Oleksandr Bezdieniezhnykh db844db232 [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>

2026-05-20 19:00:39 +03:00

..

AZ-640_initial_structure.md

[AZ-640] Bootstrap Rust workspace, CI/Docker, observability scaffold

2026-05-19 11:52:40 +03:00

AZ-641_mavlink_transport_and_heartbeat.md

[AZ-641] [AZ-642] [AZ-644] mavlink transport + codec + mission pull

2026-05-19 12:29:49 +03:00

AZ-642_mavlink_codec.md

[AZ-641] [AZ-642] [AZ-644] mavlink transport + codec + mission pull

2026-05-19 12:29:49 +03:00

AZ-643_mavlink_ack_demux_and_signing.md

[AZ-643] [AZ-665] [AZ-672] mavlink+mapobjects+vlm batch 4

2026-05-19 13:31:42 +03:00

AZ-644_mission_client_pull_and_schema.md

[AZ-641] [AZ-642] [AZ-644] mavlink transport + codec + mission pull

2026-05-19 12:29:49 +03:00

AZ-645_mission_client_waypoint_post.md

[AZ-645] [AZ-646] [AZ-647] mission_client: middle-waypoint POST + mapobjects pull/push

2026-05-19 12:54:15 +03:00

AZ-646_mission_client_mapobjects_pull.md

[AZ-645] [AZ-646] [AZ-647] mission_client: middle-waypoint POST + mapobjects pull/push

2026-05-19 12:54:15 +03:00

AZ-647_mission_client_mapobjects_push.md

[AZ-645] [AZ-646] [AZ-647] mission_client: middle-waypoint POST + mapobjects pull/push

2026-05-19 12:54:15 +03:00

AZ-648_mission_executor_state_machine.md

[AZ-666] [AZ-673] [AZ-648] ignored set + UDS VLM + mission FSM batch 5

2026-05-19 16:54:00 +03:00

AZ-649_mission_executor_telemetry_forwarding.md

[AZ-649] [AZ-674] [AZ-667] telemetry + vlm schema + mapobjects hydrate batch 6

2026-05-19 17:40:43 +03:00

AZ-650_mission_executor_bit_f9.md

[AZ-650] mission_executor pre-flight BIT (F9) gate (batch 8)

2026-05-19 19:12:48 +03:00

AZ-651_mission_executor_lost_link_ladder.md

[AZ-651] [AZ-668] lost-link failsafe ladder + mapobjects persistence (batch 7)

2026-05-19 18:59:28 +03:00

AZ-652_mission_executor_safety_and_resume.md

[AZ-652] mission_executor safety + resume + middle-waypoint (batch 9)

2026-05-19 19:48:46 +03:00

AZ-653_gimbal_a40_transport.md

[AZ-653] gimbal_controller ViewPro A40 vendor UDP transport (batch 10)

2026-05-19 20:07:32 +03:00

AZ-654_gimbal_zoom_out_sweep.md

[AZ-654] [AZ-655] [AZ-656] gimbal_controller primitives + monotonic clock fix (batch 11)

2026-05-19 20:21:00 +03:00

AZ-655_gimbal_smooth_pan_plan.md

[AZ-654] [AZ-655] [AZ-656] gimbal_controller primitives + monotonic clock fix (batch 11)

2026-05-19 20:21:00 +03:00

AZ-656_gimbal_centre_on_target.md

[AZ-654] [AZ-655] [AZ-656] gimbal_controller primitives + monotonic clock fix (batch 11)

2026-05-19 20:21:00 +03:00

AZ-657_frame_ingest_rtsp_session.md

[AZ-657] [AZ-682] frame_ingest RTSP lifecycle + scan_controller FSM (batch 12)

2026-05-20 08:17:27 +03:00

AZ-658_frame_ingest_decoder.md

[AZ-658] frame_ingest H.264/265 decoder (NVDEC + sw fallback)

