From b8447455fdce570e22094e2a71f2fa755724e95b Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Wed, 4 Apr 2018 21:25:29 -0400
Subject: Allow calibration with one lighthouse

---
 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 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);
 
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