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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

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Autodev State

Current Step

flow: greenfield step: 7 name: Implement status: between-batches sub_step: batch-20-select retry_count: 0 cycle: 1 tracker: jira

Last Completed Batch

batch: 19 ticket: AZ-662, AZ-669 jira_status: In Progress (set at batch start; transition to In Testing after Jetson test run) notes: > opencv + petgraph added to workspace; movement_detector ego-motion (optical_flow, ego_motion modules) and semantic_analyzer primitive-graph + freshness-scorer implemented. Local cargo check blocked by missing native OpenCV on macOS; authoritative test is cargo test --workspace on the Jetson (ssh jetson-e2e).

Process Leftovers

_docs/_process_leftovers/2026-05-20_autopilot_clippy.md — still pending; out-of-scope for batch 18
_docs/_process_leftovers/2026-05-20_mission_executor_ac3_flake.md — still pending; fix when next mission_executor batch lands

Cumulative Review Cadence

Last cumulative: batches 16–18. Next due: end of batch 21 (or sooner if a large-scope batch warrants it).

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