docs(sparse-sfm): close Gate D
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16 changed files with 29 additions and 592 deletions
7
.pi/.gitignore
vendored
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.pi/.gitignore
vendored
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@ -1,7 +0,0 @@
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# Pi package runtime — regenerated by `pi install`
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npm/
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# Temporary/local backups
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*.bak
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*.tmp
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*~
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@ -1,55 +0,0 @@
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# Lardon3D — mandatory agent guardrails
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## Authority
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- Current explicit user instructions have highest authority.
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- Canonical repository documentation and contracts outrank memory, assumptions, comments and convenience.
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- Memory is advisory only. Never use memory to override repository truth.
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- Before editing code governed by a documented contract, read that contract.
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## FROZEN and scope
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- Anything marked FROZEN is read-only unless the user explicitly authorizes changing that exact contract.
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- Never reinterpret, weaken, migrate or "clean up" a FROZEN contract.
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- Keep every modification inside the explicitly authorized task and file scope.
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- No opportunistic refactoring.
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- Do not add dependencies, subsystems, persistence, schemas, services, public API/ABI changes or architectural layers unless explicitly authorized.
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## STOP
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Stop and report instead of guessing if:
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- the task conflicts with a FROZEN contract;
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- canonical documents materially disagree;
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- scope is ambiguous;
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- the required solution crosses authorized scope;
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- a new dependency/subsystem/architecture change appears necessary;
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- existing user modifications make a safe edit uncertain.
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## Codex quota
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- Never switch, fall back or escalate to Codex automatically.
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- Codex is an explicit user-controlled escalation only.
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- Prefer local tools, clangd, Git, context-mode and local subagents whenever sufficient.
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- Subagents are local-only and read-only by default.
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- Do not spend Codex quota merely to run, watch or summarize deterministic tests.
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## Editing
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- The parent agent is the only code writer by default.
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- Make the smallest correct change satisfying the contract.
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- Preserve validation, error handling, safety, determinism and test coverage.
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- Do not modify generated, vendor or third-party files unless explicitly required.
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## Git
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- Inspect `git status --short` before editing.
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- Never discard or overwrite user changes.
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- Never reset, clean, restore/checkout user work, rebase, merge, commit, amend, tag or push unless explicitly requested.
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- Before final validation inspect changed files, scope and `git diff --check`.
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## Validation
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- Determine authoritative build/test instructions from repository evidence.
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- Use LSP diagnostics as intermediate feedback only.
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- Deterministic build/tests/sanitizers are the final technical validation.
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## Tool discipline
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- Do not use any tool when the user's request can be answered from the current conversation and already-loaded context.
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- Files listed by Pi under `[Context]` are already available. Never call `read` merely to re-read `.pi/APPEND_SYSTEM.md`, `~/AGENTS.md` or `AGENTS.md`.
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- Use repository tools only when the task genuinely requires repository evidence or inspection.
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- Do not call tools for acknowledgements, simple questions, formatting requests or answers explicitly requested without tools.
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- Never read the same file repeatedly in one turn unless its contents changed or a different range is explicitly required.
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- Prefer the minimum number of tool calls needed to answer the request.
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@ -1,40 +0,0 @@
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---
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name: oracle
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description: Analyse read-only approfondie d'un problème Lardon3D avant éventuelle escalade vers Codex.
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model: local-lardon/lardon-local
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thinking: off
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tools: read, grep, find, ls
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inheritProjectContext: true
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inheritSkills: false
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defaultContext: fresh
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---
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Tu es l'oracle read-only de Lardon3D.
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Objectif :
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- analyser un problème technique ou architectural difficile ;
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- chercher les preuves pertinentes dans le dépôt ;
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- challenger les hypothèses du parent ;
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- identifier plusieurs explications ou solutions possibles ;
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- déterminer si une escalade vers Codex est réellement justifiée.
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Règles absolues :
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- ne modifie aucun fichier ;
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- ne lance aucune commande shell ;
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- ne change jamais de modèle ;
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- n'utilise jamais Codex ;
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- ne propose aucun refactor hors scope ;
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- documentation canonique et contrats du dépôt > mémoire et hypothèses ;
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- les contrats FROZEN sont en lecture seule ;
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- si les preuves sont insuffisantes, indique UNKNOWN ;
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- si le problème implique un changement hors scope, une contradiction documentaire ou une modification FROZEN, indique STOP.
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Évalue explicitement si Codex est nécessaire.
