dtourolle
7a436e2549
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.
76 lines
2.7 KiB
Rust
76 lines
2.7 KiB
Rust
//! TRACES: FR-MRG-1 | FR-MRG-10
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//! Panorama geometry — from several frames to the rotations that relate
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//! them, and the projections that lay them out.
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//!
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//! This is the CPU half of a merge (FR-MRG-10): keypoints, matching, the
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//! rotation solve and the choice of output surface. The per-pixel half —
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//! rendering, warping, seams, blending — is the GPU's and lives in
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//! `dr-gpu`, driven from above; nothing here touches a full-resolution
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//! pixel. The split is the whole design (panorama.md §4): everything in
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//! this crate is bounded by the number of frames, not the size of the
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//! composite, and runs on proxies.
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//!
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//! # Layout
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//!
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//! - [`image`] — the grayscale proxy a detector reads: oriented, resampled.
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//! - [`features`] — keypoints with descriptors, and the XFeat decoder.
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//! - [`xfeat`] — the network under tract (feature `xfeat`).
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//! - [`matching`] — mutual nearest neighbours.
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//! - [`homography`] — a robust pairwise homography, the focal length read
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//! off it, and the rotation it implies.
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//! - [`bundle`] — every rotation and the focal length refined together.
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//! - [`align`] — the whole thing, from features to cameras, honest about
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//! what it could not place.
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//! - [`projection`] — perspective, cylindrical, spherical.
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//! - [`linalg`] — the small dense algebra all of it uses.
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//!
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//! # What it depends on
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//!
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//! Nothing, without the `xfeat` feature: the geometry is pure Rust with
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//! hand-rolled linear algebra (`linalg` says why) so that it tests without
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//! a model, a GPU or a device, on synthetic sets whose answer is known
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//! exactly. With the feature it adds the same `ort`-over-tract runtime the
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//! rest of the application already carries.
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pub mod align;
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pub mod bundle;
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pub mod features;
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pub mod homography;
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pub mod image;
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pub mod linalg;
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pub mod matching;
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pub mod projection;
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#[cfg(feature = "xfeat")]
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pub mod xfeat;
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pub use align::{align, AlignOptions, Alignment, Link, Unaligned};
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pub use bundle::Cameras;
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pub use features::{Features, Keypoint};
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pub use image::Gray;
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pub use projection::Projection;
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#[derive(Debug, thiserror::Error)]
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pub enum PanoError {
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#[error("bad input: {0}")]
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Input(String),
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#[error("geometry: {0}")]
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Geometry(String),
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#[error("model: {0}")]
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Model(String),
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#[error("could not read the model: {0}")]
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ModelRead(#[source] std::io::Error),
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#[cfg(feature = "xfeat")]
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#[error("inference: {0}")]
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Inference(#[source] ort::Error),
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}
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#[cfg(feature = "xfeat")]
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impl From<dr_inference_engine::Error> for PanoError {
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fn from(e: dr_inference_engine::Error) -> Self {
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match e {
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dr_inference_engine::Error::Inference(e) => PanoError::Inference(e),
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dr_inference_engine::Error::Io(e) => PanoError::ModelRead(e),
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}
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}
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}
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