docs: align architecture overview with current pipeline
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# Vue d'ensemble de l'architecture Lardon3D
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# Lardon3D Architecture Overview
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## Finalité et flux global
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## Purpose
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Lardon3D est un moteur de reconstruction géométrique persistante et incrémentale,
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piloté par une TUI ncursesw. Le terminal reste le centre de contrôle : il gère
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les projets, lance les opérations, présente leur progression et permet leur
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annulation. Le viewer sera un composant graphique séparé mais intégré à
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l'interface pour un usage confortable sur un seul écran.
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Lardon3D is a persistent, incremental, resource-aware photogrammetry engine for Linux.
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The TUI is the operational control center for projects, acquisition, Tasks, durable progress,
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resource state, optical configuration and optional external-storage control. Rich visualization and
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live acquisition remain separate product areas and must consume validated snapshots rather than
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mutable worker buffers.
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## Current authority
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```text
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TUI / Projet
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↓
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Task
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↓
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Estimate
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↓
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Task Queue
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↓
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Resource Governor / Reservation
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↓
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callback worker admis
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↓
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Résultat atomique
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↓
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Viewer live
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CURRENT_PROJECT_DB_SCHEMA=v25
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CURRENT_PRODUCTION_TASK_KINDS=16
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RESOURCE_UTILIZATION_POLICY=MAXIMUM_SAFE_USEFUL_THROUGHPUT
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SERIALISM_REQUIRES_PROOF=CANONICAL
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REAL_S21_TRACKS=PASS/FROZEN
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REAL_A6000_PRE_SFM=PASS/FROZEN
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```
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## Composants actuels
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The current Project DB head is additive:
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```text
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v22 Selected scientific execution foundation
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v23 Generic optical-context overlay
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v24 raw.develop.batch/1 persistence
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v25 features.extract.batch/1 persistence
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```
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Earlier schema versions remain valid historical contracts where their documentation says so. Current
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documentation must not present an older version as the active head merely because that version owns a
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specific historical scientific or persistence boundary.
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## Global execution model
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```text
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TUI / Project
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|
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v
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Task
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|
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v
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immutable resource estimate / capability
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|
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v
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bounded Task Queue
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(one active callback)
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|
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v
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Resource Governor
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(admission + reservation)
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|
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v
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admitted owner callback
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|
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+--> bounded internal participants when justified
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|
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v
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deterministic owner publication
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|
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v
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durable checkpoint / restart boundary
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|
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v
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validated snapshot consumers
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```
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The Queue owns bounded dispatch and backpressure. The Governor owns production resource admission.
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The active Task owns its execution state and any bounded internal participants. Scientific stores own
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their own identities and artifact validation.
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No layer may silently absorb another layer's authority.
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## Canonical resource objective
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Lardon3D first preserves the interactive host reserve required for normal workstation use. Safe and
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useful capacity beyond that reserve belongs to the active workload.
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The objective is:
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```text
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MAXIMUM_SAFE_USEFUL_THROUGHPUT
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```
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This does not mean maximizing utilization percentages for appearance. It means using the largest
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currently safe and useful CPU, RAM, I/O and validated accelerator capability while preserving
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scientific identity, deterministic publication, host responsiveness and pressure limits.
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The companion rule is:
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```text
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SERIALISM_REQUIRES_PROOF
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```
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Per-item atomicity does not imply cross-item serialization. Ordered or owner-only durable publication
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does not imply serial preparation. Independent work should expose bounded concurrency when exact
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science and persistence semantics can be preserved.
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A CPU1 or batch1 path may remain when serialism, a measured scaling knee, memory, I/O, GPU execution,
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exclusive state or another concrete constraint justifies it. Historical conservative descriptors are
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not portable performance ceilings.
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On the current validation host, the normal observed outcome is approximately:
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```text
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16 logical CPUs total
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4 logical CPUs reserved for interactive host use
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12 logical CPUs available to the compute pool
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~3 GiB MemAvailable hard reserve
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Radeon 780M UMA available to validated and useful GPU backends
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```
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These values are reference-host observations, not product constants.
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## Current components
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### Project
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Gestion persistante des projets : création, ouverture, fermeture, structure
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de répertoires. Chaque projet regroupe configuration, images originales,
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manifeste, résultats, exports et journaux.
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**Statut :** IMPLEMENTED
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Persistent project lifecycle, stable identity, directory layout and Project DB ownership.
