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Small fixes in mpfit

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This commit is contained in:
Justin Berger 2022-02-01 21:45:53 -07:00
parent adee1ab336
commit a3684c90ab
3 changed files with 12 additions and 8 deletions
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16
src/poser_mpfit.c
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@ -92,6 +92,7 @@ typedef struct MPFITData {
FLT record_reprojection_error;
FLT obj_up_variance, lh_up_variance, calibration_stationary_obj_up_variance, stationary_obj_up_variance;
FLT sensor_variance_cal;
bool model_velocity;
bool globalDataAvailable;
struct survive_async_optimizer *async_optimizer;
@ -100,6 +101,7 @@ typedef struct MPFITData {
} MPFITData;
STRUCT_CONFIG_SECTION(MPFITData)
STRUCT_CONFIG_ITEM("mpfit-cal-sensor-variance", "Light sensor variance for calibration", 1e-4, t->sensor_variance_cal)
STRUCT_CONFIG_ITEM("mpfit-model-velocity", "Model velocity in non mpfit process", true, t->model_velocity)
STRUCT_CONFIG_ITEM("mpfit-record-reprojection-error", "", 0, t->record_reprojection_error)
STRUCT_CONFIG_ITEM("mpfit-object-up-variance",
@ -821,7 +823,7 @@ bool solve_global_scene(struct SurviveContext *ctx, MPFITData *d, PoserDataGloba
survive_optimizer_measurement *meas =
survive_optimizer_emplace_meas(&mpfitctx, survive_optimizer_measurement_type_light);
meas->light.object = i;
meas->variance = d->sensor_variance;
meas->variance = d->sensor_variance_cal;
meas->light.value = gss->scenes[i].meas[j].value;
meas->light.lh = gss->scenes[i].meas[j].lh;
meas->light.axis = gss->scenes[i].meas[j].axis;
@ -970,9 +972,10 @@ bool solve_global_scene(struct SurviveContext *ctx, MPFITData *d, PoserDataGloba
return false;
} else {
SV_INFO("MPFIT success %f/%10.10f/%7.7f (%d measurements, %d, %s, trace %7.7f)", result.orignorm,
result.bestnorm, sensor_error, (int)mpfitctx.measurementsCnt, res, survive_optimizer_error(res),
cn_trace(&R) / R.rows);
SV_INFO("MPFIT success %f/%10.10f/%7.7f (%d measurements, %d, %s, %d iters, up err %7.7f, trace %7.7f)",
result.orignorm, result.bestnorm, sensor_error, (int)mpfitctx.measurementsCnt, res,
survive_optimizer_error(res), result.niter,
mpfitctx.stats.object_up_error / mpfitctx.stats.object_up_error_cnt, cn_trace(&R) / R.rows);
SurvivePose *opt_cameras = survive_optimizer_get_camera(&mpfitctx);
SurvivePose cameras[NUM_GEN2_LIGHTHOUSES] = {0};
@ -1033,8 +1036,9 @@ bool solve_global_scene(struct SurviveContext *ctx, MPFITData *d, PoserDataGloba
quatrotatevector(err_up, p->Rot, gss->scenes[i].accel);
normalize3d(err_up, err_up);
SV_VERBOSE(10, "Solved scene with pose (%s) " SurvivePose_format " %5.4f", mpfitctx.sos[i]->codename,
SURVIVE_POSE_EXPAND(*p), fabs(err_up[2] - 1));
SV_VERBOSE(10, "Solved scene with pose (%s) " SurvivePose_format " %5.4f " Point3_format,
mpfitctx.sos[i]->codename, SURVIVE_POSE_EXPAND(*p), fabs(err_up[2] - 1),
LINMATH_VEC3_EXPAND(err_up));
if (!quatiszero(p->Rot)) {
survive_recording_write_to_output(ctx->recptr, "SPHERE %s_%d %f %d " Point3_format "\n",

2
src/survive_optimizer.c
View file

@ -929,7 +929,7 @@ static int mpfunc(int m, int n, FLT *p, FLT *deviates, FLT **derivs, void *priva
}
}
mpfunc_ctx->stats.object_up_error += deviates[meas_idx];
mpfunc_ctx->stats.object_up_error += deviates[meas_idx] * deviates[meas_idx];
mpfunc_ctx->stats.object_up_error_cnt ++;
break;
}

2
src/survive_process.c
View file

@ -110,7 +110,7 @@ static inline void calculate_external2world(SurviveContext *ctx) {
} else {
KabschPoses(&ctx->private_members->external2world, externalLH, bsds, num_poses);
// Kabsch(&ctx->private_members->external2world, ptsExtLH.data, ptsWorldLH.data, num_pairs);
SV_VERBOSE(100, "external2world " SurvivePose_format,
SV_VERBOSE(110, "external2world " SurvivePose_format,
SURVIVE_POSE_EXPAND(ctx->private_members->external2world));
survive_recording_write_to_output(ctx->recptr, "EXTERNAL_TO_WORLD " SurvivePose_format "\n", SURVIVE_POSE_EXPAND(ctx->private_members->external2world));
}