichlh <= 1);
+			int32_t dl = so->last_sync_time[whichlh];
 
-		int32_t offset_from = le->timestamp - dl + le->length / 2;
+			if (!so->did_handle_ootx)
+				HandleOOTX(ctx, so);
 
-		// Make sure pulse is in valid window
-		if (offset_from < so->timecenter_ticks * 2 - so->pulse_in_clear_time && offset_from > so->pulse_in_clear_time) {
-			ctx->lightproc(so, le->sensor_id, acode, offset_from, le->timestamp, le->length, whichlh);
+			int32_t offset_from = le->timestamp - dl + le->length / 2;
+
+			// Make sure pulse is in valid window
+			if (offset_from < so->timecenter_ticks * 2 - so->pulse_in_clear_time &&
+				offset_from > so->pulse_in_clear_time) {
+				ctx->lightproc(so, le->sensor_id, acode, offset_from, le->timestamp, le->length, whichlh);
+			}
 		}
 	} else {
 		// printf( "FAIL %d   %d - %d = %d\n", le->length, so->last_photo_time, le->timestamp, so->last_photo_time -
-- 
cgit v1.2.3


From 801e17d2c52c21adad5eff63265c1aaea2255b1b Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Sun, 25 Mar 2018 21:22:01 -0600
Subject: Added additional parameters to EPNP and SBA, made it so that
 degenerate poses didn't occur as easily in EPNP

---
 src/poser_epnp.c | 16 ++++++++++++++--
 src/poser_sba.c  | 25 ++++++++++++++++---------
 2 files changed, 30 insertions(+), 11 deletions(-)

diff --git a/src/poser_epnp.c b/src/poser_epnp.c
index 401ea2a..ea1e735 100644
--- a/src/poser_epnp.c
+++ b/src/poser_epnp.c
@@ -27,6 +27,12 @@ static SurvivePose solve_correspondence(SurviveObject *so, epnp *pnp, bool camer
 
 	CvMat R = cvMat(3, 3, CV_64F, r);
 	CvMat T = cvMat(3, 1, CV_64F, rtn.Pos);
+
+	// Super degenerate inputs will project us basically right in the camera. Detect and reject
+	if (magnitude3d(rtn.Pos) < 0.25) {
+		return rtn;
+	}
+
 	// Requested output is camera -> world, so invert
 	if (cameraToWorld) {
 		FLT tmp[3];
@@ -81,7 +87,10 @@ static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs)
 		}
 
 		SurvivePose lighthouse2object = solve_correspondence(so, &pnp, true);
-		PoserData_lighthouse_pose_func(&pdfs->hdr, so, lh, &additionalTx, &lighthouse2object, 0);
+
+		if (quatmagnitude(lighthouse2object.Rot) != 0.0) {
+			PoserData_lighthouse_pose_func(&pdfs->hdr, so, lh, &additionalTx, &lighthouse2object, 0);
+		}
 
 		epnp_dtor(&pnp);
 	}
@@ -123,8 +132,11 @@ int PoserEPNP(SurviveObject *so, PoserData *pd) {
 				epnp_set_maximum_number_of_correspondences(&pnp, so->sensor_ct);
 
 				add_correspondences(so, &pnp, scene, lightData);
+				static int required_meas = -1;
+				if (required_meas == -1)
+					required_meas = survive_configi(so->ctx, "epnp-required-meas", SC_GET, 4);
 
-				if (pnp.number_of_correspondences > 4) {
+				if (pnp.number_of_correspondences > required_meas) {
 
 					SurvivePose pose = solve_correspondence(so, &pnp, false);
 
diff --git a/src/poser_sba.c b/src/poser_sba.c
index c01cc61..226f387 100644
--- a/src/poser_sba.c
+++ b/src/poser_sba.c
@@ -37,6 +37,9 @@ typedef struct SBAData {
 	int failures_to_reset_cntr;
 	int successes_to_reset;
 	int successes_to_reset_cntr;
+
+	int required_meas;
+
 } SBAData;
 
 void metric_function(int j, int i, double *aj, double *xij, void *adata) {
@@ -175,7 +178,7 @@ void str_metric_function(int j, int i, double *bi, double *xij, void *adata) {
 	SurvivePose *camera = &so->ctx->bsd[lh].Pose;
 	survive_reproject_from_pose_with_config(so->ctx, &ctx->calibration_config, lh, camera, xyz, xij);
 }
-
+#if 0
 static double run_sba_find_3d_structure_single_sweep(survive_calibration_config options, PoserDataLight *pdl,
 													 SurviveObject *so, SurviveSensorActivations *scene, int acode,
 													 int lh, int max_iterations /* = 50*/,
@@ -187,7 +190,7 @@ static double run_sba_find_3d_structure_single_sweep(survive_calibration_config
 	size_t meas_size = construct_input_from_scene_single_sweep(so, pdl, scene, vmask, meas, acode, lh);
 
 	static int failure_count = 500;
-	if (so->ctx->bsd[0].PositionSet == 0 || so->ctx->bsd[1].PositionSet == 0 || meas_size < 8) {
+	if (so->ctx->bsd[0].PositionSet == 0 || so->ctx->bsd[1].PositionSet == 0 || meas_size < d->required_meas) {
 		if (so->ctx->bsd[0].PositionSet && so->ctx->bsd[1].PositionSet && failure_count++ == 500) {
 			SurviveContext *ctx = so->ctx;
 			SV_INFO("Can't solve for position with just %u measurements", (unsigned int)meas_size);
@@ -261,7 +264,7 @@ static double run_sba_find_3d_structure_single_sweep(survive_calibration_config
 		SurviveContext *ctx = so->ctx;
 		// Docs say info[0] should be divided by meas; I don't buy it really...
 		static int cnt = 0;
-		if (cnt++ > 1000 || meas_size < 8) {
+		if (cnt++ > 1000 || meas_size < d->required_meas) {
 			SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (unsigned int)meas_size);
 			SV_INFO("%f cur reproj error", (info[1] / meas_size * 2));
 			cnt = 0;
@@ -270,7 +273,7 @@ static double run_sba_find_3d_structure_single_sweep(survive_calibration_config
 
 	return info[1] / meas_size * 2;
 }
-
+#endif
 static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config options, PoserDataLight *pdl,
 										SurviveObject *so, SurviveSensorActivations *scene,
 										int max_iterations /* = 50*/, double max_reproj_error /* = 0.005*/) {
@@ -281,7 +284,7 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o
 	size_t meas_size = construct_input_from_scene(so, pdl, scene, vmask, meas);
 
 	static int failure_count = 500;
-	if (so->ctx->bsd[0].PositionSet == 0 || so->ctx->bsd[1].PositionSet == 0 || meas_size < 7) {
+	if (so->ctx->bsd[0].PositionSet == 0 || so->ctx->bsd[1].PositionSet == 0 || meas_size < d->required_meas) {
 		if (so->ctx->bsd[0].PositionSet && so->ctx->bsd[1].PositionSet && failure_count++ == 500) {
 			SurviveContext *ctx = so->ctx;
 			SV_INFO("Can't solve for position with just %u measurements", (unsigned int)meas_size);
@@ -361,7 +364,7 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o
 		SurviveContext *ctx = so->ctx;
 		// Docs say info[0] should be divided by meas; I don't buy it really...
 		static int cnt = 0;
-		if (cnt++ > 1000 || meas_size < 8) {
+		if (cnt++ > 1000 || meas_size < d->required_meas) {
 			SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size);
 			SV_INFO("%f cur reproj error", (info[1] / meas_size * 2));
 			cnt = 0;
@@ -456,16 +459,20 @@ static double run_sba(survive_calibration_config options, PoserDataFullScene *pd
 }
 
 int PoserSBA(SurviveObject *so, PoserData *pd) {
+	SurviveContext *ctx = so->ctx;
 	if (so->PoserData == 0) {
 		so->PoserData = calloc(1, sizeof(SBAData));
 		SBAData *d = so->PoserData;
 		d->failures_to_reset_cntr = 0;
-		d->failures_to_reset = 5;
+		d->failures_to_reset = survive_configi(ctx, "sba-failures-to-reset", SC_GET, 1);
 		d->successes_to_reset_cntr = 0;
-		d->successes_to_reset = 20;
+		d->successes_to_reset = survive_configi(ctx, "sba-successes-to-reset", SC_GET, 1);
+
+		d->required_meas = survive_configi(ctx, "sba-required-meas", SC_GET, 8);
+
+		SV_INFO("Initializing SBA with %d required measurements", d->required_meas);
 	}
 	SBAData *d = so->PoserData;
-	SurviveContext *ctx = so->ctx;
 	switch (pd->pt) {
 	case POSERDATA_LIGHT: {
 		// No poses if calibration is ongoing
-- 
cgit v1.2.3


From 005713cf133df85f208ff0cb2117a6855b85a5a7 Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Sun, 25 Mar 2018 21:22:53 -0600
Subject: Added PoseToMatrix function for debugability

---
 redist/linmath.c | 339 ++++++++++++++++++++++++++-----------------------------
 redist/linmath.h |  69 ++++++-----
 2 files changed, 189 insertions(+), 219 deletions(-)

diff --git a/redist/linmath.c b/redist/linmath.c
index d005074..c57410f 100644
--- a/redist/linmath.c
+++ b/redist/linmath.c
@@ -1,130 +1,120 @@
-//Copyright 2013,2016 <>< C. N. Lohr.  This file licensed under the terms of the MIT license.
+// Copyright 2013,2016 <>< C. N. Lohr.  This file licensed under the terms of the MIT license.
 
