From cb06bbdba6cefc042f32985000f1ef03aafdb9a9 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Sat, 23 Jun 2018 14:04:06 -0400 Subject: Fix config in master. --- 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 21dd74f..b049c80 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -50,7 +50,7 @@ typedef struct SBAData { survive_kpose_t kpose; SurviveIMUTracker tracker; - bool useIMU; + int useIMU; struct { int meas_failures; @@ -352,12 +352,12 @@ int PoserSBA(SurviveObject *so, PoserData *pd) { general_optimizer_data_init(&d->opt, so); - survive_attach_config( ctx, "sba-use-imu", &d->useIMU, 'i' ); - survive_attach_config( ctx, "sba-required-meas", &d->required_meas, 'i' ); - survive_attach_config( ctx, "sba-time-window", &d->sensor_time_window, 'i' ); - survive_attach_config( ctx, "sba-sensor-variance-per-sec", &d->sensor_variance_per_second, 'f' ); - survive_attach_config( ctx, "sba-sensor-variance", &d->sensor_variance, 'f' ); - survive_attach_config( ctx, "sba-use-jacobian-function", &d->use_jacobian_function, 'i' ); + survive_attach_configi( ctx, "sba-use-imu", &d->useIMU ); + survive_attach_configi( ctx, "sba-required-meas", &d->required_meas ); + survive_attach_configi( ctx, "sba-time-window", &d->sensor_time_window ); + survive_attach_configf( ctx, "sba-sensor-variance-per-sec", &d->sensor_variance_per_second ); + survive_attach_configf( ctx, "sba-sensor-variance", &d->sensor_variance ); + survive_attach_configi( ctx, "sba-use-jacobian-function", &d->use_jacobian_function ); SV_INFO("Initializing SBA:"); SV_INFO("\tsba-required-meas: %d", d->required_meas); -- cgit v1.2.3