azaion/gps-denied-onboard
1
0
Fork 0
mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-04-22 22:26:38 +00:00
Code Issues Packages Projects Releases Wiki Activity

improving components consistency

Browse Source
This commit is contained in:
Oleksandr Bezdieniezhnykh
2025-11-30 08:44:28 +02:00
parent 310cf78ee7
commit 700d00a1bc
16 changed files with 186 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/02_components/09_metric_refinement/metric_refinement_spec.md
+7 -1
View File
@@ -50,7 +50,7 @@ class IMetricRefinement(ABC):
- Handles altitude variations (<1km)
- Multi-scale processing for different GSDs
- Domain gap (UAV downward vs satellite nadir view)
- **Critical**: Fails if rotation >45° (handled by G06)
- **Critical**: Fails if rotation >45° (handled by F06)
- **Chunk-level matching (aggregate correspondences from multiple images)**
## API Methods
@@ -383,6 +383,12 @@ Optional[np.ndarray]: 3×3 homography matrix or None
- **H02 GSD Calculator**: For coordinate transformations
- **H05 Performance Monitor**: For timing
**Critical Dependency on F06 Image Rotation Manager**:
- F09 requires pre-rotated images (rotation <45° from north)
- Caller (F06 or F11) must pre-rotate images using F06.rotate_image_360() before calling F09.align_to_satellite()
- If rotation >45°, F09 will fail to match (by design)
- F06 handles the rotation sweep (trying 0°, 30°, 60°, etc.) and calls F09 for each rotation
**Note**: tile_bounds is passed as parameter from caller (F02 Flight Processor gets it from F04 Satellite Data Manager)
### External Dependencies