From b8447455fdce570e22094e2a71f2fa755724e95b Mon Sep 17 00:00:00 2001 From: cnlohr Date: Wed, 4 Apr 2018 21:25:29 -0400 Subject: Allow calibration with one lighthouse --- src/poser_epnp.c | 2 +- src/survive_cal.c | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/poser_epnp.c b/src/poser_epnp.c index eaa1659..7e922e7 100644 --- a/src/poser_epnp.c +++ b/src/poser_epnp.c @@ -66,7 +66,7 @@ static SurvivePose solve_correspondence(SurviveObject *so, epnp *pnp, bool camer static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) { SurvivePose additionalTx = {0}; - for (int lh = 0; lh < 2; lh++) { + for (int lh = 0; lh < so->ctx->activeLighthouses; lh++) { epnp pnp = {.fu = 1, .fv = 1}; epnp_set_maximum_number_of_correspondences(&pnp, so->sensor_ct); diff --git a/src/survive_cal.c b/src/survive_cal.c index 3015b68..4d26bfb 100755 --- a/src/survive_cal.c +++ b/src/survive_cal.c @@ -81,7 +81,7 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet) config_set_lighthouse(ctx->lh_config,b,id); lighthouses_completed++; - if (lighthouses_completed >= NUM_LIGHTHOUSES) { + if (lighthouses_completed >= ctx->activeLighthouses) { config_save(ctx, survive_configs(ctx, "configfile", SC_GET, "config.json")); } } @@ -225,7 +225,7 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int ootx_pump_bit( &cd->ootx_decoders[lhid], dbit ); } int i; - for( i = 0; i < NUM_LIGHTHOUSES; i++ ) + for( i = 0; i < ctx->activeLighthouses; i++ ) if( ctx->bsd[i].OOTXSet == 0 ) break; if( i == ctx->activeLighthouses ) cd->stage = 2; //TODO: Make this configuratble to allow single lighthouse. } -- cgit v1.2.3