docs(sparse-sfm): freeze Gate E BA contract
This commit is contained in:
fy59
parent
835d96f8c4
commit
1150a61ccc
1 changed files with 308 additions and 50 deletions
|
|
@ -125,8 +125,8 @@ are inferred from focal pixels, image resolution or baseline normalization.
|
|||
|
||||
## Reconstruction strategy
|
||||
|
||||
**DECISION: incremental SfM with bounded local refinement and optional final
|
||||
global refinement.** It matches the expected sequential vehicle/phone capture,
|
||||
**DECISION: incremental SfM followed by final per-component refinement.** It
|
||||
matches the expected sequential vehicle/phone capture,
|
||||
allows unregistered images to remain visible as a scientific result, and keeps
|
||||
the active problem bounded. Global-only rotation/translation averaging would
|
||||
add a larger initialization and robustness surface without a current project
|
||||
|
|
@ -192,27 +192,285 @@ only on geometry; multi-view Tracks use all valid observations rather than a
|
|||
random pair. Robust observation dropping is deferred: v1 rejects the landmark
|
||||
as a whole, so Track identity and observation ownership remain simple.
|
||||
|
||||
## Bundle Adjustment decision
|
||||
## Gate E v1 — Final Bundle Adjustment decision
|
||||
|
||||
**DECISION: BA is required for a useful final reconstruction but is not part of
|
||||
the first pure-geometry gate.** The later BA gate will use a block-sparse
|
||||
camera/landmark problem with binary64 poses and points, fixed or explicitly
|
||||
fingerprinted calibration variables, and a robust loss whose kind/scale belong
|
||||
to scientific identity. Dense camera×landmark Jacobians are forbidden.
|
||||
**DECISION: Gate E v1 is a synchronous, independent final per-component Bundle
|
||||
Adjustment applied as post-processing to a copy of the immutable final Gate D
|
||||
result.** It consumes two caller-owned immutable views that must remain coherent
|
||||
for the complete call: that final Gate D result, and the same resolved
|
||||
observation/calibration view used to construct the scientific Gate D input. It
|
||||
never mutates either view, never creates constraints between disconnected
|
||||
components, preserves each component's independent gauge, and produces a
|
||||
distinct in-memory BA result.
|
||||
|
||||
Ceres is not available in the current host pkg-config environment and is not a
|
||||
Lardon3D production dependency. It is a **NEW_CANDIDATE**, not silently added.
|
||||
Its sparse Schur solvers and block structure make it the leading BA study
|
||||
candidate; Eigen is host-available, while SuiteSparse is not detected. A later
|
||||
gate must prove license, reproducibility, thread behavior, memory scaling and
|
||||
fallback before adding Ceres. OpenCV remains appropriate for small relative
|
||||
pose/PnP/triangulation primitives, not as an implicit BA architecture.
|
||||
The Gate D result alone is authoritative for final components, registered
|
||||
cameras, initial poses, landmarks and the observations associated with each
|
||||
landmark. The second view only resolves an observation already published by
|
||||
Gate D. Its canonical key is `(feature_set_id, feature_index)`; resolution must
|
||||
return the matching `image_id`, source keypoint `x,y` and immutable calibration,
|
||||
and must also agree with the published Track and image identities. Missing,
|
||||
ambiguous, duplicate or inconsistent resolution is a Gate E input error. Gate E
|
||||
must not use array position, proximity or another heuristic fallback, add an
|
||||
observation, restore a rejected association or camera, or rerun incremental SfM.
|
||||
|
||||
The first BA implementation should be local-window BA after registration,
|
||||
followed by at most one explicitly admitted global BA at finalization. No two
|
||||
heavy global BAs run concurrently. Global BA is allowed to be deferred by the
|
||||
Resource Governor. The trigger, window selection, robust loss, convergence and
|
||||
thread policy are configuration fields, not runtime identity.
