diff --git a/crates/track/src/camtrack.rs b/crates/track/src/camtrack.rs --- a/crates/track/src/camtrack.rs +++ b/crates/track/src/camtrack.rs @@ -67,8 +67,9 @@ pub struct Track2D { } impl Track2D { + /// Exclusive end frame, saturated when the track exceeds the frame index range. pub fn end(&self) -> u32 { - self.start + self.pts.len() as u32 + u32::try_from(self.pts.len()).ok().and_then(|n| self.start.checked_add(n)).unwrap_or(u32::MAX) } /// Position on frame `k` when the track covers it. pub fn at(&self, k: u32) -> Option<[f64; 2]> { @@ -483,3 +484,52 @@ pub fn point_color(id: u32) -> [f32; 3] { // Bright, slightly desaturated. [0.25 + 0.75 * r, 0.25 + 0.75 * g, 0.25 + 0.75 * b] } + +#[cfg(test)] +mod validation_tests { + use super::*; + + fn tracks() -> CameraTracks { + CameraTracks { size: [1920.0, 1080.0], factor: 1.0, frame_duration: 1.0 / 30.0, frames: 3, ..Default::default() } + } + + #[test] + fn track_end_saturates_instead_of_wrapping() { + assert_eq!(Track2D { start: u32::MAX, pts: vec![[0.0; 2]], ..Default::default() }.end(), u32::MAX); + assert_eq!(Track2D { start: 3, pts: vec![[0.0; 2]; 2], ..Default::default() }.end(), 5); + } + + #[test] + fn solve_rejects_large_frame_count_before_allocating() { + let t = CameraTracks { frames: u32::MAX, ..tracks() }; + let error = solve(&t, &SolveSettings::default(), None).unwrap_err(); + assert!(error.0.contains("frame or track count")); + } + + #[test] + fn solve_rejects_overflowing_and_out_of_clip_tracks() { + for start in [u32::MAX, 2] { + let t = CameraTracks { tracks: vec![Track2D { start, pts: vec![[0.0; 2]; 3], ..Default::default() }], ..tracks() }; + let error = solve(&t, &SolveSettings::default(), None).unwrap_err(); + assert!(error.0.contains("frame range")); + } + } + + #[test] + fn solve_rejects_non_finite_track_positions() { + let t = CameraTracks { tracks: vec![Track2D { pts: vec![[f32::NAN, 0.0]; 3], ..Default::default() }], ..tracks() }; + let error = solve(&t, &SolveSettings::default(), None).unwrap_err(); + assert!(error.0.contains("finite")); + } + + #[test] + fn solve_rejects_invalid_dimensions_timing_and_scale() { + for t in [ + CameraTracks { size: [f64::NAN, 1080.0], ..tracks() }, + CameraTracks { frame_duration: 0.0, ..tracks() }, + CameraTracks { factor: f64::INFINITY, ..tracks() }, + ] { + assert!(solve(&t, &SolveSettings::default(), None).is_err()); + } + } +} diff --git a/crates/track/src/camtrack/bundle.rs b/crates/track/src/camtrack/bundle.rs --- a/crates/track/src/camtrack/bundle.rs +++ b/crates/track/src/camtrack/bundle.rs @@ -10,9 +10,9 @@ use rayon::prelude::*; -use super::Distortion; use super::geometry::Pose; use super::linalg::*; +use super::{Distortion, SolveError}; /// A camera in the adjustment. #[derive(Clone, Copy, Debug, PartialEq)] @@ -52,6 +52,7 @@ pub struct BaOpts { pub fixed: Vec, /// Huber threshold (pixels). pub huber: f64, + /// Maximum LM iterations (at most 1000). pub max_iter: usize, /// Adjust the shared radial distortion `(k1, k2)` too. pub distortion: bool, @@ -76,21 +77,89 @@ fn huber(e2: f64, k: f64) -> f64 { if e2 <= k * k { e2 } else { 2.0 * k * e2.sqrt() - k * k } } -/// Residual (pixels) of one observation, `None` behind the camera. +// Bound the temporary systems before any input-sized allocation. Includes dense matrices +// for the main system, trial copies and both Rayon phases, plus per-point/observation data. +const MAX_BA_BYTES: usize = 256 * 1024 * 1024; +const MAX_BA_CAMERAS: usize = 4096; +const MAX_BA_POINTS: usize = 200_000; +const MAX_BA_OBSERVATIONS: usize = 1_000_000; + +fn valid_camera(c: &BaCam) -> bool { + c.f.is_finite() + && c.f > 0.0 + && c.pose.r.iter().flatten().chain(&c.pose.c).all(|v| v.is_finite()) + && [c.dist.k1, c.dist.k2, c.dist.radius].iter().all(|v| v.is_finite()) +} + +fn validate(cams: &[BaCam], pts: &[V3], obs: &[BaObs], o: &BaOpts) -> Result<(), SolveError> { + if cams.len() > MAX_BA_CAMERAS || pts.len() > MAX_BA_POINTS || obs.len() > MAX_BA_OBSERVATIONS { + return Err(SolveError("bundle adjustment input exceeds the supported size".into())); + } + if !o.huber.is_finite() || o.huber <= 0.0 || o.max_iter > 1000 || matches!(o.focal, FocalMode::PerCamera(k) if !k.is_finite() || k < 0.0) { + return Err(SolveError("invalid bundle adjustment options".into())); + } + if cams.iter().any(|c| !valid_camera(c)) || pts.iter().flatten().any(|v| !v.is_finite()) { + return Err(SolveError("bundle adjustment cameras and points must be finite, with positive focal lengths".into())); + } + for ob in obs { + if cams.get(ob.cam as usize).is_none() || pts.get(ob.pt as usize).is_none() { + return Err(SolveError("bundle adjustment observation index is out of range".into())); + } + if ob.uv.iter().any(|v| !v.is_finite()) { + return Err(SolveError("bundle adjustment observations must be finite".into())); + } + } + Ok(()) +} + +fn matrix_len(n: usize, npts: usize, nobs: usize) -> Result { + let threads = rayon::current_num_threads(); + let build_workers = if n <= 700 && npts > 64 { threads.clamp(1, 16) } else { 0 }; + let schur_workers = if n <= 1200 && npts >= 64 && threads > 1 { threads.clamp(1, 8) } else { 0 }; + // The two worker phases do not coexist; allow the larger phase plus main/trial buffers. + let copies = 4 + build_workers.max(schur_workers); + let len = n.checked_mul(n); + let bytes = len + .and_then(|v| v.checked_add(n)) + .and_then(|v| v.checked_mul(size_of::())) + .and_then(|v| v.checked_mul(copies)) + .and_then(|v| npts.checked_mul(320).and_then(|p| v.checked_add(p))) + .and_then(|v| nobs.checked_mul(2 * 9 * size_of::<(usize, V3)>() + size_of::() + 2 * size_of::()).and_then(|p| v.checked_add(p))); + match (len, bytes) { + (Some(len), Some(bytes)) if bytes <= MAX_BA_BYTES => Ok(len), + _ => Err(SolveError("bundle adjustment exceeds its 256 MiB workspace budget; use fewer cameras or observations".into())), + } +} + +/// Residual (pixels), or `None` for an invalid or behind-camera projection. pub fn residual(c: &BaCam, x: V3, uv: [f64; 2]) -> Option<[f64; 2]> { + if !valid_camera(c) || x.iter().chain(&uv).any(|v| !v.is_finite()) { + return None; + } + project_residual(c, x, uv) +} + +fn project_residual(c: &BaCam, x: V3, uv: [f64; 2]) -> Option<[f64; 2]> { let p = c.pose.to_cam(x); - if p[2] <= 1e-9 { + if p[2] <= 1e-9 || p.iter().any(|v| !v.is_finite()) { return None; } let q = c.dist.distort([c.f * p[0] / p[2], c.f * p[1] / p[2]]); - Some([q[0] - uv[0], q[1] - uv[1]]) + let r = [q[0] - uv[0], q[1] - uv[1]]; + r.iter().all(|v| v.is_finite()).then_some(r) +} + +/// Total robust cost. Rejects invalid inputs before starting parallel evaluation. +pub fn cost(cams: &[BaCam], pts: &[V3], obs: &[BaObs], o: &BaOpts) -> Result { + validate(cams, pts, obs, o)?; + let c = validated_cost(cams, pts, obs, o); + if c.is_finite() { Ok(c) } else { Err(SolveError("bundle adjustment cost is not finite".into())) } } -/// Total robust cost. -pub fn cost(cams: &[BaCam], pts: &[V3], obs: &[BaObs], o: &BaOpts) -> f64 { +fn validated_cost(cams: &[BaCam], pts: &[V3], obs: &[BaObs], o: &BaOpts) -> f64 { let c: f64 = obs .par_iter() - .map(|ob| match residual(&cams[ob.cam as usize], pts[ob.pt as usize], ob.uv) { + .map(|ob| match cams.get(ob.cam as usize).zip(pts.get(ob.pt as usize)).and_then(|(c, x)| project_residual(c, *x, ob.uv)) { Some(r) => huber(r[0] * r[0] + r[1] * r[1], o.huber), None => BEHIND, }) @@ -175,15 +244,21 @@ fn cam_jac(l: &Layout, ci: usize, c: &BaCam, xc: V3, a: &[[f64; 3]; 2], p: [f64; } /// Run Levenberg–Marquardt. `cams` and `pts` are updated in place. -pub fn adjust(cams: &mut [BaCam], pts: &mut [V3], obs: &[BaObs], o: &BaOpts) -> BaReport { +/// Invalid inputs or workspaces exceeding 256 MiB return an error before mutation. +pub fn adjust(cams: &mut [BaCam], pts: &mut [V3], obs: &[BaObs], o: &BaOpts) -> Result { + validate(cams, pts, obs, o)?; let l = layout(cams.len(), o); + let matrix_len = matrix_len(l.n, pts.len(), obs.len())?; let npts = pts.len(); // Observations by point. let mut by_pt: Vec> = vec![vec![]; npts]; for (i, ob) in obs.iter().enumerate() { by_pt[ob.pt as usize].push(i as u32); } - let mut cur = cost(cams, pts, obs, o); + let mut cur = validated_cost(cams, pts, obs, o); + if !cur.is_finite() { + return Err(SolveError("bundle adjustment cost is not finite".into())); + } let initial = cur; let t0 = web_time::Instant::now(); let mut tries = 0usize; @@ -191,7 +266,7 @@ pub fn adjust(cams: &mut [BaCam], pts: &mut [V3], obs: &[BaObs], o: &BaOpts) -> let mut lambda = 1e-4; let mut iters = 0; if l.n == 0 && o.fix_points { - return BaReport { initial_cost: initial, cost: cur, iterations: 0 }; + return Ok(BaReport { initial_cost: initial, cost: cur, iterations: 0 }); } let n = l.n; let parallel = n <= 700; @@ -274,12 +349,12 @@ pub fn adjust(cams: &mut [BaCam], pts: &mut [V3], obs: &[BaObs], o: &BaOpts) -> let parts: Vec<(Vec, Vec, Vec)> = (0..chunks) .into_par_iter() .map(|t| { - let (mut s, mut b) = (vec![0.0; n * n], vec![0.0; n]); + let (mut s, mut b) = (vec![0.0; matrix_len], vec![0.0; n]); let v = (t * per..