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Format :
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1. Problème compris
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2. Preuves trouvées
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3. Hypothèses / solutions possibles
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4. Risques
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5. Verdict : LOCAL_SUFFICIENT / CODEX_JUSTIFIED / STOP
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6. Résumé compact pour le parent
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@ -1,36 +0,0 @@
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---
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name: reviewer
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description: Revue read-only des modifications Lardon3D. Vérifie scope, contrats, bugs et cohérence sans modifier le dépôt.
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model: local-lardon/lardon-local
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thinking: off
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tools: read, grep, find, ls
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inheritProjectContext: true
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inheritSkills: false
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defaultContext: fresh
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---
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Tu es le reviewer read-only de Lardon3D.
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Objectif :
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- examiner uniquement les modifications et fichiers explicitement indiqués ;
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- détecter les violations de scope ou de contrats FROZEN ;
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- rechercher bugs, régressions, incohérences et erreurs évidentes ;
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- signaler les validations manquantes ;
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- produire des remarques courtes, précises et fondées sur des preuves.
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Règles absolues :
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- ne modifie aucun fichier ;
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- ne lance aucune commande shell ;
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- ne tente jamais de corriger directement le code ;
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- ne propose aucun refactor hors scope ;
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- ne change jamais de modèle et n'utilise jamais Codex ;
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- documentation canonique et contrats du dépôt > mémoire ;
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- si une conclusion nécessite une information absente, indique UNKNOWN au lieu de deviner ;
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- si une modification viole un contrat FROZEN ou dépasse le scope, indique STOP.
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Format :
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1. Verdict : PASS / ISSUES / STOP
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2. Problèmes critiques
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3. Problèmes importants
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4. Remarques mineures
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5. Validations à exécuter localement
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@ -1,36 +0,0 @@
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---
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name: scout
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description: Reconnaissance read-only du dépôt Lardon3D. Identifie les fichiers, contrats, flux et risques sans jamais modifier le dépôt.
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model: local-lardon/lardon-local
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thinking: off
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tools: read, grep, find, ls
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inheritProjectContext: true
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inheritSkills: false
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defaultContext: fresh
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---
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Tu es le scout read-only de Lardon3D.
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Objectif :
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- comprendre rapidement la zone du dépôt concernée par la tâche ;
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- identifier les fichiers pertinents ;
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- retrouver les contrats et la documentation canonique applicables ;
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- signaler les risques de scope, FROZEN, dépendances ou contradictions ;
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- produire un compte rendu compact au parent.
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Règles absolues :
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- ne modifie aucun fichier ;
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- ne lance aucune commande shell ;
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- ne propose aucun refactor hors scope ;
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- ne suppose jamais qu'une mémoire est plus fiable que les fichiers du dépôt ;
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- les contrats FROZEN sont en lecture seule ;
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- si les documents se contredisent ou si le scope est ambigu, signale STOP ;
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- ne tente jamais de changer de modèle ou d'utiliser Codex ;
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- privilégie grep/find/read ciblés au lieu de lire de gros fichiers entiers.
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Format de sortie :
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1. Fichiers pertinents
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2. Contrats/docs applicables
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3. Flux ou dépendances utiles
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4. Risques / STOP éventuels
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5. Résumé compact pour le parent
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@ -1,314 +0,0 @@
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import type {
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ExtensionAPI,
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ExtensionContext,
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} from "@earendil-works/pi-coding-agent";
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type ProfileName =
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| "local"
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| "ctx"
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| "review"
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| "mem"
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| "full"
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| "codex";
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interface Profile {
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provider: string;
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model: string;
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thinking: "off" | "low";
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tools: string[];
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}
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const profiles: Record<ProfileName, Profile> = {
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/*
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* Default mode.
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* Qwen3 local, read-only, enough for normal repository exploration.
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*/
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local: {
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provider: "local-lardon",
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model: "lardon-local",
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thinking: "off",
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tools: [
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"read",
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"grep",
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"find",
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"ls",
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],
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},
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review: {
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provider: "local-lardon",
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model: "lardon-local",
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thinking: "off",
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tools: [
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"read",
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"grep",
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"find",
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"ls",
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"lsp_diagnostics",
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],
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},
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/*
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* Local + context-mode through the compact MCP proxy.
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* No direct ctx_* tools are exposed.
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*/
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ctx: {
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provider: "local-lardon",
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model: "lardon-local",
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thinking: "off",
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tools: [
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"read",
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"grep",
|
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"find",
|
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"ls",
|
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"lsp_diagnostics",
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"subagent",
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"mcp",
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],
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},
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|
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/*
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* Local + Hermes search.
