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components assesment #2

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add 2.15_components_assesment.md step
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Oleksandr Bezdieniezhnykh
2025-11-29 12:04:51 +02:00
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commit ef75cc5877
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docs/02_components/astral_next_components_diagram.drawio
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@@ -4,8 +4,8 @@
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<mxCell id="chunk-2" value="F11 → F08&#10;Chunk semantic matching&#10;(aggregate DINOv2)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#1E88E5;strokeColor=#42A5F5;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="chunk-3" value="F11 → F06&#10;Chunk rotation sweeps&#10;(12 angles: 0°-330°)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#CC6600;strokeColor=#FFB300;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="chunk-4" value="F11 → F09&#10;Chunk LiteSAM matching&#10;(aggregate correspondences)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#1E88E5;strokeColor=#42A5F5;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="chunk-5" value="F11 → F10&#10;add_chunk_anchor()&#10;merge_chunks(Sim3)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#388E3C;strokeColor=#66BB6A;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="arrow-chunk-2-3" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="chunk-2" target="chunk-3" edge="1">
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<mxCell id="arrow-chunk-3-4" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="chunk-3" target="chunk-4" edge="1">
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<mxCell id="arrow-chunk-4-5" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="chunk-4" target="chunk-5" edge="1">
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<mxCell id="user-input-title" value="User Input Recovery (when all search fails)" style="text;html=1;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=14;fontStyle=1;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="40" y="1160" width="400" height="30" as="geometry"/>
</mxCell>
<mxCell id="user-1" value="G11 exhausted (grid=25)&#10;→ G14 send user_input_needed" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#8B1A1A;strokeColor=#EF5350;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="user-1" value="F11 exhausted (grid=25)&#10;→ F15 send user_input_needed" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#8B1A1A;strokeColor=#EF5350;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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</mxCell>
<mxCell id="user-2" value="Client responds&#10;G01 → G11 apply_user_anchor" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#388E3C;strokeColor=#66BB6A;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
<mxGeometry x="310" y="1020" width="240" height="70" as="geometry"/>
<mxCell id="user-2" value="Client responds&#10;F01 → F11 apply_user_anchor" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#388E3C;strokeColor=#66BB6A;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
<mxGeometry x="310" y="1200" width="240" height="70" as="geometry"/>
</mxCell>
<mxCell id="user-3" value="G11 → G10 add_absolute_factor&#10;(high confidence)&#10;Processing resumes" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#6A1B9A;strokeColor=#BA68C8;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="user-3" value="F11 → F10 add_absolute_factor&#10;(high confidence)&#10;Processing resumes" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#6A1B9A;strokeColor=#BA68C8;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="arrow-user-1-2" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="user-1" target="user-2" edge="1">
<mxGeometry relative="1" as="geometry"/>
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<mxGeometry relative="1" as="geometry"/>
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<mxCell id="async-title" value="Asynchronous Trajectory Refinement" style="text;html=1;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=14;fontStyle=1;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="async-1" value="G10 back-propagates&#10;new absolute factors" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#6A1B9A;strokeColor=#BA68C8;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="async-1" value="F10 back-propagates&#10;new absolute factors&#10;(chunk + global optimization)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#6A1B9A;strokeColor=#BA68C8;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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</mxCell>
<mxCell id="async-2" value="G13 detect changed frames&#10;→ G03 batch_update_waypoints" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#E65100;strokeColor=#FFA726;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="async-2" value="F14 detect changed frames&#10;→ F03 batch_update_waypoints" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#E65100;strokeColor=#FFA726;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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</mxCell>
<mxCell id="async-3" value="G13 → G14&#10;send frame_refined events" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#E65100;strokeColor=#FFA726;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="async-3" value="F14 → F15&#10;send frame_refined events" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#E65100;strokeColor=#FFA726;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxCell id="arrow-async-1-2" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="async-1" target="async-2" edge="1">
<mxGeometry relative="1" as="geometry"/>
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<mxCell id="client-g01" value="HTTP REST" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="client" target="g01" edge="1">
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<mxCell id="g03-route" value="Per-frame&#10;waypoint updates" style="edgeStyle=orthogonalEdgeStyle;curved=1;dashed=1;strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="g03" target="r01" edge="1">
<mxCell id="f14-route" value="Per-frame&#10;waypoint updates" style="edgeStyle=orthogonalEdgeStyle;curved=1;dashed=1;strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f14" target="r01" edge="1">
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<mxCell id="g04-sat" value="Fetch tiles" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="g04" target="satellite-provider" edge="1">
<mxCell id="f04-sat" value="Fetch tiles" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f04" target="satellite-provider" edge="1">
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<mxCell id="g14-client" value="SSE Events" style="dashed=1;strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="g14" target="client" edge="1">
<mxCell id="f15-client" value="SSE Events" style="dashed=1;strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f15" target="client" edge="1">
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</mxCell>
<mxCell id="detector-g12" value="Object pixels → GPS" style="dashed=1;strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="external-detector" target="g12" edge="1">
<mxCell id="detector-f13" value="Object pixels → GPS" style="dashed=1;strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="external-detector" target="f13" edge="1">
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<mxCell id="f12-f10" value="Chunk lifecycle" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f12" target="f10" edge="1">
<mxGeometry relative="1" as="geometry"/>
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<mxCell id="f12-f08" value="Chunk descriptors" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f12" target="f08" edge="1">
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<mxCell id="f11-f12" value="Chunk matching" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f11" target="f12" edge="1">
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<mxCell id="legend-title" value="Legend" style="text;html=1;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=16;fontStyle=1;fontColor=#ffffff;" parent="1" vertex="1">
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