From 735a8bd11070b0c563e891ff8b70ce297a52a367 Mon Sep 17 00:00:00 2001 From: Mike Turvey Date: Fri, 5 Jan 2018 03:54:29 -0700 Subject: Add standard output mechanism for posers Added a raw pose output/ callback that the posers can call when they have calculated a pose. --- src/poser_turveytori.c | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'src/poser_turveytori.c') diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index ac979c7..28e533e 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -1177,7 +1177,7 @@ static void RefineRotationEstimateQuaternion(FLT *rotOut, Point lhPoint, FLT *in } - printf("Ri=%3d Fitness=%3f ", i, lastMatchFitness); + if (ttDebug) printf("Ri=%3d Fitness=%3f ", i, lastMatchFitness); } @@ -1638,7 +1638,11 @@ static void QuickPose(SurviveObject *so, int lh) SolveForLighthouse(pos, quat, to, so, 0, lh, 0); - printf("P&O: [% 08.8f,% 08.8f,% 08.8f] [% 08.8f,% 08.8f,% 08.8f,% 08.8f]\n", pos[0], pos[1], pos[2], quat[0], quat[1], quat[2], quat[3]); + //printf("P&O: [% 08.8f,% 08.8f,% 08.8f] [% 08.8f,% 08.8f,% 08.8f,% 08.8f]\n", pos[0], pos[1], pos[2], quat[0], quat[1], quat[2], quat[3]); + if (so->ctx->rawposeproc) + { + so->ctx->rawposeproc(so, lh, pos, quat); + } if (ttDebug) printf("!\n"); } -- cgit v1.2.3 From ed85661121c3ed8769a69d059fd3162aec33c6fe Mon Sep 17 00:00:00 2001 From: Mike Turvey Date: Fri, 5 Jan 2018 04:09:54 -0700 Subject: Update test.c to do calibration --- src/poser_turveytori.c | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'src/poser_turveytori.c') diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index 28e533e..ad30f6c 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -1856,6 +1856,18 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) // } //} + for (int i=0; i < ctx->activeLighthouses; i++) + { + printf("Lighthouse Pose: [%1.1x][% 08.8f,% 08.8f,% 08.8f] [% 08.8f,% 08.8f,% 08.8f,% 08.8f]\n", + i, + ctx->bsd[i].Pose.Pos[0], + ctx->bsd[i].Pose.Pos[1], + ctx->bsd[i].Pose.Pos[2], + ctx->bsd[i].Pose.Rot[0], + ctx->bsd[i].Pose.Rot[1], + ctx->bsd[i].Pose.Rot[2], + ctx->bsd[i].Pose.Rot[3]); + } config_set_lighthouse(ctx->lh_config, ctx->bsd[0], 0); config_set_lighthouse(ctx->lh_config, ctx->bsd[1], 1); -- cgit v1.2.3