dr-pano: the geometry, from features to cameras
A new crate holding the CPU half of a merge (FR-MRG-10): the grayscale proxy with orientation, the XFeat decoder ported step for step from the reference detectAndCompute, mutual-nearest-neighbour matching, a robust pairwise homography with the focal length read off it, a hand-rolled Levenberg–Marquardt bundle adjustment over every rotation and the focal, the three output projections, and align(), which chains it all and names the frames it could not place rather than guessing (FR-MRG-5). Dependency-free without the xfeat feature — linalg.rs says why the dense algebra is hand-rolled — and tested on synthetic sweeps whose answer is known exactly. The noise test records the single-row degeneracy: one pixel of noise is a tenth of a percent of focal, which is a uniform stretch of the sweep, not a misalignment.
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@@ -9,18 +9,18 @@ Denominators are parsed from [`requirements.md`](requirements.md) at run time, n
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| Metric | Value |
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|---|---|
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| Source files scanned | 356 |
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| TRACES tags found | 1504 |
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| Source files scanned | 368 |
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| TRACES tags found | 1508 |
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| Requirements defined | 184 |
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| Requirements deferred (post-v1) | 24 |
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| Requirements covered | 144 |
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| **Coverage** | **78.3%** (144/184) |
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| Requirements covered | 148 |
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| **Coverage** | **80.4%** (148/184) |
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### By type
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| Type | Covered | Defined |
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|---|---|---|
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| FR | 106 | 127 |
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| FR | 110 | 127 |
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| NFR | 34 | 50 |
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| R | 4 | 7 |
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@@ -98,8 +98,12 @@ _None._
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| FR-EXP-7 | [`ui/dr-ui/src/activity.rs:83`](../ui/dr-ui/src/activity.rs#L83), [`ui/dr-ui/src/export.rs:1`](../ui/dr-ui/src/export.rs#L1), [`ui/dr-ui/src/export.rs:992`](../ui/dr-ui/src/export.rs#L992), [`ui/dr-ui/src/lib.rs:262`](../ui/dr-ui/src/lib.rs#L262), [`ui/dr-ui/src/lib.rs:2752`](../ui/dr-ui/src/lib.rs#L2752), [`ui/dr-ui/src/lib.rs:601`](../ui/dr-ui/src/lib.rs#L601), [`ui/dr-ui/src/lib.rs:647`](../ui/dr-ui/src/lib.rs#L647), [`ui/dr-ui/src/lib.rs:674`](../ui/dr-ui/src/lib.rs#L674), [`ui/dr-ui/src/library_ui.rs:4275`](../ui/dr-ui/src/library_ui.rs#L4275), [`ui/dr-ui/src/library_ui.rs:719`](../ui/dr-ui/src/library_ui.rs#L719), [`ui/dr-ui/src/library_ui.rs:8026`](../ui/dr-ui/src/library_ui.rs#L8026), [`ui/dr-ui/src/library_ui.rs:8103`](../ui/dr-ui/src/library_ui.rs#L8103), [`ui/dr-ui/src/library_ui.rs:8115`](../ui/dr-ui/src/library_ui.rs#L8115), [`ui/dr-ui/src/library_ui.rs:819`](../ui/dr-ui/src/library_ui.rs#L819), [`ui/dr-ui/src/library_ui.rs:876`](../ui/dr-ui/src/library_ui.rs#L876), [`ui/dr-ui/ui/app.slint:1091`](../ui/dr-ui/ui/app.slint#L1091), [`ui/dr-ui/ui/app.slint:1630`](../ui/dr-ui/ui/app.slint#L1630), [`ui/dr-ui/ui/library.slint:1583`](../ui/dr-ui/ui/library.slint#L1583), [`ui/dr-ui/ui/library.slint:4278`](../ui/dr-ui/ui/library.slint#L4278) |