-#include <math.h>
 #include "linmath.h"
 #include <float.h>
+#include <math.h>
 #include <string.h>
 
-void cross3d( FLT * out, const FLT * a, const FLT * b )
-{
-	out[0] = a[1]*b[2] - a[2]*b[1];
-	out[1] = a[2]*b[0] - a[0]*b[2];
-	out[2] = a[0]*b[1] - a[1]*b[0];
+void cross3d(FLT *out, const FLT *a, const FLT *b) {
+	out[0] = a[1] * b[2] - a[2] * b[1];
+	out[1] = a[2] * b[0] - a[0] * b[2];
+	out[2] = a[0] * b[1] - a[1] * b[0];
 }
 
-void sub3d( FLT * out, const FLT * a, const FLT * b )
-{
+void sub3d(FLT *out, const FLT *a, const FLT *b) {
 	out[0] = a[0] - b[0];
 	out[1] = a[1] - b[1];
 	out[2] = a[2] - b[2];
 }
 
-void add3d( FLT * out, const FLT * a, const FLT * b )
-{
+void add3d(FLT *out, const FLT *a, const FLT *b) {
 	out[0] = a[0] + b[0];
 	out[1] = a[1] + b[1];
 	out[2] = a[2] + b[2];
 }
 
-void scale3d( FLT * out, const FLT * a, FLT scalar )
-{
+void scale3d(FLT *out, const FLT *a, FLT scalar) {
 	out[0] = a[0] * scalar;
 	out[1] = a[1] * scalar;
 	out[2] = a[2] * scalar;
 }
 
-void normalize3d( FLT * out, const FLT * in )
-{
+void normalize3d(FLT *out, const FLT *in) {
 	FLT r = ((FLT)1.) / FLT_SQRT(in[0] * in[0] + in[1] * in[1] + in[2] * in[2]);
 	out[0] = in[0] * r;
 	out[1] = in[1] * r;
 	out[2] = in[2] * r;
 }
 
-FLT dot3d( const FLT * a, const FLT * b )
-{
-	return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
-}
-
-int compare3d( const FLT * a, const FLT * b, FLT epsilon )
-{
-	if( !a || !b ) return 0;
-	if( a[2] - b[2] > epsilon ) return 1;
-	if( b[2] - a[2] > epsilon ) return -1;
-	if( a[1] - b[1] > epsilon ) return 1;
-	if( b[1] - a[1] > epsilon ) return -1;
-	if( a[0] - b[0] > epsilon ) return 1;
-	if( b[0] - a[0] > epsilon ) return -1;
+FLT dot3d(const FLT *a, const FLT *b) { return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]; }
+
+int compare3d(const FLT *a, const FLT *b, FLT epsilon) {
+	if (!a || !b)
+		return 0;
+	if (a[2] - b[2] > epsilon)
+		return 1;
+	if (b[2] - a[2] > epsilon)
+		return -1;
+	if (a[1] - b[1] > epsilon)
+		return 1;
+	if (b[1] - a[1] > epsilon)
+		return -1;
+	if (a[0] - b[0] > epsilon)
+		return 1;
+	if (b[0] - a[0] > epsilon)
+		return -1;
 	return 0;
 }
 
-void copy3d( FLT * out, const FLT * in )
-{
+void copy3d(FLT *out, const FLT *in) {
 	out[0] = in[0];
 	out[1] = in[1];
 	out[2] = in[2];
 }
 
-FLT magnitude3d(const FLT * a )
-{
-	return FLT_SQRT(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
-}
+FLT magnitude3d(const FLT *a) { return FLT_SQRT(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); }
 
-FLT anglebetween3d( FLT * a, FLT * b )
-{
+FLT anglebetween3d(FLT *a, FLT *b) {
 	FLT an[3];
 	FLT bn[3];
-	normalize3d( an, a );
-	normalize3d( bn, b );
+	normalize3d(an, a);
+	normalize3d(bn, b);
 	FLT dot = dot3d(an, bn);
-	if( dot < -0.9999999 ) return LINMATHPI;
-	if( dot >  0.9999999 ) return 0;
+	if (dot < -0.9999999)
+		return LINMATHPI;
+	if (dot > 0.9999999)
+		return 0;
 	return FLT_ACOS(dot);
 }
 
 // algorithm found here: http://inside.mines.edu/fs_home/gmurray/ArbitraryAxisRotation/
-void rotatearoundaxis(FLT *outvec3, FLT *invec3, FLT *axis, FLT angle)
-{
+void rotatearoundaxis(FLT *outvec3, FLT *invec3, FLT *axis, FLT angle) {
 	// TODO: this really should be external.
 	normalize3d(axis, axis);
 
 	FLT s = FLT_SIN(angle);
 	FLT c = FLT_COS(angle);
 
-	FLT u=axis[0];
-	FLT v=axis[1];
-	FLT w=axis[2];
+	FLT u = axis[0];
+	FLT v = axis[1];
+	FLT w = axis[2];
 
-	FLT x=invec3[0];
-	FLT y=invec3[1];
-	FLT z=invec3[2];
+	FLT x = invec3[0];
+	FLT y = invec3[1];
+	FLT z = invec3[2];
 
-	outvec3[0] = u*(u*x + v*y + w*z)*(1-c)   +   x*c   +   (-w*y + v*z)*s;
-	outvec3[1] = v*(u*x + v*y + w*z)*(1-c)   +   y*c   +   ( w*x - u*z)*s;
-	outvec3[2] = w*(u*x + v*y + w*z)*(1-c)   +   z*c   +   (-v*x + u*y)*s;
+	outvec3[0] = u * (u * x + v * y + w * z) * (1 - c) + x * c + (-w * y + v * z) * s;
+	outvec3[1] = v * (u * x + v * y + w * z) * (1 - c) + y * c + (w * x - u * z) * s;
+	outvec3[2] = w * (u * x + v * y + w * z) * (1 - c) + z * c + (-v * x + u * y) * s;
 }
 
-void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest)
-{
+void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest) {
 	FLT v0[3];
 	FLT v1[3];
 	normalize3d(v0, src);
 	normalize3d(v1, dest);
 
-	FLT d = dot3d(v0, v1);// v0.dotProduct(v1);
+	FLT d = dot3d(v0, v1); // v0.dotProduct(v1);
 
 	// If dot == 1, vectors are the same
 	// If dot == -1, vectors are opposite
-	if (FLT_FABS(d - 1) < DEFAULT_EPSILON)
-	{
+	if (FLT_FABS(d - 1) < DEFAULT_EPSILON) {
 		axis[0] = 0;
 		axis[1] = 1;
 		axis[2] = 0;
 		*angle = 0;
 		return;
-	}
-	else if (FLT_FABS(d + 1) < DEFAULT_EPSILON)
-	{
+	} else if (FLT_FABS(d + 1) < DEFAULT_EPSILON) {
 		axis[0] = 0;
 		axis[1] = 1;
 		axis[2] = 0;
@@ -137,33 +127,28 @@ void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest)
 
 	*angle = FLT_ACOS(d / (v0Len * v1Len));
 
-	//cross3d(c, v0, v1);
+	// cross3d(c, v0, v1);
 	cross3d(axis, v1, v0);
-
 }
 
-
-void axisanglefromquat(FLT *angle, FLT *axis, FLT *q)
-{
+void axisanglefromquat(FLT *angle, FLT *axis, FLT *q) {
 	// this way might be fine, too.
-	//FLT dist = FLT_SQRT((q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3]));
+	// FLT dist = FLT_SQRT((q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3]));
 	//
 	//*angle = 2 * FLT_ATAN2(dist, q[0]);
 
-	//axis[0] = q[1] / dist;
-	//axis[1] = q[2] / dist;
-	//axis[2] = q[3] / dist;
-	
+	// axis[0] = q[1] / dist;
+	// axis[1] = q[2] / dist;
+	// axis[2] = q[3] / dist;
 
 	// Good mathematical foundation for this algorithm found here:
 	// http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/index.htm
 
-	FLT tmp[4] = { q[0], q[1], q[2], q[3] };
+	FLT tmp[4] = {q[0], q[1], q[2], q[3]};
 
 	quatnormalize(tmp, q);
 
-	if (FLT_FABS(q[0] - 1) < FLT_EPSILON)
-	{
+	if (FLT_FABS(q[0] - 1) < FLT_EPSILON) {
 		// we have a degenerate case where we're rotating approx. 0 degrees
 		*angle = 0;
 		axis[0] = 1;
@@ -180,11 +165,14 @@ void axisanglefromquat(FLT *angle, FLT *axis, FLT *q)
 }
 
 /////////////////////////////////////QUATERNIONS//////////////////////////////////////////
-//Originally from Mercury (Copyright (C) 2009 by Joshua Allen, Charles Lohr, Adam Lowman)
-//Under the mit/X11 license.
+// Originally from Mercury (Copyright (C) 2009 by Joshua Allen, Charles Lohr, Adam Lowman)
+// Under the mit/X11 license.
 
 void quatsetnone(LinmathQuat q) {
-	q[0] = 1; q[1] = 0; q[2] = 0; q[3] = 0;
+	q[0] = 1;
+	q[1] = 0;
+	q[2] = 0;
+	q[3] = 0;
 }
 
 void quatcopy(LinmathQuat qout, const LinmathQuat qin) {
@@ -195,9 +183,9 @@ void quatcopy(LinmathQuat qout, const LinmathQuat qin) {
 }
 
 void quatfromeuler(LinmathQuat q, const LinmathEulerAngle euler) {
-	FLT X = euler[0]/2.0f; //roll
-	FLT Y = euler[1]/2.0f; //pitch
-	FLT Z = euler[2]/2.0f; //yaw
+	FLT X = euler[0] / 2.0f; // roll
+	FLT Y = euler[1] / 2.0f; // pitch
+	FLT Z = euler[2] / 2.0f; // yaw
 
 	FLT cx = FLT_COS(X);
 	FLT sx = FLT_SIN(X);
@@ -206,17 +194,17 @@ void quatfromeuler(LinmathQuat q, const LinmathEulerAngle euler) {
 	FLT cz = FLT_COS(Z);
 	FLT sz = FLT_SIN(Z);
 
-	//Correct according to
-	//http://en.wikipedia.org/wiki/Conversion_between_MQuaternions_and_Euler_angles
-	q[0] = cx*cy*cz+sx*sy*sz;//q1
-	q[1] = sx*cy*cz-cx*sy*sz;//q2
-	q[2] = cx*sy*cz+sx*cy*sz;//q3
-	q[3] = cx*cy*sz-sx*sy*cz;//q4
-	quatnormalize( q, q );
+	// Correct according to
+	// http://en.wikipedia.org/wiki/Conversion_between_MQuaternions_and_Euler_angles
+	q[0] = cx * cy * cz + sx * sy * sz; // q1
+	q[1] = sx * cy * cz - cx * sy * sz; // q2
+	q[2] = cx * sy * cz + sx * cy * sz; // q3
+	q[3] = cx * cy * sz - sx * sy * cz; // q4
+	quatnormalize(q, q);
 }
 
 void quattoeuler(LinmathEulerAngle euler, const LinmathQuat q) {
-	//According to http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles (Oct 26, 2009)
+	// According to http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles (Oct 26, 2009)
 	euler[0] = FLT_ATAN2(2 * (q[0] * q[1] + q[2] * q[3]), 1 - 2 * (q[1] * q[1] + q[2] * q[2]));
 	euler[1] = FLT_ASIN(2 * (q[0] * q[2] - q[3] * q[1]));
 	euler[2] = FLT_ATAN2(2 * (q[0] * q[3] + q[1] * q[2]), 1 - 2 * (q[2] * q[2] + q[3] * q[3]));
@@ -224,15 +212,15 @@ void quattoeuler(LinmathEulerAngle euler, const LinmathQuat q) {
 
 void quatfromaxisangle(LinmathQuat q, const FLT *axis, FLT radians) {
 	FLT v[3];
-	normalize3d( v, axis );
-	
+	normalize3d(v, axis);
+
 	FLT sn = FLT_SIN(radians / 2.0f);
 	q[0] = FLT_COS(radians / 2.0f);
 	q[1] = sn * v[0];
 	q[2] = sn * v[1];
 	q[3] = sn * v[2];
 
