Lightcalibration fitting box by Ibujah · Pull Request #2089 · alicevision/AliceVision

Ibujah · 2026-03-19T09:58:20Z

Lighting calibration (implements Self-calibrated Near-light Photometric Stereo using a Geometric Proxy )

Uncalibrated near-light photometric stereo method, where the parameters of a physics-based illumination model for LEDs are estimated on-the-fly from a geometric proxy obtained, e.g., by MVS. A graduated optimisation procedure has been developed, which progressively refines the illumination model in a scale-aware manner.

Algorithms :

Directionnal lighting : linear estimation
Directionnal lighting : robust estimation with Huber loss
Directionnal lighting rgb intensity : robust estimation with Huber loss
Punctual lighting : robust estimation with extra ponderation on terminator
Punctual lighting rgb intensity: robust estimation Huber loss

Classes :

Generic lighting data, Directionnal lighting data, Punctual lighting data, with saving and loading methods
Sphere data for lighting calibration, from center, radius, calibration and image

…points

Copilot

Pull request overview

This PR introduces an on-the-fly lighting calibration workflow (directional / point / LED) and associated data models/IO, and wires “lightId” into SfM views so multiple images can share a light during calibration.

Changes:

Add View::lightId support and load it from SfM JSON.
Add new lighting estimation module types (calibration spheres, lighting models + JSON IO, Ceres-based minimisations) and update the lighting calibration CLI accordingly.
Add a new pipeline tool to convert lighting parameters into a specific camera/view frame.

Reviewed changes

Copilot reviewed 23 out of 23 changed files in this pull request and generated 13 comments.

Show a summary per file

File	Description
src/software/utils/main_split360Images.cpp	Passes `lightId` into newly created `View` instances.
src/software/pipeline/main_lightingConversionPerCamera.cpp	New CLI tool to convert light parameters to a given view frame.
src/software/pipeline/main_lightingCalibration.cpp	Updates calibration CLI to new sphere/light data flow and outputs lighting JSON.
src/software/pipeline/CMakeLists.txt	Registers the new `aliceVision_lightingConversionPerCamera` executable.
src/aliceVision/sphereDetection/sphereDetection.cpp	Changes preprocessing path for ONNX inference (currently breaks tensor layout).
src/aliceVision/sfmDataIO/jsonIO.cpp	Loads `lightId` for views (but does not save it yet).
src/aliceVision/sfmData/View.hpp	Adds `lightId` field, ctor param, getter/setter, and equality update.
src/aliceVision/lightingEstimation/sphereData.hpp / .cpp	New calibration-sphere container + JSON loader.
src/aliceVision/lightingEstimation/lightingMinimisations.hpp / .cpp	New Ceres-based minimisation routines for lighting fitting.
src/aliceVision/lightingEstimation/lightingData.hpp / .cpp	New lighting model types + JSON save/load + frame conversion.
src/aliceVision/lightingEstimation/lightingCalibration.hpp / .cpp	Refactors calibration pipeline around new data structures and minimisers.
src/aliceVision/lightingEstimation/ellipseGeometry.hpp / .cpp	Adds function to sample sphere points/normals over the image.
src/aliceVision/lightingEstimation/CMakeLists.txt	Adds new sources/headers and links against Ceres.
src/aliceVision/keyframe/KeyframeSelector.cpp	Passes `lightId` into created views.
pyTests/* + pyTests/constants.py	Updates Python tests and constants to account for `lightId`.

Comments suppressed due to low confidence (2)

src/aliceVision/sphereDetection/sphereDetection.cpp:128

cv::dnn::blobFromImage() was commented out, but the input tensor is still declared as NCHW {1,3,H,W} and filled by flattening the cv::Mat memory (HWC). This will feed the model with incorrectly ordered data (and possibly wrong shape), breaking detection. Either restore blobFromImage() (and read from the returned blob), or change the tensor shape/order to match the current imageOpencv layout.

