feat(reconstruction): freeze sparse SfM persistence model v1

docs/architecture/feature_store.md

@@ -119,7 +119,8 @@ l'extraction après import et planification multi-image/DAG.
 les Feature Sets persistés.
 
 **IMPLEMENTED** — vérification géométrique et tracks. **Sparse SfM Gate A
-PASS**, production Sparse SfM remains **NOT_IMPLEMENTED** until its later
+PASS**, the Sparse SfM v16 persistence model is **FROZEN** after Gate B;
+the numerical solver and reconstruction pipeline remain **PLANNED** until later
 implementation gates.
 
 ## Extension v2 multi-descriptor

docs/architecture/project_database.md

@@ -1,6 +1,8 @@
 # Base de données projet Lardon3D
 
-> Version courante : **v15**. La migration transactionnelle v14→v15 ajoute
+> Version courante : **v16**. La migration transactionnelle v15→v16 ajoute
+> le modèle persistant Sparse SfM (calibrations, scopes et reconstructions).
+> La migration transactionnelle v14→v15 ajoute
 > `track_builder_tasks` pour le payload durable explicite du Task Builder. La
 > migration transactionnelle v13→v14 ajoute
 > les tables `track_sets`, `tracks` et `track_observations` pour le Track
@@ -20,6 +22,21 @@
 La base de données projet stocke les métadonnées de reconstruction et les relations entre les
 entités. Elle est conçue pour être légère, persistante et permettre la reprise après interruption.
 
+## Sparse SfM Gate B (v16)
+
+Le modèle Sparse SfM v1 est publié atomiquement dans les tables
+`sparse_calibrations`, `sparse_calibration_scopes`,
+`sparse_calibration_scope_images`, `sparse_reconstructions`,
+`sparse_reconstruction_components`, `sparse_registered_images`,
+`sparse_landmarks` et `sparse_landmark_observations`. Les résultats sont
+immuables et les collections volumineuses sont lues par curseurs bornés ; la
+base ne charge jamais une reconstruction complète par défaut. Les coordonnées
+restent dans le repère arbitraire de chaque composant et les références
+d'observation ne dupliquent ni descripteurs ni coordonnées de pixels.
+Les relations de suppression disposent d'index enfants dédiés, notamment sur
+`calibration_id` dans les membres de scope et `calibration_scope_id` dans les
+reconstructions, afin que les vérifications FK restent indexées.
+
 ## Structure conceptuelle
 
 ### Entités principales
@@ -758,6 +775,12 @@ sont documentés dans `tracks.md`.
 **IMPLEMENTED** — Track Builder v1 durable : table `track_builder_tasks`, scope
 asset atomique, payload v1 validé, migration v14→v15 et rollback/retry testés.
 
+**IMPLEMENTED** — Sparse SfM v1 persistant : modèle v16 immutable, publication
+atomique, composants déterministes, lecteurs bornés, corruption/lifecycle
+validation, migration v15→v16 et comparateur fresh/migrated validés par Gate B.
+Le modèle de persistance est gelé pour v1 ; le solveur numérique reste hors de
+Project DB v16.
+
 **IMPLEMENTED** — API C Track Model v1 : header `project_db.h` et
 source `project_db.c` exposent `create_track_set`, `load_track_set`,
 `find_track_set`, `list_track_sets`, `load_track`, `list_tracks`,

docs/architecture/reconstruction_pipeline.md

@@ -124,13 +124,15 @@ 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). La triangulation et le Sparse SfM restent PLANNED.
+le payload de tâche). La triangulation et le solveur Sparse SfM restent 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`. La production Sparse SfM reste
-**NOT_IMPLEMENTED** jusqu'aux Gates B–G.
+`architecture/sparse_sfm.md`. Le solveur Sparse SfM reste
+**NOT_IMPLEMENTED** jusqu'aux Gates B3–G; sa
+persistance v16 et ses lecteurs bornés sont implémentés en B2.
 
 ---
 

docs/architecture/resource_aware_pipeline.md

@@ -106,3 +106,8 @@ une distribution de latence estimator-only.
 
 Le profil maximal explicite et les pools multi-workers restent hors périmètre.
 SIFT/RootSIFT et Feature Extraction Vulkan restent hors de ce contrat.
+
+La validation B3 du modèle Sparse SfM v16 a utilisé des processus frais, un
+fixture synthétique de 100 000 landmarks et 500 000 observations, cinq passes
+de paging sur 50 000 landmarks, et n'a observé ni OOM, ni swap storm, ni dérive
+RSS applicative. Cette preuve concerne la persistance bornée, pas le solveur.

docs/architecture/sparse_sfm.md

@@ -3,12 +3,17 @@
 ## Status and boundary
 
 **GATE A — DECISION after contract and probe study.** This document defines the
-scientific and architectural contract for the future Sparse SfM layer. It does
-not implement a solver, change Track Model v1, change Track Builder v1, add a
-Project DB v16, or add a Task Kind. `FACT`, `CANDIDATE`, `DECISION` and `FROZEN`
-remain explicit: the upstream Track Model and Track Builder are FROZEN; the
-choices below are Gate A decisions for the next implementation gates, not a
-claim that Sparse SfM is implemented.
+scientific and architectural contract for the Sparse SfM layer. B2 implements
+the immutable v16 persistence model and its bounded readers; it does not
+implement a numerical solver, change Track Model v1, change Track Builder v1,
+or add a Task Kind. `FACT`, `CANDIDATE`, `DECISION` and `FROZEN` remain explicit:
+the upstream Track Model and Track Builder are FROZEN, while numerical Sparse
+SfM remains deferred to later gates.
+
+**GATE B — PASS.** The v16 persistence model, migration, corruption/lifecycle
+proofs, structural comparator, representative resource validation, normal
+suite and ASan/UBSan closure are complete. Numerical Sparse SfM remains
+deferred to Gate C and later gates.
 
 ## Scope
 
@@ -383,3 +388,140 @@ the synthetic ground-truth and sparse-solver gates.
 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.
+
+## Gate B — model and persistence contract
+
+This section is the **DECISION** contract for the v16 SQL/API work.
+It preserves every Gate A decision and supplies only durable vocabulary; no
+numeric geometry is introduced.
+
+### Calibration definition and identity
+
+A calibration is an immutable known pinhole model with `width`, `height`,
+`fx`, `fy`, `cx`, `cy`, zero skew, `k1`, `k2`, `p1`, and `p2`, all binary64 and
+finite. `width` and `height` belong to scientific identity. A calibration's
+provenance is an explicit enum (`USER_EXPLICIT` or `IMPORTED_TRUSTED` in v1)
+plus a 32-byte provenance fingerprint supplied by the caller. EXIF is never a
+calibration origin. Two equal numeric models with different provenance
+fingerprints are distinct scientific calibrations because their trust scope is
+different; equal content and equal provenance are reused.
+
+The scientific calibration hash is SHA-256 over explicit little-endian fields:
+
+```text
+ASCII "L3D3DCP1" (8 bytes)
+format_version=1 (uint32)
+model_kind (uint32), model_version (uint32)
+width (uint32), height (uint32)
+fx, fy, cx, cy, k1, k2, p1, p2 (8 canonical binary64 values)
+provenance_kind (uint32), provenance_fingerprint (32 bytes)
+```
+
+NaN and infinities are rejected. Negative zero is canonicalized to positive
+zero before hashing and storage. No native struct, padding or locale text is
+serialized. SQLite row IDs remain DB-local references; the hash is the
+scientific calibration identity.
+
+### Calibration scope
+
+A scope is immutable and assigns exactly one calibration to each relevant
+image. Groups are allowed only when dimensions, crop/orientation coordinate
+frame, model/version, numeric parameters and provenance identity are equal;
+device or EXIF model names are insufficient. Scope identity is project-local
+and content-addressed by SHA-256 over:
+
+```text
+ASCII "L3D3DSC1" (8 bytes)
+format_version=1 (uint32)
+member_count (uint64)
+for members sorted by image_id:
+    image_id (uint64), calibration_hash (32 bytes)
+```
+
+The member count is consistency metadata and is also encoded in the digest.
+There is no latest-calibration lookup and no silent K rescaling. Feature File
+dimensions must match the calibration dimensions exactly.
+
+### Reconstruction identity and components
+
+The immutable reconstruction identity is:
+
+```text
+(track_set_id,
+ calibration_scope_id,
+ sfm_kind=INCREMENTAL,
+ sfm_version=1,
+ parameter_fingerprint[32])
+```
+
+`track_set_id` and `calibration_scope_id` are project-local immutable database
+references, consistent with the existing Track Model identity convention. The
+parameter fingerprint is required to be a 32-byte SHA-256 value but its final
+byte encoding remains a later geometry-gate decision. Runtime IDs, timestamps,
+worker count, resource state and metrics are excluded.
+
+Component identity is the minimum registered `image_id` in that component. It
+is deterministic, project-local, unique because an image belongs to at most one
+component, independent of DFS/hash order, and compact. A component always has
+at least one registered image. Its coordinates use an independent unit-baseline
+gauge and are never comparable to another component without later alignment.
+
+### Persisted model
+
+The minimum v16 model is:
+
+- `sparse_calibrations`: immutable calibration content and hash;
+- `sparse_calibration_scopes`: immutable scope hash/member count;
+- `sparse_calibration_scope_images`: one image-to-calibration assignment;
+- `sparse_reconstructions`: immutable identity and pixel reprojection metrics;
+- `sparse_reconstruction_components`: component key and counts;
+- `sparse_registered_images`: one world-to-camera pose per image;
+- `sparse_landmarks`: one component-local binary64 point per Track;
+- `sparse_landmark_observations`: minimal references to the upstream Feature Set
+  and feature index, without duplicated descriptors or x/y coordinates.
+
+Track ID is globally unique in the existing Track Model table, so one landmark
+per reconstruction is uniquely keyed by `(reconstruction_id, track_id)`;
+component key remains an attribute/consistency relation rather than redundant
+landmark identity. Landmark publication validates that the Track belongs to the
+reconstruction's exact Track Set and that every observation belongs to that
+Track and its component. Track splitting is impossible in v1.
+
+Observation references are persisted because future BA needs bounded indexed
+access from landmark to registered observations without repeatedly reopening
+Feature Files. Only `feature_set_id`, `feature_index` and canonical track
+position are stored; image ID and x/y remain derivable from immutable upstream
+models. This is a deliberate normalization/resource trade-off, not a second
+copy of Feature data.
+
+Persisted reprojection metrics use explicit pixel units and names:
+`reprojection_rmse_px` and `reprojection_median_px`. They are diagnostics, not
+identity. No metric scale or `_mm` field exists.
+
+### Constraints and publication
+
+Publication requires at least two registered images, one component and one
+landmark. A result with no usable geometry is rejected rather than represented
+by a meaningless empty scientific row. Two-camera reconstruction is valid.
+There are no READY/FAILED/PARTIAL scientific states: row existence means a
+complete immutable publication. A failed transaction leaves no visible row.
+
+SQL enforces one pose per image, one component per registered image, one
+landmark per Track, exact reconstruction uniqueness, scope member uniqueness,
+and child foreign keys. The API additionally validates Track Set ownership,
+component consistency, calibration coverage, finite values and rotation
+orthonormality/determinant. Rotation matrices are never repaired.
+
+The publication transaction inserts the reconstruction and all children using
+prepared statements in bounded loops. It contains no Feature File I/O, Track
+paging, solver work or Governor wait. Child pages use cursor order and bounded
+capacity (64 cameras, 64 landmarks, 64 observations); total scientific counts
+have no arbitrary cap beyond checked 64-bit/SQLite limits.
+
+### v16 migration intent
+
+Project DB v15 remains immutable. Gate B adds one transactional v15→v16
+migration containing only the eight Sparse SfM model tables and their required
+indexes. A true historical v15 fixture, injected rollback, retry, fresh-schema
+equivalence and close/reopen are mandatory. No Task, Governor, triangulation,
+PnP, BA, GPU or Project DB v17 is introduced.

include/lardon3d/project_db.h

@@ -9,7 +9,7 @@
 #include <lardon3d/task.h>
 
 enum {
-  LARDON3D_PROJECT_DB_SCHEMA_VERSION = 15,
+  LARDON3D_PROJECT_DB_SCHEMA_VERSION = 16,
   LARDON3D_PROJECT_DB_ID_CAPACITY = 65,
   LARDON3D_PROJECT_DB_KIND_CAPACITY = 65,
   LARDON3D_PROJECT_DB_PATH_CAPACITY = 4096,

include/lardon3d/sparse_sfm_model.h

@@ -0,0 +1,238 @@
+#ifndef LARDON3D_SPARSE_SFM_MODEL_H
+#define LARDON3D_SPARSE_SFM_MODEL_H
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#include <lardon3d/project_db.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+enum {
+  LARDON3D_SPARSE_SFM_SHA256_SIZE = 32,
+  LARDON3D_SPARSE_SFM_PAGE_MAX = 64,
+  LARDON3D_SPARSE_SFM_CALIBRATION_KIND_PINHOLE = 1,
+  LARDON3D_SPARSE_SFM_CALIBRATION_VERSION = 1,
+  LARDON3D_SPARSE_SFM_PROVENANCE_USER_EXPLICIT = 1,
+  LARDON3D_SPARSE_SFM_PROVENANCE_IMPORTED_TRUSTED = 2,
+  LARDON3D_SPARSE_SFM_KIND_INCREMENTAL = 1,
+  LARDON3D_SPARSE_SFM_VERSION = 1,
+};
+
+typedef struct {
+  uint64_t calibration_id;
+  unsigned char scientific_hash[32];
+  uint32_t model_kind;
+  uint32_t model_version;
+  uint32_t width;
+  uint32_t height;
+  double fx;
+  double fy;
+  double cx;
+  double cy;
+  double k1;
+  double k2;
+  double p1;
+  double p2;
+  uint32_t provenance_kind;
+  unsigned char provenance_fingerprint[32];
+} Lardon3DSparseCalibration;
+
+typedef struct {
+  uint64_t image_id;
+  uint64_t calibration_id;
+  unsigned char calibration_hash[32];
+} Lardon3DSparseCalibrationMember;
+
+typedef struct {
+  uint64_t scope_id;
+  unsigned char scientific_hash[32];
+  uint64_t member_count;
+} Lardon3DSparseCalibrationScope;
+
+typedef struct {
+  uint64_t reconstruction_id;
+  uint64_t track_set_id;
+  uint64_t calibration_scope_id;
+  uint32_t sfm_kind;
+  uint32_t sfm_version;
+  unsigned char parameter_fingerprint[32];
+  uint64_t component_count;
+  uint64_t registered_image_count;
+  uint64_t landmark_count;
+  double reprojection_rmse_px;
+  double reprojection_median_px;
+} Lardon3DSparseReconstruction;
+
+typedef struct {
+  uint64_t component_id;
+  uint64_t component_key;
+  uint64_t registered_image_count;
+  uint64_t landmark_count;
+} Lardon3DSparseComponent;
+
+typedef struct {
+  uint64_t image_id;
+  uint64_t component_key;
+  double rotation_cw[9];
+  double translation_cw[3];
+} Lardon3DSparseRegisteredImage;
+
+typedef struct {
+  uint64_t landmark_id;
+  uint64_t track_id;
+  uint64_t component_key;
+  double x;
+  double y;
+  double z;
+  double reprojection_rmse_px;
+  double reprojection_median_px;
+  uint64_t observation_count;
+} Lardon3DSparseLandmark;
+
+typedef struct {
+  uint64_t landmark_id;
+  uint64_t track_id;
+  uint64_t feature_set_id;
+  uint32_t feature_index;
+  uint32_t position_in_track;
+} Lardon3DSparseLandmarkObservation;
+
+typedef struct {
+  uint64_t track_set_id;
+  uint64_t calibration_scope_id;
+  uint32_t sfm_kind;
+  uint32_t sfm_version;
+  unsigned char parameter_fingerprint[32];
+  const Lardon3DSparseComponent *components;
+  size_t component_count;
+  const Lardon3DSparseRegisteredImage *registered_images;
+  size_t registered_image_count;
+  const Lardon3DSparseLandmark *landmarks;
+  size_t landmark_count;
+  const Lardon3DSparseLandmarkObservation *observations;
+  size_t observation_count;
+  double reprojection_rmse_px;
+  double reprojection_median_px;
+  int64_t created_at;
+} Lardon3DSparsePublication;
+
+typedef struct {
+  uint64_t after_id;
+  size_t capacity;
+  size_t count;
+  uint64_t next_after_id;
+  Lardon3DSparseCalibration *items;
+} Lardon3DSparseCalibrationPage;
+
+typedef struct {
+  uint64_t after_id;
+  size_t capacity;
+  size_t count;
+  uint64_t next_after_id;
+  Lardon3DSparseReconstruction *items;
+} Lardon3DSparseReconstructionPage;
+
+typedef struct {
+  uint64_t after_component_key;
+  size_t capacity;
+  size_t count;
+  uint64_t next_component_key;
+  Lardon3DSparseComponent *items;
+} Lardon3DSparseComponentPage;
+
+typedef struct {
+  uint64_t after_image_id;
+  size_t capacity;
+  size_t count;
+  uint64_t next_image_id;
+  Lardon3DSparseRegisteredImage *items;
+} Lardon3DSparseRegisteredImagePage;
+
+typedef struct {
+  uint64_t after_track_id;
+  size_t capacity;
+  size_t count;
+  uint64_t next_track_id;
+  Lardon3DSparseLandmark *items;
+} Lardon3DSparseLandmarkPage;
+
+typedef struct {
+  uint64_t after_landmark_id;
+  uint32_t after_position_in_track;
+  size_t capacity;
+  size_t count;
+  uint64_t next_landmark_id;
+  uint32_t next_position_in_track;
+  Lardon3DSparseLandmarkObservation *items;
+} Lardon3DSparseObservationPage;
+
+Lardon3DProjectDbResult
+lardon3d_sparse_calibration_create(Lardon3DProjectDb *database,
+                                   const Lardon3DSparseCalibration *input,
+                                   Lardon3DSparseCalibration *output);
+Lardon3DProjectDbResult
+lardon3d_sparse_calibration_load(Lardon3DProjectDb *database,
+                                 uint64_t calibration_id,
+                                 Lardon3DSparseCalibration *output);
+Lardon3DProjectDbResult lardon3d_sparse_calibration_find_by_hash(
+    Lardon3DProjectDb *database, const unsigned char scientific_hash[32],
+    Lardon3DSparseCalibration *output);
+
+Lardon3DProjectDbResult lardon3d_sparse_calibration_scope_create(
+    Lardon3DProjectDb *database, const Lardon3DSparseCalibrationMember *members,
+    size_t member_count, Lardon3DSparseCalibrationScope *output);
+Lardon3DProjectDbResult
+lardon3d_sparse_calibration_scope_load(Lardon3DProjectDb *database,
+                                       uint64_t scope_id,
+                                       Lardon3DSparseCalibrationScope *output);
+Lardon3DProjectDbResult lardon3d_sparse_calibration_scope_find_by_hash(
+    Lardon3DProjectDb *database, const unsigned char scientific_hash[32],
+    Lardon3DSparseCalibrationScope *output);
+Lardon3DProjectDbResult lardon3d_sparse_calibration_scope_list_members(
+    Lardon3DProjectDb *database, uint64_t scope_id, uint64_t after_image_id,
+    Lardon3DSparseCalibrationMember *items, size_t capacity, size_t *count,
+    uint64_t *next_after_image_id);
+
+Lardon3DProjectDbResult lardon3d_sparse_reconstruction_publish(
+    Lardon3DProjectDb *database, const Lardon3DSparsePublication *publication,
+    Lardon3DSparseReconstruction *output);
+Lardon3DProjectDbResult lardon3d_sparse_reconstruction_find_exact(
+    Lardon3DProjectDb *database, uint64_t track_set_id,
+    uint64_t calibration_scope_id, uint32_t sfm_kind, uint32_t sfm_version,
+    const unsigned char parameter_fingerprint[32],
+    Lardon3DSparseReconstruction *output);
+Lardon3DProjectDbResult
+lardon3d_sparse_reconstruction_load(Lardon3DProjectDb *database,
+                                    uint64_t reconstruction_id,
+                                    Lardon3DSparseReconstruction *output);
+Lardon3DProjectDbResult
+lardon3d_sparse_reconstruction_list(Lardon3DProjectDb *database,
+                                    uint64_t after_id, size_t capacity,
+                                    Lardon3DSparseReconstructionPage *page);
+Lardon3DProjectDbResult
+lardon3d_sparse_component_list(Lardon3DProjectDb *database,
+                               uint64_t reconstruction_id,
+                               uint64_t after_component_key, size_t capacity,
+                               Lardon3DSparseComponentPage *page);
+Lardon3DProjectDbResult
+lardon3d_sparse_registered_image_list(Lardon3DProjectDb *database,
+                                      uint64_t reconstruction_id,
+                                      uint64_t after_image_id, size_t capacity,
+                                      Lardon3DSparseRegisteredImagePage *page);
+Lardon3DProjectDbResult lardon3d_sparse_landmark_list(
+    Lardon3DProjectDb *database, uint64_t reconstruction_id,
+    uint64_t after_track_id, size_t capacity, Lardon3DSparseLandmarkPage *page);
+Lardon3DProjectDbResult lardon3d_sparse_observation_list(
+    Lardon3DProjectDb *database, uint64_t reconstruction_id,
+    uint64_t after_landmark_id, uint32_t after_position_in_track,
+    size_t capacity, Lardon3DSparseObservationPage *page);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

