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improving components consistency

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Oleksandr Bezdieniezhnykh
2025-11-30 08:44:28 +02:00
parent 310cf78ee7
commit 700d00a1bc
16 changed files with 186 additions and 102 deletions
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docs/02_components/decomposition_plan.md
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@@ -73,7 +73,7 @@
### Visual Processing
**F07_sequential_visual_odometry**
**Interface**: `ISequentialVO`
**Interface**: `ISequentialVisualOdometry`
**API**: `compute_relative_pose()`, `extract_features()`, `match_features()`, `estimate_motion()`
**F08_global_place_recognition**
@@ -319,6 +319,7 @@
|--------|--------|--------|---------|
| F11 (background) | F12 | `get_chunks_for_matching()` | Get unanchored chunks ready for matching |
| F11 | F12 | `get_chunk_images()` | Get chunk images |
| F12 | F05 | `get_image_by_sequence()` | **Load images for chunk** (F12 delegates to F05 for actual image retrieval) |
| F11 | F08 | `retrieve_candidate_tiles_for_chunk()` | Chunk semantic matching (aggregate DINOv2) |
| F08 | F16 | `get_inference_engine("DINOv2")` | Get model for descriptor computation |
| F08 | H04 | `search()` | Query Faiss with chunk descriptor |
@@ -348,6 +349,7 @@
✅ **Drift correction**: F02→F04,F09,F10
✅ **Tracking loss**: F11→F12(proactive chunk),F06,F08,F04(progressive),F09,F15,F02
✅ **Chunk building**: F02→F12→F10,F07
✅ **Chunk image retrieval**: F12→F05(get_image_by_sequence for chunk images)
✅ **Chunk semantic matching**: F11→F12→F08(chunk descriptor)
✅ **Chunk LiteSAM matching**: F11→F06(chunk rotation)→F09(chunk alignment)
✅ **Chunk merging**: F11→F10(Sim3 transform)