    // uint8 -> float32
    imageOpencv.convertTo(imageOpencv, CV_32FC3, 1 / 255.0);

    // HWC to CHW
    //cv::dnn::blobFromImage(imageOpencv, imageOpencv);

    // Inference on CPU
    // TODO: use GPU
    Ort::MemoryInfo memoryInfo = Ort::MemoryInfo::CreateCpu(OrtAllocatorType::OrtArenaAllocator, OrtMemType::OrtMemTypeDefault);

    // Initialize input tensor
    std::vector<int64_t> inputShape = {1, 3, imageAlice.height(), imageAlice.width()};
    const size_t inputSize = std::accumulate(begin(inputShape), end(inputShape), 1, std::multiplies<size_t>());
    std::vector<float> inputTensor(inputSize);
    inputTensor.assign(imageOpencv.begin<float>(), imageOpencv.end<float>());

src/software/pipeline/main_lightingCalibration.cpp:60

Several CLI parameters/variables are now unused (method, doDebug, saveAsModel, ellipticEstimation). This is confusing for users and can trigger unused-variable warnings. Either wire these options into the new calibration path (or remove them from the CLI and variable list).

    std::string inputPath;
    std::string inputDetection;
    std::string outputJSON;
    std::string method;
    std::string outLightType;
    bool doDebug;
    bool saveAsModel;
    bool ellipticEstimation;

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Copilot · 2026-03-19T23:50:21Z

src/aliceVision/sfmDataIO/jsonIO.cpp

 void loadView(sfmData::View& view, bpt::ptree& viewTree)
 {
    view.setViewId(viewTree.get<IndexT>("viewId", UndefinedIndexT));
    view.setPoseId(viewTree.get<IndexT>("poseId", UndefinedIndexT));
+    view.setLightId(viewTree.get<IndexT>("lightId", UndefinedIndexT));



loadView() now reads lightId, but saveView() never serializes it. This will drop View::_lightId on save/load round-trips. Please add a lightId field in saveView() (ideally only when not UndefinedIndexT, consistent with other IDs).

Copilot · 2026-03-19T23:50:21Z

src/aliceVision/lightingEstimation/ellipseGeometry.cpp

+    Eigen::VectorXf delta = deltaFull(subIndices);
+    Eigen::VectorXf a = aFull(subIndices);
+    Eigen::VectorXf b = bFull(subIndices);
+    Eigen::MatrixX3f directions = directionsFull(subIndices, Eigen::placeholders::all);
+
+    Eigen::VectorXf factors = (-b - delta.cwiseSqrt()).cwiseQuotient(2.0 * a);
+
+    pixels = pixelsFull(subIndices, Eigen::placeholders::all);


This uses Eigen advanced indexing with std::vector indices and Eigen::placeholders::all (eg deltaFull(subIndices) and directionsFull(subIndices, ...)). The project requires Eigen 3.3, which does not support this API, so this will not compile. Please replace with explicit gathering into new Eigen vectors/matrices (or use an Eigen::VectorXi with manual loop).

Suggested change

Eigen::VectorXf delta = deltaFull(subIndices);

Eigen::VectorXf a = aFull(subIndices);

Eigen::VectorXf b = bFull(subIndices);

Eigen::MatrixX3f directions = directionsFull(subIndices, Eigen::placeholders::all);

Eigen::VectorXf factors = (-b - delta.cwiseSqrt()).cwiseQuotient(2.0 * a);

pixels = pixelsFull(subIndices, Eigen::placeholders::all);

const std::size_t nb = subIndices.size();

Eigen::VectorXf delta(nb);

Eigen::VectorXf a(nb);

Eigen::VectorXf b(nb);

Eigen::MatrixX3f directions(nb, 3);

pixels.resize(nb, 2);

points.resize(nb, 3);

normals.resize(nb, 3);

for (std::size_t k = 0; k < nb; ++k)

{

const unsigned int idx = subIndices[k];

delta(static_cast<Eigen::Index>(k)) = deltaFull(idx);

a(static_cast<Eigen::Index>(k)) = aFull(idx);

b(static_cast<Eigen::Index>(k)) = bFull(idx);

directions.row(static_cast<Eigen::Index>(k)) = directionsFull.row(idx);

pixels.row(static_cast<Eigen::Index>(k)) = pixelsFull.row(idx);

}

Eigen::VectorXf factors = (-b - delta.cwiseSqrt()).cwiseQuotient(2.0 * a);

Copilot · 2026-03-19T23:50:21Z

src/aliceVision/lightingEstimation/lightingCalibration.cpp

+	ALICEVISION_LOG_DEBUG("  - " << imagePath.string());
+
+	std::shared_ptr<std::vector<CalibrationSphere>> sphereList = calibrationSpheres.at(viewId);
+	if (!sphereList)
+	{
+		ALICEVISION_LOG_WARNING("No detected sphere found for '" << imagePath << "'.");
+		return false;


calibrationSpheres.at(viewId) will throw if the view has no entry in the map (eg views without detected spheres). Since this function already handles “no sphere” cases, use find() (or count()) before accessing to avoid an exception that aborts the whole calibration.

