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Oleksandr Bezdieniezhnykh
2025-11-30 01:43:23 +02:00
parent 1082316660
commit 310cf78ee7
17 changed files with 584 additions and 240 deletions
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docs/02_components/14_result_manager/result_manager_spec.md
+6 -4
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@@ -155,8 +155,9 @@ frame_ids: List[int] # Frames with updated poses
**Processing Flow**:
1. For each frame_id:
- Get refined pose from F10 Factor Graph Optimizer → ENU pose
- Convert ENU pose to GPS via F13 Coordinate Transformer.enu_to_gps(flight_id, enu_pose)
- Get refined pose from F10 Factor Graph Optimizer.get_trajectory(flight_id) → Pose object with ENU position
- Extract ENU tuple: `enu_tuple = (pose.position[0], pose.position[1], pose.position[2])`
- Convert ENU to GPS via F13 Coordinate Transformer.enu_to_gps(flight_id, enu_tuple) → GPSPoint
- Update result with refined=True via F03 Flight Database.save_frame_result()
- Update waypoint via F03 Flight Database.update_waypoint()
- Call F15 SSE Event Streamer.send_refinement()
@@ -205,8 +206,9 @@ merged_frames: List[int] # Frames whose poses changed due to chunk merge
**Processing Flow**:
1. For each frame_id in merged_frames:
- Get updated pose from F10 Factor Graph Optimizer.get_trajectory() → ENU pose
- Convert ENU pose to GPS via F13 Coordinate Transformer.enu_to_gps(flight_id, enu_pose)
- Get updated pose from F10 Factor Graph Optimizer.get_trajectory(flight_id) → Pose object with ENU position
- Extract ENU tuple: `enu_tuple = (pose.position[0], pose.position[1], pose.position[2])`
- Convert ENU to GPS via F13 Coordinate Transformer.enu_to_gps(flight_id, enu_tuple) → GPSPoint
- Update frame result via F03 Flight Database.save_frame_result()
- Update waypoint via F03 Flight Database.update_waypoint()
- Send refinement event via F15 SSE Event Streamer.send_refinement()