Replace parallel chunk strategy with sequential incremental assembly:
1. Start with first 20 images, full cpfind + optimize
2. Add 5 new images at a time with 5-image bridge to existing set
3. cpfind only on bridge+new group (small, fast)
4. Remap CPs to global indices and accumulate
This ensures spatial coherence: each new batch is constrained by
the already-stable panorama, preventing orientation flips that
occurred with the parallel chunk approach.
Images are sorted by azimuth, so consecutive indices = spatial
neighbors (guaranteed contiguity).
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Splits large image sets into overlapping chunks of 20 images
(5 image overlap between chunks). Each chunk runs cpfind + cpclean
independently, then CPs are merged with remapped global indices.
Avoids O(n^2) explosion:
- 80 images monolithic: cpfind ~30min + cpclean ~70min = ~100min
- 80 images in 4 chunks of 20: ~4x(2min + 0.5min) = ~10min estimated
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- NavCam -> enblend --pre-assemble (better vignette/horizon handling)
- Mastcam-Z -> verdandi (eliminates overexposure at seam transitions)
- Based on visual comparison: enblend default is best for NavCam,
verdandi is best for MCZ (user confirmed)
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
verdandi eliminates overexposure at seam transitions, especially on
Mastcam-Z panoramas. Also faster than enblend.
Benchmark results:
- MCZ sol 1817: 0 bright cols (vs 142 with enblend)
- MCZ sol 1775: 1 bright col (vs 1105 with enblend)
- Faster: 1s vs 2.3s (sol 1817), 66s vs 174s (sol 1775)
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Dockerfile based on debian:bookworm with Hugin 2024, Python 3, OpenCV
- Automated panorama pipeline for NavCam and Mastcam-Z
- CLAHE preprocessing for cpfind, render with originals
- NavCam tile 01+04 combining with 16px overlap
- docker-compose.yml for homelab deployment
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
