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solve_global_scene: treat MP_MAXITER as calibration failure #354

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Merged
bl4ckb0ne merged 1 commit into from
Mar 23, 2026
Merged

solve_global_scene: treat MP_MAXITER as calibration failure #354

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5 changes: 4 additions & 1 deletion src/poser_mpfit.c
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Original file line number Diff line number Diff line change
Expand Up @@ -957,7 +957,10 @@ bool solve_global_scene(struct SurviveContext *ctx, MPFITData *d, PoserDataGloba

survive_get_ctx_lock(ctx);
survive_recording_write_matrix(ctx->recptr, 0, 5, "GSS", &R);
bool status_failure = res <= 0;
/* MP_MAXITER means the solver exhausted its iteration budget without
* converging. The result is an intermediate, unconverged pose — treat it
* as a failure so the bad lighthouse positions are not written to disk. */
bool status_failure = res <= 0 || res == MP_MAXITER;
FLT sensor_covariance = d->sensor_variance * d->sensor_variance;
FLT sensor_error = sqrtf(mpfitctx.stats.sensor_error / mpfitctx.stats.sensor_error_cnt);
if (status_failure || sensor_error > d->opt.max_cal_error) {
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