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Fix leak and check covariance in CovarianceWeightedCostFunction - #4911
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The wrapped cost function was owned only after the square root information was computed, so it leaked if that threw. Declare the owning member first, reject null cost functions, and check that the covariance is positive definite instead of silently producing NaN weights. The square root information is computed by a shared helper.
This was referenced Oct 28, 2026
sarlinpe
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ahojnnes
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B1ueber2y
October 28, 2026 07:11
ahojnnes
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Oct 28, 2026
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## Summary - Integrate all 12 upstream commits after the shared base 9371f7b, including LoMa BF16 loading, matching-worker error propagation, keypoint shape scaling, and project-file CLI overrides. - Preserve the fork's CUDA blocking-sync helper alongside upstream's BF16 device check and register the shared CUDA test once. ## Validation - Resolved all merge conflicts; no conflict markers or unmerged paths remain; git diff --check passes. - Incremental Linux CUDA build linked six focused test executables. The prepared custom Ceres closure required its existing Abseil/CUDA library directories on the linker's search path. - CTest passed controllers/base_option_manager_test, feature_matching_utils_test, incremental_pipeline_test, option_manager_test, feature/loma_test, and util/cuda_test (six programs, one run each). - No full suite, Python binding, end-to-end, or performance claim. ## Upstream commits - `ea470c0c4f4a40a3bdfa33d01eb38375c5df64de` Run Windows and remaining pycolmap CI only with the full-ci label (colmap#4904) - `c0339e95482c404b51f38ff9b86866de495984f0` Fix MSVC warnings C4805, C4996, and C4756 (colmap#4910) - `f00d6063bb0b120cf10ee190f7f06f4a34edf432` Expose Ceres solver thresholds in incremental mapping (colmap#4892) - `978a4467f36bbfc9ae18780f2dca253000b0d008` Keep division-camera derivatives finite on the optical axis (colmap#4888) - `98f31541f483788ab550f5c4a4e0804e8674b9e0` Fix leak and check covariance in CovarianceWeightedCostFunction (colmap#4911) - `a467519441171054c7aaa17dffe86fe06431f05c` Avoid stack overflow when compressing union-find chains (colmap#4906) - `404b83db2c2cc04892e14a578ddfa73e0ac9bfb1` Fix LoMa bf16 fallback on CUDA by loading it like any other model (colmap#4924) - `d02e6701dede22eaeee89f73784a8c79f6f289ac` Add max_num_features option to automatic_reconstructor and benchmark (colmap#4907) - `82c3b5db78d96a7e93ca7b8b2af0634e28aa33f4` Propagate errors of feature matching workers instead of terminating (colmap#4921) - `4afe8d1156a71a2ff33974895f221c8eb3740cb1` Rescale keypoint shapes in image coordinates (colmap#4926) - `ce2b5ab9df3801c2b75edbba338c04ad3c8cc6af` Fix vocabulary tree builder descriptor dimensions (colmap#4923) - `f956ce629c21a88d75a7f7b3107298d1faf3dcf3` Fix command-line overrides for project files (colmap#4902)
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Summary
CovarianceWeightedCostFunctionleaked the wrapped cost function when computing the square root information threw, and silently produced non-finite weights for covariances that are not positive definite.std::unique_ptrmember is now declared, and thus initialized, before the square root information, so the wrapped cost function is released if that throws.THROW_CHECK_NOTNULL.std::invalid_argumentinstead of producing NaN weights.internal::ComputeLeftSqrtInformation, which Enable covariance-weighted rotation averaging in global pipelines #4823 reuses for a dynamic-size counterpart.Tests
CovarianceWeightedCostFunction.RejectsNonPositiveDefiniteCovariancechecks that zero and indefinite covariances, and a null cost function, throw. Under ASan, it also checks that the wrapped cost function does not leak.This is the first PR of a stack: #4823 builds on it, and #4912 builds on #4823.