meson.build

@@ -143,7 +143,7 @@ executable(
         'src/geometric_verifier_task.c',
         'src/image_view.c',
         'src/project.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/task_checkpoint.c',
         'src/task_kind_registry.c',
@@ -172,7 +172,7 @@ import_test = executable(
         'src/app_state.c',
         'src/import.c',
         'src/image_catalog_persistent.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -191,7 +191,7 @@ import_task_test = executable(
         'src/import.c',
         'src/import_task.c',
         'src/project.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/task_checkpoint.c',
         'src/task_kind_registry.c',
@@ -229,7 +229,7 @@ image_catalog_test = executable(
         'src/app_state.c',
         'src/image_catalog.c',
         'src/image_catalog_persistent.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -246,7 +246,7 @@ persistent_image_catalog_test = executable(
         'tests/test_persistent_image_catalog.c',
         'src/app_state.c',
         'src/image_catalog_persistent.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -266,7 +266,7 @@ feature_store_test = executable(
         'src/image_catalog_persistent.c',
         'src/feature_extractor_opencv.cpp',
         'src/feature_store.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -286,7 +286,7 @@ feature_file_robustness_test = executable(
         'src/image_catalog_persistent.c',
         'src/feature_extractor_opencv.cpp',
         'src/feature_store.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -304,7 +304,7 @@ visual_index_test = executable(
         'tests/test_visual_index.c', 'src/app_state.c',
         'src/image_catalog_persistent.c', 'src/feature_store.c',
         'src/feature_extractor_opencv.cpp',
-        'src/visual_index.c', 'src/project_db.c', 'src/task.c',
+        'src/visual_index.c', 'src/project_db.c', 'src/project_db_sparse_sfm.c', 'src/task.c',
         'src/resource_governor.c', 'src/resource_snapshot.c',
     ],
     c_args: [
@@ -322,7 +322,7 @@ candidate_pair_gen_test = executable(
         'src/image_catalog_persistent.c', 'src/feature_store.c',
         'src/feature_extractor_opencv.cpp',
         'src/visual_index.c', 'src/candidate_pair_gen.c',
-        'src/project_db.c', 'src/task.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c', 'src/task.c',
         'src/resource_governor.c', 'src/resource_snapshot.c',
     ],
     include_directories: include_directories('include'),
@@ -334,7 +334,7 @@ candidate_pair_task_test = executable(
     'test-candidate-pair-task',
     sources: [
         'tests/test_candidate_pair_task.c', 'src/app_state.c',
-        'src/project.c', 'src/project_db.c', 'src/task.c',
+        'src/project.c', 'src/project_db.c', 'src/project_db_sparse_sfm.c', 'src/task.c',
         'src/task_checkpoint.c', 'src/task_kind_registry.c',
         'src/task_kinds.c', 'src/matcher_task.c', 'src/matcher.cpp',
         'src/geometric_verifier_task.c', 'src/geometric_verifier.cpp',
@@ -364,7 +364,7 @@ matcher_task_test = executable(
     'test-matcher-task',
     sources: [
         'tests/test_matcher_task.c', 'src/app_state.c', 'src/project.c',
-        'src/project_db.c', 'src/task.c', 'src/task_checkpoint.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c', 'src/task.c', 'src/task_checkpoint.c',
         'src/task_kind_registry.c', 'src/task_kinds.c', 'src/task_queue.c',
         'src/matcher_task.c', 'src/matcher.cpp', 'src/match_file.c',
         'src/geometric_verifier_task.c', 'src/geometric_verifier.cpp',
@@ -390,7 +390,7 @@ feature_task_test = executable(
     'test-feature-task',
     sources: [
         'tests/test_feature_task.c', 'src/app_state.c', 'src/project.c',
-        'src/project_db.c', 'src/task.c', 'src/task_checkpoint.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c', 'src/task.c', 'src/task_checkpoint.c',
         'src/task_kind_registry.c', 'src/task_kinds.c', 'src/task_queue.c',
         'src/matcher_task.c', 'src/matcher.cpp', 'src/match_file.c',
         'src/geometric_verifier_task.c', 'src/geometric_verifier.cpp',
@@ -424,7 +424,7 @@ precision_consolidation_test = executable(
     'test-precision-consolidation',
     sources: [
         'tests/test_precision_consolidation.c', 'src/app_state.c',
-        'src/project.c', 'src/project_db.c', 'src/task.c',
+        'src/project.c', 'src/project_db.c', 'src/project_db_sparse_sfm.c', 'src/task.c',
         'src/task_checkpoint.c', 'src/task_kind_registry.c',
         'src/task_kinds.c', 'src/matcher_task.c', 'src/matcher.cpp',
         'src/geometric_verifier_task.c', 'src/geometric_verifier.cpp',
@@ -496,7 +496,7 @@ project_db_test = executable(
     'test-project-db',
     sources: [
         'tests/test_project_db.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -508,11 +508,39 @@ project_db_test = executable(
 
 test('project-db', project_db_test, timeout: 30)
 
+sparse_sfm_model_test = executable(
+    'test-sparse-sfm-model',
+    sources: [
+        'tests/test_sparse_sfm_model.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
+        'src/task.c',
+        'src/resource_governor.c',
+        'src/resource_snapshot.c',
+    ],
+    include_directories: include_directories('include'),
+    dependencies: [threads, sqlite3, openssl],
+)
+
+test('sparse-sfm-model', sparse_sfm_model_test, timeout: 30)
+
+sparse_sfm_resource_test = executable(
+    'test-sparse-sfm-resource',
+    sources: [
+        'tests/test_sparse_sfm_resource.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
+        'src/task.c',
+        'src/resource_governor.c',
+        'src/resource_snapshot.c',
+    ],
+    include_directories: include_directories('include'),
+    dependencies: [threads, sqlite3, openssl],
+)
+
 match_result_test = executable(
     'test-match-result',
     sources: [
         'tests/test_match_result.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -528,7 +556,7 @@ geometric_verification_test = executable(
     'test-geometric-verification',
     sources: [
         'tests/test_geometric_verification.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -546,7 +574,7 @@ project_test = executable(
         'tests/test_project.c',
         'src/app_state.c',
         'src/project.c',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/task_checkpoint.c',
         'src/task_kind_registry.c',
@@ -679,7 +707,7 @@ matcher_test = executable(
         'src/matcher.cpp',
         'src/feature_store.c',
         'src/feature_extractor_opencv.cpp',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -749,7 +777,7 @@ matcher_e2e_test = executable(
         'src/matcher.cpp',
         'src/feature_store.c',
         'src/feature_extractor_opencv.cpp',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -771,7 +799,7 @@ executable(
         'src/matcher.cpp',
         'src/feature_store.c',
         'src/feature_extractor_opencv.cpp',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -797,7 +825,7 @@ geometric_verifier_test = executable(
         'src/match_file.c',
         'src/feature_store.c',
         'src/feature_extractor_opencv.cpp',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/task.c',
         'src/resource_governor.c',
         'src/resource_snapshot.c',
@@ -815,7 +843,7 @@ geometric_verifier_task_test = executable(
     'test-geometric-verifier-task',
     sources: [
         'tests/test_geometric_verifier_task.c', 'src/app_state.c', 'src/project.c',
-        'src/project_db.c', 'src/task.c', 'src/task_checkpoint.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c', 'src/task.c', 'src/task_checkpoint.c',
         'src/task_kind_registry.c', 'src/task_kinds.c', 'src/task_queue.c',
         'src/geometric_verifier_task.c', 'src/geometric_verifier.cpp',
         'src/match_file.c', 'src/feature_store.c', 'src/resource_governor.c',
@@ -851,7 +879,7 @@ track_builder_project_test = executable(
         'src/track_builder.cpp',
         'src/track_builder_project.cpp',
         'src/track_builder_task.cpp',
-        'src/project_db.c',
+        'src/project_db.c', 'src/project_db_sparse_sfm.c',
         'src/app_state.c',
         'src/task.c',
         'src/task_kind_registry.c',

src/project_db.c

@@ -12,12 +12,7 @@
 #include <time.h>
 
 #include <lardon3d/project_db.h>
-
-struct Lardon3DProjectDb {
-  sqlite3 *connection;
-  pthread_mutex_t mutex;
-  char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
-};
+#include "project_db_internal.h"
 
 static const char schema_v5[] =
     "CREATE TABLE metadata(key TEXT PRIMARY KEY,value INTEGER NOT NULL);"
@@ -319,13 +314,122 @@ static const char schema_track_builder_task_v15[] =
     "scope_sha256 BLOB NOT NULL CHECK(length(scope_sha256)=32),"
     "scope_format_version INTEGER NOT NULL CHECK(scope_format_version=1));";
 
+static const char schema_sparse_sfm_v16_a[] =
+    "CREATE TABLE sparse_calibrations("
+    "calibration_id INTEGER PRIMARY KEY AUTOINCREMENT CHECK(calibration_id>0),"
+    "scientific_hash BLOB NOT NULL CHECK(length(scientific_hash)=32) UNIQUE,"
+    "model_kind INTEGER NOT NULL CHECK(model_kind=1),model_version INTEGER NOT "
+    "NULL CHECK(model_version=1),"
+    "width INTEGER NOT NULL CHECK(width>0),height INTEGER NOT NULL "
+    "CHECK(height>0),"
+    "fx REAL NOT NULL,fy REAL NOT NULL,cx REAL NOT NULL,cy REAL NOT NULL,"
+    "k1 REAL NOT NULL,k2 REAL NOT NULL,p1 REAL NOT NULL,p2 REAL NOT NULL,"
+    "provenance_kind INTEGER NOT NULL CHECK(provenance_kind IN(1,2)),"
+    "provenance_fingerprint BLOB NOT NULL "
+    "CHECK(length(provenance_fingerprint)=32));"
+    "CREATE TABLE sparse_calibration_scopes("
+    "scope_id INTEGER PRIMARY KEY AUTOINCREMENT CHECK(scope_id>0),"
+    "scientific_hash BLOB NOT NULL CHECK(length(scientific_hash)=32) UNIQUE,"
+    "member_count INTEGER NOT NULL CHECK(member_count>0));"
+    "CREATE TABLE sparse_calibration_scope_images("
+    "scope_id INTEGER NOT NULL REFERENCES sparse_calibration_scopes(scope_id) "
+    "ON DELETE CASCADE,"
+    "image_id INTEGER NOT NULL REFERENCES images(image_id),"
+    "calibration_id INTEGER NOT NULL REFERENCES "
+    "sparse_calibrations(calibration_id),"
+    "PRIMARY KEY(scope_id,image_id));"
+    "CREATE INDEX sparse_scope_images_calibration_idx ON "
+    "sparse_calibration_scope_images(scope_id,calibration_id);"
+    "CREATE INDEX sparse_scope_images_calibration_lookup_idx ON "
+    "sparse_calibration_scope_images(calibration_id,scope_id);";
+
+static const char schema_sparse_sfm_v16_b[] =
+    "CREATE TABLE sparse_reconstructions("
+    "reconstruction_id INTEGER PRIMARY KEY AUTOINCREMENT "
+    "CHECK(reconstruction_id>0),"
+    "track_set_id INTEGER NOT NULL REFERENCES track_sets(track_set_id),"
+    "calibration_scope_id INTEGER NOT NULL REFERENCES "
+    "sparse_calibration_scopes(scope_id),"
+    "sfm_kind INTEGER NOT NULL CHECK(sfm_kind=1),sfm_version INTEGER NOT NULL "
+    "CHECK(sfm_version=1),"
+    "parameter_fingerprint BLOB NOT NULL "
+    "CHECK(length(parameter_fingerprint)=32),"
+    "component_count INTEGER NOT NULL CHECK(component_count>0),"
+    "registered_image_count INTEGER NOT NULL CHECK(registered_image_count>=2),"
+    "landmark_count INTEGER NOT NULL CHECK(landmark_count>0),"
+    "reprojection_rmse_px REAL NOT NULL,reprojection_median_px REAL NOT "
+    "NULL,created_at INTEGER NOT NULL,"
+    "UNIQUE(track_set_id,calibration_scope_id,sfm_kind,sfm_version,parameter_"
+    "fingerprint));"
+    "CREATE INDEX sparse_reconstructions_scope_idx ON "
+    "sparse_reconstructions(calibration_scope_id);"
+    "CREATE TABLE sparse_reconstruction_components("
+    "component_id INTEGER PRIMARY KEY AUTOINCREMENT CHECK(component_id>0),"
+    "reconstruction_id INTEGER NOT NULL REFERENCES "
+    "sparse_reconstructions(reconstruction_id) ON DELETE CASCADE,"
+    "component_key INTEGER NOT NULL "
+    "CHECK(component_key>0),registered_image_count INTEGER NOT NULL "
+    "CHECK(registered_image_count>0),"
+    "landmark_count INTEGER NOT NULL CHECK(landmark_count>0),"
+    "UNIQUE(reconstruction_id,component_id),UNIQUE(reconstruction_id,component_"
+    "key));"
+    "CREATE INDEX sparse_components_page_idx ON "
+    "sparse_reconstruction_components(reconstruction_id,component_key);"
+    "CREATE TABLE sparse_registered_images("
+    "reconstruction_id INTEGER NOT NULL REFERENCES "
+    "sparse_reconstructions(reconstruction_id) ON DELETE CASCADE,"
+    "component_id INTEGER NOT NULL, image_id INTEGER NOT NULL REFERENCES "
+    "images(image_id),"
+    "rotation_00 REAL NOT NULL,rotation_01 REAL NOT NULL,rotation_02 REAL NOT "
+    "NULL,"
+    "rotation_10 REAL NOT NULL,rotation_11 REAL NOT NULL,rotation_12 REAL NOT "
+    "NULL,"
+    "rotation_20 REAL NOT NULL,rotation_21 REAL NOT NULL,rotation_22 REAL NOT "
+    "NULL,"
+    "translation_0 REAL NOT NULL,translation_1 REAL NOT NULL,translation_2 "
+    "REAL NOT NULL,"
+    "PRIMARY KEY(reconstruction_id,image_id),"
+    "FOREIGN KEY(reconstruction_id,component_id) REFERENCES "
+    "sparse_reconstruction_components(reconstruction_id,component_id));"
+    "CREATE INDEX sparse_registered_page_idx ON "
+    "sparse_registered_images(reconstruction_id,component_id,image_id);"
+    "CREATE INDEX sparse_registered_image_lookup_idx ON "
+    "sparse_registered_images(reconstruction_id,image_id);"
+    "CREATE TABLE sparse_landmarks("
+    "landmark_id INTEGER PRIMARY KEY AUTOINCREMENT CHECK(landmark_id>0),"
+    "reconstruction_id INTEGER NOT NULL REFERENCES "
+    "sparse_reconstructions(reconstruction_id) ON DELETE CASCADE,"
+    "component_id INTEGER NOT NULL,track_id INTEGER NOT NULL REFERENCES "
+    "tracks(track_id),"
+    "x REAL NOT NULL,y REAL NOT NULL,z REAL NOT NULL,reprojection_rmse_px REAL "
+    "NOT NULL,"
+    "reprojection_median_px REAL NOT NULL,observation_count INTEGER NOT NULL "
+    "CHECK(observation_count>0),"
+    "UNIQUE(reconstruction_id,track_id),FOREIGN "
+    "KEY(reconstruction_id,component_id) "
+    "REFERENCES "
+    "sparse_reconstruction_components(reconstruction_id,component_id));"
+    "CREATE INDEX sparse_landmarks_page_idx ON "
+    "sparse_landmarks(reconstruction_id,component_id,track_id);"
+    "CREATE INDEX sparse_landmark_track_lookup_idx ON "
+    "sparse_landmarks(reconstruction_id,track_id);"
+    "CREATE TABLE sparse_landmark_observations("
+    "landmark_id INTEGER NOT NULL REFERENCES sparse_landmarks(landmark_id) ON "
+    "DELETE CASCADE,"
+    "feature_set_id INTEGER NOT NULL REFERENCES feature_sets(feature_set_id),"
+    "feature_index INTEGER NOT NULL CHECK(feature_index>=0),position_in_track "
+    "INTEGER NOT NULL CHECK(position_in_track>=0),"
+    "PRIMARY KEY(landmark_id,feature_set_id,feature_index));"
+    "CREATE INDEX sparse_landmark_observations_page_idx ON "
+    "sparse_landmark_observations(landmark_id,position_in_track);";
+
 static void copy_error(char destination[LARDON3D_PROJECT_DB_ERROR_CAPACITY], const char *text) {
   if (destination) {
     (void)snprintf(destination, LARDON3D_PROJECT_DB_ERROR_CAPACITY, "%s", text ? text : "");
   }
 }
 
