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cargo fmt and clippy across the panorama work, and one lint master carried

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The dr-face comparison is master's: a negated partial-order test on the
eye box's width, rewritten as the two conditions it meant.
This commit is contained in:
dtourolle
2026-09-19 15:53:06 +02:00
parent 67f225beba
commit 42d11d919b
23 changed files with 330 additions and 123 deletions
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core/dr-pano/src/align.rs
+39 -16
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@@ -115,7 +115,11 @@ impl Alignment {
/// when [`Self::is_complete`].
pub fn cameras(&self) -> Cameras {
Cameras {
rotations: self.rotations.iter().map(|r| r.unwrap_or(Mat3::IDENTITY)).collect(),
rotations: self
.rotations
.iter()
.map(|r| r.unwrap_or(Mat3::IDENTITY))
.collect(),
focal: self.focal,
}
}
@@ -130,7 +134,9 @@ impl Alignment {
pub fn align(frames: &[Features], opts: &AlignOptions) -> Result<Alignment, PanoError> {
let n = frames.len();
if n < 2 {
return Err(PanoError::Input("a panorama needs at least two frames".into()));
return Err(PanoError::Input(
"a panorama needs at least two frames".into(),
));
}
let centre = |k: usize, i: usize| -> (f64, f64) {
@@ -177,10 +183,7 @@ pub fn align(frames: &[Features], opts: &AlignOptions) -> Result<Alignment, Pano
continue;
};
let needed = (8.0 + 0.3 * matches.len() as f64).ceil() as usize;
log::debug!(
"pair {i}-{j}: {} inliers, {needed} needed",
inliers.len()
);
log::debug!("pair {i}-{j}: {} inliers, {needed} needed", inliers.len());
if inliers.len() <= needed || inliers.len() < opts.min_inliers {
continue;
}
@@ -218,7 +221,10 @@ pub fn align(frames: &[Features], opts: &AlignOptions) -> Result<Alignment, Pano
.filter_map(|l| homography::focal_from_homography(&l.h))
.filter(|f| f.is_finite() && *f > 0.0)
.collect();
let longest = frames.iter().map(|f| f.width.max(f.height) as f64).fold(0.0, f64::max);
let longest = frames
.iter()
.map(|f| f.width.max(f.height) as f64)
.fold(0.0, f64::max);
let focal = if !estimates.is_empty() {
estimates.sort_by(f64::total_cmp);
let median = estimates[estimates.len() / 2];
@@ -236,10 +242,10 @@ pub fn align(frames: &[Features], opts: &AlignOptions) -> Result<Alignment, Pano
let mut rotations: Vec<Option<Mat3>> = vec![None; n];
let mut unaligned = Vec::new();
if links.is_empty() {
for k in 0..n {
for (k, &matched) in matched_any.iter().enumerate() {
unaligned.push((
k,
if matched_any[k] {
if matched {
Unaligned::NoOverlap
} else {
Unaligned::NoMatches
@@ -341,7 +347,13 @@ mod tests {
/// Frames of a synthetic sweep: world directions with random unit
/// descriptors, each frame seeing the ones in its field of view.
fn synthetic_sweep(n: usize, step: f64, f: f64, w: usize, h: usize) -> (Vec<Features>, Cameras) {
fn synthetic_sweep(
n: usize,
step: f64,
f: f64,
w: usize,
h: usize,
) -> (Vec<Features>, Cameras) {
let mut seed = 777u64;
let mut rnd = || {
seed = seed
@@ -355,7 +367,10 @@ mod tests {
* Mat3::rotation(Vec3::new(1.0, 0.0, 0.0), 0.02 * ((k % 3) as f64 - 1.0))
})
.collect();
let truth = Cameras { rotations, focal: f };
let truth = Cameras {
rotations,
focal: f,
};
let total = step * (n as f64 - 1.0);
let mut frames: Vec<Features> = (0..n)
.map(|_| Features {
@@ -368,20 +383,24 @@ mod tests {
for _ in 0..600 * n {
let yaw = rnd() * (total + 0.8) + total / 2.0;
let pitch = rnd() * 0.5;
let d = Vec3::new(yaw.sin() * pitch.cos(), pitch.sin(), yaw.cos() * pitch.cos());
let d = Vec3::new(
yaw.sin() * pitch.cos(),
pitch.sin(),
yaw.cos() * pitch.cos(),
);
let desc: Vec<f32> = (0..DESCRIPTOR_LEN).map(|_| rnd() as f32).collect();
let norm = desc.iter().map(|v| v * v).sum::<f32>().sqrt();
let desc: Vec<f32> = desc.iter().map(|v| v / norm).collect();
for k in 0..n {
for (k, frame) in frames.iter_mut().enumerate() {
if let Some(p) = truth.project(k, d) {
let (x, y) = (p.0 + w as f64 / 2.0, p.1 + h as f64 / 2.0);
if x >= 0.0 && x < w as f64 && y >= 0.0 && y < h as f64 {
frames[k].keypoints.push(Keypoint {
frame.keypoints.push(Keypoint {
x: (x + rnd() * 0.6) as f32,
y: (y + rnd() * 0.6) as f32,
score: 1.0,
});
frames[k].descriptors.extend_from_slice(&desc);
frame.descriptors.extend_from_slice(&desc);
}
}
}
@@ -402,7 +421,11 @@ mod tests {
assert!((out.focal - 1400.0).abs() < 15.0, "focal {}", out.focal);
assert!(out.rms_px < 1.0, "rms {}", out.rms_px);
// Relative rotations match the truth's, whichever frame is the root.
let root = out.rotations.iter().position(|r| *r == Some(Mat3::IDENTITY)).unwrap();
let root = out
.rotations
.iter()
.position(|r| *r == Some(Mat3::IDENTITY))
.unwrap();
for k in 0..6 {
let rel_truth = truth.rotations[root].transpose() * truth.rotations[k];
let rel_out = out.rotations[k].unwrap();