Changelog

What changed between versions, kept by hand in the style of Keep a Changelog. A version is a tag, and a tag is what publishes the images, so the two never drift apart.

Unreleased

The first release, v0.1.0, is what this section becomes when it is tagged. What it will carry:

Added

• sfmkit, a Structure-from-Motion library in four layers (apps → render → data → core), enforced by import-linter rather than by good intentions. Ten stages, each a command, sfmkit run doing them in order: calibrate, match, verify, reconstruct, localize, colmap, dense, evaluate, changes, figures. A stage the config says nothing about is walked past, so a project with no historical photograph and no COLMAP runs what it has.
• sfmkit new, a project laid out for you — data/scene/, configs/ and a config that parses — with --photos to copy a directory of photographs in and list them. The layout a config is found by is written by the code that requires it rather than by the README.
• A bundle adjustment of its own — Levenberg–Marquardt, an analytic Jacobian, the points eliminated with the Schur complement — 58× faster than the scipy.optimize.least_squares it replaced, and to a lower cost.
• An old photograph placed in the model, its whole projection matrix solved for, focal length included, then refined in pixels under a Huber loss: 14 px of reprojection down to 2, and the same answer on every seed.
• A change map between that photograph and a modern one, once the two are aligned and their tones matched.
• Every result scored against COLMAP run from scratch on the same photographs: 0.30° mean rotation error over 14 cameras on Valencia, 0.60° on the old photograph.
• sfmview, a web viewer of runs in ports and adapters: both models and the dense cloud in one frame, a photograph inside its camera's frustum, and a run drawn as it is being built, with a timeline to rewind it. It never imports sfmkit; a test fails if its environment so much as can.
• The messages between them written down — sfmcontracts/step.schema.json, an AsyncAPI document for the channels, OpenAPI from the viewer itself — and checked by both test suites.
• Images for both packages, CPU and CUDA, and a compose file that runs the pipeline, the viewer and a broker together.
• A documentation site, a tutorial, and the measurements behind every number quoted, arguments included.