|
||||
Source keypoint coordinates are the Feature File binary32 `x,y` in decoded-image
|
||||
pixels, with top-left origin, +x right and +y down. Gate E converts them to
|
||||
binary64 for computation; it does not treat them as already undistorted or
|
||||
normalized. Given `Xc = R_cw * Xw + t_cw`, define `xn = Xc.x / Xc.z`,
|
||||
`yn = Xc.y / Xc.z`, and `r2 = xn*xn + yn*yn`. The canonical OpenCV-compatible
|
||||
forward model is:
|
||||
|
||||
```text
|
||||
radial = 1 + k1*r2 + k2*r2*r2
|
||||
xd = xn*radial + 2*p1*xn*yn + p2*(r2 + 2*xn*xn)
|
||||
yd = yn*radial + p1*(r2 + 2*yn*yn) + 2*p2*xn*yn
|
||||
u = fx*xd + cx
|
||||
v = fy*yd + cy
|
||||
residual = [u - observed_x, v - observed_y]
|
||||
```
|
||||
|
||||
The residual is therefore binary64 in source pixels and uses the complete
|
||||
canonical calibration model. A private Gate D validation helper that omits
|
||||
distortion does not redefine this contract and is not a precedent for Gate E.
|
||||
The second immutable view is an explicit scientific input, not persistence,
|
||||
Project DB integration, a loader, resolver subsystem, cache, handle or Resource
|
||||
System.
|
||||
|
||||
### Scientific and numerical contract
|
||||
|
||||
Gate E processes every reconstructed Gate D component independently. It
|
||||
resolves the selected observations, copies the component poses and landmarks
|
||||
into a private working set, builds and solves one BA problem, validates the
|
||||
complete candidate, then either publishes that candidate in the distinct Gate
|
||||
E result or preserves the original Gate D component. No component constrains or
|
||||
influences another component.
|
||||
|
||||
Gate E v1 optimizes only camera extrinsic rotations, camera centers and
|
||||
landmark positions. The known `fx`, `fy`, `cx`, `cy`, `k1`, `k2`, `p1`, `p2`,
|
||||
observations, Track membership, identities and observation/landmark
|
||||
associations are fixed and immutable. Future intrinsic optimization requires a
|
||||
separate scientific and identity decision.
|
||||
|
||||
The public boundary remains solver-independent and world-to-camera. The private
|
||||
C++ adapter uses a unit quaternion for `R_cw`, with an appropriate quaternion
|
||||
manifold, and world camera center `Cw`:
|
||||
|
||||
```text
|
||||
Xc = R_cw * (Xw - Cw)
|
||||
t_cw = -R_cw * Cw
|
||||
```
|
||||
|
||||
Conversion to or from public rotation matrices canonicalizes quaternion sign,
|
||||
so `q` and `-q` cannot produce distinct observable representations. No Ceres
|
||||
type crosses the future C17 ABI.
|
||||
|
||||
### Gate E gauge
|
||||
|
||||
Gate E derives deterministic BA anchors from the final Gate D result and does
|
||||
not depend on historical seed IDs. In each component, the registered camera
|
||||
with the lowest `image_id` is the pose anchor; its complete initial Gate D
|
||||
rotation and camera center are fixed.
|
||||
|
||||
Among the other registered cameras, the scale anchor is the camera whose
|
||||
binary64 Euclidean distance from the pose anchor is greatest. An exact distance
|
||||
tie selects the lowest `image_id`; no hidden tolerance participates. For
|
||||
`delta = C_scale - C_anchor`, the coordinate with greatest absolute value is
|
||||
the scale axis, with exact ties resolved X, then Y, then Z. That one initial
|
||||
Gate D coordinate of `C_scale` is fixed. Its other two center coordinates and
|
||||
its rotation remain variable. The fixed pose removes the six rigid degrees of
|
||||
freedom and the fixed nonzero scale coordinate removes the scale degree of
|
||||
freedom without fixing a second pose.