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* memory_search is intentionally not enabled in the default profile
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* because small local models tend to invoke it too eagerly.
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*/
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mem: {
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provider: "local-lardon",
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model: "lardon-local",
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thinking: "off",
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tools: [
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"read",
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"grep",
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"find",
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"ls",
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"memory_search",
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],
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},
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/*
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* Local with both optional facilities.
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* Use only when a task genuinely needs memory + context-mode.
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*/
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full: {
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provider: "local-lardon",
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model: "lardon-local",
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thinking: "off",
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tools: [
|
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"read",
|
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"grep",
|
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"find",
|
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"ls",
|
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"lsp_diagnostics",
|
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"subagent",
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"mcp",
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"memory_search",
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],
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},
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/*
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* Explicit quota-consuming mode.
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*
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* Codex is NEVER selected automatically.
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* Subagents remain constrained separately by pi-subagents'
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* local-only modelScope.
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*/
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codex: {
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provider: "openai-codex",
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model: "gpt-5.6-sol",
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thinking: "low",
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tools: [
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"read",
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"grep",
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"find",
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"ls",
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"bash",
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"edit",
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"write",
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"lsp_diagnostics",
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"subagent",
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"mcp",
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"memory_search",
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],
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},
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};
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export default function lardonProfiles(pi: ExtensionAPI) {
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let activeProfile: ProfileName = "local";
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function validTools(requested: string[], ctx: ExtensionContext): string[] {
|
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const available = new Set(pi.getAllTools().map((tool) => tool.name));
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const valid = requested.filter((name) => available.has(name));
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const missing = requested.filter((name) => !available.has(name));
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if (missing.length > 0) {
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ctx.ui.notify(
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`Lardon profile: unavailable tools ignored: ${missing.join(", ")}`,
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"warning",
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);
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}
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return valid;
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}
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|
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async function applyProfile(
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name: ProfileName,
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ctx: ExtensionContext,
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notify = true,
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): Promise<boolean> {
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const profile = profiles[name];
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const model = ctx.modelRegistry.find(
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profile.provider,
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profile.model,
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);
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if (!model) {
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ctx.ui.notify(
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`Lardon profile "${name}": model not found: ${profile.provider}/${profile.model}`,
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"error",
|
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);
|
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return false;
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}
|
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const switched = await pi.setModel(model);
|
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|
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if (!switched) {
|
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ctx.ui.notify(
|
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`Lardon profile "${name}": model authentication unavailable`,
|
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"error",
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);
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return false;
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}
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|
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pi.setThinkingLevel(profile.thinking);
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|
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const tools = validTools(profile.tools, ctx);
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pi.setActiveTools(tools);
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|
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activeProfile = name;
|
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|
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ctx.ui.setStatus(
|
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"lardon-profile",
|
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`Lardon:${name}`,
|
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);
|
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|
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if (notify) {
|
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ctx.ui.notify(
|
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`Profile ${name} → ${profile.provider}/${profile.model} · thinking ${profile.thinking} · ${tools.length} tools`,
|
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name === "codex" ? "warning" : "info",
|
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);
|
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}
|
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|
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return true;
|
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}
|
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|
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pi.registerCommand("local", {
|
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description: "Qwen local read-only — default Lardon3D profile",
|
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handler: async (_args, ctx) => {
|
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await applyProfile("local", ctx);
|
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},
|
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});
|
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|
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pi.registerCommand("ctx", {
|
||||
description: "Qwen local + compact context-mode MCP proxy",
|
||||
handler: async (_args, ctx) => {
|
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await applyProfile("ctx", ctx);
|
||||
},
|
||||
});
|
||||
|
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pi.registerCommand("mem", {
|
||||
description: "Qwen local + Hermes memory search",
|
||||
handler: async (_args, ctx) => {
|
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await applyProfile("mem", ctx);
|
||||
},
|
||||
});
|
||||
|
||||
pi.registerCommand("full", {
|
||||
description: "Qwen local + context-mode + memory search",
|
||||
handler: async (_args, ctx) => {
|
||||
await applyProfile("full", ctx);
|
||||
},
|
||||
});
|
||||
|
||||
pi.registerCommand("codex", {
|
||||
description: "Explicitly switch to Codex Sol-low and enable coding tools",
|
||||
handler: async (_args, ctx) => {
|
||||
if (ctx.mode === "tui") {
|
||||
const confirmed = await ctx.ui.confirm(
|
||||
"Use Codex quota?",
|
||||
"Switch this session to openai-codex/gpt-5.6-sol (thinking: low)?",
|
||||
);
|
||||
|
||||
if (!confirmed) {
|
||||
ctx.ui.notify("Codex switch cancelled", "info");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
await applyProfile("codex", ctx);
|
||||
},
|
||||
});
|
||||
|
||||
pi.registerCommand("profile", {
|
||||
description: "Show current Lardon3D profile and active tools",
|
||||
handler: async (_args, ctx) => {
|
||||
const profile = profiles[activeProfile];
|
||||
|
||||
ctx.ui.notify(
|
||||
[
|
||||
`Profile: ${activeProfile}`,
|
||||
`Model: ${profile.provider}/${profile.model}`,
|
||||
`Thinking: ${profile.thinking}`,
|
||||
`Tools: ${pi.getActiveTools().join(", ")}`,
|
||||
].join("\n"),
|
||||
"info",
|
||||
);
|
||||
},
|
||||
});
|
||||
|
||||
pi.registerCommand("review", {
|
||||
description: "Qwen local + subagents de revue/reconnaissance",
|
||||
handler: async (_args, ctx) => {
|
||||
await applyProfile("review", ctx);
|
||||
},
|
||||
});
|
||||
|
||||
/*
|
||||
* Fail closed.