-static Lardon3DProjectDbResult sqlite_result(Lardon3DProjectDb *database, int code,
+Lardon3DProjectDbResult sqlite_result(Lardon3DProjectDb *database, int code,
                                              const char *context) {
   (void)snprintf(database->error, sizeof(database->error), "%s: %s", context,
                  sqlite3_errmsg(database->connection));
@@ -367,7 +471,7 @@ static bool database_time(sqlite3_int64 value, time_t *output) {
   return true;
 }
 
-static Lardon3DProjectDbResult execute(Lardon3DProjectDb *database, const char *sql,
+Lardon3DProjectDbResult execute(Lardon3DProjectDb *database, const char *sql,
                                        const char *context) {
   char *message = NULL;
   int code = sqlite3_exec(database->connection, sql, NULL, NULL, &message);
@@ -380,7 +484,7 @@ static Lardon3DProjectDbResult execute(Lardon3DProjectDb *database, const char *
   return sqlite_result(database, code, context);
 }
 
-static Lardon3DProjectDbResult prepare(Lardon3DProjectDb *database, const char *sql,
+Lardon3DProjectDbResult prepare(Lardon3DProjectDb *database, const char *sql,
                                        sqlite3_stmt **statement) {
   int code = sqlite3_prepare_v2(database->connection, sql, -1, statement, NULL);
   return code == SQLITE_OK ? LARDON3D_PROJECT_DB_OK : sqlite_result(database, code, "prepare");
@@ -409,7 +513,8 @@ static Lardon3DProjectDbResult migrate(Lardon3DProjectDb *database, unsigned int
   if (from_version != 0 && from_version != 1 && from_version != 2 && from_version != 3 &&
       from_version != 4 && from_version != 5 && from_version != 6 && from_version != 7 &&
       from_version != 8 && from_version != 9 && from_version != 10 && from_version != 11 &&
-       from_version != 12 && from_version != 13 && from_version != 14) {
+       from_version != 12 && from_version != 13 && from_version != 14 &&
+       from_version != 15) {
     return LARDON3D_PROJECT_DB_CORRUPT;
   }
   Lardon3DProjectDbResult result = execute(database, "BEGIN IMMEDIATE", "begin migration");
@@ -713,6 +818,27 @@ static Lardon3DProjectDbResult migrate(Lardon3DProjectDb *database, unsigned int
                        "finish schema v15 migration");
     }
   }
+  if (result == LARDON3D_PROJECT_DB_OK && from_version < 16) {
+    result = execute(database, schema_sparse_sfm_v16_a,
+                     "migrate schema v15 to v16 (part 1)");
+#ifdef LARDON3D_PROJECT_DB_TESTING
+    if (result == LARDON3D_PROJECT_DB_OK &&
+        getenv("LARDON3D_TEST_PROJECT_DB_FAIL_MIGRATION_V16")) {
+      result = execute(database, "INSERT INTO missing_v16_test_table VALUES(1)",
+                       "forced migration v16 failure");
+    }
+#endif
+    if (result == LARDON3D_PROJECT_DB_OK) {
+      result = execute(database, schema_sparse_sfm_v16_b,
+                       "migrate schema v15 to v16 (part 2)");
+    }
+    if (result == LARDON3D_PROJECT_DB_OK) {
+      result = execute(
+          database,
+          "UPDATE metadata SET value=16 WHERE key='schema_version' AND value=15",
+          "finish schema v16 migration");
+    }
+  }
   if (result == LARDON3D_PROJECT_DB_OK) {
     result = execute(database, "COMMIT", "commit migration");
   }
@@ -833,7 +959,15 @@ Lardon3DProjectDbResult lardon3d_project_db_open(const char *path, Lardon3DProje
                                "track_sets",
                                "tracks",
                                "track_observations",
-                               "track_builder_tasks"};
+                               "track_builder_tasks",
+                               "sparse_calibrations",
+                               "sparse_calibration_scopes",
+                               "sparse_calibration_scope_images",
+                               "sparse_reconstructions",
+                               "sparse_reconstruction_components",
+                               "sparse_registered_images",
+                               "sparse_landmarks",
+                               "sparse_landmark_observations"};
     for (size_t index = 0; index < sizeof(required) / sizeof(required[0]) &&
                            result == LARDON3D_PROJECT_DB_OK;
          ++index) {
@@ -908,7 +1042,7 @@ Lardon3DProjectDbResult lardon3d_project_db_legacy_catalog_pending(Lardon3DProje
   return result;
 }
 
-static Lardon3DProjectDbResult step_done(Lardon3DProjectDb *database, sqlite3_stmt *statement,
+Lardon3DProjectDbResult step_done(Lardon3DProjectDb *database, sqlite3_stmt *statement,
                                          const char *context) {
   int code = sqlite3_step(statement);
   if (code != SQLITE_DONE) {

src/project_db_internal.h

@@ -0,0 +1,24 @@
+#ifndef LARDON3D_PROJECT_DB_INTERNAL_H
+#define LARDON3D_PROJECT_DB_INTERNAL_H
+
+#include <pthread.h>
+#include <sqlite3.h>
+
+#include <lardon3d/project_db.h>
+
+struct Lardon3DProjectDb {
+  sqlite3 *connection;
+  pthread_mutex_t mutex;
+  char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
+};
+
+Lardon3DProjectDbResult sqlite_result(Lardon3DProjectDb *database, int code,
+                                      const char *context);
+Lardon3DProjectDbResult execute(Lardon3DProjectDb *database, const char *sql,
+                                const char *context);
+Lardon3DProjectDbResult prepare(Lardon3DProjectDb *database, const char *sql,
+                                sqlite3_stmt **statement);
+Lardon3DProjectDbResult step_done(Lardon3DProjectDb *database,
+                                  sqlite3_stmt *statement, const char *context);
+
+#endif

tests/test_geometric_verification.c

@@ -35,20 +35,24 @@ static bool execute_sql(const char *path, const char *sql) {
   return sqlite3_close(connection) == SQLITE_OK && ok;
 }
 
-static bool query_integer(const char *path, const char *sql, sqlite3_int64 expected) {
+static bool query_integer(const char *path, const char *sql,
+                          sqlite3_int64 expected) {
   sqlite3 *connection = NULL;
   sqlite3_stmt *statement = NULL;
-  if (sqlite3_open_v2(path, &connection, SQLITE_OPEN_READONLY, NULL) != SQLITE_OK ||
+  if (sqlite3_open_v2(path, &connection, SQLITE_OPEN_READONLY, NULL) !=
+          SQLITE_OK ||
       sqlite3_prepare_v2(connection, sql, -1, &statement, NULL) != SQLITE_OK) {
-    if (statement) (void)sqlite3_finalize(statement);
-    if (connection) (void)sqlite3_close(connection);
+    if (statement)
+      (void)sqlite3_finalize(statement);
+    if (connection)
+      (void)sqlite3_close(connection);
     return false;
   }
   bool matches = sqlite3_step(statement) == SQLITE_ROW &&
                  sqlite3_column_int64(statement, 0) == expected &&
                  sqlite3_step(statement) == SQLITE_DONE;
-  return sqlite3_finalize(statement) == SQLITE_OK && sqlite3_close(connection) == SQLITE_OK &&
-         matches;
+  return sqlite3_finalize(statement) == SQLITE_OK &&
+         sqlite3_close(connection) == SQLITE_OK && matches;
 }
 
 static void asset_path(const unsigned char hash[32], const char *kind,
@@ -60,13 +64,14 @@ static void asset_path(const unsigned char hash[32], const char *kind,
     hex[index * 2 + 1] = digits[hash[index] & 15U];
   }
   hex[64] = '\0';
-  (void)snprintf(path, LARDON3D_PROJECT_DB_PATH_CAPACITY, "assets/%s/%c%c/%s", kind, hex[0],
-                 hex[1], hex);
+  (void)snprintf(path, LARDON3D_PROJECT_DB_PATH_CAPACITY, "assets/%s/%c%c/%s",
+                 kind, hex[0], hex[1], hex);
 }
 
-static bool create_match_result(Lardon3DProjectDb *database, uint64_t pair_id, uint64_t fs_a,
-                                uint64_t fs_b, uint32_t version, unsigned char fingerprint_byte,
-                                int status, uint32_t match_count, uint64_t *id) {
+static bool create_match_result(Lardon3DProjectDb *database, uint64_t pair_id,
+                                uint64_t fs_a, uint64_t fs_b, uint32_t version,
+                                unsigned char fingerprint_byte, int status,
+                                uint32_t match_count, uint64_t *id) {
   unsigned char fingerprint[32] = {0};
   unsigned char hash[32] = {0};
   char path[LARDON3D_PROJECT_DB_PATH_CAPACITY];
@@ -75,10 +80,12 @@ static bool create_match_result(Lardon3DProjectDb *database, uint64_t pair_id, u
   asset_path(hash, "matches", path);
   Lardon3DProjectDbMatchResult result;
   Lardon3DProjectDbResult db_result = lardon3d_project_db_create_match_result(
-      database, pair_id, fs_a, fs_b, "model-test", version, fingerprint, status, match_count,
-      status == LARDON3D_MATCH_RESULT_STATUS_MATCHED ? hash : NULL,
+      database, pair_id, fs_a, fs_b, "model-test", version, fingerprint, status,
+      match_count, status == LARDON3D_MATCH_RESULT_STATUS_MATCHED ? hash : NULL,
       status == LARDON3D_MATCH_RESULT_STATUS_MATCHED ? path : NULL,
-      status == LARDON3D_MATCH_RESULT_STATUS_MATCHED ? 32U + (uint64_t)match_count * 12U : 0,
+      status == LARDON3D_MATCH_RESULT_STATUS_MATCHED
+          ? 32U + (uint64_t)match_count * 12U
+          : 0,
       version, &result);
   if (db_result != LARDON3D_PROJECT_DB_OK) {
     return false;
@@ -89,8 +96,8 @@ static bool create_match_result(Lardon3DProjectDb *database, uint64_t pair_id, u
 
 static bool create_parents(Lardon3DProjectDb *database, Parents *parents) {
   Lardon3DProjectDbScanSet scanset;
-  if (lardon3d_project_db_create_scanset(database, "Geometry-model", &scanset) !=
-      LARDON3D_PROJECT_DB_OK) {
+  if (lardon3d_project_db_create_scanset(database, "Geometry-model",
+                                         &scanset) != LARDON3D_PROJECT_DB_OK) {
     return false;
   }
   unsigned char image_hash_a[32] = {0x11};
@@ -102,17 +109,20 @@ static bool create_parents(Lardon3DProjectDb *database, Parents *parents) {
   Lardon3DProjectDbImageRegisterStatus register_status;
   Lardon3DProjectDbImage image_a;
   Lardon3DProjectDbImage image_b;
-  if (lardon3d_project_db_register_image(database, scanset.scanset_id, image_hash_a, image_path_a,
-                                         10, "a.jpg", "/a.jpg", 0, 1, &register_status,
+  if (lardon3d_project_db_register_image(
+          database, scanset.scanset_id, image_hash_a, image_path_a, 10, "a.jpg",
+          "/a.jpg", 0, 1, &register_status,
           &image_a) != LARDON3D_PROJECT_DB_OK ||
-      lardon3d_project_db_register_image(database, scanset.scanset_id, image_hash_b, image_path_b,
-                                         10, "b.jpg", "/b.jpg", 0, 2, &register_status,
+      lardon3d_project_db_register_image(
+          database, scanset.scanset_id, image_hash_b, image_path_b, 10, "b.jpg",
+          "/b.jpg", 0, 2, &register_status,
           &image_b) != LARDON3D_PROJECT_DB_OK) {
     return false;
   }
   Lardon3DProjectDbCandidatePair pair;
-  if (lardon3d_project_db_create_candidate_pair(database, image_a.image_id, image_b.image_id, 3,
-                                                 &pair) != LARDON3D_PROJECT_DB_OK) {
+  if (lardon3d_project_db_create_candidate_pair(database, image_a.image_id,
+                                                image_b.image_id, 3, &pair) !=
+      LARDON3D_PROJECT_DB_OK) {
     return false;
   }
   unsigned char feature_hash_a[32] = {0x33};
@@ -124,39 +134,52 @@ static bool create_parents(Lardon3DProjectDb *database, Parents *parents) {
   Lardon3DProjectDbFeatureSet feature_a;
   Lardon3DProjectDbFeatureSet feature_b;
   if (lardon3d_project_db_register_feature_set(
-          database, image_a.image_id, "orb", 1, feature_hash_a, image_hash_a, 8192, 1, 32,
-          feature_hash_a, feature_path_a, 100, LARDON3D_DB_FEATURE_ASSET_DURABLE, 0, 4,
+          database, image_a.image_id, "orb", 1, feature_hash_a, image_hash_a,
+          8192, 1, 32, feature_hash_a, feature_path_a, 100,
+          LARDON3D_DB_FEATURE_ASSET_DURABLE, 0, 4,
           &feature_a) != LARDON3D_PROJECT_DB_OK ||
       lardon3d_project_db_register_feature_set(
-          database, image_b.image_id, "orb", 1, feature_hash_b, image_hash_b, 8192, 1, 32,
-          feature_hash_b, feature_path_b, 100, LARDON3D_DB_FEATURE_ASSET_DURABLE, 0, 5,
+          database, image_b.image_id, "orb", 1, feature_hash_b, image_hash_b,
+          8192, 1, 32, feature_hash_b, feature_path_b, 100,
+          LARDON3D_DB_FEATURE_ASSET_DURABLE, 0, 5,
           &feature_b) != LARDON3D_PROJECT_DB_OK) {
     return false;
   }
   parents->candidate_pair_id = pair.candidate_pair_id;
   parents->feature_set_id_a = feature_a.feature_set_id;
   parents->feature_set_id_b = feature_b.feature_set_id;
-  return create_match_result(database, pair.candidate_pair_id, feature_a.feature_set_id,
-                             feature_b.feature_set_id, 1, 0x51,
-                             LARDON3D_MATCH_RESULT_STATUS_MATCHED, 9, &parents->matched_id) &&
-         create_match_result(database, pair.candidate_pair_id, feature_a.feature_set_id,
-                             feature_b.feature_set_id, 2, 0x52,
-                             LARDON3D_MATCH_RESULT_STATUS_NO_MATCH, 0, &parents->no_match_id) &&
-         create_match_result(database, pair.candidate_pair_id, feature_a.feature_set_id,
-                             feature_b.feature_set_id, 3, 0x53,
-                             LARDON3D_MATCH_RESULT_STATUS_MATCHED, 8192,
-                             &parents->second_matched_id);
+  return create_match_result(database, pair.candidate_pair_id,
+                             feature_a.feature_set_id, feature_b.feature_set_id,
+                             1, 0x51, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 9,
+                             &parents->matched_id) &&
+         create_match_result(database, pair.candidate_pair_id,
+                             feature_a.feature_set_id, feature_b.feature_set_id,
+                             2, 0x52, LARDON3D_MATCH_RESULT_STATUS_NO_MATCH, 0,
+                             &parents->no_match_id) &&
+         create_match_result(database, pair.candidate_pair_id,
+                             feature_a.feature_set_id, feature_b.feature_set_id,
+                             3, 0x53, LARDON3D_MATCH_RESULT_STATUS_MATCHED,
+                             8192, &parents->second_matched_id);
 }
 
