From a2eef0e9d90a196f86dece20c6346c55af3bdbc0 Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Mon, 26 Mar 2018 16:47:11 -0600
Subject: Made SBA and EPNP follow availableLighthouses

---
 src/poser_epnp.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/poser_epnp.c')

diff --git a/src/poser_epnp.c b/src/poser_epnp.c
index 632737b..7e86542 100644
--- a/src/poser_epnp.c
+++ b/src/poser_epnp.c
@@ -125,7 +125,7 @@ int PoserEPNP(SurviveObject *so, PoserData *pd) {
 
 		SurvivePose posers[2];
 		int meas[2] = {0, 0};
-		for (int lh = 0; lh < 2; lh++) {
+		for (int lh = 0; lh < so->ctx->activeLighthouses; lh++) {
 			if (so->ctx->bsd[lh].PositionSet) {
 				epnp pnp = {.fu = 1, .fv = 1};
 				epnp_set_maximum_number_of_correspondences(&pnp, so->sensor_ct);
-- 
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