Copilot · 2026-03-19T23:50:22Z

src/aliceVision/lightingEstimation/lightingCalibration.cpp

+		normalsList.push_back(normals_cur(keptIntensities, Eigen::placeholders::all));
+		pixelsRGBfList.push_back(pixelsRGBf_cur(keptIntensities, Eigen::placeholders::all));
+		if (usePose)
+			pointsList.push_back(points_cur(keptIntensities, Eigen::placeholders::all));


This uses Eigen advanced indexing (normals_cur(keptIntensities, Eigen::placeholders::all) etc). With Eigen 3.3 (repo requirement), this API is unavailable and will not compile. Please replace with manual row selection into new matrices (eg loop over indices and copy rows).

Suggested change

normalsList.push_back(normals_cur(keptIntensities, Eigen::placeholders::all));

pixelsRGBfList.push_back(pixelsRGBf_cur(keptIntensities, Eigen::placeholders::all));

if (usePose)

pointsList.push_back(points_cur(keptIntensities, Eigen::placeholders::all));

// Manually select rows corresponding to keptIntensities (Eigen 3.3 compatible)

const std::size_t nbKept = keptIntensities.size();

Eigen::MatrixX3f normals_kept(nbKept, 3);

Eigen::MatrixX3f pixelsRGBf_kept(nbKept, 3);

for (std::size_t i = 0; i < nbKept; ++i)

{

const unsigned int rowIdx = keptIntensities[i];

normals_kept.row(static_cast<Eigen::Index>(i)) = normals_cur.row(static_cast<Eigen::Index>(rowIdx));

pixelsRGBf_kept.row(static_cast<Eigen::Index>(i)) = pixelsRGBf_cur.row(static_cast<Eigen::Index>(rowIdx));

}

normalsList.push_back(normals_kept);

pixelsRGBfList.push_back(pixelsRGBf_kept);

if (usePose)

{

Eigen::MatrixX3f points_kept(nbKept, 3);

for (std::size_t i = 0; i < nbKept; ++i)

{

const unsigned int rowIdx = keptIntensities[i];

points_kept.row(static_cast<Eigen::Index>(i)) = points_cur.row(static_cast<Eigen::Index>(rowIdx));

}

pointsList.push_back(points_kept);

}

Copilot · 2026-03-19T23:50:22Z

src/aliceVision/lightingEstimation/lightingCalibration.cpp

+        std::shared_ptr<CalibrationData> calibrationData = std::make_shared<CalibrationData>();

-        image::Image<float> patch;
-        patch = imageFloat.block(minISphere, minJSphere, 2 * radius, 2 * radius);
-
-        int nbPixelsPatch = 4 * radius * radius;
-        Eigen::VectorXf imSphere(nbPixelsPatch);
-        Eigen::MatrixXf normalSphere(nbPixelsPatch, lightSize);
-
-        int currentIndex = 0;
-
-        for (size_t j = 0; j < patch.cols(); ++j)
+        if (!calibrationData->prepareView(viewIt.first, sfmData, calibrationSpheres, usePose))
        {
-            for (size_t i = 0; i < patch.rows(); ++i)
-            {
-                float distanceToCenter = sqrt((i - radius) * (i - radius) + (j - radius) * (j - radius));
-                if (distanceToCenter < 0.95 * radius && (patch(i, j) > 0.2) && (patch(i, j) < 0.8))
-                {
-                    imSphere(currentIndex) = patch(i, j);
-
-                    normalSphere(currentIndex, 0) = (float(j) - radius) / radius;
-                    normalSphere(currentIndex, 1) = (float(i) - radius) / radius;
-                    normalSphere(currentIndex, 2) = -sqrt(1 - normalSphere(currentIndex, 0) * normalSphere(currentIndex, 0) -
-                                                          normalSphere(currentIndex, 1) * normalSphere(currentIndex, 1));
-                    normalSphere(currentIndex, 3) = 1;
-                    if (lightSize > 4)
-                    {
-                        normalSphere(currentIndex, 4) = normalSphere(currentIndex, 0) * normalSphere(currentIndex, 1);
-                        normalSphere(currentIndex, 5) = normalSphere(currentIndex, 0) * normalSphere(currentIndex, 2);
-                        normalSphere(currentIndex, 6) = normalSphere(currentIndex, 1) * normalSphere(currentIndex, 2);
-                        normalSphere(currentIndex, 7) = normalSphere(currentIndex, 0) * normalSphere(currentIndex, 0) -
-                                                        normalSphere(currentIndex, 1) * normalSphere(currentIndex, 1);
-                        normalSphere(currentIndex, 8) = 3 * normalSphere(currentIndex, 2) * normalSphere(currentIndex, 2) - 1;
-                    }
-                    ++currentIndex;
-                }
-            }
+            ALICEVISION_LOG_ERROR("Could not prepare view");
+            return false;
        }


