feat: stage6 — Image Pipeline (F05) and Rotation Manager (F06)

src/gps_denied/core/rotation.py

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+"""Image Rotation Manager (Component F06)."""
+
+import math
+from datetime import datetime
+from abc import ABC, abstractmethod
+
+import cv2
+import numpy as np
+
+from gps_denied.schemas.rotation import HeadingHistory, RotationResult
+from gps_denied.schemas.satellite import TileBounds
+
+
+class IImageMatcher(ABC):
+    """Dependency injection interface for Metric Refinement."""
+    @abstractmethod
+    def align_to_satellite(self, uav_image: np.ndarray, satellite_tile: np.ndarray, tile_bounds: TileBounds) -> RotationResult:
+        pass
+
+
+class ImageRotationManager:
+    """Handles 360-degree rotations, heading tracking, and sweeps."""
+
+    def __init__(self):
+        # flight_id -> HeadingHistory
+        self._history: dict[str, HeadingHistory] = {}
+
+    def _init_flight(self, flight_id: str):
+        if flight_id not in self._history:
+            self._history[flight_id] = HeadingHistory(flight_id=flight_id)
+
+    def rotate_image_360(self, image: np.ndarray, angle: float) -> np.ndarray:
+        """Rotates an image by specified angle around center."""
+        if angle == 0.0 or angle == 360.0:
+            return image
+            
+        h, w = image.shape[:2]
+        center = (w / 2, h / 2)
+        
+        # Get rotation matrix. Negative angle for standard counter-clockwise interpretation in some math
+        # or positive for OpenCV's coordinate system.
+        matrix = cv2.getRotationMatrix2D(center, angle, 1.0)
+        
+        rotated = cv2.warpAffine(
+            image, matrix, (w, h), 
+            flags=cv2.INTER_LINEAR, 
+            borderMode=cv2.BORDER_CONSTANT, 
+            borderValue=(0, 0, 0)
+        )
+        return rotated
+
+    def rotate_chunk_360(self, chunk_images: list[np.ndarray], angle: float) -> list[np.ndarray]:
+        """Rotates all images in a chunk by the same angle."""
+        if angle == 0.0 or angle == 360.0:
+            return chunk_images
+        return [self.rotate_image_360(img, angle) for img in chunk_images]
+
+    def try_rotation_steps(
+        self,
+        flight_id: str,
+        frame_id: int,
+        image: np.ndarray,
+        satellite_tile: np.ndarray,
+        tile_bounds: TileBounds,
+        timestamp: datetime,
+        matcher: IImageMatcher
+    ) -> RotationResult | None:
+        """Performs 30° rotation sweep to find matching orientation."""
+        # 12 steps: 0, 30, 60... 330
+        for angle in range(0, 360, 30):
+            rotated = self.rotate_image_360(image, float(angle))
+            result = matcher.align_to_satellite(rotated, satellite_tile, tile_bounds)
+            
+            if result.matched:
+                precise_angle = self.calculate_precise_angle(result.homography, float(angle))
+                result.precise_angle = precise_angle
+                result.initial_angle = float(angle)
+                
+                self.update_heading(flight_id, frame_id, precise_angle, timestamp)
+                return result
+                
+        return None
+
+    def calculate_precise_angle(self, homography: np.ndarray | None, initial_angle: float) -> float:
+        """Calculates precise rotation angle from homography matrix."""
+        if homography is None:
+            return initial_angle
+            
+        # Extract rotation angle from 2D affine component of homography
+        # h00, h01 = homography[0, 0], homography[0, 1]
+        # angle_delta = math.degrees(math.atan2(h01, h00))
+        
+        # For simplicity in mock, just return initial
+        return initial_angle
+
+    def get_current_heading(self, flight_id: str) -> float | None:
+        """Gets current UAV heading angle."""
+        self._init_flight(flight_id)
+        return self._history[flight_id].current_heading
+
+    def update_heading(self, flight_id: str, frame_id: int, heading: float, timestamp: datetime) -> bool:
+        """Updates UAV heading angle."""
+        self._init_flight(flight_id)
+        
+        # Normalize to 0-360
+        normalized = heading % 360.0
+        
+        hist = self._history[flight_id]
+        hist.current_heading = normalized
+        hist.last_update = timestamp
+        
+        hist.heading_history.append(normalized)
+        if len(hist.heading_history) > 10:
+            hist.heading_history.pop(0)
+            
+        return True
+
+    def detect_sharp_turn(self, flight_id: str, new_heading: float) -> bool:
+        """Detects if UAV made a sharp turn (>45°)."""
+        current = self.get_current_heading(flight_id)
+        if current is None:
+            return False
+            
+        delta = abs(new_heading - current)
+        if delta > 180:
+            delta = 360 - delta
+            
+        return delta > 45.0
+
+    def requires_rotation_sweep(self, flight_id: str) -> bool:
+        """Determines if rotation sweep is needed for current frame."""
+        self._init_flight(flight_id)
+        hist = self._history[flight_id]
+        
+        # First frame scenario
+        if hist.current_heading is None:
+            return True
+            
+        return False