# M00-QAR-LANDMARK-REGION-DIFF-001 — Landmark-region visual diff ## Ownership - Target: M00 - Program: QAR - Owner/Agent ID: sindo-main-codex - Branch: `work/sindo-main-codex/m00-landmark-region-diff` - Lease expires UTC: 2026-07-14 - Integrator: milestone integrator ## Outcome Rank camera candidates inside an approved common screen region so unrelated grass/sky coverage cannot dominate landmark framing. ## Non-goals - Automatic feature detection or image warping. - Different crops for reference and candidate. - Changing manifest camera values without human approval. ## Paths - Exclusive: comparator common-region option and sweep pass-through - Shared/hotspots: camera-pose documentation and renderer fidelity findings - Generated/ignored: local ROI sweep images/reports ## Contracts and data - Public API/events: additive comparator `--region x,y,width,height` and sweep `-ComparisonRegion` - Schema/format version: report/ranking schema remains version 1 with additive region metadata - Migration/compatibility: omitted region preserves full-frame behavior - Consumers: M00 paired camera calibration ## Dependencies - Requires: ready-scene joint pitch/FOV sweep - Blocks: landmark-weighted Goldshire framing decision - External state: private build 12340 reference ## Verification - Commands: comparator synthetic ROI regression, invalid-bound regression, sweep plan, bounded real ROI sweep, repository gates - Fixtures: synthetic 2x2 images and private Goldshire reference - Fidelity evidence: facade-region ranking plus human inspection - Performance budget: region comparison visits only selected pixels ## Documentation deliverables - Inline public API docs: comparator usage and PowerShell parameter - Module specification: ROI finding - Data-flow diagram: approved region into comparator - Sequence/state/dependency diagrams: unchanged - Source map/status updates: camera-pose guide ## Simplicity and naming - Important names introduced: `ComparisonRegion`, `comparison_region` - Simplest considered solution: one common integer rectangle - Rejected complexity/abstractions: masks, feature detectors, separate movable crops - Unavoidable complexity and justification: full-frame color error is biased by large terrain regions - Measured optimization evidence: bounded pixel loop ## Status - State: ready-for-review - Done: common ROI parser/validation/reporting, synthetic inclusion/exclusion regression, sweep pass-through, 15-candidate Goldshire rescoring and human inspection - Next: define explicit approved landmark coordinates or mask; do not calibrate manifest from the common rectangle alone - Blocked by: ## Handoff - Commit: this work-package commit - Results: ROI [300,100,1400,650] ranked FOV 38/yaw 10/pitch -15 first at mean 0.081777 and ratio 0.697185; visually the facade remains oversized and cropped - Remaining risks: rectangle includes non-semantic road/terrain pixels and cannot prove landmark alignment - Documentation updated: `docs/CAMERA_POSE_SWEEP.md`, `docs/modules/world-renderer.md`