((t + 1) * per).min(npts)).map(|j| build_point(j, &mut s, &mut b)).collect(); (s, b, v) }) .collect(); - let mut s = vec![0.0; n * n]; + let mut s = vec![0.0; matrix_len]; let mut b = vec![0.0; n]; let mut sys = Vec::with_capacity(npts); for (ps, pb, pv) in parts { @@ -293,7 +368,7 @@ pub fn adjust(cams: &mut [BaCam], pts: &mut [V3], obs: &[BaObs], o: &BaOpts) -> } (s, b, sys) } else { - let mut s = vec![0.0; n * n]; + let mut s = vec![0.0; matrix_len]; let mut b = vec![0.0; n]; let sys = (0..npts).map(|j| build_point(j, &mut s, &mut b)).collect(); (s, b, sys) @@ -370,7 +445,7 @@ pub fn adjust(cams: &mut [BaCam], pts: &mut [V3], obs: &[BaObs], o: &BaOpts) -> let parts: Vec<(Vec, Vec)> = (0..chunks) .into_par_iter() .map(|t| { - let (mut ds, mut dr) = (vec![0.0; n * n], vec![0.0; n]); + let (mut ds, mut dr) = (vec![0.0; matrix_len], vec![0.0; n]); reduce(t * per..((t + 1) * per).min(npts), &mut ds, &mut dr); (ds, dr) }) @@ -424,7 +499,11 @@ pub fn adjust(cams: &mut [BaCam], pts: &mut [V3], obs: &[BaObs], o: &BaOpts) -> *x = add(*x, mv(vi, b)); }); } - let c2 = cost(&nc, &np, obs, o); + if nc.iter().any(|c| !valid_camera(c)) || np.iter().flatten().any(|v| !v.is_finite()) { + lambda *= 4.0; + continue; + } + let c2 = validated_cost(&nc, &np, obs, o); if c2.is_finite() && c2 < cur { cams.copy_from_slice(&nc); pts.copy_from_slice(&np); @@ -443,7 +522,7 @@ pub fn adjust(cams: &mut [BaCam], pts: &mut [V3], obs: &[BaObs], o: &BaOpts) -> t0.elapsed().as_secs_f64() ); } - return BaReport { initial_cost: initial, cost: cur, iterations: iters }; + return Ok(BaReport { initial_cost: initial, cost: cur, iterations: iters }); } break; } @@ -456,7 +535,7 @@ pub fn adjust(cams: &mut [BaCam], pts: &mut [V3], obs: &[BaObs], o: &BaOpts) -> if dbg { eprintln!("ba n={} pts={} obs={} iters={iters} tries={tries} {:.2}s cost {initial:.1} -> {cur:.1}", l.n, npts, obs.len(), t0.elapsed().as_secs_f64()); } - BaReport { initial_cost: initial, cost: cur, iterations: iters } + Ok(BaReport { initial_cost: initial, cost: cur, iterations: iters }) } #[cfg(test)] @@ -464,6 +543,75 @@ mod tests { use super::*; use crate::camtrack::geometry::Rng; + fn test_camera() -> BaCam { + BaCam { pose: Pose::IDENTITY, f: 900.0, dist: Distortion::NONE } + } + + #[test] + fn cost_rejects_invalid_observation_indices() { + for (cam, pt) in [(1, 0), (0, 1)] { + let obs = [BaObs { cam, pt, uv: [0.0; 2] }]; + assert!(cost(&[test_camera()], &[[0.0, 0.0, 5.0]], &obs, &BaOpts::default()).is_err()); + } + } + + #[test] + fn adjust_rejects_invalid_observation_without_mutating_inputs() { + for (cam, pt) in [(1, 0), (0, 1)] { + let mut cams = [test_camera()]; + let mut pts = [[0.0, 0.0, 5.0]]; + let before = (cams, pts); + let obs = [BaObs { cam, pt, uv: [0.0; 2] }]; + assert!(adjust(&mut cams, &mut pts, &obs, &BaOpts::default()).is_err()); + assert_eq!((cams, pts), before); + } + } + + #[test] + fn residual_rejects_non_finite_inputs_and_projection_overflow() { + let cam = test_camera(); + assert!(residual(&cam, [0.0, 0.0, f64::NAN], [0.0; 2]).is_none()); + assert!(residual(&cam, [0.0, 0.0, 5.0], [f64::INFINITY, 0.0]).is_none()); + for bad in [ + BaCam { f: f64::NAN, ..cam }, + BaCam { dist: Distortion { k1: f64::INFINITY, ..Distortion::NONE }, ..cam }, + BaCam { pose: Pose { c: [f64::NAN; 3], ..Pose::IDENTITY }, ..cam }, + BaCam { pose: Pose { r: [[f64::INFINITY; 3]; 3], ..Pose::IDENTITY }, ..cam }, + ] { + assert!