 static bool create_v11_database(const char *path) {
   Lardon3DProjectDb *database = NULL;
   char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
-  if (lardon3d_project_db_open(path, &database, error) != LARDON3D_PROJECT_DB_OK) {
+  if (lardon3d_project_db_open(path, &database, error) !=
+      LARDON3D_PROJECT_DB_OK) {
     return false;
   }
   lardon3d_project_db_close(database);
   return execute_sql(path,
                      "PRAGMA foreign_keys=OFF;BEGIN IMMEDIATE;"
+                     "DROP TABLE IF EXISTS sparse_landmark_observations;"
+                     "DROP TABLE IF EXISTS sparse_landmarks;"
+                     "DROP TABLE IF EXISTS sparse_registered_images;"
+                     "DROP TABLE IF EXISTS sparse_reconstruction_components;"
+                     "DROP TABLE IF EXISTS sparse_reconstructions;"
+                     "DROP TABLE IF EXISTS sparse_calibration_scope_images;"
+                     "DROP TABLE IF EXISTS sparse_calibration_scopes;"
+                     "DROP TABLE IF EXISTS sparse_calibrations;"
                      "DROP TABLE geometric_verifier_tasks;"
                      "DROP TABLE geometric_verification_results;"
                      "DROP TABLE track_observations;"
@@ -169,8 +192,9 @@ static bool create_v11_database(const char *path) {
 static bool test_model_api(const char *path) {
   char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
   Lardon3DProjectDb *database = NULL;
-  CHECK(lardon3d_project_db_open(path, &database, error) == LARDON3D_PROJECT_DB_OK);
-  CHECK(lardon3d_project_db_schema_version(database) == 15);
+  CHECK(lardon3d_project_db_open(path, &database, error) ==
+        LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_schema_version(database) == 16);
   Parents parents;
   CHECK(create_parents(database, &parents));
 
@@ -182,8 +206,9 @@ static bool test_model_api(const char *path) {
   double model[9] = {0.0, -1.0, 1e-300, 1e300, 4.0, 5.0, 6.0, 7.0, 8.0};
   Lardon3DProjectDbGeometricVerificationResult verified;
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1,
-            fingerprint_a, LARDON3D_GEOMETRIC_VERIFIED, 1, mask_a, sizeof(mask_a), model, 10,
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1, fingerprint_a,
+            LARDON3D_GEOMETRIC_VERIFIED, 1, mask_a, sizeof(mask_a), model, 10,
             &verified) == LARDON3D_PROJECT_DB_OK);
   CHECK(verified.has_model && verified.inlier_mask_size == 2 &&
         memcmp(verified.model, model, sizeof(model)) == 0);
@@ -191,17 +216,20 @@ static bool test_model_api(const char *path) {
   unsigned char rejected_mask[2] = {0x03, 0x00};
   Lardon3DProjectDbGeometricVerificationResult rejected;
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 2,
-            fingerprint_b, LARDON3D_GEOMETRIC_REJECTED, 2, rejected_mask,
-            sizeof(rejected_mask), NULL, 11, &rejected) == LARDON3D_PROJECT_DB_OK);
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 2, fingerprint_b,
+            LARDON3D_GEOMETRIC_REJECTED, 2, rejected_mask,
+            sizeof(rejected_mask), NULL, 11,
+            &rejected) == LARDON3D_PROJECT_DB_OK);
   CHECK(!rejected.has_model && rejected.inlier_count == 2);
 
   unsigned char zero_mask[2] = {0};
   Lardon3DProjectDbGeometricVerificationResult zero_inliers;
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3,
-            fingerprint_b, LARDON3D_GEOMETRIC_REJECTED, 0, zero_mask, sizeof(zero_mask), NULL, 11,
-            &zero_inliers) == LARDON3D_PROJECT_DB_OK);
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3, fingerprint_b,
+            LARDON3D_GEOMETRIC_REJECTED, 0, zero_mask, sizeof(zero_mask), NULL,
+            11, &zero_inliers) == LARDON3D_PROJECT_DB_OK);
 
   Lardon3DProjectDbGeometricVerificationResult loaded;
   CHECK(lardon3d_project_db_load_geometric_verification_result(
@@ -211,17 +239,22 @@ static bool test_model_api(const char *path) {
         memcmp(loaded.model, model, sizeof(model)) == 0 &&
         memcmp(loaded.inlier_mask, mask_a, sizeof(mask_a)) == 0);
   CHECK(lardon3d_project_db_find_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1,
-            fingerprint_a, &loaded) == LARDON3D_PROJECT_DB_OK &&
-        loaded.geometric_verification_result_id == verified.geometric_verification_result_id);
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1, fingerprint_a,
+            &loaded) == LARDON3D_PROJECT_DB_OK &&
+        loaded.geometric_verification_result_id ==
+            verified.geometric_verification_result_id);
 
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1,
-            fingerprint_a, LARDON3D_GEOMETRIC_REJECTED, 2, rejected_mask,
-            sizeof(rejected_mask), NULL, 12, &loaded) == LARDON3D_PROJECT_DB_CONSTRAINT);
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1, fingerprint_a,
+            LARDON3D_GEOMETRIC_REJECTED, 2, rejected_mask,
+            sizeof(rejected_mask), NULL, 12,
+            &loaded) == LARDON3D_PROJECT_DB_CONSTRAINT);
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.no_match_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1,
-            fingerprint_a, LARDON3D_GEOMETRIC_REJECTED, 0, mask_a, 1, NULL, 12,
+            database, parents.no_match_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1, fingerprint_a,
+            LARDON3D_GEOMETRIC_REJECTED, 0, mask_a, 1, NULL, 12,
             &loaded) == LARDON3D_PROJECT_DB_CONSTRAINT);
   CHECK(lardon3d_project_db_create_geometric_verification_result(
             database, UINT64_C(9223372036854775807),
@@ -231,57 +264,68 @@ static bool test_model_api(const char *path) {
 
   unsigned char bad_padding[2] = {0x01, 0x80};
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3,
-            fingerprint_a, LARDON3D_GEOMETRIC_REJECTED, 1, bad_padding, sizeof(bad_padding),
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3, fingerprint_a,
+            LARDON3D_GEOMETRIC_REJECTED, 1, bad_padding, sizeof(bad_padding),
             NULL, 12, &loaded) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3,
-            fingerprint_a, LARDON3D_GEOMETRIC_REJECTED, 2, mask_a, sizeof(mask_a), NULL, 12,
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3, fingerprint_a,
+            LARDON3D_GEOMETRIC_REJECTED, 2, mask_a, sizeof(mask_a), NULL, 12,
             &loaded) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
   unsigned char all_inliers[2] = {0xff, 0x01};
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 4,
-            fingerprint_a, LARDON3D_GEOMETRIC_REJECTED, 9, all_inliers, sizeof(all_inliers), NULL,
-            12, &loaded) == LARDON3D_PROJECT_DB_OK);
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 4, fingerprint_a,
+            LARDON3D_GEOMETRIC_REJECTED, 9, all_inliers, sizeof(all_inliers),
+            NULL, 12, &loaded) == LARDON3D_PROJECT_DB_OK);
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 5,
-            fingerprint_a, LARDON3D_GEOMETRIC_REJECTED, 10, all_inliers, sizeof(all_inliers), NULL,
-            12, &loaded) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 5, fingerprint_a,
+            LARDON3D_GEOMETRIC_REJECTED, 10, all_inliers, sizeof(all_inliers),
+            NULL, 12, &loaded) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3,
-            fingerprint_a, LARDON3D_GEOMETRIC_VERIFIED, 1, mask_a, sizeof(mask_a), NULL, 12,
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3, fingerprint_a,
+            LARDON3D_GEOMETRIC_VERIFIED, 1, mask_a, sizeof(mask_a), NULL, 12,
             &loaded) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3,
-            fingerprint_a, LARDON3D_GEOMETRIC_REJECTED, 1, mask_a, sizeof(mask_a), model, 12,
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3, fingerprint_a,
+            LARDON3D_GEOMETRIC_REJECTED, 1, mask_a, sizeof(mask_a), model, 12,
             &loaded) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
   double bad_model[9] = {0};
   bad_model[4] = NAN;
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3,
-            fingerprint_a, LARDON3D_GEOMETRIC_VERIFIED, 1, mask_a, sizeof(mask_a), bad_model, 12,
-            &loaded) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3, fingerprint_a,
+            LARDON3D_GEOMETRIC_VERIFIED, 1, mask_a, sizeof(mask_a), bad_model,
+            12, &loaded) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
   bad_model[4] = INFINITY;
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3,
-            fingerprint_a, LARDON3D_GEOMETRIC_VERIFIED, 1, mask_a, sizeof(mask_a), bad_model, 12,
-            &loaded) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 3, fingerprint_a,
+            LARDON3D_GEOMETRIC_VERIFIED, 1, mask_a, sizeof(mask_a), bad_model,
+            12, &loaded) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   unsigned char max_mask[LARDON3D_PROJECT_DB_INLIER_MASK_MAX] = {0};
   max_mask[0] = 0x01;
   max_mask[1023] = 0x80;
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.second_matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1,
-            fingerprint_a, LARDON3D_GEOMETRIC_REJECTED, 2, max_mask, sizeof(max_mask), NULL, 13,
-            &loaded) == LARDON3D_PROJECT_DB_OK);
+            database, parents.second_matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1, fingerprint_a,
+            LARDON3D_GEOMETRIC_REJECTED, 2, max_mask, sizeof(max_mask), NULL,
+            13, &loaded) == LARDON3D_PROJECT_DB_OK);
   CHECK(loaded.inlier_mask_size == 1024 && loaded.inlier_count == 2);
 
   static const uint32_t boundary_counts[] = {1, 2, 7, 8, 9, 63, 64, 65, 8191};
   for (size_t boundary_index = 0;
-       boundary_index < sizeof(boundary_counts) / sizeof(boundary_counts[0]); ++boundary_index) {
+       boundary_index < sizeof(boundary_counts) / sizeof(boundary_counts[0]);
+       ++boundary_index) {
     uint32_t match_count = boundary_counts[boundary_index];
     uint64_t parent_id = 0;
-    CHECK(create_match_result(database, parents.candidate_pair_id, parents.feature_set_id_a,
+    CHECK(create_match_result(
+        database, parents.candidate_pair_id, parents.feature_set_id_a,
         parents.feature_set_id_b, (uint32_t)(10U + boundary_index),
         (unsigned char)(0x60U + boundary_index),
         LARDON3D_MATCH_RESULT_STATUS_MATCHED, match_count, &parent_id));
@@ -294,33 +338,38 @@ static bool test_model_api(const char *path) {
            sizeof(boundary_fingerprint));
     CHECK(lardon3d_project_db_create_geometric_verification_result(
               database, parent_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1,
-              boundary_fingerprint, LARDON3D_GEOMETRIC_REJECTED, 1, boundary_mask,
-              boundary_size, NULL, 20 + (int64_t)boundary_index, &loaded) ==
-          LARDON3D_PROJECT_DB_OK);
+              boundary_fingerprint, LARDON3D_GEOMETRIC_REJECTED, 1,
+              boundary_mask, boundary_size, NULL, 20 + (int64_t)boundary_index,
+              &loaded) == LARDON3D_PROJECT_DB_OK);
     CHECK(loaded.inlier_mask_size == boundary_size &&
-          loaded.inlier_mask[last_index / 8U] == (unsigned char)(1U << (last_index % 8U)));
+          loaded.inlier_mask[last_index / 8U] ==
+              (unsigned char)(1U << (last_index % 8U)));
   }
 
   Lardon3DProjectDbGeometricVerificationResult page[2];
   size_t count = 0;
   CHECK(lardon3d_project_db_list_geometric_verification_results(
-            database, parents.matched_id, 0, page, 1, &count) == LARDON3D_PROJECT_DB_OK &&
+            database, parents.matched_id, 0, page, 1, &count) ==
+            LARDON3D_PROJECT_DB_OK &&
         count == 1);
   uint64_t cursor = page[0].geometric_verification_result_id;
   CHECK(lardon3d_project_db_list_geometric_verification_results(
-            database, parents.matched_id, cursor, page, 2, &count) == LARDON3D_PROJECT_DB_OK &&
+            database, parents.matched_id, cursor, page, 2, &count) ==
+            LARDON3D_PROJECT_DB_OK &&
         count == 2 && page[0].geometric_verification_result_id > cursor);
   CHECK(lardon3d_project_db_list_geometric_verification_results(
             database, parents.matched_id, 0, page,
-            LARDON3D_PROJECT_DB_GEOMETRIC_RESULT_PAGE_MAX + 1U, &count) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            LARDON3D_PROJECT_DB_GEOMETRIC_RESULT_PAGE_MAX + 1U,
+            &count) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   uint64_t verified_id = verified.geometric_verification_result_id;
   lardon3d_project_db_close(database);
   database = NULL;
-  CHECK(lardon3d_project_db_open(path, &database, error) == LARDON3D_PROJECT_DB_OK);
-  CHECK(lardon3d_project_db_load_geometric_verification_result(database, verified_id, &loaded) ==
-        LARDON3D_PROJECT_DB_OK && memcmp(loaded.model, model, sizeof(model)) == 0);
+  CHECK(lardon3d_project_db_open(path, &database, error) ==
+        LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_load_geometric_verification_result(
+            database, verified_id, &loaded) == LARDON3D_PROJECT_DB_OK &&
+        memcmp(loaded.model, model, sizeof(model)) == 0);
   lardon3d_project_db_close(database);
   return true;
 }
@@ -329,12 +378,13 @@ static bool loader_rejects_after_sql(const char *path, const char *sql) {
   char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
   Lardon3DProjectDb *database = NULL;
   if (!execute_sql(path, sql) ||
-      lardon3d_project_db_open(path, &database, error) != LARDON3D_PROJECT_DB_OK) {
+      lardon3d_project_db_open(path, &database, error) !=
+          LARDON3D_PROJECT_DB_OK) {
     return false;
   }
   Lardon3DProjectDbGeometricVerificationResult result;
-  bool rejected = lardon3d_project_db_load_geometric_verification_result(database, 1, &result) ==
-                  LARDON3D_PROJECT_DB_CORRUPT;
+  bool rejected = lardon3d_project_db_load_geometric_verification_result(
+                      database, 1, &result) == LARDON3D_PROJECT_DB_CORRUPT;
   lardon3d_project_db_close(database);
   return rejected;
 }
@@ -342,37 +392,55 @@ static bool loader_rejects_after_sql(const char *path, const char *sql) {
 static bool test_corruption(const char *path) {
   static const char reset[] =
       "PRAGMA ignore_check_constraints=ON;"
-      "UPDATE geometric_verification_results SET verifier_kind=1,verifier_version=1,"
-      "parameter_fingerprint=zeroblob(32),status=2,inlier_count=1,inlier_mask=x'0100',"
+      "UPDATE geometric_verification_results SET "
+      "verifier_kind=1,verifier_version=1,"
+      "parameter_fingerprint=zeroblob(32),status=2,inlier_count=1,inlier_mask="
+      "x'0100',"
       "model_m00=0,model_m01=0,model_m02=0,model_m10=0,model_m11=0,model_m12=0,"
-      "model_m20=0,model_m21=0,model_m22=0 WHERE geometric_verification_result_id=1;";
+      "model_m20=0,model_m21=0,model_m22=0 WHERE "
+      "geometric_verification_result_id=1;";
   CHECK(execute_sql(path, reset));
 