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### Import
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Import asynchrone et annulable d'images dans un projet. Copie individuelle
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des fichiers admissibles et maintenance d'un manifeste cohérent.
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**Status:** IMPLEMENTED
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**Statut :** IMPLEMENTED
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### Project Database
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### Import Task
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Premier type métier persistant. Il s'exécute par lots bornés dans le runtime et
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la Queue génériques, cible explicitement un ScanSet et peut être reconstruit
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puis repris.
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SQLite owns durable logical identities, relations, typed Task payloads, scientific metadata and
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references to external immutable artifacts.
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**Statut :** IMPLEMENTED
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The current schema head is v25. The scientific meaning of historical rows remains owned by the
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versioned contracts that created them.
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### ScanSet et Image Catalog
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Catalogue SQLite persistant séparant acquisition, image logique et asset
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physique SHA-256. Les parcours persistants sont paginés ; l'ancien catalogue
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mémoire depuis `manifest.tsv` reste une façade legacy pour la TUI.
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**Status:** CURRENT / v25
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**Statut :** IMPLEMENTED
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### Import and ScanSets
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### Profils optiques et calibrations
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Import materializes managed immutable assets and logical images under explicit ScanSets. Provenance
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from external source paths remains distinct from managed asset identity.
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Project DB v23 ajoute un overlay générique distinct pour profils de boîtiers,
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objectifs électroniques ou manuels, configurations optiques, affectations aux
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campagnes/Captures et calibrations explicitement compatibles. La migration
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n'infère ni ne backfill aucune donnée S21/A6000 ; ces appareils restent des
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preuves de validation, pas des identités produit.
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**Status:** IMPLEMENTED
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**Statut :** IMPLEMENTED — OVERLAY ADDITIF v23
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### Capture / Asset Provenance
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### Image View
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Vues triées et filtrées du catalogue pour la TUI. Ne modifie pas le
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catalogue, le manifeste ou les images.
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Capture identity remains distinct from file, Asset, `image_id`, SHA-256, path, Task ID and campaign
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group ID. RAW and JPEG siblings may belong to one physical Capture without becoming one file or one
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scientific image identity.
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**Statut :** IMPLEMENTED
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**Status:** PASS / FROZEN
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### TUI observatoire / centre de contrôle
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### Bounded acquisition discovery and campaign execution
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Le thread principal possède ncurses, l'entrée et le rendu. Un modèle pur reçoit
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des copies bornées de l'unique Queue et du Governor, coalescées autour d'une
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seconde, et présente progression durable, ETA honnête, pipeline, ressources,
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profils optiques et SSD. Les dimensions validées sont full ≥100×30, compact de
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référence 72×20, minimum 60×15, puis le fallback `Terminal trop petit`. Les
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couleurs s'accompagnent toujours de libellés textuels et `F10 SSD` reste visible
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au minimum supporté.
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Discovery and planning are bounded and deterministic. Automatic grouping requires the documented
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strong evidence; otherwise explicit caller confirmation remains `CALLER_EXPLICIT`.
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Ouvrir, fermer ou changer de projet détruit/joint l'unique Queue avant de
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fermer Project DB, puis recrée une Queue vide et rebranche l'observation. Les
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ABI historiques Task/Resource/AppState/layout restent inchangées ; les vues
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riches utilisent des structures et fonctions additives décrites dans
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[Runtime](runtime.md).
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Durable campaign execution uses the existing Task, Queue, Governor and Project DB recovery model.
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**Statut :** CURRENT / VALIDATED OPERATIONAL
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**Status:** PASS / FROZEN
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### Photo Quality Triage
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Quality analysis is an operational selection layer, not a scientific identity. It produces explicit
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GOOD / SUSPECT / REJECT recommendations and keeps human overrides distinct.
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**Status:** PASS / FROZEN
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### Selected scientific execution
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The selected-execution snapshot binds the retained acquisition groups to explicit scientific
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representations without inferring identity from paths, filenames or metadata.
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**Status:** PASS / FROZEN
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### Optical profiles and calibration selection
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Project DB v23 provides generic camera-body profiles, lens profiles, optical configurations,
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campaign/Capture assignments, calibration profiles and explicit compatible calibration selection.
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Electronic metadata aliases are exact. Manual lenses without EXIF are normal. Missing or ambiguous
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identity remains unresolved rather than guessed.
