From c4e11bc415aa17845bad53454e89e7e0703b8c73 Mon Sep 17 00:00:00 2001 From: mwturvey Date: Tue, 14 Feb 2017 16:47:08 -0700 Subject: Transitioned to a gradient-descent only solution Added empirically derived fudge factor to fitness function Eliminated dangerous spurious local minimum near the origin. Now taking into account the normals No longer using any of the point cloud stuff Huge speed improvements Huge memory usage improvements Added code smell. Will need to deodorize later. --- tools/lighthousefind_tori/main.c | 3 +++ 1 file changed, 3 insertions(+) (limited to 'tools/lighthousefind_tori/main.c') diff --git a/tools/lighthousefind_tori/main.c b/tools/lighthousefind_tori/main.c index aa51448..ee56b37 100644 --- a/tools/lighthousefind_tori/main.c +++ b/tools/lighthousefind_tori/main.c @@ -51,6 +51,9 @@ static void runTheNumbers() to->sensor[sensorCount].point.x = hmd_points[i * 3 + 0]; to->sensor[sensorCount].point.y = hmd_points[i * 3 + 1]; to->sensor[sensorCount].point.z = hmd_points[i * 3 + 2]; + to->sensor[sensorCount].normal.x = hmd_norms[i * 3 + 0]; + to->sensor[sensorCount].normal.y = hmd_norms[i * 3 + 1]; + to->sensor[sensorCount].normal.z = hmd_norms[i * 3 + 2]; to->sensor[sensorCount].theta = hmd_point_angles[i * 2 + 0] + LINMATHPI / 2; to->sensor[sensorCount].phi = hmd_point_angles[i * 2 + 1] + LINMATHPI / 2; sensorCount++; -- cgit v1.2.3