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enhancing clarity in research assessment and problem description sections.
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Oleksandr Bezdieniezhnykh
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# Acceptance Test: Multi-Chunk Simultaneous Processing
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## Summary
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Validate system's ability to process multiple chunks simultaneously, matching and merging them asynchronously.
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## Linked Acceptance Criteria
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**AC-4**: Robust to sharp turns (<5% overlap)
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**AC-5**: Connect route chunks (multiple chunks)
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## Preconditions
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1. F02.2 Flight Processing Engine running
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2. F10 Factor Graph Optimizer with native multi-chunk support (subgraph operations)
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3. F11 Failure Recovery Coordinator (pure logic, returns status objects to F02.2)
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4. F12 Route Chunk Manager functional (chunk lifecycle: `create_chunk()`, `add_frame_to_chunk()`, `mark_chunk_anchored()`, `merge_chunks()`)
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5. F08 Global Place Recognition (chunk semantic matching via `retrieve_candidate_tiles_for_chunk()`)
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6. F09 Metric Refinement (chunk LiteSAM matching)
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7. Test dataset: Flight with 3 disconnected segments
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## Test Description
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Test system's ability to handle multiple disconnected route segments simultaneously. The system should create chunks proactively, process them independently, and match/merge them asynchronously without blocking frame processing.
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## Test Steps
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### Step 1: Create Multi-Segment Flight
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- **Action**: Create flight with 3 disconnected segments:
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- Segment 1: AD000001-010 (10 frames, sequential)
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- Segment 2: AD000025-030 (6 frames, no overlap with Segment 1)
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- Segment 3: AD000050-055 (6 frames, no overlap with Segments 1 or 2)
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- **Expected Result**: Flight created with all 22 images
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### Step 2: Process Segment 1
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- **Action**: Process AD000001-010
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- **Expected Result**:
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- Chunk_1 created (frames 1-10)
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- Sequential VO provides relative factors
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- Factors added to chunk_1's subgraph
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- Chunk_1 optimized independently
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- GPS anchors from LiteSAM matching
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- Chunk_1 anchored and merged to main trajectory
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### Step 3: Detect Discontinuity (Segment 1 → 2)
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- **Action**: Process AD000025 after AD000010
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- **Expected Result**:
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- Tracking lost detected (large displacement ~2km)
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- **Chunk_2 created proactively** (immediate, not reactive)
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- Processing continues immediately in chunk_2
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- Chunk_1 remains in factor graph (not deleted)
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### Step 4: Process Segment 2 Independently
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- **Action**: Process AD000025-030
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- **Expected Result**:
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- Frames processed in chunk_2 context
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- Relative factors added to chunk_2's subgraph
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- Chunk_2 optimized independently
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- Chunk_1 and chunk_2 exist simultaneously
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- Chunk_2 matching attempted asynchronously (background)
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### Step 5: Detect Discontinuity (Segment 2 → 3)
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- **Action**: Process AD000050 after AD000030
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- **Expected Result**:
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- Tracking lost detected again
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- **Chunk_3 created proactively**
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- Processing continues in chunk_3
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- Chunk_1, chunk_2, chunk_3 all exist simultaneously
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### Step 6: Process Segment 3 Independently
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- **Action**: Process AD000050-055
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- **Expected Result**:
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- Frames processed in chunk_3 context
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- Chunk_3 optimized independently
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- All 3 chunks exist simultaneously
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- Each chunk processed independently
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### Step 7: Asynchronous Chunk Matching
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- **Action**: Background task attempts matching for unanchored chunks
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- **Expected Result**:
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- Chunk_2 semantic matching attempted
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- Chunk_2 LiteSAM matching attempted
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- Chunk_2 anchored when match found
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- Chunk_3 semantic matching attempted
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- Chunk_3 LiteSAM matching attempted
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- Chunk_3 anchored when match found
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- Matching happens asynchronously (doesn't block frame processing)
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### Step 8: Chunk Merging
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- **Action**: Merge chunks as they become anchored
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- **Expected Result**:
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- Chunk_2 merged to chunk_1 when anchored
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- Chunk_3 merged to merged trajectory when anchored
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- Sim(3) transforms applied correctly
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- Global optimization performed
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- All chunks merged into single trajectory
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### Step 9: Verify Final Trajectory
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- **Action**: Verify all 22 frames have GPS coordinates
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- **Expected Result**:
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- All frames have GPS coordinates
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- Trajectory globally consistent
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- No systematic bias between segments
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- Accuracy: 20/22 < 50m (90.9%)
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## Success Criteria
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**Primary Criterion**:
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- Multiple chunks created simultaneously
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- Chunks processed independently
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- Chunks matched and merged asynchronously
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- Final trajectory globally consistent
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**Supporting Criteria**:
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- Chunk creation is proactive (immediate)
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- Frame processing continues during chunk matching
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- Chunk matching doesn't block processing
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- Sim(3) transforms computed correctly
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## Expected Results
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```
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Multi-Chunk Simultaneous Processing:
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- Chunk_1: frames 1-10, anchored, merged
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- Chunk_2: frames 25-30, anchored asynchronously, merged
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- Chunk_3: frames 50-55, anchored asynchronously, merged
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- Simultaneous existence: All 3 chunks exist at same time
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- Independent processing: Each chunk optimized independently
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- Asynchronous matching: Matching doesn't block frame processing
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- Final trajectory: Globally consistent
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- Accuracy: 20/22 < 50m (90.9%)
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```
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## Pass/Fail Criteria
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**TEST PASSES IF**:
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- Multiple chunks created simultaneously
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- Chunks processed independently
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- Chunks matched and merged asynchronously
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- Final trajectory globally consistent
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- Accuracy acceptable (≥ 80% < 50m)
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**TEST FAILS IF**:
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- Chunks not created simultaneously
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- Chunk processing blocks frame processing
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- Chunk matching blocks processing
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- Merging produces inconsistent trajectory
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- Final accuracy below threshold
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## Architecture Elements
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**Multi-Chunk Support**:
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- F10 Factor Graph Optimizer supports multiple chunks via `create_chunk_subgraph()`
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- Each chunk has own subgraph, optimized independently via `optimize_chunk()`
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- F12 Route Chunk Manager owns chunk metadata (status, is_active, etc.)
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**Proactive Chunk Creation**:
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- F11 triggers chunk creation via `create_chunk_on_tracking_loss()`
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- F12.create_chunk() creates chunk and calls F10.create_chunk_subgraph()
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- Processing continues in new chunk immediately (not reactive)
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**Asynchronous Matching**:
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- F02.2 manages background task that calls F11.process_unanchored_chunks()
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- F11 calls F12.get_chunks_for_matching() to find ready chunks
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- F11.try_chunk_semantic_matching() → F11.try_chunk_litesam_matching()
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- Matching doesn't block frame processing
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**Chunk Merging**:
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- F11.merge_chunk_to_trajectory() coordinates merging
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- F12.merge_chunks() updates chunk state and calls F10.merge_chunk_subgraphs()
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- Sim(3) transform accounts for translation, rotation, scale
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- F10.optimize_global() runs after merging
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## Notes
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- Multiple chunks can exist simultaneously
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- Chunk processing is independent and non-blocking
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- Asynchronous matching reduces user input requests
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- Sim(3) transform critical for scale ambiguity resolution
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