-	quatnormalize( q, q );
+	quatnormalize(q, q);
 }
 
 FLT quatmagnitude(const LinmathQuat q) {
@@ -240,19 +228,19 @@ FLT quatmagnitude(const LinmathQuat q) {
 }
 
 FLT quatinvsqmagnitude(const LinmathQuat q) {
-	return ((FLT)1.)/FLT_SQRT((q[0]*q[0])+(q[1]*q[1])+(q[2]*q[2])+(q[3]*q[3]));
+	return ((FLT)1.) / FLT_SQRT((q[0] * q[0]) + (q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3]));
 }
 
 void quatnormalize(LinmathQuat qout, const LinmathQuat qin) {
-	FLT imag = quatinvsqmagnitude( qin );
-	quatscale( qout, qin, imag );
+	FLT imag = quatinvsqmagnitude(qin);
+	quatscale(qout, qin, imag);
 }
 
 void quattomatrix(FLT *matrix44, const LinmathQuat qin) {
 	FLT q[4];
 	quatnormalize(q, qin);
 
-	//Reduced calulation for speed
+	// Reduced calulation for speed
 	FLT xx = 2 * q[1] * q[1];
 	FLT xy = 2 * q[1] * q[2];
 	FLT xz = 2 * q[1] * q[3];
@@ -265,7 +253,7 @@ void quattomatrix(FLT *matrix44, const LinmathQuat qin) {
 	FLT zz = 2 * q[3] * q[3];
 	FLT zw = 2 * q[3] * q[0];
 
-	//opengl major
+	// opengl major
 	matrix44[0] = 1 - yy - zz;
 	matrix44[1] = xy - zw;
 	matrix44[2] = xz + yw;
@@ -320,16 +308,16 @@ void quatfrommatrix33(FLT *q, const FLT *m) {
 }
 
 void quatfrommatrix(LinmathQuat q, const FLT *matrix44) {
-	//Algorithm from http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
+	// Algorithm from http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
 	FLT tr = matrix44[0] + matrix44[5] + matrix44[10];
 
 	if (tr > 0) {
-		FLT S = FLT_SQRT(tr+1.0) * 2.; // S=4*qw
+		FLT S = FLT_SQRT(tr + 1.0) * 2.; // S=4*qw
 		q[0] = 0.25f * S;
 		q[1] = (matrix44[9] - matrix44[6]) / S;
 		q[2] = (matrix44[2] - matrix44[8]) / S;
 		q[3] = (matrix44[4] - matrix44[1]) / S;
-	} else if ((matrix44[0] > matrix44[5])&&(matrix44[0] > matrix44[10])) {
+	} else if ((matrix44[0] > matrix44[5]) && (matrix44[0] > matrix44[10])) {
 		FLT S = FLT_SQRT(1.0 + matrix44[0] - matrix44[5] - matrix44[10]) * 2.; // S=4*qx
 		q[0] = (matrix44[9] - matrix44[6]) / S;
 		q[1] = 0.25f * S;
@@ -350,13 +338,12 @@ void quatfrommatrix(LinmathQuat q, const FLT *matrix44) {
 	}
 }
 
-
 // Algorithm from http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToMatrix/
 void quattomatrix33(FLT *matrix33, const LinmathQuat qin) {
 	FLT q[4];
 	quatnormalize(q, qin);
 
-	//Reduced calulation for speed
+	// Reduced calulation for speed
 	FLT xx = 2 * q[1] * q[1];
 	FLT xy = 2 * q[1] * q[2];
 	FLT xz = 2 * q[1] * q[3];
@@ -369,8 +356,7 @@ void quattomatrix33(FLT *matrix33, const LinmathQuat qin) {
 	FLT zz = 2 * q[3] * q[3];
 	FLT zw = 2 * q[3] * q[0];
 
-
-	//opengl major
+	// opengl major
 	matrix33[0] = 1 - yy - zz;
 	matrix33[1] = xy + zw;
 	matrix33[2] = xz - yw;
@@ -393,8 +379,8 @@ void quatgetconjugate(LinmathQuat qout, const LinmathQuat qin) {
 
 void quatgetreciprocal(LinmathQuat qout, const LinmathQuat qin) {
 	FLT m = quatinvsqmagnitude(qin);
-	quatgetconjugate( qout, qin );
-	quatscale( qout, qout, m );
+	quatgetconjugate(qout, qin);
+	quatscale(qout, qout, m);
 }
 
 void quatsub(LinmathQuat qout, const FLT *a, const FLT *b) {
@@ -412,11 +398,11 @@ void quatadd(LinmathQuat qout, const FLT *a, const FLT *b) {
 }
 
 void quatrotateabout(LinmathQuat qout, const LinmathQuat q1, const LinmathQuat q2) {
-	//NOTE: Does not normalize
-	qout[0] = (q1[0]*q2[0])-(q1[1]*q2[1])-(q1[2]*q2[2])-(q1[3]*q2[3]);
-	qout[1] = (q1[0]*q2[1])+(q1[1]*q2[0])+(q1[2]*q2[3])-(q1[3]*q2[2]);
-	qout[2] = (q1[0]*q2[2])-(q1[1]*q2[3])+(q1[2]*q2[0])+(q1[3]*q2[1]);
-	qout[3] = (q1[0]*q2[3])+(q1[1]*q2[2])-(q1[2]*q2[1])+(q1[3]*q2[0]);
+	// NOTE: Does not normalize
+	qout[0] = (q1[0] * q2[0]) - (q1[1] * q2[1]) - (q1[2] * q2[2]) - (q1[3] * q2[3]);
+	qout[1] = (q1[0] * q2[1]) + (q1[1] * q2[0]) + (q1[2] * q2[3]) - (q1[3] * q2[2]);
+	qout[2] = (q1[0] * q2[2]) - (q1[1] * q2[3]) + (q1[2] * q2[0]) + (q1[3] * q2[1]);
+	qout[3] = (q1[0] * q2[3]) + (q1[1] * q2[2]) - (q1[2] * q2[1]) + (q1[3] * q2[0]);
 }
 
 void quatscale(LinmathQuat qout, const LinmathQuat qin, FLT s) {
@@ -427,96 +413,87 @@ void quatscale(LinmathQuat qout, const LinmathQuat qin, FLT s) {
 }
 
 FLT quatinnerproduct(const LinmathQuat qa, const LinmathQuat qb) {
-	return (qa[0]*qb[0])+(qa[1]*qb[1])+(qa[2]*qb[2])+(qa[3]*qb[3]);
+	return (qa[0] * qb[0]) + (qa[1] * qb[1]) + (qa[2] * qb[2]) + (qa[3] * qb[3]);
 }
 
 void quatouterproduct(FLT *outvec3, LinmathQuat qa, LinmathQuat qb) {
-	outvec3[0] = (qa[0]*qb[1])-(qa[1]*qb[0])-(qa[2]*qb[3])+(qa[3]*qb[2]);
-	outvec3[1] = (qa[0]*qb[2])+(qa[1]*qb[3])-(qa[2]*qb[0])-(qa[3]*qb[1]);
-	outvec3[2] = (qa[0]*qb[3])-(qa[1]*qb[2])+(qa[2]*qb[1])-(qa[3]*qb[0]);
+	outvec3[0] = (qa[0] * qb[1]) - (qa[1] * qb[0]) - (qa[2] * qb[3]) + (qa[3] * qb[2]);
+	outvec3[1] = (qa[0] * qb[2]) + (qa[1] * qb[3]) - (qa[2] * qb[0]) - (qa[3] * qb[1]);
+	outvec3[2] = (qa[0] * qb[3]) - (qa[1] * qb[2]) + (qa[2] * qb[1]) - (qa[3] * qb[0]);
 }
 
 void quatevenproduct(LinmathQuat q, LinmathQuat qa, LinmathQuat qb) {
-	q[0] = (qa[0]*qb[0])-(qa[1]*qb[1])-(qa[2]*qb[2])-(qa[3]*qb[3]);
-	q[1] = (qa[0]*qb[1])+(qa[1]*qb[0]);
-	q[2] = (qa[0]*qb[2])+(qa[2]*qb[0]);
-	q[3] = (qa[0]*qb[3])+(qa[3]*qb[0]);
+	q[0] = (qa[0] * qb[0]) - (qa[1] * qb[1]) - (qa[2] * qb[2]) - (qa[3] * qb[3]);
+	q[1] = (qa[0] * qb[1]) + (qa[1] * qb[0]);
+	q[2] = (qa[0] * qb[2]) + (qa[2] * qb[0]);
+	q[3] = (qa[0] * qb[3]) + (qa[3] * qb[0]);
 }
 
 void quatoddproduct(FLT *outvec3, LinmathQuat qa, LinmathQuat qb) {
-	outvec3[0] = (qa[2]*qb[3])-(qa[3]*qb[2]);
-	outvec3[1] = (qa[3]*qb[1])-(qa[1]*qb[3]);
-	outvec3[2] = (qa[1]*qb[2])-(qa[2]*qb[1]);
+	outvec3[0] = (qa[2] * qb[3]) - (qa[3] * qb[2]);
+	outvec3[1] = (qa[3] * qb[1]) - (qa[1] * qb[3]);
+	outvec3[2] = (qa[1] * qb[2]) - (qa[2] * qb[1]);
 }
 
 void quatslerp(LinmathQuat q, const LinmathQuat qa, const LinmathQuat qb, FLT t) {
 	FLT an[4];
 	FLT bn[4];
-	quatnormalize( an, qa );
-	quatnormalize( bn, qb );
-	FLT cosTheta = quatinnerproduct(an,bn);
+	quatnormalize(an, qa);
+	quatnormalize(bn, qb);
+	FLT cosTheta = quatinnerproduct(an, bn);
 	FLT sinTheta;
 
-	//Careful: If cosTheta is exactly one, or even if it's infinitesimally over, it'll
+	// Careful: If cosTheta is exactly one, or even if it's infinitesimally over, it'll
 	// cause SQRT to produce not a number, and screw everything up.
-	if ( 1 - (cosTheta*cosTheta) <= 0 )
+	if (1 - (cosTheta * cosTheta) <= 0)
 		sinTheta = 0;
 	else
-		sinTheta = FLT_SQRT(1 - (cosTheta*cosTheta));
+		sinTheta = FLT_SQRT(1 - (cosTheta * cosTheta));
 
