gps-denied-onboard/docs/00_problem/acceptance_criteria.md

- System should find out GPS of centers of 80% of the photos from the flight within error no more than 50 meters in comparison to the real GPS
- System should find out GPS of centers of 60% of the photos from the flight within error no more than 20 meters in comparison to the real GPS
- System should correctly continue the work even in a presence of up to 350 meters outlier photo between 2 consecutive photos en route. This could happen due to tilt of the plane.
- System should correctly continue the work even during sharp turns, where the next photo doesn't overlap at all, or overlaps in less than 5%. Next photo should be in less than 150m drift and angle less than 50%
- Number of outliers during the satellite provider images ground check should be less than 10%
- In case of absolute incapable of the system to determine next, second next, and third next images gps, by any methods, (these 20% of the route), then it should ask user for an input for the next image, so that user can specify location
- Less than 2 seconds for processing one image
- Image Registration Rate > 95%. System can find enough matching features to confidently calculate the camera's 6-DoF pose (position and orientation) and "stitch" that image into the final trajectory
- Mean Reprojection Error (MRE) < 1.0 pixels. The distance, in pixels, between the original pixel location of the object and the re-projected pixel location.