dr-pano: a second XFeat shape for portrait frames, and a matcher that takes seconds

Twelve real frames from the fixture set now align in 4.5 s — 4.4 s of
matching, 118 ms of bundle adjustment — where the first run took 51 s and
left the first two frames out.

The matcher computes each pair's similarity matrix once, across the
cores, with a dot product written to vectorise; both nearest-neighbour
directions read it. The frames that failed were portrait: fitted into the
landscape input they used 512 of 1024 px, and their thin overlap did not
survive at half resolution. The same weights are now exported at 768×1024
as well and the detector picks the shape by aspect. The example aligns
from embedded previews and draws the set on a cylinder; on the fixture the
sweep is 152° at a fitted 47.9 mm against the EXIF's 50, RMS 1.5 px, and
the overlaps show no ghosting.

core/dr-pano/src/align.rs

@@ -151,9 +151,11 @@ pub fn align(frames: &[Features], opts: &AlignOptions) -> Result<Alignment, Pano
     let mut links = Vec::new();
     let mut observations: Vec<Observation> = Vec::new();
     let mut matched_any = vec![false; n];
+    let t_match = std::time::Instant::now();
     for i in 0..n {
         for j in i + 1..n {
             let matches: Vec<Match> = match_features(&frames[i], &frames[j], opts.min_similarity);
+            log::debug!("pair {i}-{j}: {} matches", matches.len());
             if matches.len() < 4 {
                 continue;
             }
@@ -175,6 +177,10 @@ 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()
+            );
             if inliers.len() <= needed || inliers.len() < opts.min_inliers {
                 continue;
             }
@@ -204,6 +210,8 @@ pub fn align(frames: &[Features], opts: &AlignOptions) -> Result<Alignment, Pano
         }
     }
 
+    log::debug!("matching and pairwise geometry in {:?}", t_match.elapsed());
+
     // 3: the focal length.
     let mut estimates: Vec<f64> = links
         .iter()
@@ -304,7 +312,14 @@ pub fn align(frames: &[Features], opts: &AlignOptions) -> Result<Alignment, Pano
             })
         })
         .collect();
+    let t_adjust = std::time::Instant::now();
     let adjusted = bundle::adjust(start, &obs, &opts.adjust)?;
+    log::debug!(
+        "bundle adjustment: {} observations, {} iterations in {:?}",
+        obs.len(),
+        adjusted.iterations,
+        t_adjust.elapsed()
+    );
     for (slot, &k) in aligned.iter().enumerate() {
         rotations[k] = Some(adjusted.cameras.rotations[slot]);
     }