(residual(&bad, [0.0, 0.0, 5.0], [0.0; 2]).is_none()); + } + assert!(residual(&cam, [f64::MAX, 0.0, 1.0], [0.0; 2]).is_none()); + } + + #[test] + fn adjustment_rejects_non_finite_points_observations_and_options() { + let cam = test_camera(); + let pts = [[0.0, 0.0, 5.0]]; + let obs = [BaObs { cam: 0, pt: 0, uv: [0.0; 2] }]; + assert!(cost(&[cam], &[[f64::NAN, 0.0, 5.0]], &obs, &BaOpts::default()).is_err()); + assert!(cost(&[cam], &pts, &[BaObs { uv: [f64::NAN; 2], ..obs[0] }], &BaOpts::default()).is_err()); + for opts in [ + BaOpts { huber: f64::NAN, ..Default::default() }, + BaOpts { huber: 0.0, ..Default::default() }, + BaOpts { focal: FocalMode::PerCamera(f64::INFINITY), ..Default::default() }, + BaOpts { max_iter: usize::MAX, ..Default::default() }, + ] { + let mut trial_pts = pts; + assert!(adjust(&mut [cam], &mut trial_pts, &obs, &opts).is_err()); + } + } + + #[test] + fn matrix_workspace_is_checked_and_bounded_before_allocation() { + assert!(matrix_len(usize::MAX, 0, 0).is_err()); + assert!(matrix_len(1, usize::MAX, 0).is_err()); + assert!(matrix_len(1, 0, usize::MAX).is_err()); + let mut cams = vec![test_camera(); 1000]; + assert!(adjust(&mut cams, &mut [], &[], &BaOpts::default()).is_err()); + assert!(matrix_len(6, 1000, 1000).is_ok()); + assert!(matrix_len(955, 900, 160 * 900).is_ok()); + } + #[test] fn bundle_adjustment_converges_from_noise() { let mut rng = Rng(99); @@ -493,7 +641,7 @@ mod tests { let mut fixed = vec![false; 6]; fixed[0] = true; fixed[1] = true; - let rep = adjust(&mut cams, &mut pts, &obs, &BaOpts { fixed, max_iter: 50, ..Default::default() }); + let rep = adjust(&mut cams, &mut pts, &obs, &BaOpts { fixed, max_iter: 50, ..Default::default() }).unwrap(); let rms = (rep.cost / obs.len() as f64).sqrt(); assert!(rms < 1e-4, "{rep:?}"); } diff --git a/crates/track/src/camtrack/geometry.rs b/crates/track/src/camtrack/geometry.rs --- a/crates/track/src/camtrack/geometry.rs +++ b/crates/track/src/camtrack/geometry.rs @@ -244,6 +244,9 @@ pub fn reproj2(pose: &Pose, x: V3, o: [f64; 2]) -> Option { /// Pick the essential decomposition with the most points in front of both cameras; returns /// the second camera (the first is the identity) and that count. pub fn select_pose(cands: &[(M3, V3)], x1: &[[f64; 2]], x2: &[[f64; 2]]) -> Option<(Pose, usize)> { + if x1.len() != x2.len() || x1.is_empty() || x1.iter().chain(x2).flatten().any(|v| !v.is_finite()) { + return None; + } let mut best: Option<(Pose, usize)> = None; for (r, t) in cands { let p2 = Pose::from_rt(*r, *t); @@ -380,6 +383,14 @@ mod tests { [c[0] / c[2], c[1] / c[2]] } + #[test] + fn pose_selection_rejects_mismatched_or_non_finite_correspondences() { + let candidates = [(I3, [0.1, 0.0, 0.0])]; + assert!(select_pose(&candidates, &[[0.0; 2]], &[]).is_none()); + assert!(select_pose(&candidates, &[], &[[0.0; 2]]).is_none()); + assert!