dr_pano::fill owns everything the model does not — which tiles, what
context, how to blend — behind an Inpainter trait, and dr_pano::migan is
that trait over the shipped generator on the inference engine.
The known content is mirrored across the coverage edge into the hole and
a 256-px ring, the nearest 48 px folded, so the model interpolates between
real and mirrored sky rather than extrapolating into nothing. A coarse
pass at a quarter decides the structure with the whole border in a few
tiles; fine passes in 96-px bands from the edge outward texture it; the
seam is blended over a feather inside the real edge. Every knob is a
Params field, and an Observer hears each stage for whoever is looking at
why a fill went wrong.
XFeat's two exports are a Keypoints role now; the crate no longer names
tract, and the app compiles TensorRT engines for both ahead of the
first merge. The probe picks the smallest *detector* rather than the
smallest file: the tablet's first run chose the 112 KB eye classifier,
which has no int8 form, and reported the Hexagon as failed for want of
one.
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.
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.
dtourolle