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| FR-EXP-8 | [`core/dr-decode/src/lib.rs:330`](../core/dr-decode/src/lib.rs#L330), [`core/dr-decode/src/lib.rs:354`](../core/dr-decode/src/lib.rs#L354), [`core/dr-decode/src/lib.rs:368`](../core/dr-decode/src/lib.rs#L368), [`core/dr-decode/src/lib.rs:71`](../core/dr-decode/src/lib.rs#L71), [`core/dr-decode/src/lib.rs:79`](../core/dr-decode/src/lib.rs#L79), [`core/dr-decode/src/lib.rs:82`](../core/dr-decode/src/lib.rs#L82), [`core/dr-decode/src/locate.rs:1164`](../core/dr-decode/src/locate.rs#L1164), [`core/dr-decode/src/locate.rs:1223`](../core/dr-decode/src/locate.rs#L1223), [`core/dr-decode/src/locate.rs:316`](../core/dr-decode/src/locate.rs#L316), [`core/dr-decode/src/locate.rs:487`](../core/dr-decode/src/locate.rs#L487), [`core/dr-decode/src/locate.rs:571`](../core/dr-decode/src/locate.rs#L571), [`core/dr-decode/src/locate.rs:584`](../core/dr-decode/src/locate.rs#L584), [`core/dr-decode/src/locate.rs:667`](../core/dr-decode/src/locate.rs#L667), [`core/dr-export/examples/export.rs:99`](../core/dr-export/examples/export.rs#L99), [`core/dr-export/src/encode.rs:117`](../core/dr-export/src/encode.rs#L117), [`core/dr-export/src/encode.rs:161`](../core/dr-export/src/encode.rs#L161), [`core/dr-export/src/encode.rs:1`](../core/dr-export/src/encode.rs#L1), [`core/dr-export/src/encode.rs:206`](../core/dr-export/src/encode.rs#L206), [`core/dr-export/src/encode.rs:235`](../core/dr-export/src/encode.rs#L235), [`core/dr-export/src/encode.rs:311`](../core/dr-export/src/encode.rs#L311), [`core/dr-export/src/encode.rs:325`](../core/dr-export/src/encode.rs#L325), [`core/dr-export/src/encode.rs:408`](../core/dr-export/src/encode.rs#L408), [`core/dr-export/src/encode.rs:456`](../core/dr-export/src/encode.rs#L456), [`core/dr-export/src/encode.rs:70`](../core/dr-export/src/encode.rs#L70), [`core/dr-export/src/encode.rs:795`](../core/dr-export/src/encode.rs#L795), [`core/dr-export/src/encode.rs:809`](../core/dr-export/src/encode.rs#L809), [`core/dr-export/src/encode.rs:850`](../core/dr-export/src/encode.rs#L850), [`core/dr-export/src/encode.rs:898`](../core/dr-export/src/encode.rs#L898), [`core/dr-export/src/exif.rs:1`](../core/dr-export/src/exif.rs#L1), [`core/dr-export/src/lib.rs:136`](../core/dr-export/src/lib.rs#L136), [`core/dr-export/src/metadata.rs:1`](../core/dr-export/src/metadata.rs#L1), [`core/dr-export/src/metadata.rs:41`](../core/dr-export/src/metadata.rs#L41), [`core/dr-export/src/metadata.rs:74`](../core/dr-export/src/metadata.rs#L74), [`core/dr-types/src/lib.rs:655`](../core/dr-types/src/lib.rs#L655), [`core/dr-types/src/settings.rs:647`](../core/dr-types/src/settings.rs#L647), [`ui/dr-ui/src/develop.rs:4539`](../ui/dr-ui/src/develop.rs#L4539), [`ui/dr-ui/src/develop.rs:4651`](../ui/dr-ui/src/develop.rs#L4651), [`ui/dr-ui/src/develop.rs:729`](../ui/dr-ui/src/develop.rs#L729), [`ui/dr-ui/src/export.rs:467`](../ui/dr-ui/src/export