fix: correct MPFIT covariance extraction and lighthouse indexing - #373
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- Expand free-parameter covariance before extracting lighthouse and object pose blocks, preserving indices for fixed parameters. - Select lighthouse covariance by the actual lighthouse index when poses are skipped or reordered for the reference lighthouse. - Size optimizer covariance storage from the full parameter count instead of a fixed 28x28 buffer, and return only the object pose's 7x7 block. Validation: built survive and poser_mpfit in Debug mode; git diff --cached --check passed. Runtime and regression tests have not been run.
bl4ckb0ne
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Sep 14, 2026
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LGTM. If any generative AI was used in this commit it must be disclosed using the Assisted-by trailer tag.
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@bl4ckb0ne For this task, I only received AI assistance for writing commit messages and pull requests. |
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Mh then in that case i don't think the |
bl4ckb0ne
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Sep 15, 2026
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Problem
The online MPFIT path passes free-parameter covariance directly to helpers expecting lighthouse-only covariance. These helpers also index blocks by processing order rather than the actual lighthouse index. Additionally, the fixed 28×28 buffer can be too small for the optimizer output.
Fix