2026-05-20 17:05:27 +03:00

AZ-659_frame_ingest_publisher.md

[AZ-659] [AZ-660] [AZ-661] Archive batch 18; update state and cumulative review

2026-05-20 18:27:15 +03:00

AZ-660_detection_client_grpc_stream.md

[AZ-659] [AZ-660] [AZ-661] Archive batch 18; update state and cumulative review

2026-05-20 18:27:15 +03:00

AZ-661_detection_client_schema_and_health.md

[AZ-659] [AZ-660] [AZ-661] Archive batch 18; update state and cumulative review

2026-05-20 18:27:15 +03:00

AZ-662_movement_detector_ego_motion.md

[AZ-662] [AZ-669] Implement ego-motion estimator and primitive graph

2026-05-20 19:00:39 +03:00

AZ-665_mapobjects_store_h3_classify.md

[AZ-643] [AZ-665] [AZ-672] mavlink+mapobjects+vlm batch 4

2026-05-19 13:31:42 +03:00

AZ-666_mapobjects_store_ignored_and_pass_sweep.md

[AZ-666] [AZ-673] [AZ-648] ignored set + UDS VLM + mission FSM batch 5

2026-05-19 16:54:00 +03:00

AZ-667_mapobjects_store_hydrate_and_pending.md

[AZ-649] [AZ-674] [AZ-667] telemetry + vlm schema + mapobjects hydrate batch 6

2026-05-19 17:40:43 +03:00

AZ-668_mapobjects_store_persistence.md

[AZ-651] [AZ-668] lost-link failsafe ladder + mapobjects persistence (batch 7)

2026-05-19 18:59:28 +03:00

AZ-669_semantic_analyzer_primitive_graph.md

[AZ-662] [AZ-669] Implement ego-motion estimator and primitive graph

2026-05-20 19:00:39 +03:00

AZ-672_vlm_client_provider_trait.md

[AZ-643] [AZ-665] [AZ-672] mavlink+mapobjects+vlm batch 4

2026-05-19 13:31:42 +03:00

AZ-673_vlm_client_nanollm_ipc.md

[AZ-666] [AZ-673] [AZ-648] ignored set + UDS VLM + mission FSM batch 5

2026-05-19 16:54:00 +03:00

AZ-674_vlm_client_schema_and_model_version.md

[AZ-649] [AZ-674] [AZ-667] telemetry + vlm schema + mapobjects hydrate batch 6

2026-05-19 17:40:43 +03:00

AZ-675_telemetry_stream_grpc_server.md

[AZ-675] telemetry_stream Tonic gRPC server + per-client lossy queue

2026-05-20 12:44:39 +03:00

AZ-676_telemetry_stream_video_path.md

[AZ-676] [AZ-677] [AZ-678] [AZ-679] telemetry+operator foundation

2026-05-20 16:18:40 +03:00

AZ-677_telemetry_stream_mapobjects_snapshot.md

[AZ-676] [AZ-677] [AZ-678] [AZ-679] telemetry+operator foundation

2026-05-20 16:18:40 +03:00

AZ-678_operator_bridge_command_auth.md

[AZ-676] [AZ-677] [AZ-678] [AZ-679] telemetry+operator foundation

2026-05-20 16:18:40 +03:00

AZ-679_operator_bridge_poi_surface.md

[AZ-676] [AZ-677] [AZ-678] [AZ-679] telemetry+operator foundation

2026-05-20 16:18:40 +03:00

AZ-680_operator_bridge_command_dispatch.md

[AZ-680] [AZ-681] operator_bridge command dispatch + safety lane

2026-05-20 17:32:59 +03:00

AZ-681_operator_bridge_safety_and_bit_ack.md

[AZ-680] [AZ-681] operator_bridge command dispatch + safety lane

2026-05-20 17:32:59 +03:00

AZ-682_scan_controller_state_machine.md

[AZ-657] [AZ-682] frame_ingest RTSP lifecycle + scan_controller FSM (batch 12)

2026-05-20 08:17:27 +03:00

AZ-683_scan_controller_poi_queue_and_window.md

[AZ-683] scan_controller POI queue + 5/min cap + decision window

2026-05-20 09:04:29 +03:00