   static const char *corruptions[] = {
-      "PRAGMA ignore_check_constraints=ON;UPDATE geometric_verification_results "
+      "PRAGMA ignore_check_constraints=ON;UPDATE "
+      "geometric_verification_results "
       "SET verifier_kind=9 WHERE geometric_verification_result_id=1;",
-      "PRAGMA ignore_check_constraints=ON;UPDATE geometric_verification_results "
-      "SET verifier_kind=1,verifier_version=0 WHERE geometric_verification_result_id=1;",
-      "PRAGMA ignore_check_constraints=ON;UPDATE geometric_verification_results "
+      "PRAGMA ignore_check_constraints=ON;UPDATE "
+      "geometric_verification_results "
+      "SET verifier_kind=1,verifier_version=0 WHERE "
+      "geometric_verification_result_id=1;",
+      "PRAGMA ignore_check_constraints=ON;UPDATE "
+      "geometric_verification_results "
       "SET verifier_version=1,parameter_fingerprint=x'01' "
       "WHERE geometric_verification_result_id=1;",
-      "PRAGMA ignore_check_constraints=ON;UPDATE geometric_verification_results "
+      "PRAGMA ignore_check_constraints=ON;UPDATE "
+      "geometric_verification_results "
       "SET parameter_fingerprint=zeroblob(32),status=9 "
       "WHERE geometric_verification_result_id=1;",
-      "PRAGMA ignore_check_constraints=ON;UPDATE geometric_verification_results "
-      "SET status=2,inlier_count=9000 WHERE geometric_verification_result_id=1;",
-      "PRAGMA ignore_check_constraints=ON;UPDATE geometric_verification_results "
-      "SET inlier_count=1,inlier_mask=x'03' WHERE geometric_verification_result_id=1;",
-      "PRAGMA ignore_check_constraints=ON;UPDATE geometric_verification_results "
+      "PRAGMA ignore_check_constraints=ON;UPDATE "
+      "geometric_verification_results "
+      "SET status=2,inlier_count=9000 WHERE "
+      "geometric_verification_result_id=1;",
+      "PRAGMA ignore_check_constraints=ON;UPDATE "
+      "geometric_verification_results "
+      "SET inlier_count=1,inlier_mask=x'03' WHERE "
+      "geometric_verification_result_id=1;",
+      "PRAGMA ignore_check_constraints=ON;UPDATE "
+      "geometric_verification_results "
       "SET inlier_mask=x'0180' WHERE geometric_verification_result_id=1;",
-      "PRAGMA ignore_check_constraints=ON;UPDATE geometric_verification_results "
+      "PRAGMA ignore_check_constraints=ON;UPDATE "
+      "geometric_verification_results "
       "SET inlier_mask=x'0300' WHERE geometric_verification_result_id=1;",
-      "PRAGMA ignore_check_constraints=ON;UPDATE geometric_verification_results "
-      "SET inlier_mask=x'0100',model_m00=NULL WHERE geometric_verification_result_id=1;",
-      "PRAGMA ignore_check_constraints=ON;UPDATE geometric_verification_results "
+      "PRAGMA ignore_check_constraints=ON;UPDATE "
+      "geometric_verification_results "
+      "SET inlier_mask=x'0100',model_m00=NULL WHERE "
+      "geometric_verification_result_id=1;",
+      "PRAGMA ignore_check_constraints=ON;UPDATE "
+      "geometric_verification_results "
       "SET model_m00=1e999 WHERE geometric_verification_result_id=1;",
   };
-  for (size_t index = 0; index < sizeof(corruptions) / sizeof(corruptions[0]); ++index) {
+  for (size_t index = 0; index < sizeof(corruptions) / sizeof(corruptions[0]);
+       ++index) {
     CHECK(execute_sql(path, reset));
     CHECK(loader_rejects_after_sql(path, corruptions[index]));
   }
@@ -380,15 +448,17 @@ static bool test_corruption(const char *path) {
   char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
   Lardon3DProjectDb *database = NULL;
   CHECK(execute_sql(path, reset));
-  CHECK(lardon3d_project_db_open(path, &database, error) == LARDON3D_PROJECT_DB_OK);
-  Lardon3DProjectDbGeometricVerificationResult result;
-  CHECK(lardon3d_project_db_load_geometric_verification_result(database, 1, &result) ==
+  CHECK(lardon3d_project_db_open(path, &database, error) ==
         LARDON3D_PROJECT_DB_OK);
+  Lardon3DProjectDbGeometricVerificationResult result;
+  CHECK(lardon3d_project_db_load_geometric_verification_result(
+            database, 1, &result) == LARDON3D_PROJECT_DB_OK);
   uint64_t parent_id = result.match_result_id;
   lardon3d_project_db_close(database);
   char parent_corruption[512];
   CHECK(snprintf(parent_corruption, sizeof(parent_corruption),
-                 "PRAGMA ignore_check_constraints=ON;UPDATE match_results SET result_status=0 "
+                 "PRAGMA ignore_check_constraints=ON;UPDATE match_results SET "
+                 "result_status=0 "
                  "WHERE match_result_id=%llu;",
                  (unsigned long long)parent_id) > 0);
   CHECK(loader_rejects_after_sql(path, parent_corruption));
@@ -399,46 +469,60 @@ static bool test_migration(const char *v11_path, const char *failed_path) {
   char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
   Lardon3DProjectDb *database = NULL;
   CHECK(create_v11_database(v11_path));
-  CHECK(query_integer(v11_path, "SELECT value FROM metadata WHERE key='schema_version'", 11));
-  CHECK(query_integer(v11_path,
+  CHECK(query_integer(
+      v11_path, "SELECT value FROM metadata WHERE key='schema_version'", 11));
+  CHECK(
+      query_integer(v11_path,
                     "SELECT count(*) FROM sqlite_master WHERE type='table' AND "
                     "name='geometric_verification_results'",
                     0));
-  CHECK(lardon3d_project_db_open(v11_path, &database, error) == LARDON3D_PROJECT_DB_OK);
-  CHECK(lardon3d_project_db_schema_version(database) == 15);
+  CHECK(lardon3d_project_db_open(v11_path, &database, error) ==
+        LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_schema_version(database) == 16);
   Parents parents;
   CHECK(create_parents(database, &parents));
   unsigned char fingerprint[32] = {0x91};
   unsigned char mask[2] = {0x01, 0x00};
   Lardon3DProjectDbGeometricVerificationResult migrated_result;
   CHECK(lardon3d_project_db_create_geometric_verification_result(
-            database, parents.matched_id, LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1,
-            fingerprint, LARDON3D_GEOMETRIC_REJECTED, 1, mask, sizeof(mask), NULL, 30,
+            database, parents.matched_id,
+            LARDON3D_GEOMETRIC_VERIFIER_FUNDAMENTAL, 1, fingerprint,
+            LARDON3D_GEOMETRIC_REJECTED, 1, mask, sizeof(mask), NULL, 30,
             &migrated_result) == LARDON3D_PROJECT_DB_OK);
-  uint64_t migrated_result_id = migrated_result.geometric_verification_result_id;
+  uint64_t migrated_result_id =
+      migrated_result.geometric_verification_result_id;
   lardon3d_project_db_close(database);
-  CHECK(query_integer(v11_path, "SELECT value FROM metadata WHERE key='schema_version'", 15));
-  CHECK(query_integer(v11_path,
+  CHECK(query_integer(
+      v11_path, "SELECT value FROM metadata WHERE key='schema_version'", 16));
+  CHECK(
+      query_integer(v11_path,
                     "SELECT count(*) FROM sqlite_master WHERE type='index' AND "
                     "name='geometric_verification_results_parent_idx'",
                     1));
-  CHECK(lardon3d_project_db_open(v11_path, &database, error) == LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_open(v11_path, &database, error) ==
+        LARDON3D_PROJECT_DB_OK);
   CHECK(lardon3d_project_db_load_geometric_verification_result(
-            database, migrated_result_id, &migrated_result) == LARDON3D_PROJECT_DB_OK &&
+            database, migrated_result_id, &migrated_result) ==
+            LARDON3D_PROJECT_DB_OK &&
         migrated_result.match_result_id == parents.matched_id);
   lardon3d_project_db_close(database);
 
   CHECK(create_v11_database(failed_path));
   CHECK(setenv("LARDON3D_TEST_PROJECT_DB_FAIL_MIGRATION_V12", "1", 1) == 0);
-  CHECK(lardon3d_project_db_open(failed_path, &database, error) == LARDON3D_PROJECT_DB_IO_ERROR);
+  CHECK(lardon3d_project_db_open(failed_path, &database, error) ==
+        LARDON3D_PROJECT_DB_IO_ERROR);
   CHECK(unsetenv("LARDON3D_TEST_PROJECT_DB_FAIL_MIGRATION_V12") == 0);
-  CHECK(query_integer(failed_path, "SELECT value FROM metadata WHERE key='schema_version'", 11));
   CHECK(query_integer(failed_path,
+                      "SELECT value FROM metadata WHERE key='schema_version'",
+                      11));
+  CHECK(
+      query_integer(failed_path,
                     "SELECT count(*) FROM sqlite_master WHERE type='table' AND "
                     "name='geometric_verification_results'",
                     0));
-  CHECK(lardon3d_project_db_open(failed_path, &database, error) == LARDON3D_PROJECT_DB_OK);
-  CHECK(lardon3d_project_db_schema_version(database) == 15);
+  CHECK(lardon3d_project_db_open(failed_path, &database, error) ==
+        LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_schema_version(database) == 16);
   lardon3d_project_db_close(database);
   return true;
 }
@@ -449,9 +533,11 @@ static bool run_test(void) {
   char database_path[512];
   char v11_path[512];
   char failed_path[512];
-  CHECK(snprintf(database_path, sizeof(database_path), "%s/project.db", directory) > 0);
+  CHECK(snprintf(database_path, sizeof(database_path), "%s/project.db",
+                 directory) > 0);
   CHECK(snprintf(v11_path, sizeof(v11_path), "%s/v11.db", directory) > 0);
-  CHECK(snprintf(failed_path, sizeof(failed_path), "%s/failed-v12.db", directory) > 0);
+  CHECK(snprintf(failed_path, sizeof(failed_path), "%s/failed-v12.db",
+                 directory) > 0);
   CHECK(test_model_api(database_path));
   CHECK(test_corruption(database_path));
   CHECK(test_migration(v11_path, failed_path));
@@ -462,6 +548,4 @@ static bool run_test(void) {
   return true;
 }
 
-int main(void) {
-  return run_test() ? EXIT_SUCCESS : EXIT_FAILURE;
-}
+int main(void) { return run_test() ? EXIT_SUCCESS : EXIT_FAILURE; }

tests/test_geometric_verifier_task.c

@@ -332,6 +332,14 @@ static bool run_task_test(void) {
   CHECK(exec_sql(
       database_path,
       "PRAGMA foreign_keys=OFF;BEGIN IMMEDIATE;"
+      "DROP TABLE IF EXISTS sparse_landmark_observations;"
+      "DROP TABLE IF EXISTS sparse_landmarks;"
+      "DROP TABLE IF EXISTS sparse_registered_images;"
+      "DROP TABLE IF EXISTS sparse_reconstruction_components;"
+      "DROP TABLE IF EXISTS sparse_reconstructions;"
+      "DROP TABLE IF EXISTS sparse_calibration_scope_images;"
+      "DROP TABLE IF EXISTS sparse_calibration_scopes;"
+      "DROP TABLE IF EXISTS sparse_calibrations;"
       "DROP TABLE geometric_verifier_tasks;"
       "DROP TABLE track_observations;"
       "DROP TABLE tracks;"
@@ -353,7 +361,7 @@ static bool run_task_test(void) {
                     0));
   CHECK(lardon3d_project_db_open(database_path, &database, error) ==
         LARDON3D_PROJECT_DB_OK);
-  CHECK(lardon3d_project_db_schema_version(database) == 15);
+  CHECK(lardon3d_project_db_schema_version(database) == 16);
   lardon3d_project_db_close(database);
   CHECK(remove_tree(root));
   return true;

tests/test_match_result.c

@@ -19,10 +19,12 @@
     }                                                                          \
   } while (0)
 
-static bool query_integer(const char *path, const char *sql, sqlite3_int64 expected) {
+static bool query_integer(const char *path, const char *sql,
+                          sqlite3_int64 expected) {
   sqlite3 *connection = NULL;
   sqlite3_stmt *statement = NULL;
-  if (sqlite3_open_v2(path, &connection, SQLITE_OPEN_READONLY, NULL) != SQLITE_OK ||
+  if (sqlite3_open_v2(path, &connection, SQLITE_OPEN_READONLY, NULL) !=
+          SQLITE_OK ||
       sqlite3_prepare_v2(connection, sql, -1, &statement, NULL) != SQLITE_OK) {
     if (statement) {
       (void)sqlite3_finalize(statement);
@@ -35,19 +37,30 @@ static bool query_integer(const char *path, const char *sql, sqlite3_int64 expec
   bool matches = sqlite3_step(statement) == SQLITE_ROW &&
                  sqlite3_column_int64(statement, 0) == expected &&
                  sqlite3_step(statement) == SQLITE_DONE;
-  return sqlite3_finalize(statement) == SQLITE_OK && sqlite3_close(connection) == SQLITE_OK &&
-         matches;
+  return sqlite3_finalize(statement) == SQLITE_OK &&
+         sqlite3_close(connection) == SQLITE_OK && matches;
 }
 
 static bool create_v9_database(const char *path) {
   Lardon3DProjectDb *database = NULL;
   char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
-  if (lardon3d_project_db_open(path, &database, error) != LARDON3D_PROJECT_DB_OK) return false;
+  if (lardon3d_project_db_open(path, &database, error) !=
+      LARDON3D_PROJECT_DB_OK)
+    return false;
   lardon3d_project_db_close(database);
   sqlite3 *connection = NULL;
-  if (sqlite3_open(path, &connection) != SQLITE_OK) return false;
+  if (sqlite3_open(path, &connection) != SQLITE_OK)
+    return false;
   static const char sql[] =
       "PRAGMA foreign_keys=OFF;BEGIN IMMEDIATE;"
+      "DROP TABLE IF EXISTS sparse_landmark_observations;"
+      "DROP TABLE IF EXISTS sparse_landmarks;"
+      "DROP TABLE IF EXISTS sparse_registered_images;"
+      "DROP TABLE IF EXISTS sparse_reconstruction_components;"
+      "DROP TABLE IF EXISTS sparse_reconstructions;"
+      "DROP TABLE IF EXISTS sparse_calibration_scope_images;"
+      "DROP TABLE IF EXISTS sparse_calibration_scopes;"
+      "DROP TABLE IF EXISTS sparse_calibrations;"
       "DROP TABLE geometric_verifier_tasks;"
       "DROP TABLE geometric_verification_results;"
       "DROP TABLE matcher_tasks;"
@@ -55,12 +68,14 @@ static bool create_v9_database(const char *path) {
       "DROP TABLE track_observations;"
       "DROP TABLE tracks;"
       "DROP TABLE track_sets;DROP TABLE track_builder_tasks;"
-      "UPDATE metadata SET value=9 WHERE key='schema_version';COMMIT;PRAGMA foreign_keys=ON;";
+      "UPDATE metadata SET value=9 WHERE key='schema_version';COMMIT;PRAGMA "
+      "foreign_keys=ON;";
   bool ok = sqlite3_exec(connection, sql, NULL, NULL, NULL) == SQLITE_OK;
   return sqlite3_close(connection) == SQLITE_OK && ok;
 }
 
