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https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
094895b21b
Phase 2 — Visual Odometry: - ORBVisualOdometry (dev/CI), CuVSLAMVisualOdometry (Jetson) - TRTInferenceEngine (TensorRT FP16, conditional import) - create_vo_backend() factory Phase 3 — Satellite Matching + GPR: - SatelliteDataManager: local z/x/y tiles, ESKF ±3σ tile selection - GSD normalization (SAT-03), RANSAC inlier-ratio confidence (SAT-04) - GlobalPlaceRecognition: Faiss index + numpy fallback Phase 4 — MAVLink I/O: - MAVLinkBridge: GPS_INPUT 15+ fields, IMU callback, 1Hz telemetry - 3-consecutive-failure reloc request - MockMAVConnection for CI Phase 5 — Pipeline Wiring: - ESKF wired into process_frame: VO update → satellite update - CoordinateTransformer + SatelliteDataManager via DI - MAVLink state push per frame (PIPE-07) - Real pixel_to_gps via ray-ground projection (PIPE-06) - GTSAM ISAM2 update when available (PIPE-03) Phase 6 — Docker + CI: - Multi-stage Dockerfile (python:3.11-slim) - docker-compose.yml (dev), docker-compose.sitl.yml (ArduPilot SITL) - GitHub Actions: ci.yml (lint+pytest+docker smoke), sitl.yml (nightly) - tests/test_sitl_integration.py (8 tests, skip without SITL) Phase 7 — Accuracy Validation: - AccuracyBenchmark + SyntheticTrajectory - AC-PERF-1: 80% within 50m ✅ - AC-PERF-2: 60% within 20m ✅ - AC-PERF-3: p95 latency < 400ms ✅ - AC-PERF-4: VO drift 1km < 100m ✅ (actual ~11m) - scripts/benchmark_accuracy.py CLI Tests: 195 passed / 8 skipped Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
39 lines
1.3 KiB
Markdown
39 lines
1.3 KiB
Markdown
---
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plan: 01-02
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phase: 01-eskf-core
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status: complete
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completed: 2026-04-01T20:50:00Z
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---
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## Summary
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Replaced all FAKE Math stubs in CoordinateTransformer with real camera projection mathematics. Implements the complete pixel-to-GPS chain via K^-1 unprojection, camera-to-body rotation, quaternion body-to-ENU transformation, and ray-ground intersection (ESKF-06).
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## Key File Modified
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- `src/gps_denied/core/coordinates.py` (176 lines added) — Real K matrix math, helper functions, pixel_to_gps, gps_to_pixel, cv2.perspectiveTransform
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## Commits
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- `dccadd4` feat(coordinates): implement real pixel-to-GPS projection chain (ESKF-06)
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## New Helpers
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- `_build_intrinsic_matrix()` — K matrix from focal_length, sensor size, resolution
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- `_cam_to_body_rotation()` — Rx(180deg) for nadir-pointing camera
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- `_quat_to_rotation_matrix()` — Quaternion to 3x3 rotation matrix
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## Deviations
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None — all acceptance criteria passed.
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## Self-Check: PASSED
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- [x] K^-1 unprojection replaces 0.1m/pixel fake scaling
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- [x] Ray-ground intersection at altitude
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- [x] gps_to_pixel is exact inverse
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- [x] transform_points uses cv2.perspectiveTransform
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- [x] All FAKE Math stubs removed
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- [x] Image center pixel projects to UAV nadir
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- [x] Backward-compatible defaults (ADTI 20L V1)
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