prepareView() returns false for legitimate “skip” cases (eg filenames containing ambient, missing sphere entries), but lightCalibration() treats any false as a fatal error and aborts the whole run. Consider distinguishing “skipped” from “error” (eg return enum/status), or treat these cases as non-fatal and continue to the next view.

Copilot · 2026-03-19T23:50:22Z

src/aliceVision/lightingEstimation/lightingData.cpp

+	av_to_vis(2, 2) = -1.;
+	Eigen::Matrix4f RT = pose->getTransform().getHomogeneous().cast<float>() * av_to_vis;
+
+    Eigen::Vector3f newLightPosition = RT.block<3, 3>(0, 0) * lightPosition + RT.block<3,1>(3,0);


Translation extraction is incorrect: RT.block<3,1>(3,0) starts at row 3 and reads past the 4x4 matrix (Eigen will assert in debug and is UB in release). This should be the translation column RT.block<3,1>(0,3).

Suggested change

Eigen::Vector3f newLightPosition = RT.block<3, 3>(0, 0) * lightPosition + RT.block<3,1>(3,0);

Eigen::Vector3f newLightPosition = RT.block<3, 3>(0, 0) * lightPosition + RT.block<3,1>(0,3);

Copilot · 2026-03-19T23:50:23Z

src/aliceVision/lightingEstimation/lightingData.cpp

+	av_to_vis(2, 2) = -1.;
+	Eigen::Matrix4f RT = pose->getTransform().getHomogeneous().cast<float>() * av_to_vis;
+
+    Eigen::Vector3f newLightPosition = RT.block<3, 3>(0, 0) * lightPosition + RT.block<3,1>(3,0);


Same translation-block bug for LED conversion: RT.block<3,1>(3,0) is out-of-bounds/UB. Use the translation column RT.block<3,1>(0,3) when transforming positions.

Suggested change

Eigen::Vector3f newLightPosition = RT.block<3, 3>(0, 0) * lightPosition + RT.block<3,1>(3,0);

Eigen::Vector3f newLightPosition = RT.block<3, 3>(0, 0) * lightPosition + RT.block<3,1>(0,3);

Copilot · 2026-03-19T23:50:23Z

src/aliceVision/lightingEstimation/lightingData.cpp

+    auto& lights = fileTree.get_child("lights");
+	for (auto itLight = lights.get_child("").begin(); itLight != lights.get_child("").end(); itLight++)
+	{
+		IndexT lightId = stoi(itLight->second.get("lightId", "0"));


stoi is used without std:: (IndexT lightId = stoi(...)), which will not compile. Use std::stoi/std::stoul (or ptree.get<IndexT>(...)) to parse the ID.

Suggested change

IndexT lightId = stoi(itLight->second.get("lightId", "0"));

IndexT lightId = itLight->second.get<IndexT>("lightId", IndexT(0));

Copilot · 2026-03-19T23:50:23Z

src/aliceVision/lightingEstimation/lightingMinimisations.cpp

+
+    ceres::LossFunction* loss = new ceres::HuberLoss(epsilonHuberLoss);
+
+    problem.AddResidualBlock(dynamic_cost, nullptr, params, 1);


A Huber loss is allocated but not used: loss is created, then AddResidualBlock is called with nullptr as the loss function. This disables the intended robust fitting and also leaks the loss object. Pass loss to AddResidualBlock (Ceres will take ownership).

