From 9601f596fe545692ed39f939cf846f9883ea188c Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Sun, 8 Apr 2018 16:26:41 -0600 Subject: Revered what config poser was doing for SBA --- src/poser_sba.c | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/poser_sba.c b/src/poser_sba.c index 1f79986..347b600 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -337,7 +337,7 @@ static double run_sba_find_3d_structure(SBAData *d, PoserDataLight *pdl, Survive } // Optimizes for LH position assuming object is posed at 0 -static double run_sba(SBAData *d, PoserDataFullScene *pdfs, SurviveObject *so, int max_iterations /* = 50*/, +static double run_sba(PoserDataFullScene *pdfs, SurviveObject *so, int max_iterations /* = 50*/, double max_reproj_error /* = 0.005*/) { double *covx = 0; @@ -349,7 +349,9 @@ static double run_sba(SBAData *d, PoserDataFullScene *pdfs, SurviveObject *so, i .obj_pose = so->OutPose}; { - PoserCB driver = d->seed_poser; + const char *subposer = survive_configs(so->ctx, "sba-seed-poser", SC_GET, "PoserEPNP"); + + PoserCB driver = (PoserCB)GetDriver(subposer); SurviveContext *ctx = so->ctx; if (driver) { PoserData hdr = pdfs->hdr; @@ -499,7 +501,7 @@ int PoserSBA(SurviveObject *so, PoserData *pd) { case POSERDATA_FULL_SCENE: { SurviveContext *ctx = so->ctx; PoserDataFullScene *pdfs = (PoserDataFullScene *)(pd); - double error = run_sba(d, pdfs, so, 100, .005); + double error = run_sba(pdfs, so, 100, .005); // std::cerr << "Average reproj error: " << error << std::endl; return 0; } -- cgit v1.2.3