|
||||
*
|
||||
* Every newly started Pi process begins LOCAL even if the previous
|
||||
* session ended while Codex was active.
|
||||
*
|
||||
* Codex can only be entered again with an explicit /codex.
|
||||
*/
|
||||
/*
|
||||
* Other extensions may register/reactivate their own tools after
|
||||
* session_start (for example mcp and subagent_supervisor).
|
||||
*
|
||||
* Re-assert the selected Lardon profile immediately before every
|
||||
* user-triggered agent run so the model sees exactly the intended
|
||||
* tool allowlist.
|
||||
*/
|
||||
pi.on("before_agent_start", async (_event, ctx) => {
|
||||
const profile = profiles[activeProfile];
|
||||
|
||||
const available = new Set(
|
||||
pi.getAllTools().map((tool) => tool.name),
|
||||
);
|
||||
|
||||
const tools = profile.tools.filter(
|
||||
(name) => available.has(name),
|
||||
);
|
||||
|
||||
pi.setActiveTools(tools);
|
||||
|
||||
ctx.ui.setStatus(
|
||||
"lardon-profile",
|
||||
`Lardon:${activeProfile}`,
|
||||
);
|
||||
});
|
||||
pi.on("session_start", async (_event, ctx) => {
|
||||
await applyProfile("local", ctx, false);
|
||||
});
|
||||
}
|
||||
20
.pi/mcp.json
20
.pi/mcp.json
|
|
@ -1,20 +0,0 @@
|
|||
{
|
||||
"settings": {
|
||||
"directTools": false,
|
||||
"scriptMode": false,
|
||||
"sampling": false,
|
||||
"samplingAutoApprove": false,
|
||||
"autoAuth": false,
|
||||
"elicitation": false,
|
||||
"outputGuard": true,
|
||||
"mcpFooterStatus": "compact"
|
||||
},
|
||||
"mcpServers": {
|
||||
"context-mode": {
|
||||
"command": "context-mode",
|
||||
"lifecycle": "lazy",
|
||||
"directTools": false,
|
||||
"exposeResources": false
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,20 +0,0 @@
|
|||
{
|
||||
"clangd": {
|
||||
"command": [
|
||||
"clangd",
|
||||
"--background-index",
|
||||
"--clang-tidy"
|
||||
],
|
||||
"extensions": [
|
||||
".c",
|
||||
".h",
|
||||
".cc",
|
||||
".cpp",
|
||||
".cxx",
|
||||
".hh",
|
||||
".hpp",
|
||||
".hxx"
|
||||
],
|
||||
"pullDiagnosticsGraceMs": 5000
|
||||
}
|
||||
}
|
||||
|
|
@ -1,42 +0,0 @@
|
|||
{
|
||||
"defaultProvider": "local-lardon",
|
||||
"defaultModel": "lardon-local",
|
||||
"defaultThinkingLevel": "off",
|
||||
"enabledModels": [
|
||||
"local-lardon/lardon-local"
|
||||
],
|
||||
"packages": [
|
||||
"npm:@narumitw/pi-usage@0.52.1",
|
||||
{
|
||||
"source": "npm:context-mode@1.0.169",
|
||||
"extensions": [],
|
||||
"skills": []
|
||||
},
|
||||
"npm:@narumitw/pi-lsp@0.49.5",
|
||||
"npm:pi-hermes-memory@0.9.6",
|
||||
{
|
||||
"source": "npm:pi-subagents@0.56.0",
|
||||
"skills": [],
|
||||
"prompts": [],
|
||||
"themes": []
|
||||
},
|
||||
{
|
||||
"source": "npm:pi-mcp-adapter@2.27.0",
|
||||
"skills": []
|
||||
},
|
||||
"./lardon-profiles.ts"
|
||||
],
|
||||
"subagents": {
|
||||
"defaultModel": "local-lardon/lardon-local",
|
||||
"defaultThinking": "off",
|
||||
"disableThinking": true,
|
||||
"disableBuiltins": true,
|
||||
"defaultExtensions": [],
|
||||
"modelScope": {
|
||||
"enforce": true,
|
||||
"allow": [
|
||||