Suggested change

problem.AddResidualBlock(dynamic_cost, nullptr, params, 1);

problem.AddResidualBlock(dynamic_cost, loss, params, 1);

Copilot · 2026-03-19T23:50:23Z

src/software/pipeline/main_lightingConversionPerCamera.cpp

+		std::cout << "viewId" << viewId << std::endl;
+        auto& view = sfmData.getViews().at(viewId);
+        auto& pose = sfmData.getPoses().at(view->getPoseId());
+


sfmData.getViews().at(viewId) / getPoses().at(...) will throw on invalid/missing IDs, causing an unhandled exception and abrupt exit. Since this is a CLI tool, consider checking existence (find) and returning EXIT_FAILURE with a clear error message when the viewId/poseId is not found.

Suggested change

std::cout << "viewId" << viewId << std::endl;

auto& view = sfmData.getViews().at(viewId);

auto& pose = sfmData.getPoses().at(view->getPoseId());

std::cout << "viewId " << viewId << std::endl;

// Safely retrieve the view corresponding to the requested viewId

const auto& views = sfmData.getViews();

auto itView = views.find(viewId);

if (itView == views.end())

{

ALICEVISION_LOG_ERROR("View with id " << viewId << " not found in SfM data.");

return EXIT_FAILURE;

}

auto& view = itView->second;

// Safely retrieve the pose associated with the view

const auto& poses = sfmData.getPoses();

const auto poseId = view->getPoseId();

auto itPose = poses.find(poseId);

if (itPose == poses.end())

{

ALICEVISION_LOG_ERROR("Pose with id " << poseId << " (for view " << viewId << ") not found in SfM data.");

return EXIT_FAILURE;

}

auto& pose = itPose->second;

Bastien DURIX added 21 commits February 9, 2026 09:49

directionnal light source estimation from one sphere and several view…

31e6d6b

…points

added structure containing spheres and calibration data

3eb3c6f

few bug corrections, added lighting class

7b59152

few modifs and light loader

3f22b52

Added lighting conversion per camera

d2ce147

punctual light estimation

03009ed

Few adjustements on minimisation

97d8d0c

Initial dstance, removed previous functions

8c00ad4

few tries

1f90f8b

removed jacobian computation

9bbaca2

rgb values

8f92c6e

started led model

eb1a5b1

few tests

ff0c6d6

current state

af5d3a0

geometric calibration

8ff9a4d

reorga

92630f3

few reorganisation

6885481

reorga and comments

69a0b98

removed terminator ponderation from directionnal light estimation

43bd0e3

comments

c639256

removed old files

689c149

Ibujah requested a review from jmelou March 19, 2026 09:58

Ibujah self-assigned this Mar 19, 2026

Bastien DURIX added 5 commits March 19, 2026 11:35

corrections on view constructor calls

e5efaee

removed windows.h inclusion

0a01269

removes windows.h

596978c

pytests update

9ccb464

update pytest

433d6c4

fabiencastan added the majorFeature label Mar 19, 2026

fabiencastan added this to the 3.4.0 milestone Mar 19, 2026

fabiencastan requested a review from Copilot March 19, 2026 23:43

Copilot started reviewing on behalf of fabiencastan March 19, 2026 23:44 View session

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Lightcalibration fitting box#2089

Lightcalibration fitting box#2089
Ibujah wants to merge 26 commits intodev_FittingBoxfrom
lightcalibration_FittingBox

Ibujah commented Mar 19, 2026 •

edited by fabiencastan

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-    Eigen::VectorXf delta = deltaFull(subIndices);
-    Eigen::VectorXf a = aFull(subIndices);
-    Eigen::VectorXf b = bFull(subIndices);
-    Eigen::MatrixX3f directions = directionsFull(subIndices, Eigen::placeholders::all);
-    Eigen::VectorXf factors = (-b - delta.cwiseSqrt()).cwiseQuotient(2.0 * a);
-    pixels = pixelsFull(subIndices, Eigen::placeholders::all);
+    const std::size_t nb = subIndices.size();
+    Eigen::VectorXf delta(nb);
+    Eigen::VectorXf a(nb);
+    Eigen::VectorXf b(nb);
+    Eigen::MatrixX3f directions(nb, 3);
+    pixels.resize(nb, 2);
+    points.resize(nb, 3);
+    normals.resize(nb, 3);
+    for (std::size_t k = 0; k < nb; ++k)
+    {
+        const unsigned int idx = subIndices[k];
+        delta(static_cast<Eigen::Index>(k)) = deltaFull(idx);
+        a(static_cast<Eigen::Index>(k))     = aFull(idx);
+        b(static_cast<Eigen::Index>(k))     = bFull(idx);
+        directions.row(static_cast<Eigen::Index>(k)) = directionsFull.row(idx);
+        pixels.row(static_cast<Eigen::Index>(k))     = pixelsFull.row(idx);
+    }
+    Eigen::VectorXf factors = (-b - delta.cwiseSqrt()).cwiseQuotient(2.0 * a);