|
||||
|
||||
The scale anchor is degenerate when:
|
||||
|
||||
```text
|
||||
max(abs(delta.x), abs(delta.y), abs(delta.z)) <= 1e-9
|
||||
```
|
||||
|
||||
Gate D fixes each valid component to a unit seed baseline, so `1e-9` world
|
||||
units is a numerically negligible separation in that scientific gauge. A
|
||||
component with no second valid camera or a degenerate scale anchor is not
|
||||
optimized; its Gate D data is retained with a gauge/degenerate diagnostic.
|
||||
|
||||
### Objective and solver
|
||||
|
||||
Every valid observation contributes the two-dimensional source-pixel residual
|
||||
defined above. Gate E uses binary64 throughout and minimizes their robustified
|
||||
sum with Huber loss and `delta = 2.0` source pixels. The Huber kind and scale are
|
||||
Gate E scientific policy, not Governor parameters, Resource parameters or a
|
||||
Gate E fingerprint. Non-finite poses, landmarks, projections, residuals or
|
||||
costs, and camera-frame depth invalid under the frozen camera invariants,
|
||||
reject the candidate.
|
||||
|
||||
Gate E v1 selects the Ceres Solver 2.2.x API, CPU-only, with these explicit
|
||||
options:
|
||||
|
||||
```text
|
||||
minimizer_type = TRUST_REGION
|
||||
trust_region_strategy_type = LEVENBERG_MARQUARDT
|
||||
linear_solver_type = ITERATIVE_SCHUR
|
||||
preconditioner_type = SCHUR_JACOBI
|
||||
num_threads = 1
|
||||
max_num_iterations = 50
|
||||
function_tolerance = 1e-6
|
||||
gradient_tolerance = 1e-10
|
||||
parameter_tolerance = 1e-8
|
||||
```
|
||||
|
||||
Landmark parameter blocks form elimination group 0 in increasing canonical
|
||||
Track/landmark identity; camera blocks form group 1 in increasing `image_id`.
|
||||
Components, cameras, landmarks, observations and residual blocks are all built
|
||||
in canonical identity order. Automatic Ceres ordering is not used when the API
|
||||
accepts an explicit ordering.
|
||||
|
||||
There is exactly one solver attempt per eligible component, with no automatic
|
||||
retry, wall-clock timeout or `max_solver_time`. Environment variables, hardware
|
||||
profiles, Tasks, schedulers and the Governor cannot change the single-thread
|
||||
reference. `ITERATIVE_SCHUR` with `SCHUR_JACOBI` provides the required
|
||||
block-sparse path without a functional SuiteSparse dependency; `SPARSE_SCHUR`,
|
||||
CUDA and GPU execution are not Gate E v1.
|
||||
|
||||
### Eligibility, bounds and acceptance
|
||||
|
||||
An eligible component has at least two registered cameras, at least one valid
|
||||
BA landmark, exactly resolved observations and calibrations, finite inputs, a
|
||||
valid gauge, overflow-safe dimensions and no manifest underconstraint after
|
||||
the anchors. Gate D already guarantees multi-view support for every published
|
||||
landmark, so Gate E introduces no separate support threshold.
|
||||
|
||||
Gate E retains the identically-scoped Gate D bounds of at most 4096 registered
|
||||
cameras, 250,000 Tracks/landmarks and 1,000,000 observations. The Gate D
|
||||
landmarks-per-growth-round bound is not a Gate E bound. All allocation and
|
||||
dimension arithmetic is overflow-checked. The architecture is block-sparse;
|
||||
no dense camera-count × landmark-count allocation or Jacobian is permitted.
