put rest and sse to acceptance criteria. revise components. add system flows diagram

docs/02_components/10_factor_graph_optimizer/factor_graph_optimizer_spec.md

@@ -78,10 +78,28 @@ class IFactorGraphOptimizer(ABC):
 - Scale resolution through altitude priors and absolute GPS
 - Trajectory smoothing and global consistency
 - Back-propagation of refinements to previous frames
-- **Native multi-chunk/multi-map support (Atlas architecture)**
-- **Chunk lifecycle management (creation, optimization, merging)**
+- **Low-level factor graph chunk operations** (subgraph creation, factor addition, optimization)
 - **Sim(3) transformation for chunk merging**
 
+### Chunk Responsibility Clarification
+
+**F10 provides low-level factor graph operations only**:
+- `create_new_chunk()`: Creates subgraph in factor graph
+- `add_relative_factor_to_chunk()`: Adds factors to chunk's subgraph
+- `add_chunk_anchor()`: Adds GPS anchor to chunk
+- `merge_chunks()`: Applies Sim(3) transform and merges subgraphs
+- `optimize_chunk()`, `optimize_global()`: Runs optimization
+
+**F12 is the source of truth for chunk state** (see F12 spec):
+- Chunk lifecycle management (active, anchored, merged status)
+- Chunk readiness determination
+- High-level chunk queries
+
+**F11 coordinates recovery** (see F11 spec):
+- Triggers chunk creation via F12
+- Coordinates matching workflows
+- Emits chunk-related events
+
 ### Scope
 - Non-linear least squares optimization
 - Factor graph representation of SLAM problem
@@ -92,6 +110,20 @@ class IFactorGraphOptimizer(ABC):
 - **Chunk-level optimization and global merging**
 - **Sim(3) similarity transformation for chunk alignment**
 
+### Design Pattern: Composition Over Complex Interface
+
+F10 uses **composition** to keep the interface manageable. Rather than exposing 20+ methods in a monolithic interface, complex operations are composed from simpler primitives:
+
+**Primitive Operations**:
+- `add_relative_factor()`, `add_absolute_factor()`, `add_altitude_prior()` - Factor management
+- `optimize()`, `get_trajectory()`, `get_marginal_covariance()` - Core optimization
+
+**Chunk Operations** (composed from primitives):
+- `create_new_chunk()`, `add_relative_factor_to_chunk()`, `add_chunk_anchor()` - Chunk factor management
+- `merge_chunks()`, `optimize_chunk()`, `optimize_global()` - Chunk optimization
+
+**Callers compose these primitives** for complex workflows (e.g., F11 composes anchor + merge + optimize_global).
+
 ## API Methods
 
 ### `add_relative_factor(frame_i: int, frame_j: int, relative_pose: RelativePose, covariance: np.ndarray) -> bool`
@@ -123,12 +155,17 @@ F07 returns unit translation vectors due to monocular scale ambiguity. F10 resol
 **Explicit Flow**:
 ```python
 # In add_relative_factor():
+# altitude comes from F05 Image Input Pipeline (extracted from EXIF metadata)
+# focal_length, sensor_width from F17 Configuration Manager
 gsd = H02.compute_gsd(altitude, focal_length, sensor_width, image_width)
-expected_displacement = frame_spacing * gsd  # ~100m
+expected_displacement = frame_spacing * gsd  # ~100m typical at 300m altitude
 scaled_translation = relative_pose.translation * expected_displacement
 # Add scaled_translation to factor graph
 ```
 
+**Note**: Altitude is passed through the processing chain:
+- F05 extracts altitude from EXIF → F02 includes in FrameData → F10 receives with add_relative_factor()
+
 **Output**:
 ```python
 bool: True if factor added successfully