-static void asset_path_for_hash(const unsigned char hash[LARDON3D_PROJECT_DB_SHA256_SIZE],
+static void
+asset_path_for_hash(const unsigned char hash[LARDON3D_PROJECT_DB_SHA256_SIZE],
                     char path[LARDON3D_PROJECT_DB_PATH_CAPACITY]) {
   static const char digits[] = "0123456789abcdef";
   char hex[65];
@@ -69,8 +84,8 @@ static void asset_path_for_hash(const unsigned char hash[LARDON3D_PROJECT_DB_SHA
     hex[i * 2 + 1] = digits[hash[i] & 15U];
   }
   hex[64] = '\0';
-  (void)snprintf(path, LARDON3D_PROJECT_DB_PATH_CAPACITY, "assets/images/%c%c/%s", hex[0], hex[1],
-                 hex);
+  (void)snprintf(path, LARDON3D_PROJECT_DB_PATH_CAPACITY,
+                 "assets/images/%c%c/%s", hex[0], hex[1], hex);
 }
 
 static void feature_asset_path_for_hash(
@@ -83,22 +98,25 @@ static void feature_asset_path_for_hash(
     hex[i * 2 + 1] = digits[hash[i] & 15U];
   }
   hex[64] = '\0';
-  (void)snprintf(path, LARDON3D_PROJECT_DB_PATH_CAPACITY, "assets/features/%c%c/%s", hex[0], hex[1],
-                 hex);
+  (void)snprintf(path, LARDON3D_PROJECT_DB_PATH_CAPACITY,
+                 "assets/features/%c%c/%s", hex[0], hex[1], hex);
 }
 
 static bool run_test(void) {
   char directory[] = "/tmp/lardon3d-match-result-XXXXXX";
   CHECK(mkdtemp(directory));
   char database_path[512], v9_path[512], failed_v10_path[512];
-  CHECK(snprintf(database_path, sizeof(database_path), "%s/project.db", directory) > 0);
+  CHECK(snprintf(database_path, sizeof(database_path), "%s/project.db",
+                 directory) > 0);
   CHECK(snprintf(v9_path, sizeof(v9_path), "%s/v9.db", directory) > 0);
-  CHECK(snprintf(failed_v10_path, sizeof(failed_v10_path), "%s/failed-v10.db", directory) > 0);
+  CHECK(snprintf(failed_v10_path, sizeof(failed_v10_path), "%s/failed-v10.db",
+                 directory) > 0);
 
   char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
   Lardon3DProjectDb *database = NULL;
-  CHECK(lardon3d_project_db_open(database_path, &database, error) == LARDON3D_PROJECT_DB_OK);
-  CHECK(database && lardon3d_project_db_schema_version(database) == 15);
+  CHECK(lardon3d_project_db_open(database_path, &database, error) ==
+        LARDON3D_PROJECT_DB_OK);
+  CHECK(database && lardon3d_project_db_schema_version(database) == 16);
 
   Lardon3DProjectDbScanSet scanset;
   CHECK(lardon3d_project_db_create_scanset(database, "Match-test", &scanset) ==
@@ -109,21 +127,24 @@ static bool run_test(void) {
   asset_path_for_hash(hash_a, path_a);
   Lardon3DProjectDbImageRegisterStatus identity_status;
   Lardon3DProjectDbImage image_a;
-  CHECK(lardon3d_project_db_register_image(database, scanset.scanset_id, hash_a, path_a, 1,
-                                           "a.jpg", "/src/a.jpg", 0, 1, &identity_status,
+  CHECK(lardon3d_project_db_register_image(database, scanset.scanset_id, hash_a,
+                                           path_a, 1, "a.jpg", "/src/a.jpg", 0,
+                                           1, &identity_status,
                                            &image_a) == LARDON3D_PROJECT_DB_OK);
 
   unsigned char hash_b[LARDON3D_PROJECT_DB_SHA256_SIZE] = {0xBB};
   char path_b[LARDON3D_PROJECT_DB_PATH_CAPACITY];
   asset_path_for_hash(hash_b, path_b);
   Lardon3DProjectDbImage image_b;
-  CHECK(lardon3d_project_db_register_image(database, scanset.scanset_id, hash_b, path_b, 1,
-                                           "b.jpg", "/src/b.jpg", 0, 2, &identity_status,
+  CHECK(lardon3d_project_db_register_image(database, scanset.scanset_id, hash_b,
+                                           path_b, 1, "b.jpg", "/src/b.jpg", 0,
+                                           2, &identity_status,
                                            &image_b) == LARDON3D_PROJECT_DB_OK);
 
   Lardon3DProjectDbCandidatePair pair;
-  CHECK(lardon3d_project_db_create_candidate_pair(database, image_a.image_id, image_b.image_id, 10,
-                                                   &pair) == LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_create_candidate_pair(
+            database, image_a.image_id, image_b.image_id, 10, &pair) ==
+        LARDON3D_PROJECT_DB_OK);
   CHECK(pair.candidate_pair_id > 0);
 
   /* Create feature sets for foreign key references */
@@ -132,8 +153,9 @@ static bool run_test(void) {
   feature_asset_path_for_hash(feature_hash_a, feature_path_a);
   Lardon3DProjectDbFeatureSet fs_a;
   CHECK(lardon3d_project_db_register_feature_set(
-            database, image_a.image_id, "orb", 1, feature_hash_a, hash_a, 100, 1, 32,
-            feature_hash_a, feature_path_a, 128, LARDON3D_DB_FEATURE_ASSET_DURABLE, 0, 10,
+            database, image_a.image_id, "orb", 1, feature_hash_a, hash_a, 100,
+            1, 32, feature_hash_a, feature_path_a, 128,
+            LARDON3D_DB_FEATURE_ASSET_DURABLE, 0, 10,
             &fs_a) == LARDON3D_PROJECT_DB_OK);
   CHECK(fs_a.feature_set_id > 0 && fs_a.image_id == image_a.image_id);
 
@@ -142,10 +164,10 @@ static bool run_test(void) {
   feature_asset_path_for_hash(feature_hash_b, feature_path_b);
   Lardon3DProjectDbFeatureSet fs_b;
   CHECK(lardon3d_project_db_register_feature_set(
-            database, image_b.image_id, "sift", 1, feature_hash_b, hash_b, 100, 2, 128,
-            feature_hash_b, feature_path_b, 256,
-            LARDON3D_DB_FEATURE_ASSET_PUBLISHED_NOT_DURABLE, 0, 20, &fs_b) ==
-        LARDON3D_PROJECT_DB_OK);
+            database, image_b.image_id, "sift", 1, feature_hash_b, hash_b, 100,
+            2, 128, feature_hash_b, feature_path_b, 256,
+            LARDON3D_DB_FEATURE_ASSET_PUBLISHED_NOT_DURABLE, 0, 20,
+            &fs_b) == LARDON3D_PROJECT_DB_OK);
   CHECK(fs_b.feature_set_id > 0 && fs_b.image_id == image_b.image_id);
 
   /* Create MATCHED result with inliers */
@@ -156,14 +178,16 @@ static bool run_test(void) {
   memset(match_hash, 0x5A, sizeof(match_hash));
   const char *match_path = "assets/matches/5a/asset";
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "orb_bf", 1, fp1, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30,
-            match_hash, match_path, 392, 100,
-            &result) == LARDON3D_PROJECT_DB_OK);
-  CHECK(result.match_result_id > 0 && result.candidate_pair_id == pair.candidate_pair_id &&
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30, match_hash, match_path,
+            392, 100, &result) == LARDON3D_PROJECT_DB_OK);
+  CHECK(result.match_result_id > 0 &&
+        result.candidate_pair_id == pair.candidate_pair_id &&
         result.feature_set_id_a == fs_a.feature_set_id &&
         result.feature_set_id_b == fs_b.feature_set_id &&
-        strcmp(result.matcher_kind, "orb_bf") == 0 && result.matcher_version == 1 &&
+        strcmp(result.matcher_kind, "orb_bf") == 0 &&
+        result.matcher_version == 1 &&
         memcmp(result.parameter_fingerprint, fp1, 32) == 0 &&
         result.result_status == LARDON3D_MATCH_RESULT_STATUS_MATCHED &&
         result.match_count == 30 && result.created_at == 100);
@@ -173,9 +197,9 @@ static bool run_test(void) {
   unsigned char fp2[32];
   memset(fp2, 0x02, 32);
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "orb_bf", 2, fp2, LARDON3D_MATCH_RESULT_STATUS_NO_MATCH, 0,
-            NULL, NULL, 0, 200,
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 2, fp2,
+            LARDON3D_MATCH_RESULT_STATUS_NO_MATCH, 0, NULL, NULL, 0, 200,
             &result) == LARDON3D_PROJECT_DB_OK);
   CHECK(result.result_status == LARDON3D_MATCH_RESULT_STATUS_NO_MATCH &&
         result.match_count == 0 && !result.has_match_asset);
@@ -183,10 +207,10 @@ static bool run_test(void) {
 
   /* Duplicate: same CP + same matcher + same params + same FS → CONSTRAINT */
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "orb_bf", 1, fp1, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 10,
-            match_hash, match_path, 152, 500,
-            &result) == LARDON3D_PROJECT_DB_CONSTRAINT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 10, match_hash, match_path,
+            152, 500, &result) == LARDON3D_PROJECT_DB_CONSTRAINT);
 
   /* Create additional Feature Sets for distinct-FS and inverted-ID tests */
   unsigned char feature_hash_a2[LARDON3D_PROJECT_DB_SHA256_SIZE] = {0x33};
@@ -197,7 +221,8 @@ static bool run_test(void) {
   memset(fs_a2_fp, 0xAA, 32);
   CHECK(lardon3d_project_db_register_feature_set(
             database, image_a.image_id, "orb", 2, fs_a2_fp, hash_a, 200, 1, 32,
-            feature_hash_a2, feature_path_a2, 256, LARDON3D_DB_FEATURE_ASSET_DURABLE, 0, 30,
+            feature_hash_a2, feature_path_a2, 256,
+            LARDON3D_DB_FEATURE_ASSET_DURABLE, 0, 30,
             &fs_a2) == LARDON3D_PROJECT_DB_OK);
   CHECK(fs_a2.feature_set_id > 0 && fs_a2.image_id == image_a.image_id);
 
@@ -208,10 +233,10 @@ static bool run_test(void) {
   unsigned char fs_b2_fp[32];
   memset(fs_b2_fp, 0xBB, 32);
   CHECK(lardon3d_project_db_register_feature_set(
-            database, image_b.image_id, "sift", 2, fs_b2_fp, hash_b, 200, 2, 128,
-            feature_hash_b2, feature_path_b2, 512,
-            LARDON3D_DB_FEATURE_ASSET_PUBLISHED_NOT_DURABLE, 0, 40, &fs_b2) ==
-        LARDON3D_PROJECT_DB_OK);
+            database, image_b.image_id, "sift", 2, fs_b2_fp, hash_b, 200, 2,
+            128, feature_hash_b2, feature_path_b2, 512,
+            LARDON3D_DB_FEATURE_ASSET_PUBLISHED_NOT_DURABLE, 0, 40,
+            &fs_b2) == LARDON3D_PROJECT_DB_OK);
   CHECK(fs_b2.feature_set_id > 0 && fs_b2.image_id == image_b.image_id);
 
   /* Same CP + same matcher + same params + different FS → distinct */
@@ -219,41 +244,46 @@ static bool run_test(void) {
   memset(fp5, 0x05, 32);
   Lardon3DProjectDbMatchResult distinct_fs_result;
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a2.feature_set_id, fs_b2.feature_set_id,
-            "orb_bf", 1, fp5, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 20,
-            match_hash, match_path, 272, 400,
-            &distinct_fs_result) == LARDON3D_PROJECT_DB_OK);
+            database, pair.candidate_pair_id, fs_a2.feature_set_id,
+            fs_b2.feature_set_id, "orb_bf", 1, fp5,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 20, match_hash, match_path,
+            272, 400, &distinct_fs_result) == LARDON3D_PROJECT_DB_OK);
   CHECK(distinct_fs_result.feature_set_id_a == fs_a2.feature_set_id &&
         distinct_fs_result.feature_set_id_b == fs_b2.feature_set_id);
   uint64_t distinct_id = distinct_fs_result.match_result_id;
   CHECK(distinct_id != first_id);
 
   /* feature_set_id_a > feature_set_id_b but correct ownership → valid */
-  /* Register image_c, image_d; create FS for d first, then c → fs_c.id > fs_d.id */
+  /* Register image_c, image_d; create FS for d first, then c → fs_c.id >
+   * fs_d.id */
   unsigned char hash_c[LARDON3D_PROJECT_DB_SHA256_SIZE] = {0xCC};
   char path_c[LARDON3D_PROJECT_DB_PATH_CAPACITY];
   asset_path_for_hash(hash_c, path_c);
   Lardon3DProjectDbImage image_c;
-  CHECK(lardon3d_project_db_register_image(database, scanset.scanset_id, hash_c, path_c, 1,
-                                            "c.jpg", "/src/c.jpg", 0, 3, &identity_status,
+  CHECK(lardon3d_project_db_register_image(database, scanset.scanset_id, hash_c,
+                                           path_c, 1, "c.jpg", "/src/c.jpg", 0,
+                                           3, &identity_status,
                                            &image_c) == LARDON3D_PROJECT_DB_OK);
 
   unsigned char hash_d[LARDON3D_PROJECT_DB_SHA256_SIZE] = {0xDD};
   char path_d[LARDON3D_PROJECT_DB_PATH_CAPACITY];
   asset_path_for_hash(hash_d, path_d);
   Lardon3DProjectDbImage image_d;
-  CHECK(lardon3d_project_db_register_image(database, scanset.scanset_id, hash_d, path_d, 1,
-                                            "d.jpg", "/src/d.jpg", 0, 4, &identity_status,
+  CHECK(lardon3d_project_db_register_image(database, scanset.scanset_id, hash_d,
+                                           path_d, 1, "d.jpg", "/src/d.jpg", 0,
+                                           4, &identity_status,
                                            &image_d) == LARDON3D_PROJECT_DB_OK);
 
-  /* Create feature set for image_d first (lower ID), then image_c (higher ID) */
+  /* Create feature set for image_d first (lower ID), then image_c (higher ID)
+   */
   unsigned char feature_hash_d[LARDON3D_PROJECT_DB_SHA256_SIZE] = {0x55};
   char feature_path_d[LARDON3D_PROJECT_DB_PATH_CAPACITY];
   feature_asset_path_for_hash(feature_hash_d, feature_path_d);
   Lardon3DProjectDbFeatureSet fs_d;
   CHECK(lardon3d_project_db_register_feature_set(
-            database, image_d.image_id, "orb", 1, feature_hash_d, hash_d, 100, 1, 32,
-            feature_hash_d, feature_path_d, 128, LARDON3D_DB_FEATURE_ASSET_DURABLE, 0, 50,
+            database, image_d.image_id, "orb", 1, feature_hash_d, hash_d, 100,
+            1, 32, feature_hash_d, feature_path_d, 128,
+            LARDON3D_DB_FEATURE_ASSET_DURABLE, 0, 50,
             &fs_d) == LARDON3D_PROJECT_DB_OK);
 
   unsigned char feature_hash_c[LARDON3D_PROJECT_DB_SHA256_SIZE] = {0x66};
@@ -261,26 +291,27 @@ static bool run_test(void) {
   feature_asset_path_for_hash(feature_hash_c, feature_path_c);
   Lardon3DProjectDbFeatureSet fs_c;
   CHECK(lardon3d_project_db_register_feature_set(
-            database, image_c.image_id, "sift", 1, feature_hash_c, hash_c, 100, 2, 128,
-            feature_hash_c, feature_path_c, 256,
-            LARDON3D_DB_FEATURE_ASSET_PUBLISHED_NOT_DURABLE, 0, 60, &fs_c) ==
-        LARDON3D_PROJECT_DB_OK);
+            database, image_c.image_id, "sift", 1, feature_hash_c, hash_c, 100,
+            2, 128, feature_hash_c, feature_path_c, 256,
+            LARDON3D_DB_FEATURE_ASSET_PUBLISHED_NOT_DURABLE, 0, 60,
+            &fs_c) == LARDON3D_PROJECT_DB_OK);
 
   /* fs_c was created after fs_d → fs_c.feature_set_id > fs_d.feature_set_id */
   CHECK(fs_c.feature_set_id > fs_d.feature_set_id);
 
   /* CP (image_c, image_d): image_c should come first since registered first */
   Lardon3DProjectDbCandidatePair pair_cd;
-  CHECK(lardon3d_project_db_create_candidate_pair(database, image_c.image_id, image_d.image_id, 20,
-                                                    &pair_cd) == LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_create_candidate_pair(
+            database, image_c.image_id, image_d.image_id, 20, &pair_cd) ==
+        LARDON3D_PROJECT_DB_OK);
   unsigned char fp6[32];
   memset(fp6, 0x06, 32);
   Lardon3DProjectDbMatchResult inverted_fs_result;
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair_cd.candidate_pair_id, fs_c.feature_set_id, fs_d.feature_set_id,
-            "orb_bf", 1, fp6, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 15,
-            match_hash, match_path, 212, 500,
-            &inverted_fs_result) == LARDON3D_PROJECT_DB_OK);
+            database, pair_cd.candidate_pair_id, fs_c.feature_set_id,
+            fs_d.feature_set_id, "orb_bf", 1, fp6,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 15, match_hash, match_path,
+            212, 500, &inverted_fs_result) == LARDON3D_PROJECT_DB_OK);
   CHECK(inverted_fs_result.feature_set_id_a == fs_c.feature_set_id &&
         inverted_fs_result.feature_set_id_b == fs_d.feature_set_id);
   CHECK(fs_c.feature_set_id > fs_d.feature_set_id);
@@ -289,26 +320,27 @@ static bool run_test(void) {
   unsigned char fp7[32];
   memset(fp7, 0x07, 32);
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_b.feature_set_id, fs_a.feature_set_id,
-            "orb_bf", 1, fp7, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 5,
-            match_hash, match_path, 92, 600,
-            &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_b.feature_set_id,
+            fs_a.feature_set_id, "orb_bf", 1, fp7,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 5, match_hash, match_path, 92,
+            600, &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* FeatureSet B belonging to image A (not image B) → rejected */
   unsigned char fp8[32];
   memset(fp8, 0x08, 32);
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_a2.feature_set_id,
-            "orb_bf", 1, fp8, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 5,
-            match_hash, match_path, 92, 700,
-            &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_a2.feature_set_id, "orb_bf", 1, fp8,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 5, match_hash, match_path, 92,
+            700, &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Load by ID */
   Lardon3DProjectDbMatchResult loaded;
   CHECK(lardon3d_project_db_load_match_result(database, first_id, &loaded) ==
         LARDON3D_PROJECT_DB_OK);
-  CHECK(loaded.match_result_id == first_id && loaded.result_status ==
-        LARDON3D_MATCH_RESULT_STATUS_MATCHED && loaded.match_count == 30);
+  CHECK(loaded.match_result_id == first_id &&
+        loaded.result_status == LARDON3D_MATCH_RESULT_STATUS_MATCHED &&
+        loaded.match_count == 30);
 
