fix issues

docs/02_components/07_sequential_visual_odometry/sequential_visual_odometry_spec.md

@@ -23,12 +23,10 @@ class ISequentialVO(ABC):
     @abstractmethod
     def estimate_motion(self, matches: Matches, camera_params: CameraParameters) -> Optional[Motion]:
         pass
-    
-    @abstractmethod
-    def compute_relative_pose_in_chunk(self, prev_image: np.ndarray, curr_image: np.ndarray, chunk_id: str) -> Optional[RelativePose]:
-        pass
 ```
 
+**Note**: F07 is chunk-agnostic. It only computes relative poses between images. The caller (F02 Flight Processor) determines which chunk the frames belong to and routes factors to the appropriate subgraph via F12 → F10.
+
 ## Component Description
 
 ### Responsibilities
@@ -38,14 +36,13 @@ class ISequentialVO(ABC):
 - Estimate relative pose (translation + rotation) between frames
 - Return relative pose factors for Factor Graph Optimizer
 - Detect tracking loss (low inlier count)
-- **Chunk-aware VO operations (factors added to chunk subgraph)**
 
 ### Scope
 - Frame-to-frame visual odometry
 - Feature-based motion estimation
 - Handles low overlap and challenging agricultural environments
 - Provides relative measurements for trajectory optimization
-- **Chunk-scoped operations (Atlas multi-map architecture)**
+- **Chunk-agnostic**: F07 doesn't know about chunks. Caller (F02) routes results to appropriate chunk subgraph.
 
 ## API Methods
 
@@ -224,49 +221,6 @@ Motion:
 2. **Low inliers**: May return None
 3. **Degenerate motion**: Handles pure rotation
 
----
-
-### `compute_relative_pose_in_chunk(prev_image: np.ndarray, curr_image: np.ndarray, chunk_id: str) -> Optional[RelativePose]`
-
-**Description**: Computes relative camera pose between consecutive frames within a chunk context.
-
-**Called By**:
-- F02 Flight Processor (chunk-aware processing)
-
-**Input**:
-```python
-prev_image: np.ndarray  # Previous frame (t-1)
-curr_image: np.ndarray  # Current frame (t)
-chunk_id: str  # Chunk identifier for context
-```
-
-**Output**:
-```python
-RelativePose:
-    translation: np.ndarray  # (x, y, z) in meters
-    rotation: np.ndarray  # 3×3 rotation matrix or quaternion
-    confidence: float  # 0.0 to 1.0
-    inlier_count: int
-    total_matches: int
-    tracking_good: bool
-    chunk_id: str  # Chunk context
-```
-
-**Processing Flow**:
-1. Same as compute_relative_pose() (SuperPoint + LightGlue)
-2. Return RelativePose with chunk_id context
-3. Factor will be added to chunk's subgraph (not global graph)
-
-**Chunk Context**:
-- VO operations are chunk-scoped
-- Factors added to chunk's subgraph via F10.add_relative_factor_to_chunk()
-- Chunk isolation ensures independent optimization
-
-**Test Cases**:
-1. **Chunk-aware VO**: Returns RelativePose with chunk_id
-2. **Chunk isolation**: Factors isolated to chunk
-3. **Multiple chunks**: VO operations don't interfere between chunks
-
 ## Integration Tests
 
 ### Test 1: Normal Flight Sequence