(select_pose(&candidates, &[[f64::NAN, 0.0]], &[[0.0; 2]]).is_none()); + } + #[test] fn essential_recovers_relative_pose() { let (pts, p2) = scene(); diff --git a/crates/track/src/camtrack/solver.rs b/crates/track/src/camtrack/solver.rs --- a/crates/track/src/camtrack/solver.rs +++ b/crates/track/src/camtrack/solver.rs @@ -42,13 +42,54 @@ struct Data { noise_bits: std::sync::atomic::AtomicU64, } +// Input budgets apply before building the duplicated per-frame/per-track lookup tables. +const MAX_SOLVE_FRAMES: usize = 100_000; +const MAX_SOLVE_TRACKS: usize = 200_000; +const MAX_SOLVE_OBSERVATIONS: usize = 2_000_000; + +fn validate_tracks(t: &CameraTracks) -> Result<(), SolveError> { + if t.frames as usize > MAX_SOLVE_FRAMES || t.tracks.len() > MAX_SOLVE_TRACKS { + return err("camera tracks exceed the supported frame or track count"); + } + if t.size.iter().any(|v| !v.is_finite() || *v <= 0.0) + || !t.factor.is_finite() + || t.factor < 0.0 + || !t.start.is_finite() + || !t.frame_duration.is_finite() + || t.frame_duration <= 0.0 + { + return err("camera tracks have invalid dimensions, timing or analysis scale"); + } + let mut count = 0usize; + for tr in &t.tracks { + count = count + .checked_add(tr.pts.len()) + .filter(|n| *n <= MAX_SOLVE_OBSERVATIONS) + .ok_or_else(|| SolveError("camera tracks exceed the supported observation count".into()))?; + let end = u32::try_from(tr.pts.len()).ok().and_then(|n| tr.start.checked_add(n)); + if end.is_none_or(|end| end > t.frames) { + return err("camera track extends beyond the clip's frame range"); + } + if tr.pts.iter().flatten().any(|v| !v.is_finite()) { + return err("camera track positions must be finite"); + } + } + Ok(()) +} + impl Data { - fn new(t: &CameraTracks, deleted: &[u32]) -> Data { + fn new(t: &CameraTracks, deleted: &[u32]) -> Result { + validate_tracks(t)?; + if deleted.len() > MAX_SOLVE_TRACKS { + return err("too many deleted camera track ids"); + } let n = t.frames as usize; let c = [t.size[0] * 0.5, t.size[1] * 0.5]; let del: HashSet = deleted.iter().copied().collect(); let mut tracks = vec![]; - let mut by_frame = vec![vec![]; n]; + let mut by_frame = Vec::new(); + by_frame.try_reserve_exact(n).map_err(|_| SolveError("not enough memory for camera track frames".into()))?; + by_frame.resize_with(n, Vec::new); for tr in t.tracks.iter().filter(|tr| !del.contains(&tr.id) && tr.pts.len() >= 3) { let ti = tracks.len() as u32; let pts: Vec<[f64; 2]> = tr.pts.iter().map(|p| [p[0] as f64 - c[0], p[1] as f64 - c[1]]).collect(); @@ -60,7 +101,7 @@ impl Data { tracks.push((tr.id, tr.start as usize, pts)); } let noise = (0.5 * t.factor).max(0.5); - Data { n, w: t.size[0], tracks, by_frame, noise_bits: std::sync::atomic::AtomicU64::new(noise.to_bits()) } + Ok(Data { n, w: t.size[0], tracks, by_frame, noise_bits: std::sync::atomic::AtomicU64::new(noise.to_bits()) }) } fn at(&self, ti: u32, k: usize) -> Option<[f64; 2]> { let (_, s, p) = &self.tracks[ti as usize]; @@ -174,10 +215,10 @@ impl Recon { } /// Bundle-adjust the cameras of `frames` (the first stays fixed) and their points. - fn adjust(&mut self, d: &Data, frames: &[usize], cfg: &Cfg, focal: FocalMode, iters: usize) -> f64 { + fn adjust(&mut