start over again

_docs/02_document/common-helpers/01_helper_geo_geometry.md

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-# Geo Geometry Helper
-
-## Purpose
-
-Shared geospatial and camera-geometry utilities used by camera ingest, safety wrapper, Tile Manager, anchor verification, and validation.
-
-## Responsibilities
-
-- WGS84 to local tangent plane conversions.
-- Haversine/ground-distance calculations.
-- Ground sampling distance calculations.
-- Camera footprint projection from intrinsics, extrinsics, altitude, and attitude.
-- Homography and covariance unit conversions for reporting.
-
-## Non-Responsibilities
-
-- No image matching.
-- No state estimation.
-- No MAVLink emission.
-- No cache policy decisions.
-
-## Consumers
-
-| Component | Usage |
-|-----------|-------|
-| Camera ingest/calibration | Footprint and calibration sanity checks |
-| Safety/anchor wrapper | Distance/covariance/unit conversion |
-| Anchor verification | Pixel-to-ground error reporting |
-| Tile Manager | Tile footprint metadata |
-| Validation harness | Error thresholds and reports |

_docs/02_document/common-helpers/02_helper_time_sync.md

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-# Time Sync Helper
-
-## Purpose
-
-Shared timestamp validation and alignment utilities for frame, IMU, telemetry, FDR, and replay data.
-
-## Responsibilities
-
-- Monotonic timestamp checks.
-- Frame-to-IMU window selection.
-- Clock-domain conversion metadata.
-- Replay ordering validation.
-- Gap and jitter metrics.
-
-## Non-Responsibilities
-
-- No VIO state estimation.
-- No MAVLink parsing beyond normalized timestamp fields.
-- No recovery policy; callers decide whether to degrade or reject.
-
-## Consumers
-
-| Component | Usage |
-|-----------|-------|
-| Camera ingest/calibration | Frame ordering and timestamp metadata |
-| VIO adapter | IMU/frame synchronization |
-| MAVLink/GCS integration | Telemetry timestamp normalization |
-| FDR/observability | Segment ordering |
-| Validation harness | Fixture validation |