Small tweak.  Using axis/angle
@@ -729,7 +729,7 @@ static void RefineRotationEstimate(FLT *rotOut, Point lhPoint, FLT *initialEstim
// in fact, it probably could probably be 1 without any issue. The main place where g is decremented
// is in the block below when we've made a jump that results in a worse fitness than we're starting at.
// In those cases, we don't take the jump, and instead lower the value of g and try again.
- for (FLT g = 0.2; g > 0.00001; g *= 0.99)
+ for (FLT g = 0.2; g > 0.000000001; g *= 0.99)
{
i++;
FLT point1[4];
@@ -781,7 +781,7 @@ static void RefineRotationEstimate(FLT *rotOut, Point lhPoint, FLT *initialEstim
//#ifdef TORI_DEBUG
printf("+ %8.8f, (%8.8f, %8.8f, %8.8f) %f\n", newMatchFitness, point4[0], point4[1], point4[2], point4[3]);
//#endif
- g *= 1.03;
+ g *= 1.02;
}
else