|
||||
|
||||
Ceres `NO_CONVERGENCE` is rejection even if an intermediate candidate has
|
||||
lower cost. Only a termination classified as successful convergence by the
|
||||
private Ceres adapter is acceptable. The robust-cost comparison uses exactly:
|
||||
|
||||
```text
|
||||
cost_tolerance = 1e-12 * max(1.0, abs(initial_robust_cost))
|
||||
final_robust_cost <= initial_robust_cost + cost_tolerance
|
||||
```
|
||||
|
||||
This comparison tolerance absorbs insignificant binary64 noise and is not a
|
||||
Ceres convergence tolerance. A component is published only when its inputs are
|
||||
coherent and eligible, termination is accepted, all candidate poses,
|
||||
landmarks, required projections and robust costs are finite, both gauge anchors
|
||||
are strictly preserved in their contract representations, the cost condition
|
||||
holds, and no consumed frozen invariant is violated. Otherwise the original
|
||||
Gate D component is preserved exactly and accompanied by a rejection
|
||||
diagnostic. All optimization occurs on a private copy, so publication is atomic
|
||||
per component and requires no in-place rollback.
|
||||
|
||||
### Result and diagnostics
|
||||
|
||||
The future solver-independent Gate E result has these conceptual states:
|
||||
|
||||
- `COMPLETE`: at least one component is eligible and every eligible component
|
||||
is optimized and accepted;
|
||||
- `PARTIAL`: at least one component is accepted and at least one other eligible
|
||||
component is rejected or fails;
|
||||
- `FAILED`: no eligible component produces an accepted BA result, including an
|
||||
input with no eligible component.
|
||||
|
||||
Ineligible and rejected components retain their Gate D data. Each component
|
||||
diagnostic contains at least component key, camera/landmark/observation counts,
|
||||
pose-anchor and scale-anchor `image_id`, scale axis X/Y/Z, initial and final
|
||||
robust cost, initial and final reprojection RMSE, iteration count, solver
|
||||
termination class, accepted/rejected state and rejection reason. It exposes no
|
||||
Ceres pointer or type.
|
||||
|
||||
Diagnostic reprojection RMSE is non-robust:
|
||||
|
||||
```text
|
||||
sqrt(sum(dx*dx + dy*dy) / observation_count)
|
||||
```
|
||||
|
||||
Acceptance remains based on robust cost and all contract invariants. Raw RMSE
|
||||
is not required to improve universally in the presence of outliers.
|
||||
|
||||
### Reproducibility
|
||||
|
||||
For identical input, executable, build, dependency versions and machine with
|
||||
one solver thread, component order, anchors, parameter/residual ordering,
|
||||
states, accept/reject decisions and structural diagnostics are deterministic.
|
||||
Comparable binary64 geometric scalars satisfy:
|
||||
|
||||
```text
|
||||
abs(a - b) <= 1e-12 * max(1.0, abs(a), abs(b))
|
||||
```
|
||||
|
||||
Rotations are compared geometrically rather than by raw quaternion sign. If
|
||||
fresh-process tests in an identical environment cannot meet this tolerance,
|
||||
implementation stops for contract review; tests must not widen it silently.