-	FLT Theta = FLT_ACOS(cosTheta); //Theta is half the angle between the 2 MQuaternions
+	FLT Theta = FLT_ACOS(cosTheta); // Theta is half the angle between the 2 MQuaternions
 
 	if (FLT_FABS(Theta) < DEFAULT_EPSILON)
-		quatcopy( q, qa );
-	else if (FLT_FABS(sinTheta) < DEFAULT_EPSILON)
-	{
-		quatadd( q, qa, qb );
-		quatscale( q, q, 0.5 );
-	}
-	else
-	{
+		quatcopy(q, qa);
+	else if (FLT_FABS(sinTheta) < DEFAULT_EPSILON) {
+		quatadd(q, qa, qb);
+		quatscale(q, q, 0.5);
+	} else {
 		FLT aside[4];
 		FLT bside[4];
-		quatscale( bside, qb, FLT_SIN(t * Theta));
-		quatscale( aside, qa, FLT_SIN((1 - t)*Theta));
-		quatadd( q, aside, bside );
-		quatscale( q, q, ((FLT)1.)/sinTheta );
+		quatscale(bside, qb, FLT_SIN(t * Theta));
+		quatscale(aside, qa, FLT_SIN((1 - t) * Theta));
+		quatadd(q, aside, bside);
+		quatscale(q, q, ((FLT)1.) / sinTheta);
 	}
 }
 
 void quatrotatevector(FLT *vec3out, const LinmathQuat quat, const FLT *vec3in) {
-	//See: http://www.geeks3d.com/20141201/how-to-rotate-a-vertex-by-a-quaternion-in-glsl/
+	// See: http://www.geeks3d.com/20141201/how-to-rotate-a-vertex-by-a-quaternion-in-glsl/
 
 	FLT tmp[3];
 	FLT tmp2[3];
-	cross3d( tmp, &quat[1], vec3in );
+	cross3d(tmp, &quat[1], vec3in);
 	tmp[0] += vec3in[0] * quat[0];
 	tmp[1] += vec3in[1] * quat[0];
 	tmp[2] += vec3in[2] * quat[0];
-	cross3d( tmp2, &quat[1], tmp );
+	cross3d(tmp2, &quat[1], tmp);
 	vec3out[0] = vec3in[0] + 2 * tmp2[0];
 	vec3out[1] = vec3in[1] + 2 * tmp2[1];
 	vec3out[2] = vec3in[2] + 2 * tmp2[2];
 }
 
-
 // Matrix Stuff
 
-Matrix3x3 inverseM33(const Matrix3x3 mat)
-{
+Matrix3x3 inverseM33(const Matrix3x3 mat) {
 	Matrix3x3 newMat;
-	for (int a = 0; a < 3; a++)
-	{
-		for (int b = 0; b < 3; b++)
-		{
+	for (int a = 0; a < 3; a++) {
+		for (int b = 0; b < 3; b++) {
 			newMat.val[a][b] = mat.val[a][b];
 		}
 	}
 
-	for (int i = 0; i < 3; i++)
-	{
-		for (int j = i + 1; j < 3; j++)
-		{
+	for (int i = 0; i < 3; i++) {
+		for (int j = i + 1; j < 3; j++) {
 			FLT tmp = newMat.val[i][j];
 			newMat.val[i][j] = newMat.val[j][i];
 			newMat.val[j][i] = tmp;
@@ -526,8 +503,7 @@ Matrix3x3 inverseM33(const Matrix3x3 mat)
 	return newMat;
 }
 
-void rotation_between_vecs_to_m3(Matrix3x3 *m, const FLT v1[3], const FLT v2[3])
-{
+void rotation_between_vecs_to_m3(Matrix3x3 *m, const FLT v1[3], const FLT v2[3]) {
 	FLT q[4];
 
 	quatfrom2vectors(q, v1, v2);
@@ -535,8 +511,7 @@ void rotation_between_vecs_to_m3(Matrix3x3 *m, const FLT v1[3], const FLT v2[3])
 	quattomatrix33(&(m->val[0][0]), q);
 }
 
-void rotate_vec(FLT *out, const FLT *in, Matrix3x3 rot)
-{
+void rotate_vec(FLT *out, const FLT *in, Matrix3x3 rot) {
 	out[0] = rot.val[0][0] * in[0] + rot.val[1][0] * in[1] + rot.val[2][0] * in[2];
 	out[1] = rot.val[0][1] * in[0] + rot.val[1][1] * in[1] + rot.val[2][1] * in[2];
 	out[2] = rot.val[0][2] * in[0] + rot.val[1][2] * in[1] + rot.val[2][2] * in[2];
@@ -544,7 +519,6 @@ void rotate_vec(FLT *out, const FLT *in, Matrix3x3 rot)
 	return;
 }
 
-
 // This function based on code from Object-oriented Graphics Rendering Engine
 // Copyright(c) 2000 - 2012 Torus Knot Software Ltd
 // under MIT license
@@ -557,8 +531,7 @@ If you call this with a dest vector that is close to the inverse
 of this vector, we will rotate 180 degrees around a generated axis if
 since in this case ANY axis of rotation is valid.
 */
-void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest)
-{
+void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest) {
 	// Based on Stan Melax's article in Game Programming Gems
 
 	// Copy, since cannot modify local
@@ -567,32 +540,26 @@ void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest)
 	normalize3d(v0, src);
 	normalize3d(v1, dest);
 
-	FLT d = dot3d(v0, v1);// v0.dotProduct(v1);
+	FLT d = dot3d(v0, v1); // v0.dotProduct(v1);
 	// If dot == 1, vectors are the same
-	if (d >= 1.0f)
-	{
+	if (d >= 1.0f) {
 		quatsetnone(q);
 		return;
 	}
-	if (d < (1e-6f - 1.0f))
-	{
+	if (d < (1e-6f - 1.0f)) {
 		// Generate an axis
-		FLT unitX[3] = { 1, 0, 0 };
-		FLT unitY[3] = { 0, 1, 0 };
-		
+		FLT unitX[3] = {1, 0, 0};
+		FLT unitY[3] = {0, 1, 0};
+
 		FLT axis[3];
-		cross3d(axis, unitX, src); // pick an angle
-		if ((axis[0] < 1.0e-35f) &&
-			(axis[1] < 1.0e-35f) &&
-			(axis[2] < 1.0e-35f)) // pick another if colinear
+		cross3d(axis, unitX, src);												  // pick an angle
+		if ((axis[0] < 1.0e-35f) && (axis[1] < 1.0e-35f) && (axis[2] < 1.0e-35f)) // pick another if colinear
 		{
 			cross3d(axis, unitY, src);
 		}
 		normalize3d(axis, axis);
 		quatfromaxisangle(q, axis, LINMATHPI);
-	}
-	else
-	{
+	} else {
 		FLT s = FLT_SQRT((1 + d) * 2);
 		FLT invs = 1 / s;
 
@@ -608,13 +575,9 @@ void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest)
 	}
 }
 
-void matrix44copy(FLT * mout, const FLT * minm )
-{
-	memcpy( mout, minm, sizeof( FLT ) * 16 );
-}
+void matrix44copy(FLT *mout, const FLT *minm) { memcpy(mout, minm, sizeof(FLT) * 16); }
 
-void matrix44transpose(FLT * mout, const FLT * minm )
-{
+void matrix44transpose(FLT *mout, const FLT *minm) {
 	mout[0] = minm[0];
 	mout[1] = minm[4];
 	mout[2] = minm[8];
@@ -634,7 +597,6 @@ void matrix44transpose(FLT * mout, const FLT * minm )
 	mout[13] = minm[7];
 	mout[14] = minm[11];
 	mout[15] = minm[15];
-
 }
 
 void ApplyPoseToPoint(LinmathPoint3d pout, const LinmathPose *pose, const LinmathPoint3d pin) {
@@ -654,5 +616,18 @@ void InvertPose(LinmathPose *poseout, const LinmathPose *pose) {
 	scale3d(poseout->Pos, poseout->Pos, -1);
 }
 
+void PoseToMatrix(FLT *matrix44, const LinmathPose *pose_in) {
+	quattomatrix(matrix44, pose_in->Rot);
+
+	/*
+	matrix44[12] = pose_in->Pos[0];
+	matrix44[13] = pose_in->Pos[1];
+	matrix44[14] = pose_in->Pos[2];
+	*/
+	matrix44[3] = pose_in->Pos[0];
+	matrix44[7] = pose_in->Pos[1];
+	matrix44[11] = pose_in->Pos[2];
+}
+
 LinmathQuat LinmathQuat_Identity = {1.0};
 LinmathPose LinmathPose_Identity = {.Rot = {1.0}};
diff --git a/redist/linmath.h b/redist/linmath.h
index 5d5bed2..1a73a06 100644
--- a/redist/linmath.h
+++ b/redist/linmath.h
@@ -1,18 +1,18 @@
-//Copyright 2013,2016 <>< C. N. Lohr.  This file licensed under the terms of the MIT/x11 license.
+// Copyright 2013,2016 <>< C. N. Lohr.  This file licensed under the terms of the MIT/x11 license.
 
 #ifndef _LINMATH_H
 #define _LINMATH_H
 
-//Yes, I know it's kind of arbitrary.
+// Yes, I know it's kind of arbitrary.
 #define DEFAULT_EPSILON 0.001
 
-//For printf
+// For printf
 #define PFTHREE(x) (x)[0], (x)[1], (x)[2]
 #define PFFOUR(x) (x)[0], (x)[1], (x)[2], (x)[3]
 
 #define LINMATHPI ((FLT)3.141592653589)
 
-//uncomment the following line to use double precision instead of single precision.
+// uncomment the following line to use double precision instead of single precision.
 //#define USE_DOUBLE
 
 #ifdef USE_DOUBLE
@@ -20,11 +20,11 @@
 #define FLT double
 #define FLT_SQRT sqrt
 #define FLT_TAN tan
-#define FLT_SIN  sin
-#define FLT_COS  cos
-#define FLT_ACOS  acos
-#define FLT_ASIN  asin
-#define FLT_ATAN2  atan2
+#define FLT_SIN sin
+#define FLT_COS cos
+#define FLT_ACOS acos
+#define FLT_ASIN asin
+#define FLT_ATAN2 atan2
 #define FLT_FABS__ fabs
 
 #else
@@ -32,17 +32,17 @@
 #define FLT float
 #define FLT_SQRT sqrtf
 #define FLT_TAN tanf
-#define FLT_SIN  sinf
-#define FLT_COS  cosf
-#define FLT_ACOS  acosf
-#define FLT_ASIN  asinf
-#define FLT_ATAN2  atan2f
+#define FLT_SIN sinf
+#define FLT_COS cosf
+#define FLT_ACOS acosf
+#define FLT_ASIN asinf
+#define FLT_ATAN2 atan2f
 #define FLT_FABS__ fabsf
 