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**Status:** IMPLEMENTED / VALIDATED
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### RAW development
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The historical `raw.develop/1` path remains valid. Project DB v24 adds
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`raw.develop.batch/1`, allowing bounded independent RAW preparation with deterministic owner-only
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publication in selected-item order.
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Per-Capture publication remains atomic while cross-Capture preparation may be concurrent.
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**Status:** IMPLEMENTED / VALIDATED
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### Feature Store
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Extraction ORB réelle par tâche persistante, Feature Sets logiques et assets
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binaires content-addressed lisibles par plages bornées.
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**Statut :** IMPLEMENTED
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Feature Store publishes immutable content-addressed Feature Files and bounded typed readers for ORB,
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SIFT and RootSIFT data.
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The historical `features.extract/1` task remains valid. Project DB v25 adds
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`features.extract.batch/1`, which prepares independent selected images with bounded participants and
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publishes Feature Sets deterministically through the owner callback.
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**Status:** IMPLEMENTED / VALIDATED
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### Visual Index
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Index de retrieval ORB LSH persistant en segments immuables. Il indexe les
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Feature Sets par lots bornés et retourne des candidats inter-ScanSets sans
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matching géométrique.
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**Statut :** IMPLEMENTED
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The ORB LSH Visual Index is persistent and segmented. It indexes homogeneous Feature Sets in bounded
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updates and retrieves candidate relationships without performing geometric validation.
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### Task
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Moteur de tâches avec états, progression, pause/reprise coopérative,
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annulation, checkpoints et estimations de ressources.
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**Statut :** IMPLEMENTED
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### Task Queue
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File FIFO avec worker unique, sélection de la première tâche admissible,
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backpressure et bornage du nombre de tâches en attente.
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**Statut :** IMPLEMENTED
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### Hardware Profile
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Détection des capacités matérielles statiques : cœurs CPU, RAM, GPU/VRAM.
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**Statut :** IMPLEMENTED
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### Resource Snapshot
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Capture instantanée des ressources disponibles : RAM libre, charge CPU,
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VRAM disponible.
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**Statut :** IMPLEMENTED
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### Resource Governor
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Arbitrage centralisé des budgets (RAM, GPU, CPU, IO), calcul de lots
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adaptatifs, réservations opaques et historique borné de métriques.
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**Statut :** IMPLEMENTED
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### Contrôleur SSD externe optionnel
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Frontière physique UDisks2 pour la paire de labels `LARDON_SWAP` et
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`LARDON_SCRATCH`, avec identité Drive+UUID stable, état borné, leases scratch
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et drain sûr. Il ne formate, ne répare ni ne force jamais l'hôte et ne remplace
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pas le Resource Governor. La TUI exécute ses actions dans un seul thread
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joinable et le Governor enregistre l'état physique puis orchestre seul les
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leases scratch de production. Les seize Task kinds courants n'en consomment
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aucun ; capacité visible ne signifie donc pas usage.
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**Statut :** CURRENT / VALIDATED OPERATIONAL
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**Status:** IMPLEMENTED
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### Candidate Pair
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Sous-système de génération et persistance de paires d'images candidates pour
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le matching géométrique. Répond uniquement à « quelles paires valent la peine
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d'être explorées ? » sans validation géométrique.
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**Statut :** IMPLEMENTED
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Candidate Pair generation answers which image pairs are worth exploring. Scientific pair identity and
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canonical ordering remain independent from the amount of execution parallelism used to prepare them.
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### Match Result
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Persistance d'un calcul descriptor-level réussi entre deux Feature Sets
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liés à une Candidate Pair. Identité déterministe par
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`(candidate_pair_id, feature_set_id_a, feature_set_id_b, matcher_kind, matcher_version, parameter_fingerprint)`.
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Validation d'appartenance Feature Set → image. Les correspondances vivent dans
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le Match Store v1 content-addressed; les échecs restent dans le Task Runtime.
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Candidate currently uses a bounded coupled CPU/batch ladder because additional CPU cannot exercise
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additional independent pair work while the admitted item window remains one.
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**Statut :** IMPLEMENTED
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**Status:** IMPLEMENTED
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### Matcher
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Matching de descripteurs entre deux Feature Sets via BFMatcher OpenCV
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(ORB Hamming, SIFT/RootSIFT L2) avec Lowe ratio test. Produit un
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Match File content-addressed et un Match Result dans Project DB.
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Déterministe, idempotent, borné.
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**Statut :** IMPLEMENTED
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Matcher produces deterministic Match Results from Feature Sets.