   /* Load not found */
   CHECK(lardon3d_project_db_load_match_result(database, 999999, &loaded) ==
@@ -316,50 +348,52 @@ static bool run_test(void) {
 
   /* Find by full 6-part identity */
   Lardon3DProjectDbMatchResult found;
-  CHECK(lardon3d_project_db_find_match_result(database, pair.candidate_pair_id,
-                                               fs_a.feature_set_id, fs_b.feature_set_id,
-                                               "orb_bf", 1, fp1,
+  CHECK(lardon3d_project_db_find_match_result(
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, fp1,
             &found) == LARDON3D_PROJECT_DB_OK);
   CHECK(found.match_result_id == first_id && found.match_count == 30);
 
   /* Find with wrong feature_set_id → NOT_FOUND */
-  CHECK(lardon3d_project_db_find_match_result(database, pair.candidate_pair_id,
-                                               fs_a2.feature_set_id, fs_b.feature_set_id,
-                                               "orb_bf", 1, fp1,
+  CHECK(lardon3d_project_db_find_match_result(
+            database, pair.candidate_pair_id, fs_a2.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, fp1,
             &found) == LARDON3D_PROJECT_DB_NOT_FOUND);
 
   /* Find not found */
   unsigned char unknown_fp[32];
   memset(unknown_fp, 0xFF, 32);
-  CHECK(lardon3d_project_db_find_match_result(database, pair.candidate_pair_id,
-                                               fs_a.feature_set_id, fs_b.feature_set_id,
-                                               "orb_bf", 1, unknown_fp,
+  CHECK(lardon3d_project_db_find_match_result(
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, unknown_fp,
             &found) == LARDON3D_PROJECT_DB_NOT_FOUND);
 
   /* Find with wrong candidate_pair */
-  CHECK(lardon3d_project_db_find_match_result(database, 999999,
-                                               fs_a.feature_set_id, fs_b.feature_set_id,
-                                               "orb_bf", 1, fp1,
-                                               &found) == LARDON3D_PROJECT_DB_NOT_FOUND);
+  CHECK(lardon3d_project_db_find_match_result(
+            database, 999999, fs_a.feature_set_id, fs_b.feature_set_id,
+            "orb_bf", 1, fp1, &found) == LARDON3D_PROJECT_DB_NOT_FOUND);
 
   /* Pagination */
   Lardon3DProjectDbMatchResult page[LARDON3D_PROJECT_DB_MATCH_RESULT_PAGE_MAX];
   size_t page_count = 0;
-  CHECK(lardon3d_project_db_list_match_results(database, 0, page, 4, &page_count) ==
-        LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_list_match_results(
+            database, 0, page, 4, &page_count) == LARDON3D_PROJECT_DB_OK);
   CHECK(page_count == 4 && page[0].match_result_id == first_id &&
-        page[1].match_result_id == second_id && page[2].match_result_id == distinct_id);
+        page[1].match_result_id == second_id &&
+        page[2].match_result_id == distinct_id);
 
   /* Cursor pagination */
   page_count = 0;
-  CHECK(lardon3d_project_db_list_match_results(database, first_id, page, 2, &page_count) ==
+  CHECK(lardon3d_project_db_list_match_results(database, first_id, page, 2,
+                                               &page_count) ==
         LARDON3D_PROJECT_DB_OK);
   CHECK(page_count == 2 && page[0].match_result_id == second_id &&
         page[1].match_result_id == distinct_id);
 
   /* End of list */
   page_count = 0;
-  CHECK(lardon3d_project_db_list_match_results(database, distinct_id, page, 1, &page_count) ==
+  CHECK(lardon3d_project_db_list_match_results(database, distinct_id, page, 1,
+                                               &page_count) ==
         LARDON3D_PROJECT_DB_OK);
   CHECK(page_count == 1 && page[0].match_result_id > distinct_id);
 
@@ -369,114 +403,116 @@ static bool run_test(void) {
             &page_count) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Invalid arguments: NULL database */
-  CHECK(lardon3d_project_db_create_match_result(NULL, pair.candidate_pair_id,
-            fs_a.feature_set_id, fs_b.feature_set_id, "orb_bf", 1, fp1,
-            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30,
-            match_hash, match_path, 392, 100,
-            &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+  CHECK(lardon3d_project_db_create_match_result(
+            NULL, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30, match_hash, match_path,
+            392, 100, &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Invalid arguments: 0 ids */
   CHECK(lardon3d_project_db_create_match_result(
-            database, 0, fs_a.feature_set_id, fs_b.feature_set_id, "orb_bf", 1, fp1,
-            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30,
-            match_hash, match_path, 392, 100, &result) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, 0, fs_a.feature_set_id, fs_b.feature_set_id, "orb_bf", 1,
+            fp1, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30, match_hash,
+            match_path, 392, 100,
+            &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, 0, fs_b.feature_set_id, "orb_bf", 1, fp1,
-            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30,
-            match_hash, match_path, 392, 100, &result) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, 0, fs_b.feature_set_id, "orb_bf",
+            1, fp1, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30, match_hash,
+            match_path, 392, 100,
+            &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Invalid arguments: NULL output */
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "orb_bf", 1, fp1, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30,
-            match_hash, match_path, 392, 100, NULL) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30, match_hash, match_path,
+            392, 100, NULL) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Invalid arguments: empty matcher_kind */
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "", 1, fp1, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30,
-            match_hash, match_path, 392, 100, &result) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "", 1, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30, match_hash, match_path,
+            392, 100, &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Invalid arguments: 0 matcher_version */
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "orb_bf", 0, fp1, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30,
-            match_hash, match_path, 392, 100, &result) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 0, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30, match_hash, match_path,
+            392, 100, &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Invalid arguments: NULL fingerprint */
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "orb_bf", 1, NULL, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30,
-            match_hash, match_path, 392, 100, &result) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, NULL,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30, match_hash, match_path,
+            392, 100, &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Invalid arguments: bad status */
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "orb_bf", 1, fp1, 2, 30,
-            match_hash, match_path, 392, 100, &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, fp1, 2, 30, match_hash,
+            match_path, 392, 100,
+            &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Invalid result/asset combinations */
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "orb_bf", 1, fp1, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 10,
-            NULL, NULL, 0, 100, &result) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 10, NULL, NULL, 0, 100,
+            &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "bad-no-match", 1, fp1, LARDON3D_MATCH_RESULT_STATUS_NO_MATCH, 0,
-            match_hash, match_path, 32, 100, &result) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "bad-no-match", 1, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_NO_MATCH, 0, match_hash, match_path,
+            32, 100, &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "too-many", 1, fp1, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 8193,
-            match_hash, match_path, 98348, 100, &result) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "too-many", 1, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 8193, match_hash, match_path,
+            98348, 100, &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Invalid arguments: negative created_at */
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "orb_bf", 1, fp1, LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30,
-            match_hash, match_path, 392, -1, &result) ==
-        LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_MATCHED, 30, match_hash, match_path,
+            392, -1, &result) == LARDON3D_PROJECT_DB_INVALID_ARGUMENT);
 
   /* Status boundary values */
   CHECK(lardon3d_project_db_create_match_result(
-            database, pair.candidate_pair_id, fs_a.feature_set_id, fs_b.feature_set_id,
-            "boundary", 1, fp1, LARDON3D_MATCH_RESULT_STATUS_NO_MATCH, 0,
-            NULL, NULL, 0, 500, &result) ==
-        LARDON3D_PROJECT_DB_OK);
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "boundary", 1, fp1,
+            LARDON3D_MATCH_RESULT_STATUS_NO_MATCH, 0, NULL, NULL, 0, 500,
+            &result) == LARDON3D_PROJECT_DB_OK);
 
   /* Close/reopen persistence */
   lardon3d_project_db_close(database);
   database = NULL;
 
-  CHECK(lardon3d_project_db_open(database_path, &database, error) == LARDON3D_PROJECT_DB_OK);
-  CHECK(lardon3d_project_db_schema_version(database) == 15);
+  CHECK(lardon3d_project_db_open(database_path, &database, error) ==
+        LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_schema_version(database) == 16);
 
   /* Verify persistence: load previously created results */
   CHECK(lardon3d_project_db_load_match_result(database, first_id, &loaded) ==
         LARDON3D_PROJECT_DB_OK);
-  CHECK(loaded.match_result_id == first_id && loaded.result_status ==
-        LARDON3D_MATCH_RESULT_STATUS_MATCHED &&
+  CHECK(loaded.match_result_id == first_id &&
+        loaded.result_status == LARDON3D_MATCH_RESULT_STATUS_MATCHED &&
         strcmp(loaded.matcher_kind, "orb_bf") == 0 && loaded.match_count == 30);
 
   /* Verify persistence: find by key */
-  CHECK(lardon3d_project_db_find_match_result(database, pair.candidate_pair_id,
-                                               fs_a.feature_set_id, fs_b.feature_set_id,
-                                               "orb_bf", 1, fp1,
+  CHECK(lardon3d_project_db_find_match_result(
+            database, pair.candidate_pair_id, fs_a.feature_set_id,
+            fs_b.feature_set_id, "orb_bf", 1, fp1,
             &found) == LARDON3D_PROJECT_DB_OK);
   CHECK(found.match_result_id == first_id);
 
   /* Verify persistence of distinct result */
   Lardon3DProjectDbMatchResult distinct_loaded;
-  CHECK(lardon3d_project_db_load_match_result(database, distinct_id, &distinct_loaded) ==
-        LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_load_match_result(
+            database, distinct_id, &distinct_loaded) == LARDON3D_PROJECT_DB_OK);
   CHECK(distinct_loaded.match_result_id == distinct_id &&
         distinct_loaded.feature_set_id_a == fs_a2.feature_set_id &&
         distinct_loaded.feature_set_id_b == fs_b2.feature_set_id);
@@ -484,8 +520,9 @@ static bool run_test(void) {
 
   /* Verify inverted result persisted */
   Lardon3DProjectDbMatchResult inverted_loaded;
-  CHECK(lardon3d_project_db_load_match_result(database, inverted_fs_result.match_result_id,
-                                               &inverted_loaded) == LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_load_match_result(
+            database, inverted_fs_result.match_result_id, &inverted_loaded) ==
+        LARDON3D_PROJECT_DB_OK);
   CHECK(inverted_loaded.feature_set_id_a == fs_c.feature_set_id &&
         inverted_loaded.feature_set_id_b == fs_d.feature_set_id);
   CHECK(inverted_loaded.feature_set_id_a > inverted_loaded.feature_set_id_b);
@@ -495,15 +532,20 @@ static bool run_test(void) {
 
   /* Migration from v9 */
   CHECK(create_v9_database(v9_path));
-  CHECK(query_integer(v9_path, "SELECT value FROM metadata WHERE key='schema_version'", 9));
-  CHECK(lardon3d_project_db_open(v9_path, &database, error) == LARDON3D_PROJECT_DB_OK);
-  CHECK(lardon3d_project_db_schema_version(database) == 15);
+  CHECK(query_integer(
+      v9_path, "SELECT value FROM metadata WHERE key='schema_version'", 9));
+  CHECK(lardon3d_project_db_open(v9_path, &database, error) ==
+        LARDON3D_PROJECT_DB_OK);
+  CHECK(lardon3d_project_db_schema_version(database) == 16);
   lardon3d_project_db_close(database);
   database = NULL;
-  CHECK(query_integer(v9_path, "SELECT value FROM metadata WHERE key='schema_version'", 15));
-  CHECK(query_integer(v9_path,
+  CHECK(query_integer(
+      v9_path, "SELECT value FROM metadata WHERE key='schema_version'", 16));
+  CHECK(
+      query_integer(v9_path,
                     "SELECT count(*) FROM sqlite_master WHERE type='table' AND "
-                      "name='match_results'", 1));
+                    "name='match_results'",
+                    1));
 
   /* Forced migration failure v10 */
   CHECK(create_v9_database(failed_v10_path));
@@ -511,15 +553,22 @@ static bool run_test(void) {
   CHECK(lardon3d_project_db_open(failed_v10_path, &database, error) ==
         LARDON3D_PROJECT_DB_IO_ERROR);
   CHECK(unsetenv("LARDON3D_TEST_PROJECT_DB_FAIL_MIGRATION_V10") == 0);
-  CHECK(query_integer(failed_v10_path, "SELECT value FROM metadata WHERE key='schema_version'", 9));
   CHECK(query_integer(failed_v10_path,
+                      "SELECT value FROM metadata WHERE key='schema_version'",
+                      9));
+  CHECK(
+      query_integer(failed_v10_path,
                     "SELECT count(*) FROM sqlite_master WHERE type='table' AND "
-                      "name='match_results'", 0));
-  CHECK(query_integer(failed_v10_path,
+                    "name='match_results'",
+                    0));
+  CHECK(
+      query_integer(failed_v10_path,
                     "SELECT count(*) FROM sqlite_master WHERE type='table' AND "
-                      "name='matcher_tasks'", 0));
-  CHECK(lardon3d_project_db_open(failed_v10_path, &database, error) == LARDON3D_PROJECT_DB_OK &&
-      lardon3d_project_db_schema_version(database) == 15);
+                    "name='matcher_tasks'",
+                    0));
+  CHECK(lardon3d_project_db_open(failed_v10_path, &database, error) ==
+            LARDON3D_PROJECT_DB_OK &&
+        lardon3d_project_db_schema_version(database) == 16);
   lardon3d_project_db_close(database);
   database = NULL;
 
@@ -530,6 +579,4 @@ static bool run_test(void) {
   return true;
 }
 
-int main(void) {
-  return run_test() ? EXIT_SUCCESS : EXIT_FAILURE;
-}
+int main(void) { return run_test() ? EXIT_SUCCESS : EXIT_FAILURE; }

tests/test_matcher_task.c

@@ -63,10 +63,10 @@ static bool query_integer(const char *path, const char *sql,
                           sqlite3_int64 expected) {
   sqlite3 *connection = NULL;
   sqlite3_stmt *statement = NULL;
-  bool success = sqlite3_open_v2(path, &connection, SQLITE_OPEN_READONLY,
-                                 NULL) == SQLITE_OK &&
-                 sqlite3_prepare_v2(connection, sql, -1, &statement, NULL) ==
+  bool success =
+      sqlite3_open_v2(path, &connection, SQLITE_OPEN_READONLY, NULL) ==
           SQLITE_OK &&
+      sqlite3_prepare_v2(connection, sql, -1, &statement, NULL) == SQLITE_OK &&
       sqlite3_step(statement) == SQLITE_ROW &&
       sqlite3_column_int64(statement, 0) == expected;
   if (statement) {
@@ -89,6 +89,14 @@ static bool downgrade_project_to_historical_v10(const char *database_path) {
   }
   static const char sql[] =
       "PRAGMA foreign_keys=OFF;BEGIN IMMEDIATE;"
+      "DROP TABLE IF EXISTS sparse_landmark_observations;"
+      "DROP TABLE IF EXISTS sparse_landmarks;"
+      "DROP TABLE IF EXISTS sparse_registered_images;"
+      "DROP TABLE IF EXISTS sparse_reconstruction_components;"
+      "DROP TABLE IF EXISTS sparse_reconstructions;"
+      "DROP TABLE IF EXISTS sparse_calibration_scope_images;"
+      "DROP TABLE IF EXISTS sparse_calibration_scopes;"
+      "DROP TABLE IF EXISTS sparse_calibrations;"
       "DROP TABLE geometric_verifier_tasks;"
       "DROP TABLE geometric_verification_results;"
       "DROP TABLE matcher_tasks;"
@@ -346,17 +354,20 @@ static bool run_test(void) {
   CHECK(query_integer(database_path,
                       "SELECT value FROM metadata WHERE key='schema_version'",
                       10));
-  CHECK(query_integer(database_path,
+  CHECK(
+      query_integer(database_path,
                     "SELECT count(*) FROM sqlite_master WHERE type='table' AND "
                     "name='match_results'",
                     1));
-  CHECK(query_integer(database_path,
+  CHECK(
+      query_integer(database_path,
                     "SELECT count(*) FROM sqlite_master WHERE type='table' AND "
                     "name='matcher_tasks'",
                     0));
   CHECK(reopen_runtime(&fixture));
-  CHECK(lardon3d_project_db_schema_version(fixture.state.project_db) == 15);
-  CHECK(query_integer(database_path,
+  CHECK(lardon3d_project_db_schema_version(fixture.state.project_db) == 16);
+  CHECK(
+      query_integer(database_path,
                     "SELECT count(*) FROM sqlite_master WHERE type='table' AND "
                     "name='matcher_tasks'",
                     1));

