mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 21:56:38 +00:00
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>
62 lines
2.0 KiB
Docker
62 lines
2.0 KiB
Docker
# ---------------------------------------------------------------------------
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# GPS-Denied Onboard — Production Dockerfile
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# ---------------------------------------------------------------------------
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# Build: docker build -t gps-denied-onboard .
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# Run: docker run -p 8000:8000 gps-denied-onboard
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#
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# Jetson Orin Nano Super deployment: use base image
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# nvcr.io/nvidia/l4t-pytorch:r36.2.0-pth2.1-py3
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# and replace python:3.11-slim with that image.
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# ---------------------------------------------------------------------------
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FROM python:3.11-slim AS builder
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WORKDIR /build
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# System deps for OpenCV headless + numpy compilation
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RUN apt-get update && apt-get install -y --no-install-recommends \
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gcc \
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libgl1 \
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libglib2.0-0 \
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&& rm -rf /var/lib/apt/lists/*
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COPY pyproject.toml .
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# Install only the package metadata (no source yet) to cache deps layer
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RUN pip install --no-cache-dir --upgrade pip && \
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pip install --no-cache-dir -e "." --no-build-isolation
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# ---------------------------------------------------------------------------
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FROM python:3.11-slim AS runtime
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WORKDIR /app
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# Runtime system deps (OpenCV headless needs libGL + libglib)
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RUN apt-get update && apt-get install -y --no-install-recommends \
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libgl1 \
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libglib2.0-0 \
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&& rm -rf /var/lib/apt/lists/*
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# Copy installed packages from builder
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COPY --from=builder /usr/local/lib/python3.11/site-packages /usr/local/lib/python3.11/site-packages
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COPY --from=builder /usr/local/bin /usr/local/bin
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# Copy application source
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COPY src/ src/
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COPY pyproject.toml .
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# Runtime environment
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ENV PYTHONPATH=/app/src \
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GPS_DENIED_DB_PATH=/data/flights.db \
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GPS_DENIED_TILE_DIR=/data/satellite_tiles \
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GPS_DENIED_LOG_LEVEL=INFO
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# Data volume: database + satellite tiles
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VOLUME ["/data"]
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EXPOSE 8000
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HEALTHCHECK --interval=30s --timeout=5s --retries=3 \
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CMD python -c "import urllib.request; urllib.request.urlopen('http://localhost:8000/health')" || exit 1
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CMD ["uvicorn", "gps_denied.app:app", "--host", "0.0.0.0", "--port", "8000", "--workers", "1"]
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