self, d: &Data, frames: &[usize], cfg: &Cfg, focal: FocalMode, iters: usize) -> Result { let (mut cams, mut pts, obs, ids) = self.observations(d, frames); if obs.is_empty() { - return f64::INFINITY; + return Ok(f64::INFINITY); } let mut fixed = vec![false; cams.len()]; fixed[0] = true; @@ -186,14 +227,14 @@ impl Recon { &mut pts, &obs, &BaOpts { focal, fix_points: false, fix_centers: cfg.kind == Kind::Tripod, fixed, huber: d.huber(), max_iter: iters, distortion: cfg.distortion }, - ); + )?; for (k, c) in frames.iter().zip(&cams) { self.cams.insert(*k, *c); } for (ti, x) in ids.iter().zip(&pts) { self.pts.insert(*ti, *x); } - rep.cost + Ok(rep.cost) } /// Mark observations above the inlier threshold as outliers; drop points left with fewer @@ -302,8 +343,12 @@ impl Recon { break; } let mut cams = vec![start]; - bundle::adjust(&mut cams, &mut pts.clone(), &obs, &opts(d.inlier_thr() * 4.0)); - bundle::adjust(&mut cams, &mut pts.clone(), &obs, &opts(d.huber())); + if bundle::adjust(&mut cams, &mut pts.clone(), &obs, &opts(d.inlier_thr() * 4.0)).is_err() { + return false; + } + if bundle::adjust(&mut cams, &mut pts.clone(), &obs, &opts(d.huber())).is_err() { + return false; + } let inl = obs.iter().filter(|o| bundle::residual(&cams[0], pts[o.pt as usize], o.uv).is_some_and(|r| r[0] * r[0] + r[1] * r[1] <= thr2)).count(); if best.as_ref().is_none_or(|b| inl > b.0) { best = Some((inl, cams[0])); @@ -317,7 +362,9 @@ impl Recon { let keep: Vec = obs.iter().filter(|o| bundle::residual(&cam, pts[o.pt as usize], o.uv).is_some_and(|r| r[0] * r[0] + r[1] * r[1] <= thr2)).copied().collect(); let mut cams = vec![cam]; - bundle::adjust(&mut cams, &mut pts.clone(), &keep, &opts(d.huber())); + if bundle::adjust(&mut cams, &mut pts.clone(), &keep, &opts(d.huber())).is_err() { + return false; + } for o in &obs { let ok = bundle::residual(&cams[0], pts[o.pt as usize], o.uv).is_some_and(|r| r[0] * r[0] + r[1] * r[1] <= thr2); if !ok { @@ -471,10 +518,11 @@ fn grow(d: &Data, kfs: &[usize], j: usize, init: &(Pose, HashMap), f: f r.pts = init.1.clone(); let inner = |r: &mut Recon, frames: &[usize]| { let focal = if cfg.per_frame_f && frames.len() > 2 { FocalMode::PerCamera(F_PRIOR) } else { FocalMode::Fixed }; - r.adjust(d, frames, cfg, focal, 10); + r.adjust(d, frames, cfg, focal, 10)?; r.reject(d); + Ok::<(), SolveError>(()) }; - inner(&mut r, &[a, b]); + inner(&mut r, &[a, b]).ok()?; let order: Vec = kfs[1..j].iter().chain(&kfs[j + 1..]).copied().collect(); let mut done = 0; for k in order { @@ -491,11 +539,11 @@ fn grow(d: &Data, kfs: &[usize], j: usize, init: &(Pose, HashMap), f: f done += 1; let frames: Vec = r.cams.keys().copied().collect(); if done % 3 == 0 || frames.len() <= 6 { - inner(&mut r, &frames); + inner(&mut r, &frames).ok()?; } } let frames: Vec = r.cams.keys().copied().collect(); - inner(&mut r, &frames); + inner(&mut r, &frames).ok()?; (r.cams.len() >= 2 && r.pts.len() >= 8).then_some(r) } @@ -531,10 +579,10 @@ fn grow_tripod(d: &Data, kfs: &[usize], f: f64, cfg: &Cfg, cancel: Option<&Atomi r.triangulate(d, Kind::Tripod, 0.0, 20.0); let