 #endif
 
 #ifdef TCC
-#define FLT_FABS(x) (((x)<0)?(-(x)):(x))
+#define FLT_FABS(x) (((x) < 0) ? (-(x)) : (x))
 #else
 #define FLT_FABS FLT_FABS__
 #endif
@@ -59,33 +59,33 @@ typedef struct LinmathPose {
 extern LinmathQuat LinmathQuat_Identity;
 extern LinmathPose LinmathPose_Identity;
 
-//NOTE: Inputs may never be output with cross product.
-void cross3d( FLT * out, const FLT * a, const FLT * b );
+// NOTE: Inputs may never be output with cross product.
+void cross3d(FLT *out, const FLT *a, const FLT *b);
 
-void sub3d( FLT * out, const FLT * a, const FLT * b );
+void sub3d(FLT *out, const FLT *a, const FLT *b);
 
-void add3d( FLT * out, const FLT * a, const FLT * b );
+void add3d(FLT *out, const FLT *a, const FLT *b);
 
-void scale3d( FLT * out, const FLT * a, FLT scalar );
+void scale3d(FLT *out, const FLT *a, FLT scalar);
 
-void normalize3d( FLT * out, const FLT * in );
+void normalize3d(FLT *out, const FLT *in);
 
-FLT dot3d( const FLT * a, const FLT * b );
+FLT dot3d(const FLT *a, const FLT *b);
 
-//Returns 0 if equal.  If either argument is null, 0 will ALWAYS be returned.
-int compare3d( const FLT * a, const FLT * b, FLT epsilon );
+// Returns 0 if equal.  If either argument is null, 0 will ALWAYS be returned.
+int compare3d(const FLT *a, const FLT *b, FLT epsilon);
 
-void copy3d( FLT * out, const FLT * in );
+void copy3d(FLT *out, const FLT *in);
 
-FLT magnitude3d(const FLT * a );
+FLT magnitude3d(const FLT *a);
 
-FLT anglebetween3d( FLT * a, FLT * b );
+FLT anglebetween3d(FLT *a, FLT *b);
 
 void rotatearoundaxis(FLT *outvec3, FLT *invec3, FLT *axis, FLT angle);
 void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest);
 void axisanglefromquat(FLT *angle, FLT *axis, LinmathQuat quat);
 
-//Quaternion things...
+// Quaternion things...
 
 typedef FLT LinmathEulerAngle[3];
 
@@ -126,10 +126,10 @@ void ApplyPoseToPose(LinmathPose *pout, const LinmathPose *lhs_pose, const Linma
 // by definition.
 void InvertPose(LinmathPose *poseout, const LinmathPose *pose_in);
 
+void PoseToMatrix(FLT *mat44, const LinmathPose *pose_in);
 // Matrix Stuff
 
-typedef struct
-{
+typedef struct {
 	FLT val[3][3]; // row, column
 } Matrix3x3;
 
@@ -137,12 +137,7 @@ void rotate_vec(FLT *out, const FLT *in, Matrix3x3 rot);
 void rotation_between_vecs_to_m3(Matrix3x3 *m, const FLT v1[3], const FLT v2[3]);
 Matrix3x3 inverseM33(const Matrix3x3 mat);
 
-
-void matrix44copy(FLT * mout, const FLT * minm );
-void matrix44transpose(FLT * mout, const FLT * minm );
-
+void matrix44copy(FLT *mout, const FLT *minm);
+void matrix44transpose(FLT *mout, const FLT *minm);
 
 #endif
-
-
-
-- 
cgit v1.2.3


From 31c9dcb9f783e4920f675010833739f9a3783eea Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Sun, 25 Mar 2018 21:24:19 -0600
Subject: Made degenerate poses call SV_ERROR

---
 src/poser.c | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/poser.c b/src/poser.c
index 2cfe28d..7dcdc33 100644
--- a/src/poser.c
+++ b/src/poser.c
@@ -1,6 +1,7 @@
 #include "math.h"
 #include <linmath.h>
 #include <stdint.h>
+#include <stdio.h>
 #include <survive.h>
 
 void PoserData_poser_raw_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose) {
@@ -18,6 +19,11 @@ void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, ui
 	} else {
 		const FLT up[3] = {0, 0, 1};
 
+		if (quatmagnitude(lighthouse_pose->Rot) == 0) {
+			SurviveContext *ctx = so->ctx;
+			SV_ERROR("Pose func called with invalid pose.");
+		}
+
 		// Assume that the space solved for is valid but completely arbitrary. We are going to do a few things:
 		// a) Using the gyro data, normalize it so that gravity is pushing straight down along Z
 		// c) Assume the object is at origin
-- 
cgit v1.2.3


From 93ce31bf11cb22c5a09b5af04a76c7b7a6b912fd Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Sun, 25 Mar 2018 21:28:18 -0600
Subject: Made it so viz tool didn't require remote arg

---
 tools/viz/survive_viewer.js | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/tools/viz/survive_viewer.js b/tools/viz/survive_viewer.js
index df10ec3..67e65f0 100644
--- a/tools/viz/survive_viewer.js
+++ b/tools/viz/survive_viewer.js
@@ -167,7 +167,7 @@ function create_tracked_object(info) {
             var p = info.config.lighthouse_config.modelPoints[idx];
             var pn = info.config.lighthouse_config.modelNormals[idx];
 			var color = idx / info.config.lighthouse_config.modelPoints * 0xFFFFFF;
-			if (idx === 6)
+			if (idx === 0)
 				color = 0x00ff00;
 			var sensorMaterial = new THREE.MeshBasicMaterial({color : color});
 			var newSensor = new THREE.Mesh(sensorGeometry, sensorMaterial);
@@ -176,7 +176,7 @@ function create_tracked_object(info) {
             var normalGeom = new THREE.Geometry();
             normalGeom.vertices.push(newSensor.position,
 				new THREE.Vector3(p[0] + pn[0] * .02, p[1] + pn[1] * .02, p[2] + pn[2] * .02));
-            var normal= new THREE.Line(normalGeom, new THREE.LineBasicMaterial({color : idx == 6 ? 0xFF0000 : 0x00FF00}));
+            var normal= new THREE.Line(normalGeom, new THREE.LineBasicMaterial({color : idx == 4 ? 0xFF0000 : 0x00FF00}));
 			group.add(normal);
 			group.sensors[idx] = sensorMaterial;
 			group.add(newSensor);
@@ -240,7 +240,6 @@ var survive_log_handlers = {
 			objs[obj.tracker].position.set(obj.position[0], obj.position[1], obj.position[2]);
 			objs[obj.tracker].quaternion.set(obj.quat[1], obj.quat[2], obj.quat[3], obj.quat[0]);
 			objs[obj.tracker].verticesNeedUpdate = true;
-			timecode[obj.tracker] = obj.timecode;
 
 			if (trails) {
 
@@ -337,7 +336,7 @@ $(function() {
 		var url = new URL(window.location.href);
 		var remote = url.searchParams.get("remote");
 
-		if (remote.length) {
+		if (remote && remote.length) {
 			survive_ws = new WebSocket("ws://" + remote + "/ws");
 		} else if (window.location.protocol === "file:") {
 			survive_ws = new WebSocket("ws://localhost:8080/ws");
-- 
cgit v1.2.3


From d9ecb4d321bfa04b5d67fb501be0cd9c46140775 Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Sun, 25 Mar 2018 21:29:32 -0600
Subject: Added tool to calculate various things about length of received
 pulses

---
 include/libsurvive/survive.h                |   1 +
 src/survive_sensor_activations.c            |   4 +-
 tools/lightlengthparams/Makefile            |  15 ++++
 tools/lightlengthparams/lightlengthparams.c | 112 ++++++++++++++++++++++++++++
 4 files changed, 131 insertions(+), 1 deletion(-)
 create mode 100644 tools/lightlengthparams/Makefile
 create mode 100644 tools/lightlengthparams/lightlengthparams.c

diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index b1c32cd..8a1474b 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -16,6 +16,7 @@ extern "C" {
 typedef struct {
 	FLT angles[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];		   // 2 Axes (Angles in LH space)
 	uint32_t timecode[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // Timecode per axis in ticks
+	uint32_t lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];  // Timecode per axis in ticks
 
 	FLT accel[3];
 	FLT gyro[3];
diff --git a/src/survive_sensor_activations.c b/src/survive_sensor_activations.c
index 4d1801c..e42b50e 100644
--- a/src/survive_sensor_activations.c
+++ b/src/survive_sensor_activations.c
@@ -21,9 +21,11 @@ void SurviveSensorActivations_add(SurviveSensorActivations *self, struct PoserDa
 	int axis = (lightData->acode & 1);
 	uint32_t *data_timecode = &self->timecode[lightData->sensor_id][lightData->lh][axis];
 	FLT *angle = &self->angles[lightData->sensor_id][lightData->lh][axis];
+	uint32_t *length = &self->lengths[lightData->sensor_id][lightData->lh][axis];
 
 	*angle = lightData->angle;
 	*data_timecode = lightData->timecode;
+	*length = lightData->length * 48000000;
 }
 
