 Oleksandr Bezdieniezhnykh
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db844db232
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[AZ-662] [AZ-669] Implement ego-motion estimator and primitive graph
AZ-662: movement_detector ego-motion
- Add opencv + petgraph to workspace dependencies
- internal/zoom_bands: per-band telemetry skew tolerances
- internal/telemetry_sync: skew gate (check_skew)
- internal/optical_flow: frame→gray, degenerate detection,
LK sparse flow + RANSAC homography estimation
- internal/ego_motion: EgoMotionEstimator + atomic counters
AZ-669: semantic_analyzer primitive graph
- internal/primitive_graph: NodeType, PrimitiveNode, PrimitiveGraph,
PrimitiveGraphBuilder with proximity-adjacency + BFS connectivity check
- internal/scoring/freshness: FreshnessScorer (Laplacian variance,
texture stddev, undisturbed-surroundings heuristic)
- All ACs covered by unit tests (AC-1/2/3 per task)
Note: native OpenCV not installed on macOS; authoritative test is
cargo test --workspace on Jetson (ssh jetson-e2e).
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-20 19:00:39 +03:00 |
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