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ORB supports the validated Vulkan hot path with exact CPU fallback. SIFT and RootSIFT remain CPU
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OpenCV L2 paths. GPU use is selected only when a backend is both validated and useful.
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**Status:** IMPLEMENTED
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### Geometric Verification
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Geometric Verifier v3 performs Fundamental USAC/MAGSAC verification with bounded restartable Task
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execution. Scientific solver parallelism remains controlled by its contract while cross-parent
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preparation can use bounded Governor-admitted participants.
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**Status:** IMPLEMENTED / VALIDATED
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### Track Model and Track Builder
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Track Model v1 and Track Builder publish immutable Track Sets with deterministic identity and bounded
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recovery semantics.
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Retained real-data evidence includes:
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```text
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REAL_S21_TRACKS=PASS/FROZEN
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REAL_A6000_PRE_SFM=PASS/FROZEN
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```
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**Status:** PASS / FROZEN
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### Sparse SfM
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Les primitives géométriques calibrées Gate C, le noyau incrémental synchrone
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Gate D et le Bundle Adjustment final par composante Gate E sont implémentés.
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Gate E traite en mémoire une copie du résultat Gate D immutable, sur CPU avec
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un thread Ceres, et publie atomiquement chaque candidate acceptée. Il n'intègre
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ni persistance, ni Task Runtime, ni Resource Governor.
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**Statut :** GATES C/D/E — PASS / FROZEN
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Calibrated Sparse SfM capability is implemented through Gates C-G:
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Gate F relie ces noyaux au Task Runtime durable, à la Queue/Governor/Reservation
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et à la publication Project DB v17 atomique et idempotente.
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- Gate C: calibrated geometric primitives;
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- Gate D: incremental reconstruction core;
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- Gate E: final per-component Bundle Adjustment;
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- Gate F: durable Task orchestration and atomic Project DB publication;
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- Gate G: Governor admission and resource integration.
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**Statut :** GATE F — PASS / FROZEN. Gate G est **PASS / FROZEN**.
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Phase H v1 adds incremental enrichment from immutable predecessor snapshots without redefining Gate F
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scientific identity.
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La phase de pipeline H `incremental_reconstruction.run` v1 enrichit un snapshot
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publié et produit un nouveau snapshot complet avec provenance prédécesseur dans
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Project DB v18. Elle reste scientifiquement distincte de Gate F et ne modifie
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ni F0 ni les contrats Gate D/E.
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**Status:** C-G PASS / FROZEN; PHASE H V1 PASS / FROZEN
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**Statut :** PHASE H V1 — PASS / FROZEN.
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Implemented capability must remain distinct from execution on a particular real campaign. The
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historical S21 and A6000 Engine Bay campaigns remain `CALIBRATION_UNAVAILABLE` for known-calibration
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Sparse SfM. The retained A6000 proof intentionally stopped before Sparse SfM and Dense/MVS.
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## Résultats et publication live
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### MVS boundary
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Les traitements fonctionnent par séquences adaptatives : lire un lot borné,
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calculer, écrire un résultat atomique, libérer la mémoire, puis traiter le
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lot suivant. La stabilité du système hôte et la réactivité de la TUI ont
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priorité sur le débit maximal.
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MVS-M1 provides the validated bounded external OpenMVS boundary and deterministic COLMAP/PLY exchange
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contracts.
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Le viewer consomme des snapshots de résultats validés et publiés
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atomiquement. Il ne lit jamais un fichier intermédiaire et ne partage pas
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directement les buffers de travail d'un worker. Une interruption doit laisser
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le dernier snapshot validé exploitable et permettre la reprise à une
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frontière de séquence connue.
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Durable dense publication, full Dense/MVS orchestration, mesh refinement, texturing and export remain
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future work.
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## Invariants fondamentaux
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**Status:** PASS / FROZEN boundary
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- Aucun callback de tâche n'est lancé sans réservation active validée.
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- La Queue ne décide jamais des ressources.
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- Le Resource Governor est l'unique propriétaire des budgets.
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- Les réservations sont libérées exactement une fois.
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- ncurses appartient exclusivement au thread principal.
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- Les estimations de ressources sont immuables.
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- Les buffers et files sont strictement bornés.
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### Task Runtime
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|
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## Limites actuelles
|
||||
Tasks own lifecycle state, progress, cooperative pause/cancel behavior, sequence boundaries,
|
||||
checkpoints and typed durable reconstruction.
|
||||
|
||||
- File à worker unique avec FIFO stable et bypass des seuls `WAIT` ressources.
