From a7b842727ad11314f2f7ea05c6e07006df10a552 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Fri, 29 Jun 2018 18:20:55 +0000 Subject: Added additional options for ootx decoding --- src/poser_sba.c | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) (limited to 'src/poser_sba.c') diff --git a/src/poser_sba.c b/src/poser_sba.c index b049c80..8437d4d 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -20,13 +20,17 @@ #include "survive_kalman.h" #include "survive_reproject.h" - -STATIC_CONFIG_ITEM( SBA_USE_IMU, "sba-use-imu", 'i', "[TODO: I don't know what this does]", 1 ); -STATIC_CONFIG_ITEM( SBA_REQUIRED_MEAS, "sba-required-meas", 'i', "[TODO: I don't know what this does]", 8 ); -STATIC_CONFIG_ITEM( SBA_TIME_WINDOW, "sba-time-window", 'i', "[TODO: I don't know what this does]", (int)SurviveSensorActivations_default_tolerance ); -STATIC_CONFIG_ITEM( SBA_SENSOR_VARIANCE_PER_SEC, "sba-sensor-variance-per-sec", 'f', "[TODO: I don't know what this does]", 10.0 ); -STATIC_CONFIG_ITEM( SBA_SENSOR_VARIANCE, "sba-sensor-variance", 'f', "[TODO: I don't know what this does]", 1.0 ); -STATIC_CONFIG_ITEM( SBA_USE_JACOBIAN_FUNCTION, "sba-use-jacobian-function", 'i', "Poser to be used to seed optimizer", 1); +STATIC_CONFIG_ITEM(SBA_USE_IMU, "sba-use-imu", 'i', "Use the IMU as part of SBA", 1); +STATIC_CONFIG_ITEM(SBA_REQUIRED_MEAS, "sba-required-meas", 'i', + "Minimum number of measurements needed to try and solve for position", 8); +STATIC_CONFIG_ITEM(SBA_TIME_WINDOW, "sba-time-window", 'i', + "The length, in ticks, between sensor inputs to treat them as one snapshot", + (int)SurviveSensorActivations_default_tolerance); +STATIC_CONFIG_ITEM(SBA_SENSOR_VARIANCE_PER_SEC, "sba-sensor-variance-per-sec", 'f', + "Variance per second to add to the sensor input -- discounts older data", 10.0); +STATIC_CONFIG_ITEM(SBA_SENSOR_VARIANCE, "sba-sensor-variance", 'f', "Base variance for each sensor input", 1.0); +STATIC_CONFIG_ITEM(SBA_USE_JACOBIAN_FUNCTION, "sba-use-jacobian-function", 'i', + "If set to false, a slower numerical approximation of the jacobian is used", 1); typedef struct { PoserData *pdfs; -- cgit v1.2.3