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@github-actions github-actions released this 05 Jun 15:56
v0.7.0
da87651
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Learn about vigilant mode.

Milestone 9 — VisualDatabase & pure Rust backend

⚙️ Miscellaneous Tasks

  • (examples) Dump db_id pyramid in simple_nft_dual to aid #160 triage
  • (corner-error) Wire the absolute_corner_error gate into kpm-build (#166)
  • (submodule) Bump WebARKitLib for std::map matcher-determinism fix (refs #170)
  • (submodule) Retarget WebARKitLib pin to post-#39 merged master SHA (#170)
  • (bridge) Bump jsartoolkit-nft to 1.10.0 + sharp to 0.34.5 + regen sidecar + widen POSE_ROT_TOL (#170)
  • (examples) Convert simple_nft to arlog macros (PR 4/4 for #90)

🐛 Bug Fixes

  • (test) Regenerate kpm_regression baseline and close CI gap (#155)
  • (test) Restore Linux baseline + gate test_full_pipeline_pose to Linux
  • (tests) Adapt corner-error gate to cross-platform variance (drop pinball-demo, widen epsilon to 2.0 px) (#166)
  • (kpm) Use BTreeMap for Hough vote tally and VisualDatabase keyframes to remove Rust-side matcher nondeterminism (#170)

📚 Documentation

  • (kpm) Add end-to-end pose comparison to M9-2 design doc §10
  • Switch regen capture recipe from arlog_e! to arlog_i! (#155)
  • (examples) Clarify simple_nft_dual.rs reports homography-level comparison (#157)
  • (tests) Add README for annotated_frames fixtures (#166)
  • (readme) Mark M9 (#139) complete, refresh roadmap + nft_marker_gen

🚀 Features

  • (kpm) Port VisualDatabase to Rust (M9-1, #140)
  • (kpm) Move BHC feature index from FeatureMatcher onto Keyframe (#146)
  • (kpm) Port HoughSimilarityVoting::autoAdjustXYNumBins (#150)
  • (kpm) Implement RustFreakMatcher and DualFreakMatcher (M9-2, #141)
  • (examples) Add simple_nft_dual.rs with DualFreakMatcher and per-frame divergence reporting (#157)
  • (tools) Add annotate_corners HTML tool for absolute corner-error fixtures (#166)
  • (tools) Per-corner edit + cursor-centered wheel zoom in annotate_corners (#166)
  • (examples) Save C++ and Rust marker-outline PNGs in simple_nft_dual to visualize divergence
  • (tests) Add cross-stack parity gate vs jsartoolkitNFT-Node (jsartoolkitNFT#584 Track 2, refs #170, #166 Track B)
  • (kpm) Remove C++ FFI as default — pure Rust FreakMatcher complete (#142)
  • (kpm) M9 — pure Rust KPM/NFT pipeline complete (#176)

🧪 Testing

  • (kpm) Redefine M9 parity gate as corner reprojection (#152)
  • (fixtures) Add annotated corner fixtures for the absolute corner-error gate (#166)
  • (fixtures) Set annotator to kalwalt in the 5 annotated corner JSONs (#166)
  • (kpm) Add absolute corner-error regression gate against annotated ground truth (#166)
  • (fixtures) Replace blurry seq fixtures with screen-captured shots; drop nondeterministic frames (#166)
  • (kpm) Add temporary REGEN block to capture post-fix EXPECTED_FULL_POSE on Linux
  • (kpm) Regenerate test_full_pipeline_pose baseline against post-fix Linux values; drop REGEN block
  • (corner-error) Regen baseline post-fix on Linux + widen epsilon to 3.5 px (residual BHC variance) (#170)
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