.rs#L467), [`ui/dr-ui/src/export.rs:634`](../ui/dr-ui/src/export.rs#L634), [`ui/dr-ui/src/export.rs:680`](../ui/dr-ui/src/export.rs#L680), [`ui/dr-ui/src/export.rs:702`](../ui/dr-ui/src/export.rs#L702), [`ui/dr-ui/src/export.rs:826`](../ui/dr-ui/src/export.rs#L826), [`ui/dr-ui/src/export.rs:844`](../ui/dr-ui/src/export.rs#L844), [`ui/dr-ui/src/lib.rs:262`](../ui/dr-ui/src/lib.rs#L262), [`ui/dr-ui/src/lib.rs:285`](../ui/dr-ui/src/lib.rs#L285), [`ui/dr-ui/src/lib.rs:633`](../ui/dr-ui/src/lib.rs#L633), [`ui/dr-ui/src/settings_ui.rs:1`](../ui/dr-ui/src/settings_ui.rs#L1) |
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| FR-EXP-9 | [`core/dr-decode/src/lib.rs:510`](../core/dr-decode/src/lib.rs#L510), [`core/dr-export/src/lib.rs:128`](../core/dr-export/src/lib.rs#L128), [`core/dr-export/src/lib.rs:1`](../core/dr-export/src/lib.rs#L1), [`core/dr-gpu/src/adjust.rs:1106`](../core/dr-gpu/src/adjust.rs#L1106), [`ui/dr-ui/examples/face_native.rs:1`](../ui/dr-ui/examples/face_native.rs#L1), [`ui/dr-ui/src/develop.rs:4672`](../ui/dr-ui/src/develop.rs#L4672), [`ui/dr-ui/src/develop.rs:4710`](../ui/dr-ui/src/develop.rs#L4710), [`ui/dr-ui/src/develop.rs:6878`](../ui/dr-ui/src/develop.rs#L6878), [`ui/dr-ui/src/lib.rs:601`](../ui/dr-ui/src/lib.rs#L601), [`ui/dr-ui/src/library.rs:4052`](../ui/dr-ui/src/library.rs#L4052), [`ui/dr-ui/src/library.rs:4522`](../ui/dr-ui/src/library.rs#L4522), [`ui/dr-ui/src/library.rs:4558`](../ui/dr-ui/src/library.rs#L4558), [`ui/dr-ui/tests/export_ignores_the_viewport.rs:1`](../ui/dr-ui/tests/export_ignores_the_viewport.rs#L1) |
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| FR-MRG-1 | [`core/dr-pano/src/align.rs:1`](../core/dr-pano/src/align.rs#L1), [`core/dr-pano/src/lib.rs:1`](../core/dr-pano/src/lib.rs#L1) |
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| FR-MRG-10 | [`core/dr-pano/src/lib.rs:1`](../core/dr-pano/src/lib.rs#L1) |
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| FR-MRG-3 | [`core/dr-decode/examples/linear_dng.rs:1`](../core/dr-decode/examples/linear_dng.rs#L1) |
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| FR-MRG-8 | [`core/dr-segment/examples/onnx_probe.rs:1`](../core/dr-segment/examples/onnx_probe.rs#L1) |
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| FR-MRG-4 | [`core/dr-pano/src/projection.rs:1`](../core/dr-pano/src/projection.rs#L1) |
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| FR-MRG-5 | [`core/dr-pano/src/align.rs:1`](../core/dr-pano/src/align.rs#L1) |
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| FR-MRG-8 | [`core/dr-pano/src/xfeat.rs:1`](../core/dr-pano/src/xfeat.rs#L1), [`core/dr-segment/examples/onnx_probe.rs:1`](../core/dr-segment/examples/onnx_probe.rs#L1) |
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| FR-NC-1 | [`core/dr-sync-nextcloud/src/auth.rs:132`](../core/dr-sync-nextcloud/src/auth.rs#L132), [`core/dr-sync-nextcloud/src/auth.rs:44`](../core/dr-sync-nextcloud/src/auth.rs#L44), [`core/dr-sync-nextcloud/src/provider.rs:1`](../core/dr-sync-nextcloud/src/provider.rs#L1), [`core/dr-sync/src/account.rs:361`](../core/dr-sync/src/account.rs#L361), [`ui/dr-ui/src/launch.rs:277`](../ui/dr-ui/src/launch.rs#L277), [`ui/dr-ui/src/launch.rs:61`](../ui/dr-ui/src/launch.rs#L61), [`ui/dr-ui/src/launch_ui.rs:417`](../ui/dr-ui/src/launch_ui.rs#L417) |
