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spec cleanup

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This commit is contained in:
Oleksandr Bezdieniezhnykh
2025-11-30 19:08:40 +02:00
parent b12f37ab01
commit 3d034e27ee
10 changed files with 270 additions and 152 deletions
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docs/02_components/decomposition_plan.md
+7 -3
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@@ -275,7 +275,7 @@
| F11 (background) | F08 | `retrieve_candidate_tiles_for_chunk()` | **Chunk semantic matching** |
| F11 (background) | F06 | `try_chunk_rotation_steps()` | **Chunk rotation sweeps** |
| F11 (background) | F09 | `align_chunk_to_satellite()` | **Chunk LiteSAM matching** |
| F11 (background) | F10 | `add_chunk_anchor()` + `merge_chunk_subgraphs()` | **Chunk merging** |
| F11 (background) | F12 | `mark_chunk_anchored()` + `merge_chunks(main, new)` | **Chunk merging via F12** |
| F11 (fail) | F02.2 | Returns `UserInputRequest` | Request human help (last resort) |
| F02.2 | F15 | `send_user_input_request()` | Send SSE event to client |
@@ -314,11 +314,15 @@
| Source | Target | Method | Purpose |
|--------|--------|--------|---------|
| F10 | Internal (background) | `optimize()` | Back-propagate anchors |
| F14 | F10 | `get_trajectory()` | Get refined poses |
| F02.2 | F10 | `get_trajectory()` | Get refined poses (ENU) |
| F02.2 | F13 | `enu_to_gps()` | Convert ENU poses to GPS |
| F02.2 | F14 | `mark_refined(List[RefinedFrameResult])` | Pass GPS-converted results |
| F14 | F03 | `batch_update_waypoints()` | Batch update waypoints |
| F14 | F15 | `send_refinement()` × N | Send updates |
| F15 | Client | SSE `frame_refined` × N | Incremental updates |
**Note**: F14 does NOT call F10 or F13. F02.2 performs coordinate conversion and provides GPS results to F14.
### Chunk Matching (Background)
| Source | Target | Method | Purpose |
@@ -332,7 +336,7 @@
| F11 | F06 | `try_chunk_rotation_steps()` | Chunk rotation sweeps (12 rotations) |
| F06 | F09 | `align_chunk_to_satellite()` × 12 | Try LiteSAM for each rotation |
| F11 | F10 | `add_chunk_anchor()` | Anchor chunk with GPS |
| F11 | F10 | `merge_chunks()` | Merge chunk to main trajectory (Sim3) |
| F11 | F12 | `merge_chunks(main_chunk, new_chunk)` | Merge new_chunk into main_chunk (Sim3 transform) |
| F10 | Internal | `optimize_global()` | Global optimization after merging |
| F11 | F12 | `mark_chunk_anchored()` | Update chunk state |