-uint32_t SurviveSensorActivations_default_tolerance = (uint32_t)(48000000 /*mhz*/ * (16.7 * 2 /*ms*/) / 1000);
\ No newline at end of file
+uint32_t SurviveSensorActivations_default_tolerance = (uint32_t)(48000000 /*mhz*/ * (16.7 * 2 /*ms*/) / 1000);
diff --git a/tools/lightlengthparams/Makefile b/tools/lightlengthparams/Makefile
new file mode 100644
index 0000000..b743f4f
--- /dev/null
+++ b/tools/lightlengthparams/Makefile
@@ -0,0 +1,15 @@
+all : lightlengthparams
+
+SRT:=../..
+
+LIBSURVIVE:=$(SRT)/lib/libsurvive.so
+
+CFLAGS:=-I$(SRT)/redist -I$(SRT)/include -O0 -g -DFLT=double -DUSE_DOUBLE
+LDFLAGS:=-lm -lpthread -llapacke  -lcblas 
+
+lightlengthparams : lightlengthparams.c $(LIBSURVIVE) 
+	gcc $(CFLAGS) -o $@ $^ $(LDFLAGS)
+
+clean :
+	rm -rf lightlengthparams
+
diff --git a/tools/lightlengthparams/lightlengthparams.c b/tools/lightlengthparams/lightlengthparams.c
new file mode 100644
index 0000000..3b28b3f
--- /dev/null
+++ b/tools/lightlengthparams/lightlengthparams.c
@@ -0,0 +1,112 @@
+#include <assert.h>
+#include <libsurvive/survive.h>
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+
+uint32_t current_timecode;
+
+void light_process(SurviveObject *so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length,
+				   uint32_t lighthouse) {
+	current_timecode = timecode;
+	survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, length, lighthouse);
+}
+
+void raw_pose_process(SurviveObject *so, uint8_t _lh, SurvivePose *pose2w) {
+	survive_default_raw_pose_process(so, _lh, pose2w);
+
+	/*printf("Pose: ");
+	for(int i = 0;i < 7;i++) {
+	  printf("%f, ", pose2w->Pos[i]);
+	};
+	printf("\n");
+	*/
+	for (int lh = 0; lh < 2; lh++) {
+		SurvivePose pose2lh = {};
+		SurvivePose w2lh = {};
+		InvertPose(&w2lh, &so->ctx->bsd[lh].Pose);
+		ApplyPoseToPose(&pose2lh, &w2lh, pose2w);
+
+		SurviveSensorActivations *scene = &so->activations;
+		for (size_t sensor_idx = 0; sensor_idx < so->sensor_ct; sensor_idx++) {
+			if (SurviveSensorActivations_isPairValid(scene, SurviveSensorActivations_default_tolerance / 2,
+													 current_timecode, sensor_idx, lh)) {
+				uint32_t *lengths = scene->lengths[sensor_idx][lh];
+
+				const FLT *sensor_location = so->sensor_locations + 3 * sensor_idx;
+				const FLT *sensor_normals = so->sensor_normals + 3 * sensor_idx;
+
+				LinmathPoint3d sensor = {}, sensorN = {};
+
+				scale3d(sensorN, sensor_normals, .01);
+				add3d(sensorN, sensor_location, sensor_normals);
+
+				/*
+				printf("\n");
+				printf("%f, %f, %f\n", sensor_location[0], sensor_location[1], sensor_location[2]);
+				printf("%f, %f, %f\n", sensorN[0], sensorN[1], sensorN[2]);
+
+				FLT m[4][4];
+				PoseToMatrix((FLT*)m, &pose2lh);
+
+				for(int i = 0;i < 7;i++) {
+			  printf("%f, ", pose2lh.Pos[i]);
+				};
+				printf("\n");
+				for(int i = 0;i < 4;i++) {
+			  for(int j = 0;j < 4;j++) {
+				printf("%f, ", m[i][j]);
+			  }
+			  printf("\n");
+				}
+				printf("\n");
+				*/
+				ApplyPoseToPoint(sensor, &pose2lh, sensor_location);
+				ApplyPoseToPoint(sensorN, &pose2lh, sensorN);
+
+				// printf("%f, %f, %f\n", sensor[0], sensor[1], sensor[2]);
+				// printf("%f, %f, %f\n", sensorN[0], sensorN[1], sensorN[2]);
+				FLT dist = magnitude3d(sensor);
+				LinmathVec3d zout = {0, 0, -dist};
+				LinmathQuat r;
+				quatfrom2vectors(r, sensor, zout);
+				quatrotatevector(sensorN, r, sensorN);
+				sub3d(sensorN, sensorN, zout);
+
+				FLT dot = dot3d(sensor, sensorN);
+				if (dist > 20 || dist < 0.25)
+					continue;
+
+				FLT angs[2] = {};
+				for (int axis = 0; axis < 2; axis++) {
+					angs[axis] = cos(atan2(fabs(sensorN[axis ? 0 : 1]), sensorN[2]));
+				}
+				FLT area = angs[0] * angs[1];
+
+				printf("%u\t%u\t%lu\t%f\t%f\t%f\t%f\t%u\t%u\t%f\t%f\t%f\t%f\t%f\t%f\t%f\n", current_timecode, lh,
+					   sensor_idx, dist, angs[0], angs[1], area, lengths[0], lengths[1], dot, sensor[0], sensor[1],
+					   sensor[2], sensorN[0], sensorN[1], sensorN[2]);
+
+				// assert(angs[0] >= 0);
+			}
+		}
+	}
+}
+
+int main(int argc, char **argv) {
+	SurviveContext *ctx = survive_init(argc, argv);
+	if (ctx == 0) // implies -help or similiar
+		return 0;
+
+	printf("timecode\tlh\tsensor_idx\tdistance\tnorm_x\tnorm_y\tarea\tlength_x\tlength_y\tdot\tx\ty\tz\tnx\tny\tnz\n");
+
+	survive_startup(ctx);
+
+	survive_install_raw_pose_fn(ctx, raw_pose_process);
+	survive_install_light_fn(ctx, light_process);
+	while (survive_poll(ctx) == 0) {
+	}
+
+	survive_close(ctx);
+	return 0;
+}
-- 
cgit v1.2.3


From d4cef29d1322a2d1ecf8b672485e39e388066e5f Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Mon, 26 Mar 2018 12:44:11 -0600
Subject: os_generic is now a header only library

---
 Makefile            |  18 +--
 redist/os_generic.c | 337 -----------------------------------------------
 redist/os_generic.h | 369 +++++++++++++++++++++++++++++++++++++++++-----------
 3 files changed, 302 insertions(+), 422 deletions(-)
 delete mode 100644 redist/os_generic.c

diff --git a/Makefile b/Makefile
index ac04d60..f95ca61 100644
--- a/Makefile
+++ b/Makefile
@@ -35,7 +35,7 @@ endif
 
 SBA:=redist/sba/sba_chkjac.o  redist/sba/sba_crsm.o  redist/sba/sba_lapack.o  redist/sba/sba_levmar.o  redist/sba/sba_levmar_wrap.o
 POSERS:=src/poser_dummy.o src/poser_daveortho.o src/poser_charlesslow.o src/poser_octavioradii.o src/poser_turveytori.o src/poser_epnp.o src/poser_sba.o
-REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o redist/os_generic.o redist/minimal_opencv.o
+REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o redist/minimal_opencv.o
 ifeq ($(UNAME), Darwin)
 REDISTS:=$(REDISTS) redist/hid-osx.c
 endif
@@ -66,23 +66,23 @@ LIBSURVIVE_C:=$(LIBSURVIVE_O:.o=.c)
 testCocoa : testCocoa.c
 	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-test : test.c ./lib/libsurvive.so redist/os_generic.o
+test : test.c ./lib/libsurvive.so 
 	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-simple_pose_test : simple_pose_test.c ./lib/libsurvive.so redist/os_generic.o $(DRAWFUNCTIONS)
+simple_pose_test : simple_pose_test.c ./lib/libsurvive.so $(DRAWFUNCTIONS)
 	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-data_recorder : data_recorder.c ./lib/libsurvive.so redist/os_generic.c
+data_recorder : data_recorder.c ./lib/libsurvive.so
 	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-calibrate :  calibrate.c ./lib/libsurvive.so redist/os_generic.c $(DRAWFUNCTIONS)
+calibrate :  calibrate.c ./lib/libsurvive.so $(DRAWFUNCTIONS)
 	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
-calibrate_client :  calibrate_client.c ./lib/libsurvive.so redist/os_generic.c $(GRAPHICS_LOFI)
+calibrate_client :  calibrate_client.c ./lib/libsurvive.so $(GRAPHICS_LOFI)
 	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
 ## Still not working!!! Don't use.
-static_calibrate : calibrate.c redist/os_generic.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C)
+static_calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C)
 	tcc -o $@ $^ $(CFLAGS) $(LDFLAGS) -DTCC
 
 ./redist/dclhelpers_debuggable.c : ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h
@@ -91,7 +91,7 @@ static_calibrate : calibrate.c redist/os_generic.c $(DRAWFUNCTIONS) $(LIBSURVIVE
 	sed -i 's/#/\/\/#/g' ./redist/dclhelpers_debuggable.c
 
 
-test_dcl: ./redist/test_dcl.c ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h redist/os_generic.c ./redist/minimal_opencv.c ./src/epnp/epnp.c
+test_dcl: ./redist/test_dcl.c ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h ./redist/minimal_opencv.c ./src/epnp/epnp.c
 	$(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS_RELEASE) -DFLT=double
 
 test_dcl_debug: ./redist/test_dcl.c ./redist/dclhelpers_debuggable.c ./redist/dclhelpers.h ./redist/dclapack.h redist/os_generic.c
@@ -114,7 +114,7 @@ lib/libsurvive.so : $(LIBSURVIVE_O)
 
 
 calibrate_tcc : $(LIBSURVIVE_C)
-	tcc -DRUNTIME_SYMNUM $(CFLAGS) -o $@ $^ $(LDFLAGS) calibrate.c redist/os_generic.c $(DRAWFUNCTIONS) redist/symbol_enumerator.c
+	tcc -DRUNTIME_SYMNUM $(CFLAGS) -o $@ $^ $(LDFLAGS) calibrate.c $(DRAWFUNCTIONS) redist/symbol_enumerator.c
 