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| FR-NC-10 | [`core/dr-sync/src/account.rs:226`](../core/dr-sync/src/account.rs#L226), [`ui/dr-ui/src/export.rs:1`](../ui/dr-ui/src/export.rs#L1), [`ui/dr-ui/src/lib.rs:674`](../ui/dr-ui/src/lib.rs#L674), [`ui/dr-ui/src/library.rs:1170`](../ui/dr-ui/src/library.rs#L1170), [`ui/dr-ui/src/library.rs:2463`](../ui/dr-ui/src/library.rs#L2463), [`ui/dr-ui/src/library.rs:589`](../ui/dr-ui/src/library.rs#L589), [`ui/dr-ui/src/library.rs:916`](../ui/dr-ui/src/library.rs#L916), [`ui/dr-ui/src/library_ui.rs:2062`](../ui/dr-ui/src/library_ui.rs#L2062), [`ui/dr-ui/src/library_ui.rs:4275`](../ui/dr-ui/src/library_ui.rs#L4275), [`ui/dr-ui/src/library_ui.rs:660`](../ui/dr-ui/src/library_ui.rs#L660), [`ui/dr-ui/src/sidecar_cache.rs:1`](../ui/dr-ui/src/sidecar_cache.rs#L1) |
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| FR-NC-12 | [`core/dr-sync-folder/src/lib.rs:1`](../core/dr-sync-folder/src/lib.rs#L1), [`core/dr-sync-nextcloud/src/lib.rs:1022`](../core/dr-sync-nextcloud/src/lib.rs#L1022), [`core/dr-sync-nextcloud/src/lib.rs:40`](../core/dr-sync-nextcloud/src/lib.rs#L40), [`core/dr-sync-nextcloud/src/provider.rs:1`](../core/dr-sync-nextcloud/src/provider.rs#L1), [`core/dr-sync/src/account.rs:1`](../core/dr-sync/src/account.rs#L1), [`core/dr-sync/src/account.rs:87`](../core/dr-sync/src/account.rs#L87), [`core/dr-sync/src/lib.rs:218`](../core/dr-sync/src/lib.rs#L218), [`core/dr-sync/src/lib.rs:51`](../core/dr-sync/src/lib.rs#L51), [`core/dr-sync/src/provider.rs:106`](../core/dr-sync/src/provider.rs#L106), [`core/dr-sync/src/provider.rs:1`](../core/dr-sync/src/provider.rs#L1), [`core/dr-sync/src/provider.rs:53`](../core/dr-sync/src/provider.rs#L53), [`core/dr-sync/src/reachability.rs:1`](../core/dr-sync/src/reachability.rs#L1), [`ui/dr-ui/src/remote.rs:1`](../ui/dr-ui/src/remote.rs#L1) |
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@@ -210,7 +214,7 @@ Defined in `requirements.md` and marked `(post-v1)` on the defining line. Not in
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## Not yet tagged
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40 of 184 requirements have no implementation tag. Expected while the codebase is young; each should gain one as it is built.
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36 of 184 requirements have no implementation tag. Expected while the codebase is young; each should gain one as it is built.
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<details><summary>Show untagged requirements</summary>
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@@ -222,12 +226,8 @@ Defined in `requirements.md` and marked `(post-v1)` on the defining line. Not in
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- FR-DEV-3g
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- FR-DSP-2
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- FR-DSP-4
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- FR-MRG-1
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- FR-MRG-10
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- FR-MRG-11
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- FR-MRG-2
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- FR-MRG-4
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- FR-MRG-5
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- FR-MRG-6
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- FR-MRG-7
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- FR-MRG-9
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