|
||||
|
||||
### Canonical Gate E validation matrix
|
||||
|
||||
| Case | Contract evidence |
|
||||
|---|---|
|
||||
| E01 Null/invalid input | Safe rejection; no exception crosses C |
|
||||
| E02 Empty/non-eligible result | Deterministic `FAILED` with diagnostics |
|
||||
| E03 Clean synthetic component | Finite accepted result, gauge held, cost non-regression |
|
||||
| E04 Perturbed poses | Fixture-defined measurable improvement |
|
||||
| E05 Perturbed landmarks | Fixture-defined measurable improvement |
|
||||
| E06 Perturbed poses and landmarks | Convergence and fixture-defined improvement |
|
||||
| E07 Noise 0.5 px | Finite accepted result or contractually justified rejection |
|
||||
| E08 Noise 1.0 px | Finite accepted result or contractually justified rejection |
|
||||
| E09 Noise 2.0 px | Finite accepted result or contractually justified rejection |
|
||||
| E10 Outliers 10% | Huber active; finite result or clean rejection; no invariant violation |
|
||||
| E11 Outliers 20% | Huber active; finite result or clean rejection; no invariant violation |
|
||||
| E12 Outliers 40% | Huber active; finite result or clean rejection; no invariant violation |
|
||||
| E13 Disconnected components | Independent optimization and gauges |
|
||||
| E14 One success, one failure | Global `PARTIAL` |
|
||||
| E15 Pose anchor | Initial rotation and center strictly preserved |
|
||||
| E16 Scale anchor | Selected center coordinate strictly preserved |
|
||||
| E17 Deterministic anchors | Exact distance/ID and X/Y/Z ties; `1e-9` degeneracy boundary |
|
||||
| E18 Insufficient cameras | No solve; Gate D data retained |
|
||||
| E19 Underconstrained geometry | No solve; Gate D data retained |
|
||||
| E20 Non-finite input | Input rejection |
|
||||
| E21 Non-finite projection candidate | Atomic candidate rejection |
|
||||
| E22 Forced non-convergence | Private summary interpreter rejects `NO_CONVERGENCE` |
|
||||
| E23 Candidate regression | Cost condition prevents publication |
|
||||
| E24 Atomic rejection | Original component preserved exactly |
|
||||
| E25 Canonical ordering | Explicit groups and parameter/residual order |
|
||||
| E26 Same-process repeats | Structural equality and numeric tolerance |
|
||||
| E27 Fresh-process repeats | At least 20 processes in one identical environment |
|
||||
| E28 Ownership/destruction | Caller inputs retained; owned result safely destroyed |
|
||||
| E29 Null/repeated destroy | Required only if E1 adopts the existing null-safe convention |
|
||||
| E30 Allocation/overflow | Checked rejection before allocation |
|
||||
| E31 Maximum boundary guards | Exact documented limits without a giant solve where isolatable |
|
||||
| E32 Sparse architecture | No dense camera-count × landmark-count allocation |
|
||||
| E33 Calibration immutability | Before/after identical |
|
||||
| E34 Track/observation immutability | Before/after identical |
|
||||
| E35 Gate D immutability | Input unchanged after success and every failure path |
|
||||
|
||||
E22 tests the private solver-summary-to-decision interpreter directly. It does
|
||||
not expose an iteration override, add a production behavior for testing or
|
||||
change `max_num_iterations = 50`. Synthetic ground-truth fixtures measure
|
||||
pre/post geometric error and robust cost. Fixtures intended to improve define
|
||||
their own scientifically measurable improvement; no universal pose or landmark
|
||||
threshold is invented.
|
||||
|
||||
Local BA after registration is deferred. Gate D exposes no intermediate
|
||||
scientific seam or complete registration history, and an interleaved BA could
|
||||
change its subsequent growth. Introducing that policy requires a future
|
||||
explicit scientific seam/version architecture decision; Gate E v1 does not
|
||||
create or name such a version.
|
||||
|
||||
Gate E v1 remains independent of Project DB, Task Runtime, the Resource
|
||||
Governor and any Resource System. It neither computes nor carries a parameter
|
||||
fingerprint, defines no persistent identity, and publishes nothing. Gate F
|
||||
retains project/task orchestration and persistence; Gate G retains Resource
|
||||
Governor integration and final resource validation.
|
||||
|
||||
Ceres availability on a host must be distinguished from Lardon3D dependency
|
||||
declaration. Gate E selects the Ceres Solver 2.2.x API scientifically, but
|
||||
Lardon3D currently declares no production Ceres dependency in Meson. A future
|
||||
dependency slice must verify the used API, licensing, CPU-only construction and
|
||||
a build without required SuiteSparse or CUDA. Package discovery may use CMake;
|
||||
a pkg-config miss alone does not prove host unavailability, and an installed
|
||||
host package is not a declared Lardon3D dependency.
|
||||
|
||||
## Determinism and scientific identity
|
||||
|
||||
|
|
@ -267,13 +525,13 @@ working set. It forbids a dense `C×P`, `C×C` or co-visibility matrix. Track
|
|||
length has no arbitrary 256 cap; long Tracks are iterated through checked
|
||||
bounded storage.