"local-lardon/lardon-local"
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -165,9 +165,10 @@ Matcher v1, Geometric Verification Model v1 et Geometric Verifier Fundamental v1
|
|||
sont implémentés. Le runtime Feature + Matcher + Verifier emploie des tâches durables,
|
||||
de petits lots, le Resource Governor interactif et un hot path Vulkan ORB exact avec
|
||||
fallback CPU. La feasibility Vulkan SIFT/RootSIFT a été rejetée ; ces deux matchers
|
||||
restent sur OpenCV L2. Track Model/Builder et les primitives géométriques Sparse
|
||||
SfM sont implémentés ; le solveur Sparse SfM complet, le DAG, le viewer et les
|
||||
étapes denses restent des tickets séparés planifiés. Le Resource Governor ne
|
||||
restent sur OpenCV L2. Track Model/Builder, les primitives géométriques Gate C
|
||||
et le noyau Sparse SfM incrémental Gate D sont implémentés ; BA, l'orchestration
|
||||
Sparse SfM, le DAG, le viewer et les étapes denses restent des tickets séparés
|
||||
planifiés. Le Resource Governor ne
|
||||
constitue pas un Resource System générique : voir la décision d’architecture.
|
||||
|
||||
## Licence
|
||||
|
|
|
|||
|
|
@ -120,8 +120,8 @@ les Feature Sets persistés.
|
|||
|
||||
**IMPLEMENTED** — vérification géométrique et tracks. **Sparse SfM Gate A
|
||||
PASS**, the Sparse SfM v16 persistence model is **FROZEN** after Gate B;
|
||||
the numerical solver and reconstruction pipeline remain **PLANNED** until later
|
||||
implementation gates.
|
||||
Gate C geometry and the synchronous in-memory Gate D incremental core are
|
||||
**IMPLEMENTED / PASS**. BA and project/task orchestration remain **PLANNED**.
|
||||
|
||||
## Extension v2 multi-descriptor
|
||||
|
||||
|
|
|
|||
|
|
@ -798,5 +798,7 @@ orphelins et compaction Visual Index. Feature Store et Visual Index v1 sont impl
|
|||
Visual Index v1 borne un index à 256 segments de 16 memberships, soit 4096 Feature Sets;
|
||||
la couverture de 50 000 Feature Sets nécessitera la compaction ou une évolution v2.
|
||||
|
||||
**PLANNED** — dépendances d'artefacts, graphe géométrique et
|
||||
reconstruction incrémentale.
|
||||
**PLANNED** — dépendances d'artefacts, graphe géométrique et orchestration
|
||||
projet/tâche de la reconstruction incrémentale. Le noyau Sparse SfM
|
||||
incrémental synchrone en mémoire Gate D est **IMPLEMENTED / PASS** hors
|
||||
Project DB v16.
|
||||
|
|
|
|||
|
|
@ -125,16 +125,17 @@ USAC/MAGSAC avec configuration, seed et fingerprint déterministes.
|
|||
**Statut :** COMPLETED/FROZEN — le Track Builder v1 direct et durable est
|
||||
implémenté dans Project DB v15 (`track_sets`, `tracks`, `track_observations` et
|
||||
le payload de tâche). Les primitives de géométrie calibrée Gate C sont
|
||||
implémentées; le solveur incrémental complet et l'orchestration restent PLANNED.
|
||||
implémentées et le noyau Sparse SfM incrémental Gate D est IMPLEMENTED / PASS ;
|
||||
l'orchestration projet et tâche reste PLANNED.
|
||||
Le modèle de persistance Sparse SfM v16 est gelé après Gate B.