 clean :
 	rm -rf */*/*.o *.o src/*.o *~ src/*~ test simple_pose_test data_recorder calibrate testCocoa lib/libsurvive.so test_minimal_cv test_epnp test_epnp_ocv calibrate_client redist/*.o redist/*~ tools/data_server/data_server tools/lighthousefind/lighthousefind tools/lighthousefind_tori/lighthousefind-tori tools/plot_lighthouse/plot_lighthouse tools/process_rawcap/process_to_points redist/jsmntest redist/lintest
diff --git a/redist/os_generic.c b/redist/os_generic.c
deleted file mode 100644
index 3191357..0000000
--- a/redist/os_generic.c
+++ /dev/null
@@ -1,337 +0,0 @@
-#include "os_generic.h"
-
-#ifdef USE_WINDOWS
-
-#include <windows.h>
-
-void OGSleep( int is )
-{
-	Sleep( is*1000 );
-}
-
-void OGUSleep( int ius )
-{
-	Sleep( ius/1000 );
-}
-
-double OGGetAbsoluteTime()
-{
-	static LARGE_INTEGER lpf;
-	LARGE_INTEGER li;
-
-	if( !lpf.QuadPart )
-	{
-		QueryPerformanceFrequency( &lpf );
-	}
-
-	QueryPerformanceCounter( &li );
-	return (double)li.QuadPart / (double)lpf.QuadPart;
-}
-
-
-double OGGetFileTime( const char * file )
-{
-	FILETIME ft;
-
-	HANDLE h = CreateFile(file, GENERIC_READ, FILE_SHARE_READ, NULL, OPEN_EXISTING, 0, NULL);
-
-	if( h==INVALID_HANDLE_VALUE )
-		return -1;
-
-	GetFileTime( h, 0, 0, &ft );
-
-	CloseHandle( h );
-
-	return ft.dwHighDateTime + ft.dwLowDateTime;
-}
-
-
-og_thread_t OGCreateThread( void * (routine)( void * ), void * parameter )
-{
-	return (og_thread_t)CreateThread( 0, 0, (LPTHREAD_START_ROUTINE)routine, parameter, 0, 0 );
-}
-
-void * OGJoinThread( og_thread_t ot )
-{
-	WaitForSingleObject( ot, INFINITE );
-	CloseHandle( ot );
-	return 0;
-}
-
-void OGCancelThread( og_thread_t ot )
-{
-	CloseHandle( ot );	
-}
-
-og_mutex_t OGCreateMutex()
-{
-	return CreateMutex( 0, 0, 0 );
-}
-
-void OGLockMutex( og_mutex_t om )
-{
-	WaitForSingleObject(om, INFINITE);
-}
-
-void OGUnlockMutex( og_mutex_t om )
-{
-	ReleaseMutex(om);
-}
-
-void OGDeleteMutex( og_mutex_t om )
-{
-	CloseHandle( om );
-}
-
-
-
-og_sema_t OGCreateSema()
-{
-	HANDLE sem = CreateSemaphore( 0, 0, 32767, 0 );
-	return (og_sema_t)sem;
-}
-
-int OGGetSema( og_sema_t os )
-{
-	typedef LONG NTSTATUS;
-	HANDLE sem = (HANDLE)os;
-	typedef NTSTATUS (NTAPI *_NtQuerySemaphore)(
-		HANDLE SemaphoreHandle, 
-		DWORD SemaphoreInformationClass, /* Would be SEMAPHORE_INFORMATION_CLASS */
-		PVOID SemaphoreInformation,      /* but this is to much to dump here     */
-		ULONG SemaphoreInformationLength, 
-		PULONG ReturnLength OPTIONAL
-	);
-
-	typedef struct _SEMAPHORE_BASIC_INFORMATION {   
-		ULONG CurrentCount; 
-		ULONG MaximumCount;
-	} SEMAPHORE_BASIC_INFORMATION;
-
-
-	static _NtQuerySemaphore NtQuerySemaphore;
-	SEMAPHORE_BASIC_INFORMATION BasicInfo;
-	NTSTATUS Status;
-
-	if( !NtQuerySemaphore )
-	{	
-	    NtQuerySemaphore = (_NtQuerySemaphore)GetProcAddress (GetModuleHandle ("ntdll.dll"), "NtQuerySemaphore");
-		if( !NtQuerySemaphore )
-		{
-			return -1;
-		}
-	}
-
-	
-    Status = NtQuerySemaphore (sem, 0 /*SemaphoreBasicInformation*/, 
-        &BasicInfo, sizeof (SEMAPHORE_BASIC_INFORMATION), NULL);
-
-    if (Status == ERROR_SUCCESS)
-    {       
-        return BasicInfo.CurrentCount;
-    }
-
-	return -2;
-}
-
-void OGLockSema( og_sema_t os )
-{
-	WaitForSingleObject( (HANDLE)os, INFINITE );
-}
-
-void OGUnlockSema( og_sema_t os )
-{
-	ReleaseSemaphore( (HANDLE)os, 1, 0 );
-}
-
-void OGDeleteSema( og_sema_t os )
-{
-	CloseHandle( os );
-}
-
-#else
-
-#ifndef _GNU_SOURCE
-#  define _GNU_SOURCE
-#endif
-
-#include <sys/stat.h>
-#include <stdlib.h>
-#include <pthread.h>
-#include <sys/time.h>
-#include <semaphore.h>
-#include <unistd.h>
-
-pthread_mutex_t g_RawMutexStart = PTHREAD_MUTEX_INITIALIZER;
-
-void OGSleep( int is )
-{
-	sleep( is );
-}
-
-void OGUSleep( int ius )
-{
-	usleep( ius );
-}
-
-double OGGetAbsoluteTime()
-{
-	struct timeval tv;
-	gettimeofday( &tv, 0 );
-	return ((double)tv.tv_usec)/1000000. + (tv.tv_sec);
-}
-
-double OGGetFileTime( const char * file )
-{
-	struct stat buff; 
-
-	int r = stat( file, &buff );
-
-	if( r < 0 )
-	{
-		return -1;
-	}
-
-	return buff.st_mtime;
-}
-
-
-
-og_thread_t OGCreateThread( void * (routine)( void * ), void * parameter )
-{
-	pthread_t * ret = (pthread_t *)malloc( sizeof( pthread_t ) );
-	int r = pthread_create( ret, 0, routine, parameter );
-	if( r )
-	{
-		free( ret );
-		return 0;
-	}
-	return (og_thread_t)ret;
-}
-
-void * OGJoinThread( og_thread_t ot )
-{
-	void * retval;
-	if( !ot )
-	{
-		return 0;
-	}
-	pthread_join( *(pthread_t*)ot, &retval );
-	free( ot );
-	return retval;
-}
-
-void OGCancelThread( og_thread_t ot )
-{
-	if( !ot )
-	{
-		return;
-	}
-	pthread_cancel( *(pthread_t*)ot );
-	free( ot );
-}
-
-og_mutex_t OGCreateMutex()
-{
-	pthread_mutexattr_t   mta;
-	og_mutex_t r = malloc( sizeof( pthread_mutex_t ) );
-
-	pthread_mutexattr_init(&mta);
-	pthread_mutexattr_settype(&mta, PTHREAD_MUTEX_RECURSIVE);
-
-	pthread_mutex_init( (pthread_mutex_t *)r, &mta );
-
-	return r;
-}
-
-void OGLockMutex( og_mutex_t om )
-{
-	if( !om )
-	{
-		return;
-	}
-	pthread_mutex_lock( (pthread_mutex_t*)om );
-}
-
-void OGUnlockMutex( og_mutex_t om )
-{
-	if( !om )
-	{
-		return;
-	}
-	pthread_mutex_unlock( (pthread_mutex_t*)om );
-}
-
-void OGDeleteMutex( og_mutex_t om )
-{
-	if( !om )
-	{
-		return;
-	}
-
-	pthread_mutex_destroy( (pthread_mutex_t*)om );
-	free( om );
-}
-
-
-
-
-og_sema_t OGCreateSema()
-{
-	sem_t * sem = (sem_t *)malloc( sizeof( sem_t ) );
-	sem_init( sem, 0, 0 );
-	return (og_sema_t)sem;
-}
-
-int OGGetSema( og_sema_t os )
-{
-	int valp;
-	sem_getvalue( (sem_t *)os, &valp );
-	return valp;
-}
-
-
-void OGLockSema( og_sema_t os )
-{
-	sem_wait( (sem_t *)os );
-}
-
-void OGUnlockSema( og_sema_t os )
-{
-	sem_post( (sem_t *)os );
-}
-
-void OGDeleteSema( og_sema_t os )
-{
-	sem_destroy( (sem_t *)os );
-	free(os);
-}
-
-
-
-#endif
-
-//Date Stamp: 2012-02-15
-
-/*
-   Copyright (c) 2011-2012 <>< Charles Lohr
-
-   Permission is hereby granted, free of charge, to any person obtaining a
-   copy of this software and associated documentation files (the "Software"),
-   to deal in the Software without restriction, including without limitation
-   the rights to use, copy, modify, merge, publish, distribute, sublicense,
-   and/or sell copies of the Software, and to permit persons to whom the
-   Software is furnished to do so, subject to the following conditions:
-
-   The above copyright notice and this permission notice shall be included in
-   all copies or substantial portions of this file.
-
-   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-   FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
-   IN THE SOFTWARE.
-*/
-
diff --git a/redist/os_generic.h b/redist/os_generic.h
index 0924030..853440a 100644
--- a/redist/os_generic.h
+++ b/redist/os_generic.h
@@ -1,76 +1,293 @@
-#ifndef _OS_GENERIC_H
-#define _OS_GENERIC_H
-
-#if defined( WIN32 ) || defined (WINDOWS) || defined( _WIN32)
-#define USE_WINDOWS
-#endif
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//Things that shouldn't be macro'd
-double OGGetAbsoluteTime();
-void OGSleep( int is );
-void OGUSleep( int ius );
-double OGGetFileTime( const char * file );
-
-//Threads and Mutices
-typedef void* og_thread_t;
-typedef void* og_mutex_t;
-typedef void* og_sema_t;
-
-og_thread_t OGCreateThread( void * (routine)( void * ), void * parameter );
-void * OGJoinThread( og_thread_t ot );
-void OGCancelThread( og_thread_t ot );
-
-//Always a recrusive mutex.
-og_mutex_t OGCreateMutex();
-void OGLockMutex( og_mutex_t om );
-void OGUnlockMutex( og_mutex_t om );
-void OGDeleteMutex( og_mutex_t om );
-
-//Always a semaphore
-og_sema_t OGCreateSema(); //Create a semaphore, comes locked initially.  NOTE: Max count is 32767
-void OGLockSema( og_sema_t os );
-int OGGetSema( og_sema_t os );  //if <0 there was a failure.
-void OGUnlockSema( og_sema_t os );
-void OGDeleteSema( og_sema_t os );
-
-#ifdef __cplusplus
-};
-#endif
-
-
-
-#endif
-
-
-//Date Stamp: 2012-02-15
-
-/*
-   NOTE: Portions (namely the top section) are part of headers from other
-   sources.
-
-   Copyright (c) 2011-2012 <>< Charles Lohr
-
-   Permission is hereby granted, free of charge, to any person obtaining a
-   copy of this software and associated documentation files (the "Software"),
-   to deal in the Software without restriction, including without limitation
-   the rights to use, copy, modify, merge, publish, distribute, sublicense,
-   and/or sell copies of the Software, and to permit persons to whom the
-   Software is furnished to do so, subject to the following conditions:
-
-   The above copyright notice and this permission notice shall be included in
-   all copies or substantial portions of this file.
-
-   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-   FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
-   IN THE SOFTWARE.
-*/
-
+#ifndef _OS_GENERIC_H
+#define _OS_GENERIC_H
+/*
+	"osgeneric" Generic, platform independent tool for the following operations:
+
+	Delay functions:
+		void OGSleep( int is );
+		void OGUSleep( int ius );
+
+	Getting current time (may be time from program start, boot, or epoc)
+		double OGGetAbsoluteTime();
+		double OGGetFileTime( const char * file );
+
+	Thread functions
+		og_thread_t OGCreateThread( void * (routine)( void * ), void * parameter );
+		void * OGJoinThread( og_thread_t ot );
+		void OGCancelThread( og_thread_t ot );
+
+	Mutex functions, used for protecting data structures.
+		 (recursive on platforms where available.)
+		og_mutex_t OGCreateMutex();
+		void OGLockMutex( og_mutex_t om );
+		void OGUnlockMutex( og_mutex_t om );
+		void OGDeleteMutex( og_mutex_t om );
+
+//Always a semaphore (not recursive)
+// og_sema_t OGCreateSema(); //Create a semaphore, comes locked initially.  NOTE: Max count is 32767
+//  void OGLockSema( og_sema_t os );
+//  int OGGetSema( og_sema_t os );  //if <0 there was a failure.
+//  void OGUnlockSema( og_sema_t os );
+//  void OGDeleteSema( og_sema_t os );
+
+
+
+   Copyright (c) 2011-2012,2013,2016,2018 <>< Charles Lohr
+	This file may be licensed under the MIT/x11 license or the NewBSD license.
+
+   Permission is hereby granted, free of charge, to any person obtaining a
+   copy of this software and associated documentation files (the "Software"),
+   to deal in the Software without restriction, including without limitation
+   the rights to use, copy, modify, merge, publish, distribute, sublicense,
+   and/or sell copies of the Software, and to permit persons to whom the
+   Software is furnished to do so, subject to the following conditions:
+
+   The above copyright notice and this permission notice shall be included in
+   all copies or substantial portions of this file.
+
+   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+   FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+   IN THE SOFTWARE.
+
+	Date Stamp: 2018-03-25: Switched to header-only format.
+*/
+
+#define OSG_INLINE static inline
+
+// Threads and Mutices
+typedef void *og_thread_t;
+typedef void *og_mutex_t;
+typedef void *og_sema_t;
+
+#if defined(WIN32) || defined(WINDOWS) || defined(_WIN32)
+#define USE_WINDOWS
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef USE_WINDOWS
+
+#include <windows.h>
+
+OSG_INLINE void OGSleep(int is) { Sleep(is * 1000); }
+
+OSG_INLINE void OGUSleep(int ius) { Sleep(ius / 1000); }
+
+OSG_INLINE double OGGetAbsoluteTime() {
+	static LARGE_INTEGER lpf;
+	LARGE_INTEGER li;
+
+	if (!lpf.QuadPart) {
+		QueryPerformanceFrequency(&lpf);
+	}
+
+	QueryPerformanceCounter(&li);
+	return (double)li.QuadPart / (double)lpf.QuadPart;
+}
+
+OSG_INLINE double OGGetFileTime(const char *file) {
+	FILETIME ft;
+
+	HANDLE h = CreateFile(file, GENERIC_READ, FILE_SHARE_READ, NULL, OPEN_EXISTING, 0, NULL);
+
+	if (h == INVALID_HANDLE_VALUE)
+		return -1;
+
+	GetFileTime(h, 0, 0, &ft);
+
+	CloseHandle(h);
+
+	return ft.dwHighDateTime + ft.dwLowDateTime;
+}
+
+OSG_INLINE og_thread_t OGCreateThread(void *(routine)(void *), void *parameter) {
+	return (og_thread_t)CreateThread(0, 0, (LPTHREAD_START_ROUTINE)routine, parameter, 0, 0);
+}
+
+OSG_INLINE void *OGJoinThread(og_thread_t ot) {
+	WaitForSingleObject(ot, INFINITE);
+	CloseHandle(ot);
+	return 0;
+}
+
+OSG_INLINE void OGCancelThread(og_thread_t ot) { CloseHandle(ot); }
+
+OSG_INLINE og_mutex_t OGCreateMutex() { return CreateMutex(0, 0, 0); }
+
+OSG_INLINE void OGLockMutex(og_mutex_t om) { WaitForSingleObject(om, INFINITE); }
+
+OSG_INLINE void OGUnlockMutex(og_mutex_t om) { ReleaseMutex(om); }
+
+OSG_INLINE void OGDeleteMutex(og_mutex_t om) { CloseHandle(om); }
+
+OSG_INLINE og_sema_t OGCreateSema() {
+	HANDLE sem = CreateSemaphore(0, 0, 32767, 0);
+	return (og_sema_t)sem;
+}
+
+OSG_INLINE int OGGetSema(og_sema_t os) {
+	typedef LONG NTSTATUS;
+	HANDLE sem = (HANDLE)os;
+	typedef NTSTATUS(NTAPI * _NtQuerySemaphore)(
+		HANDLE SemaphoreHandle, DWORD SemaphoreInformationClass, /* Would be SEMAPHORE_INFORMATION_CLASS */
+		PVOID SemaphoreInformation,								 /* but this is to much to dump here     */
+		ULONG SemaphoreInformationLength, PULONG ReturnLength OPTIONAL);
+
+	typedef struct _SEMAPHORE_BASIC_INFORMATION {
+		ULONG CurrentCount;
+		ULONG MaximumCount;
+	} SEMAPHORE_BASIC_INFORMATION;
+
+	static _NtQuerySemaphore NtQuerySemaphore;
+	SEMAPHORE_BASIC_INFORMATION BasicInfo;
+	NTSTATUS Status;
+
+	if (!NtQuerySemaphore) {
+		NtQuerySemaphore = (_NtQuerySemaphore)GetProcAddress(GetModuleHandle("ntdll.dll"), "NtQuerySemaphore");
+		if (!NtQuerySemaphore) {
+			return -1;
+		}
+	}
+
+	Status =
+		NtQuerySemaphore(sem, 0 /*SemaphoreBasicInformation*/, &BasicInfo, sizeof(SEMAPHORE_BASIC_INFORMATION), NULL);
+
+	if (Status == ERROR_SUCCESS) {
+		return BasicInfo.CurrentCount;
+	}
+
+	return -2;
+}
+
+OSG_INLINE void OGLockSema(og_sema_t os) { WaitForSingleObject((HANDLE)os, INFINITE); }
+
+OSG_INLINE void OGUnlockSema(og_sema_t os) { ReleaseSemaphore((HANDLE)os, 1, 0); }
+
+OSG_INLINE void OGDeleteSema(og_sema_t os) { CloseHandle(os); }
+
+#else
+
+#define _GNU_SOURCE
+
+#include <pthread.h>
+#include <semaphore.h>
+#include <stdlib.h>
+#include <sys/stat.h>
+#include <sys/time.h>
+#include <unistd.h>
+
+OSG_INLINE void OGSleep(int is) { sleep(is); }
+
+OSG_INLINE void OGUSleep(int ius) { usleep(ius); }
+
+OSG_INLINE double OGGetAbsoluteTime() {
+	struct timeval tv;
+	gettimeofday(&tv, 0);
+	return ((double)tv.tv_usec) / 1000000. + (tv.tv_sec);
+}
+
+OSG_INLINE double OGGetFileTime(const char *file) {
+	struct stat buff;
+
+	int r = stat(file, &buff);
+
+	if (r < 0) {
+		return -1;
+	}
+
+	return buff.st_mtime;
+}
+
+OSG_INLINE og_thread_t OGCreateThread(void *(routine)(void *), void *parameter) {
+	pthread_t *ret = malloc(sizeof(pthread_t));
+	int r = pthread_create(ret, 0, routine, parameter);
+	if (r) {
+		free(ret);
+		return 0;
+	}
+	return (og_thread_t)ret;
+}
+
+static void *OGJoinThread(og_thread_t ot) {
+	void *retval;
+	if (!ot) {
+		return 0;
+	}
+	pthread_join(*(pthread_t *)ot, &retval);
+	free(ot);
+	return retval;
+}
+
+OSG_INLINE void OGCancelThread(og_thread_t ot) {
+	if (!ot) {
+		return;
+	}
+	pthread_cancel(*(pthread_t *)ot);
+	free(ot);
+}
+
+OSG_INLINE og_mutex_t OGCreateMutex() {
+	pthread_mutexattr_t mta;
+	og_mutex_t r = malloc(sizeof(pthread_mutex_t));
+
+	pthread_mutexattr_init(&mta);
+	pthread_mutexattr_settype(&mta, PTHREAD_MUTEX_RECURSIVE);
+
+	pthread_mutex_init((pthread_mutex_t *)r, &mta);
+
+	return r;
+}
+
+OSG_INLINE void OGLockMutex(og_mutex_t om) {
+	if (!om) {
+		return;
+	}
+	pthread_mutex_lock((pthread_mutex_t *)om);
+}
+
+OSG_INLINE void OGUnlockMutex(og_mutex_t om) {
+	if (!om) {
+		return;
+	}
+	pthread_mutex_unlock((pthread_mutex_t *)om);
+}
+
+OSG_INLINE void OGDeleteMutex(og_mutex_t om) {
+	if (!om) {
+		return;
+	}
+
+	pthread_mutex_destroy((pthread_mutex_t *)om);
+	free(om);
+}
+
+OSG_INLINE og_sema_t OGCreateSema() {
+	sem_t *sem = malloc(sizeof(sem_t));
+	sem_init(sem, 0, 0);
+	return (og_sema_t)sem;
+}
+
+OSG_INLINE int OGGetSema(og_sema_t os) {
+	int valp;
+	sem_getvalue(os, &valp);
+	return valp;
+}
+
+OSG_INLINE void OGLockSema(og_sema_t os) { sem_wait(os); }
+
+OSG_INLINE void OGUnlockSema(og_sema_t os) { sem_post(os); }
+
+OSG_INLINE void OGDeleteSema(og_sema_t os) {
+	sem_destroy(os);
+	free(os);
+}
+
+#endif
+
+#endif
-- 
cgit v1.2.3


