Remove faulty variance calc from mpfit
@@ -330,8 +330,6 @@ static int setup_optimizer(struct async_optimizer_user *user, survive_optimizer
if (accel_mag != 0.0 && !isnan(accel_mag)) {
quatfrom2vectors(soLocation->Rot, so->activations.accel, up);
so->OutPoseIMU = *soLocation;
- } else {
- SV_WARN("Calibration didn't have valid IMU data for %s; couldn't establish 'up' vector.", so->codename);
}
}
@@ -529,7 +527,7 @@ static FLT handle_optimizer_results(survive_optimizer *mpfitctx, int res, const
PoserData_normalize_scene(ctx, cameras, ctx->activeLighthouses, soLocation);
}
- PoserData_lighthouse_poses_func(&pdl->hdr, so, cameras, variances, ctx->activeLighthouses, soLocation);
+ PoserData_lighthouse_poses_func(&pdl->hdr, so, cameras, 0, ctx->activeLighthouses, soLocation);
}
int axis_count = 0, lh_count = 0, sensor_ct = 0;