|
||||
|
||||
**Sparse SfM Gate A : PASS.** Le contrat géométrique, la stratégie
|
||||
incremental, la triangulation candidate, le gauge, les conventions de pose,
|
||||
les limites BA et l'enveloppe matérielle sont documentés dans
|
||||
`architecture/sparse_sfm.md`. Le solveur Sparse SfM reste
|
||||
**NOT_IMPLEMENTED** jusqu'aux Gates D–G; ses primitives pures calibrées sont
|
||||
implémentées en Gate C, tandis que sa persistance v16 et ses lecteurs bornés
|
||||
restent ceux de B2.
|
||||
`architecture/sparse_sfm.md`. Ses primitives pures calibrées Gate C sont
|
||||
**IMPLEMENTED / PASS** et son noyau incrémental synchrone en mémoire Gate D est
|
||||
**IMPLEMENTED / PASS**. BA et orchestration restent **PLANNED**, tandis que sa
|
||||
persistance v16 et ses lecteurs bornés restent ceux de B2.
|
||||
|
||||
---
|
||||
|
||||
|
|
|
|||
|
|
@ -450,7 +450,8 @@ Governor and persistence publication.
|
|||
Gate D consumes exactly one immutable Track Set, one immutable calibration
|
||||
scope, finite calibration values for participating images, bounded keypoint
|
||||
coordinates addressed by `(feature_set_id, feature_index)`, and explicit
|
||||
fingerprinted parameters. The Track Set is never mutated.
|
||||
parameters immutable during execution. Gate D neither computes nor carries the
|
||||
future parameter fingerprint. The Track Set is never mutated.
|
||||
|
||||
### Algorithm
|
||||
|
||||
|
|
@ -592,9 +593,9 @@ policy loop performs a `limit + 1` attempt.
|
|||
|
||||
## Out of scope
|
||||
|
||||
No production Sparse SfM, triangulator, camera solver, BA, Project DB v16,
|
||||
metric alignment, control-point scale, dense/MVS, mesh, texturing, Vulkan SfM,
|
||||
GPU BA, network/distributed scheduling or UI workflow is implemented here.
|
||||
Beyond the Gate D incremental core, no BA, Project DB integration, metric
|
||||
alignment, control-point scale, dense/MVS, mesh, texturing, Vulkan SfM, GPU BA,
|
||||
network/distributed scheduling or UI workflow is implemented here.
|
||||
|
||||
## Gate B — model and persistence contract
|
||||
|
||||
|
|
|
|||
|
|
@ -121,8 +121,9 @@ des images de ScanSets différents sans dépendre de leur nom ou ordre.
|
|||
|
||||
**IMPLEMENTED** — paires candidates, matching, vérification géométrique et
|
||||
Track Model / Track Builder v1 peuvent consommer le catalogue et ses assets.
|
||||
Les primitives géométriques Sparse SfM sont implémentées par Gate C.
|
||||
Les primitives géométriques Sparse SfM Gate C et le noyau incrémental
|
||||
synchrone en mémoire Gate D sont **IMPLEMENTED / PASS**.
|
||||
|
||||
**PLANNED** — solveur Sparse SfM complet, MVS et relations géométriques entre
|
||||
ScanSets. La vérification/scrub des assets et la réconciliation globale restent
|
||||
également NOT_YET_WIRED.
|
||||
**PLANNED** — BA, orchestration Sparse SfM, MVS et relations géométriques
|
||||
entre ScanSets. La vérification/scrub des assets et la réconciliation globale
|
||||
restent également NOT_YET_WIRED.
|
||||
|
|
|
|||
|
|
@ -50,10 +50,11 @@ Lardon3D suit une feuille de route ordonnée qui privilégie la stabilité et la
|
|||
- ✅ Candidate Pair Generator
|
||||
- ✅ Matching et vérification géométrique
|
||||
- ✅ Track Model / Track Builder v1
|
||||
- 🔄 Sparse SfM : primitives géométriques Gate C implémentées ; solveur complet planifié
|
||||
- ✅ Sparse SfM : primitives géométriques Gate C et noyau incrémental Gate D
|
||||
implémentés
|
||||
|
||||
### Phase 5 : Reconstruction (PLANNED)
|
||||
- 📋 Reconstruction incrémentale
|
||||
- 📋 Orchestration de reconstruction incrémentale
|
||||
- 📋 MVS / dense
|
||||
- 📋 Mesh
|
||||
- 📋 Contraintes externes
|
||||
|
|
|
|||
Loading…
Reference in a new issue