-		normalsList.push_back(normals_cur(keptIntensities, Eigen::placeholders::all));
-		pixelsRGBfList.push_back(pixelsRGBf_cur(keptIntensities, Eigen::placeholders::all));
-		if (usePose)
-			pointsList.push_back(points_cur(keptIntensities, Eigen::placeholders::all));
+		// Manually select rows corresponding to keptIntensities (Eigen 3.3 compatible)
+		const std::size_t nbKept = keptIntensities.size();
+		Eigen::MatrixX3f normals_kept(nbKept, 3);
+		Eigen::MatrixX3f pixelsRGBf_kept(nbKept, 3);
+		for (std::size_t i = 0; i < nbKept; ++i)
+		{
+			const unsigned int rowIdx = keptIntensities[i];
+			normals_kept.row(static_cast<Eigen::Index>(i)) = normals_cur.row(static_cast<Eigen::Index>(rowIdx));
+			pixelsRGBf_kept.row(static_cast<Eigen::Index>(i)) = pixelsRGBf_cur.row(static_cast<Eigen::Index>(rowIdx));
+		}
+		normalsList.push_back(normals_kept);
+		pixelsRGBfList.push_back(pixelsRGBf_kept);
+		if (usePose)
+		{
+			Eigen::MatrixX3f points_kept(nbKept, 3);
+			for (std::size_t i = 0; i < nbKept; ++i)
+			{
+				const unsigned int rowIdx = keptIntensities[i];
+				points_kept.row(static_cast<Eigen::Index>(i)) = points_cur.row(static_cast<Eigen::Index>(rowIdx));
+			}
+			pointsList.push_back(points_kept);
+		}

	Eigen::Vector3f newLightPosition = RT.block<3, 3>(0, 0) * lightPosition + RT.block<3,1>(3,0);
	Eigen::Vector3f newLightPosition = RT.block<3, 3>(0, 0) * lightPosition + RT.block<3,1>(0,3);

	IndexT lightId = stoi(itLight->second.get("lightId", "0"));
	IndexT lightId = itLight->second.get<IndexT>("lightId", IndexT(0));


		ceres::LossFunction* loss = new ceres::HuberLoss(epsilonHuberLoss);

		problem.AddResidualBlock(dynamic_cost, nullptr, params, 1);

	problem.AddResidualBlock(dynamic_cost, nullptr, params, 1);
	problem.AddResidualBlock(dynamic_cost, loss, params, 1);

-		std::cout << "viewId" << viewId << std::endl;
-        auto& view = sfmData.getViews().at(viewId);
-        auto& pose = sfmData.getPoses().at(view->getPoseId());
+		std::cout << "viewId " << viewId << std::endl;
+        // Safely retrieve the view corresponding to the requested viewId
+        const auto& views = sfmData.getViews();
+        auto itView = views.find(viewId);
+        if (itView == views.end())
+        {
+            ALICEVISION_LOG_ERROR("View with id " << viewId << " not found in SfM data.");
+            return EXIT_FAILURE;
+        }
+        auto& view = itView->second;
+        // Safely retrieve the pose associated with the view
+        const auto& poses = sfmData.getPoses();
+        const auto poseId = view->getPoseId();
+        auto itPose = poses.find(poseId);
+        if (itPose == poses.end())
+        {
+            ALICEVISION_LOG_ERROR("Pose with id " << poseId << " (for view " << viewId << ") not found in SfM data.");
+            return EXIT_FAILURE;
+        }
+        auto& pose = itPose->second;

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Ibujah commented Mar 19, 2026 •

edited by fabiencastan

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