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fix: correct MPFIT covariance extraction and lighthouse indexing #373

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Merged
bl4ckb0ne merged 1 commit into from
Sep 15, 2026
Merged

fix: correct MPFIT covariance extraction and lighthouse indexing #373

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8 changes: 3 additions & 5 deletions src/poser.c
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Original file line number Diff line number Diff line change
Expand Up @@ -292,19 +292,17 @@ void PoserData_normalize_scene(SurviveContext *ctx, SurvivePose *lighthouse_pose
}

ApplyPoseToPose(object_pose, &arb2world, &object2arb);
int lh_idx = 0;
for (int lh = 0; lh < lighthouse_count; lh++) {
SurvivePose *lh2object = &lighthouse_pose[lh];
if (quatmagnitude(lh2object->Rot) != 0.0) {
ApplyPoseToPose(lh2object, &arb2world, lh2object);

if(R) {
CnMat LH_R = cnMatConstView(7, 7, R, lh_idx * 7, lh_idx * 7);
CnMat LH_R = cnMatConstView(7, 7, R, lh * 7, lh * 7);
CN_CREATE_STACK_MAT(jac, 7, 7);
apply_pose_to_pose_jac_rhs(&jac, &arb2world, lh2object);
cn_ABAt_add(&LH_R, &jac, &LH_R, 0);
}
lh_idx++;
}
}
}
Expand Down Expand Up @@ -366,7 +364,7 @@ void PoserData_lighthouse_poses_func(PoserData *poser_data, SurviveObject *so, S
SurvivePose lh2world = lh2object;
CnMat LH_R;
if(R)
LH_R = cnMatConstView(7, 7, R, lh_idx * 7, lh_idx * 7);
LH_R = cnMatConstView(7, 7, R, lh * 7, lh * 7);
if (!quatiszero(object2World.Rot) && worldEstablished == false) {
ApplyPoseToPose(&lh2world, &object2World, &lh2object);
}
Expand Down Expand Up @@ -523,4 +521,4 @@ SURVIVE_EXPORT int PoserDataLight_axis(const struct PoserDataLight *pdl) {
assert(0);
}
return 0;
}
}
31 changes: 24 additions & 7 deletions src/poser_mpfit.c
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Original file line number Diff line number Diff line change
Expand Up @@ -557,11 +557,21 @@ static FLT handle_optimizer_results(survive_optimizer *mpfitctx, int res, const
}
}

// The optimizer returns only free parameters, including the object pose.
// Restore parameter indices before selecting the lighthouse covariance.
CN_CREATE_STACK_MAT(full_R, R ? mpfitctx->parametersCnt : 0, R ? mpfitctx->parametersCnt : 0);
CnMat lighthouse_R;
if (R) {
survive_optimizer_covariance_expand(mpfitctx, R, &full_R);
int camera_idx = survive_optimizer_get_camera_index(mpfitctx);
lighthouse_R = cnMatView(mpfitctx->cameraLength * 7, mpfitctx->cameraLength * 7,
&full_R, camera_idx, camera_idx);
}
if (!worldEstablished) {
PoserData_normalize_scene(ctx, cameras, ctx->activeLighthouses, soLocation, R);
PoserData_normalize_scene(ctx, cameras, mpfitctx->cameraLength, soLocation, R ? &lighthouse_R : 0);
}

PoserData_lighthouse_poses_func(&pdl->hdr, so, cameras, R, ctx->activeLighthouses,
PoserData_lighthouse_poses_func(&pdl->hdr, so, cameras, R ? &lighthouse_R : 0, mpfitctx->cameraLength,
soLocation);
solvedLHPoses = true;
}
Expand Down Expand Up @@ -712,13 +722,20 @@ static FLT run_mpfit_find_3d_structure(MPFITData *d, PoserDataLight *pdl, Surviv

mp_result result = {0};

int nfree = survive_optimizer_get_free_parameters_count(&mpfitctx);
// Free parameters can include additional lighthouses, velocity and corrections.
CN_CREATE_STACK_MAT(free_R, R ? mpfitctx.parametersCnt : 0, R ? mpfitctx.parametersCnt : 0);
survive_release_ctx_lock(ctx);
int res = survive_optimizer_run(&mpfitctx, &result, R);
// cn_print_mat(R);
int res = survive_optimizer_run(&mpfitctx, &result, R ? &free_R : 0);
survive_get_ctx_lock(ctx);

return handle_optimizer_results(&mpfitctx, res, &result, &user_data, R, out);
FLT error = handle_optimizer_results(&mpfitctx, res, &result, &user_data, R ? &free_R : 0, out);
if (R && error > 0) {
CN_CREATE_STACK_MAT(full_R, mpfitctx.parametersCnt, mpfitctx.parametersCnt);
survive_optimizer_covariance_expand(&mpfitctx, &free_R, &full_R);
CnMat object_R = cnMatView(7, 7, &full_R, 0, 0);
cnCopy(&object_R, R, 0);
}
return error;
}

static inline void print_stats(SurviveContext *ctx, MPFITStats *stats) {
Expand Down Expand Up @@ -1151,7 +1168,7 @@ int PoserMPFIT(SurviveObject *so, PoserData *pd) {
FLT error = -1;
if (++d->syncs_per_run_cnt >= d->syncs_per_run) {
d->syncs_per_run_cnt = 0;
CN_CREATE_STACK_MAT(R, 7 * 4, 7 * 4);
CN_CREATE_STACK_MAT(R, 7, 7);
bool useCovariance = survive_configf(ctx, MPFIT_FULL_COV_TAG, SC_GET, 1.);
error = run_mpfit_find_3d_structure(d, lightData, scene, &estimate, useCovariance ? &R : 0);
handle_results(d, lightData, error, &estimate, useCovariance ? &R : 0);
Expand Down