|
||||
|
||||
Triangulation/registration are light CPU units and can be batched. Local BA is
|
||||
bounded by an active camera/landmark window and needs a Governor reservation.
|
||||
Global BA is one heavy job at a time, with explicit admission and a conservative
|
||||
thread cap. Future reservation inputs are `C`, `P`, `O`, active window size,
|
||||
solver mode and calibration-variable count. The existing Resource Governor
|
||||
owns RAM/PSI/swap policy; Sparse SfM adds no thresholds. Swap is never normal
|
||||
working memory, and UMA RAM must preserve several GiB of desktop/iGPU headroom.
|
||||
Triangulation/registration are light CPU units and can be batched. Gate E v1
|
||||
uses local scientific limits for its final per-component BA and does not query
|
||||
the Governor. Future Gate G admission may use `C`, `P`, `O`, solver mode and
|
||||
calibration-variable count without changing scientific results. The existing
|
||||
Resource Governor owns RAM/PSI/swap policy; Sparse SfM adds no system-pressure
|
||||
thresholds. Swap is never normal working memory, and UMA RAM must preserve
|
||||
several GiB of desktop/iGPU headroom.
|
||||
|
||||
## Hardware and probe study
|
||||
|
||||
|
|
@ -282,11 +540,10 @@ Gate A preflight measured 16 logical CPUs, `MemTotal=15597716 KiB`,
|
|||
zram device, and zero current memory/IO PSI average. The host is the Ryzen 7
|
||||
8845HS/Radeon 780M UMA target described by the performance document.
|
||||
|
||||
The project already links OpenCV 5.0.0. Eigen 5.0.1 and Ceres 3.12.0 are
|
||||
available through host pkg-config but are not current production dependencies;
|
||||
SuiteSparse/BLAS/LAPACK availability is host capability only. TBB 2023.1 is
|
||||
present through the existing OpenCV stack. No package, system setting, swap
|
||||
device or GPU mode was changed.
|
||||
The project already links OpenCV 5.0.0. Host-installed libraries and their
|
||||
pkg-config or CMake discovery metadata are capabilities, not Lardon3D
|
||||
production dependencies. Lardon3D currently declares no Ceres dependency in
|
||||
Meson. No package, system setting, swap device or GPU mode was changed.
|
||||
|
||||
Gate A probes use deterministic synthetic camera arcs, controlled noise and
|
||||
degenerate planar/pure-rotation cases. Every RSS probe is a separate normal
|
||||
|
|
@ -304,8 +561,9 @@ production Sparse SfM code is created by this gate.
|
|||
deterministic seed, triangulation and PnP with synthetic ground truth.
|
||||
- **Gate D — Incremental core:** registration ordering, components,
|
||||
unregistered-image policy and deterministic reconstruction output.
|
||||
- **Gate E — BA integration:** sparse BA candidate, robust loss, local/global
|
||||
policy, numerical reproducibility and solver dependency decision.
|
||||
- **Gate E — Final Bundle Adjustment:** synchronous final per-component BA on a
|
||||
copy of the immutable Gate D result, with its scientific and numerical
|
||||
contract frozen here; interleaved local BA is deferred.
|
||||
- **Gate F — Project orchestration:** explicit Track Set/calibration input,
|
||||
atomic publication and durable runtime integration.
|
||||
- **Gate G — Resource/freeze:** Governor admission, sustained hardware safety,
|
||||
|
|
@ -317,7 +575,7 @@ production Sparse SfM code is created by this gate.
