From 2b63278497130d01b1fbc7e6a94b6ad8e32ab4dd Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Fri, 23 Mar 2018 14:07:23 +0000 Subject: Made IMU use optional --- src/poser_sba.c | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) (limited to 'src/poser_sba.c') diff --git a/src/poser_sba.c b/src/poser_sba.c index 72359da..efdeeef 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -32,11 +32,12 @@ typedef struct { } sba_context_single_sweep; typedef struct SBAData { - int last_acode; - int last_lh; + int last_acode; + int last_lh; int failures_to_reset; - int failures_to_reset_cntr; - SurviveIMUTracker tracker; + int failures_to_reset_cntr; + SurviveIMUTracker tracker; + bool useIMU; } SBAData; void metric_function(int j, int i, double *aj, double *xij, void *adata) { @@ -297,7 +298,7 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o if(d->failures_to_reset_cntr == 0 || currentPositionValid == 0) { SurviveContext *ctx = so->ctx; - SV_INFO("Must rerun seed poser"); + SV_INFO("Running seed poser"); const char *subposer = config_read_str(so->ctx->global_config_values, "SBASeedPoser", "PoserEPNP"); PoserCB driver = (PoserCB)GetDriver(subposer); @@ -484,7 +485,7 @@ int PoserSBA(SurviveObject *so, PoserData *pd) { if (error < 0) { if(d->failures_to_reset_cntr > 0) d->failures_to_reset_cntr--; - } else { + } else if(d->useIMU) { survive_imu_tracker_set_pose(&d->tracker, lightData->timecode, &so->OutPose); } @@ -502,10 +503,9 @@ int PoserSBA(SurviveObject *so, PoserData *pd) { case POSERDATA_IMU: { PoserDataIMU * imu = (PoserDataIMU*)pd; - survive_imu_tracker_integrate(so, &d->tracker, imu); - if (ctx->calptr && ctx->calptr->stage < 5) { - } else { + } else if(d->useIMU){ + survive_imu_tracker_integrate(so, &d->tracker, imu); PoserData_poser_raw_pose_func(pd, so, 1, &d->tracker.pose); } } // INTENTIONAL FALLTHROUGH -- cgit v1.2.3