sindoring
ba81098797
Work-Package: M00-QAR-INTEGRATOR-CLOSEOUT-001 Agent: sindo-main-codex Tests: post-merge render baseline dry-run; comparator self-test; coordination and documentation gates Fidelity: records seven build-12340 reference categories and measured gaps without claiming parity
3.1 KiB
3.1 KiB
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,heightand 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