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- Absence de DAG de dépendances.
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- Absence de priorités.
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||||
- Absence de pools de workers multiples (CPU/GPU/IO).
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- La TUI legacy ne sélectionne pas encore explicitement ses ScanSets.
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- La réconciliation globale des assets/checkpoints orphelins n'est pas implémentée.
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- La compaction des segments Visual Index n'est pas implémentée.
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- Viewer et publication live non implémentés.
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**Status:** IMPLEMENTED
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### Task Queue
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|
||||
The Queue provides bounded FIFO dispatch with one active callback, stable scanning and resource-WAIT
|
||||
bypass behavior. It does not own resource policy.
|
||||
|
||||
**Status:** IMPLEMENTED
|
||||
|
||||
### Task Kind Registry
|
||||
|
||||
The production registry currently contains 16 Task kinds. Historical documents may legitimately
|
||||
record smaller inventories at their checkpoint.
|
||||
|
||||
**Status:** IMPLEMENTED
|
||||
|
||||
### Hardware Profile and Resource Snapshot
|
||||
|
||||
Hardware Profile detects static host capability. Resource Snapshot captures current observable
|
||||
capacity and pressure signals required for admission.
|
||||
|
||||
Unavailable optional telemetry remains unknown; it must not be fabricated.
|
||||
|
||||
**Status:** IMPLEMENTED
|
||||
|
||||
### Resource Governor
|
||||
|
||||
The Governor is the sole production authority for CPU, RAM, GPU, I/O admission and process-local
|
||||
scratch leases where explicitly supported.
|
||||
|
||||
Pressure may throttle future admission. When pressure clears, useful resources must be eligible to
|
||||
ramp back up; throttling is not a permanent lower ceiling.
|
||||
|
||||
UMA GPU allocations are charged exactly once against host RAM. Swap, zram and external scratch never
|
||||
become admitted RAM.
|
||||
|
||||
**Status:** IMPLEMENTED / VALIDATED
|
||||
|
||||
### Optional external SSD controller
|
||||
|
||||
The UDisks2/GDBus controller owns the reviewed physical lifecycle for the exact
|
||||
`LARDON_SWAP` / `LARDON_SCRATCH` device contract. It is not a second scheduler or Governor.
|
||||
|
||||
The Governor remains the sole production entry for scratch leases. The current 16 production Task
|
||||
kinds have zero authoritative scratch consumption; visible storage capacity is not fabricated usage.
|
||||
|
||||
**Status:** CURRENT / VALIDATED OPERATIONAL
|
||||
|
||||
### TUI observatory and control center
|
||||
|
||||
ncurses input and rendering remain on the main thread. Runtime observation is bounded and coalesced.
|
||||
The TUI exposes project state, Tasks, durable progress, resource state, optical configuration and SSD
|
||||
control.
|
||||
|
||||
Validated layout boundaries are:
|
||||
|
||||
```text
|
||||
full layout >= 100x30
|
||||
reference compact 72x20
|
||||
minimum supported 60x15
|
||||
```
|
||||
|
||||
Below the minimum, only the bounded terminal-too-small fallback is rendered.
|
||||
|
||||
Opening, closing or switching a project is a Queue/DB lifetime boundary: destroy and join the sole
|
||||
Queue first, including finished callbacks, then close Project DB, recreate one empty Queue and rebind
|
||||
observers.
|
||||
|
||||
**Status:** CURRENT / VALIDATED OPERATIONAL
|
||||
|
||||
## Publication and restart model
|
||||
|
||||
Long-running processing follows bounded sequence boundaries:
|
||||
|
||||
```text
|
||||
admit bounded work
|
||||
-> prepare bounded items
|
||||
-> join participants
|
||||
-> publish deterministic atomic results
|
||||
-> persist typed cursor/state
|
||||
-> checkpoint generic Task progress
|
||||
-> release transient buffers
|
||||
-> sequence break / re-admission
|
||||
```
|
||||
|
||||
The exact order varies by Task contract, but durable progress must never claim work that has not
|
||||
reached its authoritative publication boundary.
|
||||
|
||||
A crash may leave generic Task progress behind an already durable immutable result where the
|
||||
documented retry contract permits exact reuse. Recovery must converge from durable identity; it must
|
||||
not guess identity from paths, timestamps, basenames or similar metadata.
