# Acceptance Test: Multi-Chunk Simultaneous Processing

## Summary
Validate system's ability to process multiple chunks simultaneously, matching and merging them asynchronously.

## Linked Acceptance Criteria
**AC-4**: Robust to sharp turns (<5% overlap)
**AC-5**: Connect route chunks (multiple chunks)

## Preconditions
1. F02.2 Flight Processing Engine running
2. F10 Factor Graph Optimizer with native multi-chunk support (subgraph operations)
3. F11 Failure Recovery Coordinator (pure logic, returns status objects to F02.2)
4. F12 Route Chunk Manager functional (chunk lifecycle: `create_chunk()`, `add_frame_to_chunk()`, `mark_chunk_anchored()`, `merge_chunks()`)
5. F08 Global Place Recognition (chunk semantic matching via `retrieve_candidate_tiles_for_chunk()`)
6. F09 Metric Refinement (chunk LiteSAM matching)
7. Test dataset: Flight with 3 disconnected segments

## Test Description
Test system's ability to handle multiple disconnected route segments simultaneously. The system should create chunks proactively, process them independently, and match/merge them asynchronously without blocking frame processing.

## Test Steps

### Step 1: Create Multi-Segment Flight
- **Action**: Create flight with 3 disconnected segments:
  - Segment 1: AD000001-010 (10 frames, sequential)
  - Segment 2: AD000025-030 (6 frames, no overlap with Segment 1)
  - Segment 3: AD000050-055 (6 frames, no overlap with Segments 1 or 2)
- **Expected Result**: Flight created with all 22 images

### Step 2: Process Segment 1
- **Action**: Process AD000001-010
- **Expected Result**:
  - Chunk_1 created (frames 1-10)
  - Sequential VO provides relative factors
  - Factors added to chunk_1's subgraph
  - Chunk_1 optimized independently
  - GPS anchors from LiteSAM matching
  - Chunk_1 anchored and merged to main trajectory

### Step 3: Detect Discontinuity (Segment 1 → 2)
- **Action**: Process AD000025 after AD000010
- **Expected Result**:
  - Tracking lost detected (large displacement ~2km)
  - **Chunk_2 created proactively** (immediate, not reactive)
  - Processing continues immediately in chunk_2
  - Chunk_1 remains in factor graph (not deleted)

### Step 4: Process Segment 2 Independently
- **Action**: Process AD000025-030
- **Expected Result**:
  - Frames processed in chunk_2 context
  - Relative factors added to chunk_2's subgraph
  - Chunk_2 optimized independently
  - Chunk_1 and chunk_2 exist simultaneously
  - Chunk_2 matching attempted asynchronously (background)

### Step 5: Detect Discontinuity (Segment 2 → 3)
- **Action**: Process AD000050 after AD000030
- **Expected Result**:
  - Tracking lost detected again
  - **Chunk_3 created proactively**
  - Processing continues in chunk_3
  - Chunk_1, chunk_2, chunk_3 all exist simultaneously

### Step 6: Process Segment 3 Independently
- **Action**: Process AD000050-055
- **Expected Result**:
  - Frames processed in chunk_3 context
  - Chunk_3 optimized independently
  - All 3 chunks exist simultaneously
  - Each chunk processed independently

### Step 7: Asynchronous Chunk Matching
- **Action**: Background task attempts matching for unanchored chunks
- **Expected Result**:
  - Chunk_2 semantic matching attempted
  - Chunk_2 LiteSAM matching attempted
  - Chunk_2 anchored when match found
  - Chunk_3 semantic matching attempted
  - Chunk_3 LiteSAM matching attempted
  - Chunk_3 anchored when match found
  - Matching happens asynchronously (doesn't block frame processing)

### Step 8: Chunk Merging
- **Action**: Merge chunks as they become anchored
- **Expected Result**:
  - Chunk_2 merged to chunk_1 when anchored
  - Chunk_3 merged to merged trajectory when anchored
  - Sim(3) transforms applied correctly
  - Global optimization performed
  - All chunks merged into single trajectory

### Step 9: Verify Final Trajectory
- **Action**: Verify all 22 frames have GPS coordinates
- **Expected Result**:
  - All frames have GPS coordinates
  - Trajectory globally consistent
  - No systematic bias between segments
  - Accuracy: 20/22 < 50m (90.9%)

## Success Criteria

**Primary Criterion**:
- Multiple chunks created simultaneously
- Chunks processed independently
- Chunks matched and merged asynchronously
- Final trajectory globally consistent

**Supporting Criteria**:
- Chunk creation is proactive (immediate)
- Frame processing continues during chunk matching
- Chunk matching doesn't block processing
- Sim(3) transforms computed correctly

## Expected Results

```
Multi-Chunk Simultaneous Processing:
- Chunk_1: frames 1-10, anchored, merged
- Chunk_2: frames 25-30, anchored asynchronously, merged
- Chunk_3: frames 50-55, anchored asynchronously, merged
- Simultaneous existence: All 3 chunks exist at same time
- Independent processing: Each chunk optimized independently
- Asynchronous matching: Matching doesn't block frame processing
- Final trajectory: Globally consistent
- Accuracy: 20/22 < 50m (90.9%)
```

## Pass/Fail Criteria

**TEST PASSES IF**:
- Multiple chunks created simultaneously
- Chunks processed independently
- Chunks matched and merged asynchronously
- Final trajectory globally consistent
- Accuracy acceptable (≥ 80% < 50m)

**TEST FAILS IF**:
- Chunks not created simultaneously
- Chunk processing blocks frame processing
- Chunk matching blocks processing
- Merging produces inconsistent trajectory
- Final accuracy below threshold

## Architecture Elements

**Multi-Chunk Support**:
- F10 Factor Graph Optimizer supports multiple chunks via `create_chunk_subgraph()`
- Each chunk has own subgraph, optimized independently via `optimize_chunk()`
- F12 Route Chunk Manager owns chunk metadata (status, is_active, etc.)

**Proactive Chunk Creation**:
- F11 triggers chunk creation via `create_chunk_on_tracking_loss()`
- F12.create_chunk() creates chunk and calls F10.create_chunk_subgraph()
- Processing continues in new chunk immediately (not reactive)

**Asynchronous Matching**:
- F02.2 manages background task that calls F11.process_unanchored_chunks()
- F11 calls F12.get_chunks_for_matching() to find ready chunks
- F11.try_chunk_semantic_matching() → F11.try_chunk_litesam_matching()
- Matching doesn't block frame processing

**Chunk Merging**:
- F11.merge_chunk_to_trajectory() coordinates merging
- F12.merge_chunks() updates chunk state and calls F10.merge_chunk_subgraphs()
- Sim(3) transform accounts for translation, rotation, scale
- F10.optimize_global() runs after merging

## Notes
- Multiple chunks can exist simultaneously
- Chunk processing is independent and non-blocking
- Asynchronous matching reduces user input requests
- Sim(3) transform critical for scale ambiguity resolution