# 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 |