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Update autodev state documentation to reflect progress in the Decompose phase, changing the current step from 5 to 6. Revise sub-step details to indicate a shift to phase 2, focusing on module layout for the Satellite Service and Tile Manager, and awaiting confirmation before product task decomposition. Additionally, enhance problem documentation to clarify the original still-image sample limitations and introduce the Derkachi representative fixture for improved data validation. Update references to the Tile Manager and Satellite Service throughout the documentation for consistency.

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Oleksandr Bezdieniezhnykh
2026-05-03 10:27:44 +03:00
parent 35547e9b65
commit 5bf2dbd85f
39 changed files with 5543 additions and 181 deletions
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_docs/02_document/components/02_basalt_vio_adapter/description.md
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@@ -75,7 +75,7 @@ No persistent production data ownership. Reads calibration/config at startup and
**Must be implemented after**: Camera ingest/calibration, MAVLink telemetry DTO definitions.
**Can be implemented in parallel with**: satellite retrieval, cache lifecycle.
**Can be implemented in parallel with**: Satellite Service, Tile Manager.
**Blocks**: Safety/anchor wrapper final integration.
_docs/02_document/components/02_basalt_vio_adapter/tests.md
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@@ -21,9 +21,9 @@
**Traces to**: AC-2.1a, AC-2.2
**Input data**: MUN-FRL preferred slice, or representative synchronized nav-camera + IMU + ground truth.
**Input data**: Derkachi cropped nadir video + `SCALED_IMU2` + `GLOBAL_POSITION_INT`, MUN-FRL preferred slice, or representative synchronized nav-camera + IMU + ground truth.
**Expected result**: VO registration succeeds for >95% of normal usable frames; frame-to-frame MRE <1.0 px where ground-truth/feature evaluation supports it.
**Expected result**: VO registration succeeds for >95% of normal usable frames; frame-to-frame MRE <1.0 px where ground-truth/feature evaluation supports it. Derkachi runs are accepted as calibration-limited until intrinsics, distortion, and camera-to-body transform are pinned.
**Max execution time**: Dataset-dependent; report per-frame latency.
@@ -82,7 +82,7 @@
**Traces to**: AC-4.1, AC-4.2
**Load scenario**:
- Input: synchronized public/representative replay.
- Input: Derkachi synchronized replay and public/representative replay.
- Duration: 30 minutes plus release long-run slice.
- Target: Jetson Orin Nano Super.
@@ -130,8 +130,9 @@
| Data Set | Description | Source | Size |
|----------|-------------|--------|------|
| `derkachi_video_telemetry` | Cropped nadir MP4 + synchronized IMU and `GLOBAL_POSITION_INT` trajectory | Project fixture | ~282 MB video + CSV |
| `public_nadir_vio_candidates` | MUN-FRL/ALTO/Kagaru/EPFL slices | Public pinned fixtures | Dataset-dependent |
| `representative_sync_replay` | Target camera + FC IMU + ground truth | Project collection | TBD |
| `representative_sync_replay` | Target camera + FC IMU + calibrated ground truth | Project collection | TBD |
**Setup procedure**: Pin calibration/extrinsics and mount read-only synchronized replay data.