|
|||
|
||||
Seed/order risk is controlled by deterministic policy. It is robust for
|
||||
sequential capture, has canonical queues and seeds, moderate complexity, and
|
||||
sparse `C,T,O` scaling with local BA. **SELECTED v1.**
|
||||
sparse `C,T,O` scaling followed by final per-component BA. **SELECTED v1.**
|
||||
|
||||
### Global SfM
|
||||
|
||||
|
|
@ -342,7 +600,7 @@ Triangulation candidates:
|
|||
|---|---|---|---|
|
||||
| Dense normal equations | Prohibited for serious `C×P` problems | No | Rejected |
|
||||
| OpenCV generic optimization | Not a sparse BA contract | Present, wrong abstraction | Rejected |
|
||||
| Ceres sparse Schur | Appropriate block structure | New candidate dependency | **Later-gate candidate** |
|
||||
| Ceres 2.2.x iterative Schur | Block-sparse | Scientific selection; not in Meson | **Selected Gate E v1** |
|
||||
|
||||
### Synthetic geometry probe
|
||||
|
||||
|
|
@ -365,23 +623,23 @@ checks before accepting a component.
|
|||
|
||||
The project already links OpenCV 5.0.0. Host probes found Eigen 5.0.1, BLAS
|
||||
3.12.0, LAPACK 3.12.0 and TBB 2023.1 as host capabilities or transitive
|
||||
facilities rather than current Lardon3D production dependencies. Ceres and
|
||||
SuiteSparse are not available through the current host pkg-config environment;
|
||||
Ceres remains a new dependency candidate, not an installed fact. No new
|
||||
dependency is added by Gate A. The measured machine has 16 logical CPUs,
|
||||
facilities rather than current Lardon3D production dependencies. Ceres may use
|
||||
CMake discovery, so pkg-config alone does not establish host availability.
|
||||
Ceres 2.2.x is the selected Gate E scientific API, but Lardon3D declares no
|
||||
production Ceres dependency yet. No new dependency is added by this contract
|
||||
slice. The measured machine has 16 logical CPUs,
|
||||
`MemTotal=15597716 KiB`, `MemAvailable=8245288 KiB` at preflight, an 8 GiB
|
||||
swapfile, 6 GiB zram and zero memory/IO PSI averages at the probe start. A
|
||||
single heavy BA and a future solver thread cap of 4 are the conservative
|
||||
resource candidates; these are not yet Governor settings.
|
||||
swapfile, 6 GiB zram and zero memory/IO PSI averages at the probe start. Gate E
|
||||
uses one solver thread; future Gate G resource admission cannot change that
|
||||
scientific setting.
|
||||
|
||||
## Gate A unresolved boundaries
|
||||
|
||||
The following remain deliberately deferred to later gates rather than hidden:
|
||||
exact numeric parallax/reprojection thresholds, Ceres licensing/dependency
|
||||
adoption, robust-loss scale, local-window selection, BA convergence criteria,
|
||||
metric alignment, persistent reconstruction schema and durable SfM checkpoints.
|
||||
Their semantic ownership is decided here; their final numeric values require
|
||||
the synthetic ground-truth and sparse-solver gates.
|
||||
The following remain deliberately deferred rather than hidden: Ceres
|
||||
licensing/dependency integration, metric alignment, persistent orchestration
|
||||
and durable SfM checkpoints. Gate E freezes its own robust loss, convergence,
|
||||
ordering and acceptance policy here without introducing persistence or a
|
||||
fingerprint.
|
||||
|
||||
## Gate C — pure calibrated geometry
|
||||
|
||||
|
|
@ -439,7 +697,7 @@ parameters and do not alter Project DB identity.
|
|||
|
||||
## Gate D — incremental Sparse SfM core
|
||||
|
||||
**GATE D — PASS.** Gate D is the first executable link
|
||||
**GATE D — PASS / FROZEN.** Gate D is the first executable link
|
||||
between the immutable Track/Calibration contracts and the Gate C primitives.
|
||||
The reference implementation is synchronous, deterministic, CPU-only,
|
||||
in-memory, bounded and independent of Project DB, Task Runtime, Resource
|
||||
|
|
|
|||
Loading…
Reference in a new issue