From 18e717642be3af3b9f72b630dcad68ca17c32dc9 Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Mon, 26 Mar 2018 13:50:41 -0600
Subject: Made SBA calibrate with 1lh

---
 src/poser.c     | 3 ++-
 src/poser_sba.c | 9 +++++++--
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/poser.c b/src/poser.c
index 7dcdc33..ea5812e 100644
--- a/src/poser.c
+++ b/src/poser.c
@@ -21,7 +21,8 @@ void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, ui
 
 		if (quatmagnitude(lighthouse_pose->Rot) == 0) {
 			SurviveContext *ctx = so->ctx;
-			SV_ERROR("Pose func called with invalid pose.");
+			SV_INFO("Pose func called with invalid pose.");
+			return;
 		}
 
 		// Assume that the space solved for is valid but completely arbitrary. We are going to do a few things:
diff --git a/src/poser_sba.c b/src/poser_sba.c
index 226f387..82fbd56 100644
--- a/src/poser_sba.c
+++ b/src/poser_sba.c
@@ -439,8 +439,13 @@ static double run_sba(survive_calibration_config options, PoserDataFullScene *pd
 
 	if (status >= 0) {
 		SurvivePose additionalTx = {};
-		PoserData_lighthouse_pose_func(&pdfs->hdr, so, 0, &additionalTx, &sbactx.camera_params[0], &sbactx.obj_pose);
-		PoserData_lighthouse_pose_func(&pdfs->hdr, so, 1, &additionalTx, &sbactx.camera_params[1], &sbactx.obj_pose);
+		for (int i = 0; i < NUM_LIGHTHOUSES; i++) {
+			if (quatmagnitude(sbactx.camera_params[i].Rot) != 0) {
+				PoserData_lighthouse_pose_func(&pdfs->hdr, so, i, &additionalTx, &sbactx.camera_params[i],
+											   &sbactx.obj_pose);
+			}
+		}
+
 	} else {
 		SurviveContext *ctx = so->ctx;
 		SV_INFO("SBA was unable to run %d", status);
-- 
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