|
||||
|
||||
## Viewer and live boundaries
|
||||
|
||||
Viewer, coverage analysis, live localization and capture guidance remain future product areas.
|
||||
|
||||
The architecture requirement is already clear: visual consumers use validated immutable snapshots.
|
||||
They do not access mutable worker buffers, own scientific identity or become a second execution
|
||||
runtime.
|
||||
|
||||
Device-specific acquisition transports such as A6000 HDMI/USB or S21/mobile integration belong at the
|
||||
acquisition adapter boundary. Heavy reconstruction remains PC-side.
|
||||
|
||||
## Core invariants
|
||||
|
||||
- No Task callback executes without a valid active reservation.
|
||||
- Queue/runtime do not own resource policy.
|
||||
- The Resource Governor is the sole production resource authority.
|
||||
- ncurses remains owned by the main thread.
|
||||
- Scientific and operational identities remain distinct.
|
||||
- Task estimates and installed sequence contracts remain immutable for their defined lifetime.
|
||||
- Memory, buffers, queues, files, descriptors, processes, threads and internal participants are bounded.
|
||||
- Per-item atomicity does not imply cross-item serialization.
|
||||
- Owner-only publication does not imply serial preparation.
|
||||
- Validated and useful GPU backends are preferred when eligible and Governor-safe.
|
||||
- UMA GPU memory is charged exactly once against host RAM.
|
||||
- Swap, zram and scratch do not enlarge RAM admission.
|
||||
- Failure and cancellation clean operation-owned transient resources.
|
||||
- Atomic scientific publication never exposes partial results as complete.
|
||||
- FROZEN scientific decisions are not reopened by resource-policy evolution.
|
||||
|
||||
## Current limitations and future scope
|
||||
|
||||
The following remain outside the current implemented execution model:
|
||||
|
||||
- general dependency DAG scheduling;
|
||||
- multiple active Task callbacks / inter-Task worker pools;
|
||||
- general CPU/GPU/I/O worker-pool architecture;
|
||||
- multi-GPU scheduling;
|
||||
- global orphan-artifact reconciliation;
|
||||
- Visual Index compaction / larger-index evolution;
|
||||
- authoritative Task scratch consumers;
|
||||
- durable dense / mesh publication;
|
||||
- full Dense/MVS orchestration;
|
||||
- mesh refinement, texturing and final export workflow;
|
||||
- viewer;
|
||||
- offline coverage analysis;
|
||||
- suggested supplementary viewpoints;
|
||||
- live camera localization;
|
||||
- live coverage overlay;
|
||||
- A6000/S21 live acquisition integration;
|
||||
- capture guidance;
|
||||
- video ingestion and deterministic keyframe extraction.
|
||||
|
||||
Deferring inter-Task parallelism does not authorize accidental serialization inside the one active
|
||||
Task. Bounded internal concurrency remains the current mechanism for independent work under
|
||||
`SERIALISM_REQUIRES_PROOF`.
|
||||
|
||||
## Current summary
|
||||
|
||||
```text
|
||||
CURRENT_PROJECT_DB_SCHEMA=v25
|
||||
CURRENT_PRODUCTION_TASK_KINDS=16
|
||||
|
||||
RESOURCE_UTILIZATION_POLICY=MAXIMUM_SAFE_USEFUL_THROUGHPUT
|
||||
SERIALISM_REQUIRES_PROOF=CANONICAL
|
||||
|
||||
RAW_BATCH_PATH=raw.develop.batch/1
|
||||
FEATURE_BATCH_PATH=features.extract.batch/1
|
||||
|
||||
REAL_S21_TRACKS=PASS/FROZEN
|
||||
REAL_A6000_PRE_SFM=PASS/FROZEN
|
||||
|
||||
SPARSE_SFM_CAPABILITY=C_G_PASS_FROZEN
|
||||
REAL_A6000_SPARSE_SFM_EXECUTED=NO
|
||||
REAL_A6000_DENSE_MVS_EXECUTED=NO
|
||||
|
||||
TUI=CURRENT_VALIDATED_OPERATIONAL
|
||||
VIEWER=FUTURE
|
||||
LIVE_CAPTURE_GUIDANCE=FUTURE
|
||||
```
|
||||
|
||||
Detailed contracts remain owned by the specialized architecture documents. This overview summarizes
|
||||
current repository state and must not replace those normative documents.
|
||||
|
|
|
|||
Loading…
Reference in a new issue