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update tests

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Oleksandr Bezdieniezhnykh
2025-11-30 16:21:03 +02:00
parent ce9760fcbe
commit b12f37ab01
12 changed files with 1435 additions and 603 deletions
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docs/03_tests/55_chunk_rotation_recovery_spec.md
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@@ -8,11 +8,14 @@ Validate chunk LiteSAM matching with rotation sweeps for chunks with unknown ori
**AC-5**: Connect route chunks
## Preconditions
1. F12 Route Chunk Manager functional
2. F06 Image Rotation Manager with chunk rotation support
3. F09 Metric Refinement with chunk LiteSAM matching
4. F10 Factor Graph Optimizer with chunk merging
5. Test dataset: Chunk with unknown orientation (simulated sharp turn)
1. F02.2 Flight Processing Engine running
2. F11 Failure Recovery Coordinator (chunk orchestration, returns status objects)
3. F12 Route Chunk Manager functional (chunk lifecycle via `create_chunk()`, `mark_chunk_anchored()`)
4. F06 Image Rotation Manager with chunk rotation support (`try_chunk_rotation_steps()`)
5. F08 Global Place Recognition (chunk semantic matching via `retrieve_candidate_tiles_for_chunk()`)
6. F09 Metric Refinement with chunk LiteSAM matching (`align_chunk_to_satellite()`)
7. F10 Factor Graph Optimizer with chunk operations (`add_chunk_anchor()`, `merge_chunk_subgraphs()`)
8. Test dataset: Chunk with unknown orientation (simulated sharp turn)
## Test Description
Test system's ability to match chunks with unknown orientation using rotation sweeps. When a chunk is created after a sharp turn, its orientation relative to the satellite map is unknown. The system must rotate the entire chunk to all possible angles and attempt LiteSAM matching.
@@ -54,8 +57,8 @@ Test system's ability to match chunks with unknown orientation using rotation sw
### Step 4: Chunk Merging
- **Action**: Merge chunk_2 to main trajectory
- **Expected Result**:
- F10.add_chunk_anchor() anchors chunk_2
- F10.merge_chunks() merges chunk_2 into chunk_1
- F12.mark_chunk_anchored() updates chunk state (calls F10.add_chunk_anchor())
- F12.merge_chunks() merges chunk_2 into chunk_1 (calls F10.merge_chunk_subgraphs())
- Sim(3) transform applied correctly
- Global trajectory consistent