tests/test_sparse_sfm_resource.c

@@ -0,0 +1,313 @@
+#include <sqlite3.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <lardon3d/project_db.h>
+#include <lardon3d/sparse_sfm_model.h>
+
+static bool exec_sql(const char *path, const char *sql) {
+  sqlite3 *connection = NULL;
+  bool ok = sqlite3_open(path, &connection) == SQLITE_OK;
+  if (ok)
+    ok = sqlite3_exec(connection, "PRAGMA foreign_keys=ON", NULL, NULL, NULL) ==
+         SQLITE_OK;
+  char *message = NULL;
+  if (ok)
+    ok = sqlite3_exec(connection, sql, NULL, NULL, &message) == SQLITE_OK;
+  if (!ok && connection)
+    fprintf(stderr, "resource SQL failed: %s\n",
+            message ? message : sqlite3_errmsg(connection));
+  sqlite3_free(message);
+  if (connection)
+    ok = sqlite3_close(connection) == SQLITE_OK && ok;
+  return ok;
+}
+
+static bool seed_upstream(const char *path, uint64_t landmark_count) {
+  char *sql = NULL;
+  int required = snprintf(
+      NULL, 0,
+      "PRAGMA foreign_keys=ON;"
+      "INSERT INTO scansets(scanset_id,name,created_at,updated_at) "
+      "VALUES(1,'resource',1,1);"
+      "WITH RECURSIVE n(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM n WHERE x<500) "
+      "INSERT INTO image_assets(asset_id,sha256,path,size_bytes,state,created_at) "
+      "SELECT x,randomblob(32),printf('resource/image-%%d',x),1,1,1 FROM n;"
+      "WITH RECURSIVE n(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM n WHERE x<500) "
+      "INSERT INTO images(image_id,scanset_id,asset_id,original_name,source_path,"
+      "producer_task_id,imported_at) SELECT x,1,x,printf('image-%%d',x),"
+      "printf('resource/image-%%d',x),NULL,1 FROM n;"
+      "WITH RECURSIVE n(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM n WHERE x<500) "
+      "INSERT INTO feature_assets(feature_asset_id,sha256,path,size_bytes,durability,created_at) "
+      "SELECT x,randomblob(32),printf('resource/feature-%%d',x),1,0,1 FROM n;"
+      "WITH RECURSIVE n(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM n WHERE x<500) "
+      "INSERT INTO feature_sets(feature_set_id,image_id,feature_asset_id,extractor_kind,"
+      "extractor_version,parameter_fingerprint,source_image_sha256,feature_count,"
+      "descriptor_type,descriptor_dimension,producer_task_id,created_at) SELECT x,x,x,"
+      "'resource',1,randomblob(32),randomblob(32),5,1,32,NULL,1 FROM n;"
+      "INSERT INTO track_sets(track_set_id,builder_kind,builder_version,parameter_fingerprint,"
+      "verifier_kind,verifier_version,verifier_fingerprint,input_scope_hash,gvr_count,"
+      "track_count,created_at) VALUES(1,'resource',1,zeroblob(32),1,1,zeroblob(32),"
+      "zeroblob(32),1,%llu,1);"
+      "WITH RECURSIVE n(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM n WHERE x<%llu) "
+      "INSERT INTO tracks(track_id,track_set_id,observation_count) SELECT x,1,5 FROM n;"
+      "WITH RECURSIVE t(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM t WHERE x<%llu), "
+      "p(x) AS (SELECT 0 UNION ALL SELECT x+1 FROM p WHERE x<4) "
+      "INSERT INTO track_observations(track_set_id,track_id,feature_set_id,feature_index,"
+      "position_in_track) SELECT 1,t.x,CASE WHEN t.x<=%llu THEN 1+((((t.x-1)%%50)*5+p.x)%%250) "
+      "ELSE 251+((((t.x-1-%llu)%%50)*5+p.x)%%250) END,CASE WHEN t.x<=%llu "
+      "THEN ((t.x-1)/50) ELSE ((t.x-1-%llu)/50) END,p.x "
+      "FROM t CROSS JOIN p;",
+      (unsigned long long)landmark_count,
+      (unsigned long long)landmark_count,
+      (unsigned long long)landmark_count,
+      (unsigned long long)(landmark_count / 2),
+      (unsigned long long)(landmark_count / 2),
+      (unsigned long long)(landmark_count / 2),
+      (unsigned long long)(landmark_count / 2));
+  if (required < 0)
+    return false;
+  sql = malloc((size_t)required + 1);
+  if (!sql)
+    return false;
+  (void)snprintf(
+      sql, (size_t)required + 1,
+      "PRAGMA foreign_keys=ON;"
+      "INSERT INTO scansets(scanset_id,name,created_at,updated_at) VALUES(1,'resource',1,1);"
+      "WITH RECURSIVE n(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM n WHERE x<500) "
+      "INSERT INTO image_assets(asset_id,sha256,path,size_bytes,state,created_at) "
+      "SELECT x,randomblob(32),printf('resource/image-%%d',x),1,1,1 FROM n;"
+      "WITH RECURSIVE n(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM n WHERE x<500) "
+      "INSERT INTO images(image_id,scanset_id,asset_id,original_name,source_path,producer_task_id,imported_at) "
+      "SELECT x,1,x,printf('image-%%d',x),printf('resource/image-%%d',x),NULL,1 FROM n;"
+      "WITH RECURSIVE n(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM n WHERE x<500) "
+      "INSERT INTO feature_assets(feature_asset_id,sha256,path,size_bytes,durability,created_at) "
+      "SELECT x,randomblob(32),printf('resource/feature-%%d',x),1,0,1 FROM n;"
+      "WITH RECURSIVE n(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM n WHERE x<500) "
+      "INSERT INTO feature_sets(feature_set_id,image_id,feature_asset_id,"
+      "extractor_kind,extractor_version,parameter_fingerprint,source_image_sha256,"
+      "feature_count,descriptor_type,descriptor_dimension,producer_task_id,created_at) "
+      "SELECT x,x,x,'resource',1,randomblob(32),randomblob(32),5,1,32,NULL,1 FROM n;"
+      "INSERT INTO track_sets(track_set_id,builder_kind,builder_version,"
+      "parameter_fingerprint,verifier_kind,verifier_version,"
+      "verifier_fingerprint,input_scope_hash,gvr_count,track_count,created_at) "
+      "VALUES(1,'resource',1,zeroblob(32),1,1,zeroblob(32),zeroblob(32),1,%llu,1);"
+      "WITH RECURSIVE n(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM n WHERE x<%llu) "
+      "INSERT INTO tracks(track_id,track_set_id,observation_count) SELECT x,1,5 FROM n;"
+      "WITH RECURSIVE t(x) AS (SELECT 1 UNION ALL SELECT x+1 FROM t WHERE x<%llu),"
+      "p(x) AS (SELECT 0 UNION ALL SELECT x+1 FROM p WHERE x<4) "
+      "INSERT INTO track_observations(track_set_id,track_id,feature_set_id,"
+      "feature_index,position_in_track) SELECT 1,t.x,CASE WHEN t.x<=%llu "
+      "THEN 1+((((t.x-1)%%50)*5+p.x)%%250) ELSE "
+      "251+((((t.x-1-%llu)%%50)*5+p.x)%%250) END,CASE WHEN t.x<=%llu "
+      "THEN ((t.x-1)/50) ELSE ((t.x-1-%llu)/50) END,p.x FROM t CROSS JOIN p;",
+      (unsigned long long)landmark_count,
+      (unsigned long long)landmark_count,
+      (unsigned long long)landmark_count,
+      (unsigned long long)(landmark_count / 2),
+      (unsigned long long)(landmark_count / 2),
+      (unsigned long long)(landmark_count / 2),
+      (unsigned long long)(landmark_count / 2));
+  bool ok = exec_sql(path, sql);
+  free(sql);
+  return ok;
+}
+
+static bool publish_fixture(const char *path, uint64_t landmark_count) {
+  char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
+  Lardon3DProjectDb *db = NULL;
+  if (lardon3d_project_db_open(path, &db, error) != LARDON3D_PROJECT_DB_OK)
+    return false;
+  Lardon3DSparseCalibration calibration = {
+      .model_kind = 1, .model_version = 1, .width = 4000, .height = 3000,
+      .fx = 2000, .fy = 2000, .cx = 2000, .cy = 1500, .provenance_kind = 1};
+  Lardon3DSparseCalibration stored;
+  if (lardon3d_sparse_calibration_create(db, &calibration, &stored) !=
+      LARDON3D_PROJECT_DB_OK)
+    return false;
+  Lardon3DSparseCalibrationMember *members = calloc(500, sizeof(*members));
+  for (size_t index = 0; index < 500; ++index) {
+    members[index].image_id = index + 1;
+    members[index].calibration_id = stored.calibration_id;
+    memcpy(members[index].calibration_hash, stored.scientific_hash, 32);
+  }
+  Lardon3DSparseCalibrationScope scope;
+  bool ok = lardon3d_sparse_calibration_scope_create(db, members, 500, &scope) ==
+            LARDON3D_PROJECT_DB_OK;
+  free(members);
+  if (!ok)
+    fprintf(stderr, "scope or allocation failed\n");
+  if (!ok)
+    return false;
+  Lardon3DSparseComponent components[2] = {
+      {.component_key = 1, .registered_image_count = 250,
+       .landmark_count = landmark_count / 2},
+      {.component_key = 251, .registered_image_count = 250,
+       .landmark_count = landmark_count / 2}};
+  Lardon3DSparseRegisteredImage *poses = calloc(500, sizeof(*poses));
+  Lardon3DSparseLandmark *landmarks = calloc(landmark_count, sizeof(*landmarks));
+  Lardon3DSparseLandmarkObservation *observations =
+      calloc(landmark_count * 5, sizeof(*observations));
+  if (!poses || !landmarks || !observations)
+    return false;
+  for (size_t index = 0; index < 500; ++index)
+    poses[index] = (Lardon3DSparseRegisteredImage){
+        .image_id = index + 1,
+        .component_key = index < 250 ? 1 : 251,
+        .rotation_cw = {1, 0, 0, 0, 1, 0, 0, 0, 1},
+        .translation_cw = {(double)index, 0, 0}};
+  for (uint64_t track = 0; track < landmark_count; ++track) {
+    size_t component_base = track < landmark_count / 2 ? 0 : 250;
+    uint64_t local_track = track < landmark_count / 2
+                               ? track
+                               : track - landmark_count / 2;
+    uint64_t component_key = component_base ? 251 : 1;
+    landmarks[track] = (Lardon3DSparseLandmark){
+        .track_id = track + 1, .component_key = component_key, .x = 0,
+        .y = 0, .z = 1, .reprojection_rmse_px = 0.1,
+        .reprojection_median_px = 0.1, .observation_count = 5};
+    for (uint32_t position = 0; position < 5; ++position) {
+      size_t offset = (size_t)track * 5 + position;
+      uint64_t feature_set = (uint64_t)component_base +
+                             ((local_track % 50) * 5 + position) % 250 + 1;
+      observations[offset] = (Lardon3DSparseLandmarkObservation){
+          .track_id = track + 1,
+          .feature_set_id = feature_set,
+          .feature_index = (uint32_t)(local_track / 50),
+          .position_in_track = position};
+    }
+  }
+  Lardon3DSparsePublication publication = {
+      .track_set_id = 1,
+      .calibration_scope_id = scope.scope_id,
+      .sfm_kind = 1,
+      .sfm_version = 1,
+      .components = components,
+      .component_count = 2,
+      .registered_images = poses,
+      .registered_image_count = 500,
+      .landmarks = landmarks,
+      .landmark_count = landmark_count,
+      .observations = observations,
+      .observation_count = landmark_count * 5,
+      .reprojection_rmse_px = 0.1,
+      .reprojection_median_px = 0.1,
+      .created_at = 1};
+  publication.parameter_fingerprint[0] = 91;
+  Lardon3DSparseReconstruction reconstruction;
+  Lardon3DProjectDbResult publication_result =
+      lardon3d_sparse_reconstruction_publish(db, &publication, &reconstruction);
+  ok = publication_result == LARDON3D_PROJECT_DB_OK;
+  if (!ok) {
+    char detail[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
+    (void)lardon3d_project_db_last_error(db, detail);
+    fprintf(stderr, "publish result %d: %s\n", publication_result, detail);
+  }
+  if (ok)
+    printf("reconstruction_id=%llu landmarks=%llu observations=%llu\n",
+           (unsigned long long)reconstruction.reconstruction_id,
+           (unsigned long long)landmark_count,
+           (unsigned long long)(landmark_count * 5));
+  free(poses);
+  free(landmarks);
+  free(observations);
+  lardon3d_project_db_close(db);
+  return ok;
+}
+
+static bool page_fixture(const char *path, uint64_t reconstruction_id,
+                         unsigned passes) {
+  char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
+  Lardon3DProjectDb *db = NULL;
+  if (lardon3d_project_db_open(path, &db, error) != LARDON3D_PROJECT_DB_OK)
+    return false;
+  uint64_t totals[4] = {0};
+  for (unsigned pass = 0; pass < passes; ++pass) {
+    Lardon3DSparseComponent components_items[64];
+    Lardon3DSparseComponentPage components = {.items = components_items};
+    uint64_t cursor = 0;
+    while (lardon3d_sparse_component_list(db, reconstruction_id, cursor, 64,
+                                          &components) == LARDON3D_PROJECT_DB_OK &&
+           components.count) {
+      totals[0] += components.count;
+      cursor = components.next_component_key;
+    }
+    Lardon3DSparseRegisteredImage cameras[64];
+    Lardon3DSparseRegisteredImagePage camera_page = {.items = cameras};
+    cursor = 0;
+    while (lardon3d_sparse_registered_image_list(
+               db, reconstruction_id, cursor, 64, &camera_page) ==
+               LARDON3D_PROJECT_DB_OK &&
+           camera_page.count) {
+      totals[1] += camera_page.count;
+      cursor = camera_page.next_image_id;
+    }
+    Lardon3DSparseLandmark landmarks[64];
+    Lardon3DSparseLandmarkPage landmark_page = {.items = landmarks};
+    cursor = 0;
+    while (lardon3d_sparse_landmark_list(db, reconstruction_id, cursor, 64,
+                                         &landmark_page) ==
+               LARDON3D_PROJECT_DB_OK &&
+           landmark_page.count) {
+      totals[2] += landmark_page.count;
+      cursor = landmark_page.next_track_id;
+    }
+    Lardon3DSparseLandmarkObservation observations[64];
+    Lardon3DSparseObservationPage observation_page = {.items = observations};
+    uint64_t landmark_cursor = 0;
+    uint32_t position_cursor = 0;
+    while (lardon3d_sparse_observation_list(
+               db, reconstruction_id, landmark_cursor, position_cursor, 64,
+               &observation_page) == LARDON3D_PROJECT_DB_OK &&
+           observation_page.count) {
+      totals[3] += observation_page.count;
+      landmark_cursor = observation_page.next_landmark_id;
+      position_cursor = observation_page.next_position_in_track;
+    }
+  }
+  printf("passes=%u components=%llu cameras=%llu landmarks=%llu observations=%llu\n",
+         passes, (unsigned long long)totals[0], (unsigned long long)totals[1],
+         (unsigned long long)totals[2], (unsigned long long)totals[3]);
+  lardon3d_project_db_close(db);
+  return true;
+}
+
+int main(int argc, char **argv) {
+  if (argc < 3)
+    return 2;
+  const char *mode = argv[1];
+  const char *path = argv[2];
+  if (strcmp(mode, "publish") == 0) {
+    uint64_t landmarks = argc > 3 ? strtoull(argv[3], NULL, 10) : 100000;
+    char error[LARDON3D_PROJECT_DB_ERROR_CAPACITY];
+    Lardon3DProjectDb *database = NULL;
+    if (lardon3d_project_db_open(path, &database, error) !=
+            LARDON3D_PROJECT_DB_OK ||
+        !database) {
+      fprintf(stderr, "open resource database failed: %s\n", error);
+      return 1;
+    }
+    lardon3d_project_db_close(database);
+    if (!seed_upstream(path, landmarks)) {
+      fprintf(stderr, "seed upstream failed\n");
+      return 1;
+    }
+    if (!publish_fixture(path, landmarks)) {
+      fprintf(stderr, "publish fixture failed\n");
+      return 1;
+    }
+    return 0;
+  }
+  if (strcmp(mode, "page") == 0) {
+    unsigned passes = argc > 4 ? (unsigned)strtoul(argv[4], NULL, 10) : 5;
+    return page_fixture(path, argc > 3 ? strtoull(argv[3], NULL, 10) : 1,
+                        passes)
+               ? 0
+               : 1;
+  }
+  return 2;
+}