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components assesment #2

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add 2.15_components_assesment.md step
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Oleksandr Bezdieniezhnykh
2025-11-29 12:04:51 +02:00
parent 2037870f67
commit ef75cc5877
20 changed files with 557 additions and 1205 deletions
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docs/02_components/10_factor_graph_optimizer/factor_graph_optimizer_spec.md
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@@ -114,12 +114,21 @@ covariance: np.ndarray # (6, 6) - uncertainty
**Scale Resolution**:
F07 returns unit translation vectors due to monocular scale ambiguity. F10 resolves scale by:
1. Using altitude prior to constrain Z-axis
2. Computing expected displacement from H02 GSD Calculator:
2. **Computing expected displacement**: Call H02 GSD Calculator.compute_gsd() to get GSD
- GSD = (sensor_width × altitude) / (focal_length × resolution_width)
- expected_displacement ≈ frame_spacing × GSD (typically ~100m)
3. Scaling: scaled_translation = unit_translation × expected_displacement
4. Global refinement using absolute GPS factors from F09 LiteSAM
**Explicit Flow**:
```python
# In add_relative_factor():
gsd = H02.compute_gsd(altitude, focal_length, sensor_width, image_width)
expected_displacement = frame_spacing * gsd # ~100m
scaled_translation = relative_pose.translation * expected_displacement
# Add scaled_translation to factor graph
```
**Output**:
```python
bool: True if factor added successfully
@@ -689,7 +698,7 @@ OptimizationResult:
### Internal Components
- **H03 Robust Kernels**: For Huber/Cauchy loss functions
- **H02 GSD Calculator**: For coordinate conversions
- **H02 GSD Calculator**: For GSD computation and scale resolution
### External Dependencies
- **GTSAM**: Graph optimization library