frames: Vec = r.cams.keys().copied().collect(); let focal = if cfg.per_frame_f && frames.len() > 2 { FocalMode::PerCamera(F_PRIOR) } else { FocalMode::Fixed }; - r.adjust(d, &frames, cfg, focal, 15); + r.adjust(d, &frames, cfg, focal, 15).ok()?; r.reject(d); r.triangulate(d, Kind::Tripod, 0.0, 1.0); - r.adjust(d, &frames, cfg, focal, 15); + r.adjust(d, &frames, cfg, focal, 15).ok()?; (r.cams.len() >= 2 && r.pts.len() >= 8).then_some(r) } @@ -684,7 +732,7 @@ pub fn solve(tracks: &CameraTracks, s: &SolveSettings, cancel: Option<&AtomicBoo for pass in 0..2 { let und = (pass > 0).then(|| undistorted(tracks, &dist)); let c = solve_core(und.as_ref().unwrap_or(tracks), s, cancel)?; - let d = Data::new(tracks, &s.deleted); + let d = Data::new(tracks, &s.deleted)?; d.set_noise(c.d.noise()); let mut r = c.r; for cam in r.cams.values_mut() { @@ -699,10 +747,10 @@ pub fn solve(tracks: &CameraTracks, s: &SolveSettings, cancel: Option<&AtomicBoo // The pinhole solve's outliers include the distorted frame edges: start from all // observations (the Huber loss keeps real outliers in check), then reject again. r.outliers.clear(); - r.adjust(&d, &frames, &cfg, c.focal, 30); + r.adjust(&d, &frames, &cfg, c.focal, 30)?; r.outliers.clear(); r.reject(&d); - r.adjust(&d, &frames, &cfg, c.focal, 30); + r.adjust(&d, &frames, &cfg, c.focal, 30)?; dist = r.cams[&frames[0]].dist; for cam in r.cams.values_mut() { cam.dist = dist; @@ -742,7 +790,7 @@ pub fn solve(tracks: &CameraTracks, s: &SolveSettings, cancel: Option<&AtomicBoo } fn solve_core(tracks: &CameraTracks, s: &SolveSettings, cancel: Option<&AtomicBool>) -> Result { - let d = Data::new(tracks, &s.deleted); + let d = Data::new(tracks, &s.deleted)?; if d.n < 2 { return err("the clip must be at least two frames long"); } @@ -848,7 +896,7 @@ fn solve_core(tracks: &CameraTracks, s: &SolveSettings, cancel: Option<&AtomicBo lap("tripod"); // Keyframes: adjust with the focal length free, reject, re-triangulate, adjust again. let kf_frames: Vec = r.cams.keys().copied().collect(); - r.adjust(&d, &kf_frames, &cfg, focal, 40); + r.adjust(&d, &kf_frames, &cfg, focal, 40)?; r.reject(&d); // Re-estimate the tracking noise from the inlier residuals (robustly, from their median: // for 2D Gaussian noise of deviation σ the median distance is 1.1774 σ), then tighten the @@ -876,9 +924,9 @@ fn solve_core(tracks: &CameraTracks, s: &SolveSettings, cancel: Option<&AtomicBo r.reject(&d); } r.triangulate(&d, kind, 1.0, 1.0); - r.adjust(&d, &kf_frames, &cfg, focal, 40); + r.adjust(&d, &kf_frames, &cfg, focal, 40)?; r.reject(&d); - r.adjust(&d, &kf_frames, &cfg, focal, 20); + r.adjust(&d, &kf_frames, &cfg, focal, 20)?; if cancelled() { return err("cancelled"); } @@ -910,7 +958,7 @@ fn solve_core(tracks: &CameraTracks, s: &SolveSettings, cancel: Option<&AtomicBo let all: Vec = r.cams.keys().copied().collect(); r.reject(&d); if all.len() <= 160 { - r.adjust(&d, &all, &cfg, focal, 25); + r.adjust(&d, &all, &cfg, focal, 25)?; r.reject(&d); } else { // Points only (cameras fixed) would be cheap but the keyframe solution is already