From bb0d186e967421c48ba781759063dca165f69df2 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Sat, 7 Apr 2018 10:15:23 -0600 Subject: Detailed messages about sba failures --- src/poser_sba.c | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) (limited to 'src/poser_sba.c') diff --git a/src/poser_sba.c b/src/poser_sba.c index 827e420..1eefc80 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -294,23 +294,23 @@ static double run_sba_find_3d_structure(SBAData *d, PoserDataLight *pdl, Survive } double rtn = -1; - if (status > 0 && (info[1] / meas_size * 2) < d->max_error) { + bool status_failure = status <= 0; + bool error_failure = (info[1] / meas_size * 2) >= d->max_error; + if (!status_failure && !error_failure) { d->failures_to_reset_cntr = d->failures_to_reset; quatnormalize(soLocation.Rot, soLocation.Rot); *out = soLocation; rtn = info[1] / meas_size * 2; - } else if ((info[1] / meas_size * 2) >= d->max_error) { + } else if (error_failure) { d->stats.error_failures++; } { SurviveContext *ctx = so->ctx; // Docs say info[0] should be divided by meas; I don't buy it really... - static int cnt = 0; - if (cnt++ > 1000 || meas_size < d->required_meas || (info[1] / meas_size * 2) > d->max_error) { - // SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); - // SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); - cnt = 0; + if (error_failure) { + SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); + SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); } } -- cgit v1.2.3