feat: stage11 — Acceptance tests & performance benchmarks (80 tests)

2026-04-23 01:26:37 +00:00 · 2026-03-22 23:18:40 +02:00
parent c86cdc2e82
commit 766cef1514
4 changed files with 211 additions and 3 deletions
@@ -130,8 +130,13 @@ class FlightProcessor:
        vo_ok = False
        if self._vo and flight_id in self._prev_images:
            try:
+                from gps_denied.schemas.flight import CameraParameters
+                cam = CameraParameters(
+                    focal_length=4.5, sensor_width=6.17, sensor_height=4.55,
+                    resolution_width=640, resolution_height=480,
+                )
                rel_pose = self._vo.compute_relative_pose(
-                    self._prev_images[flight_id], image
+                    self._prev_images[flight_id], image, cam
                )
                if rel_pose and rel_pose.tracking_good:
                    vo_ok = True