From ce7d05bc0d2ac9f0628056e142ecaada8c4df37d Mon Sep 17 00:00:00 2001 From: Theodore Omtzigt Date: Fri, 19 Jun 2026 07:10:24 -0400 Subject: [PATCH] docs(pipeline): record the completed real-data inspector epic (#371) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Epic #371 (per-stage real-data inspectors) is complete: every stage whose operator exists in the filter now has an inspector that re-runs the shipped operator on real EuRoC and renders it across the image-domain, 3-D, and filter-internal tiers. Note this in the diagnostic-program section and add the epic to the tracking index (S7/S8 remain unbuilt — optional layers not present in the filter). Relates to #371 Co-Authored-By: Claude Opus 4.8 (1M context) --- .../src/content/docs/pipeline/engineering-status.mdx | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/docs-site/src/content/docs/pipeline/engineering-status.mdx b/docs-site/src/content/docs/pipeline/engineering-status.mdx index 7eb7dbd..fc2841d 100644 --- a/docs-site/src/content/docs/pipeline/engineering-status.mdx +++ b/docs-site/src/content/docs/pipeline/engineering-status.mdx @@ -63,6 +63,17 @@ distilled into the eleven staged contracts (S0–S10) of this section, each with `tools/` and a probe header under `sdk/eval/`. The consistency instrument itself (NEES/NIS/whiteness) is the always-on half. +Alongside the synthetic probes (the CI gate, known ground truth), each implemented +stage now also has a **real-data inspector** (epic , complete): +it re-runs the *shipped* stage operator on a real EuRoC sequence and renders the +result across three tiers — image-domain SVG overlays (`gen-overlay.mjs`), the 3-D +landmark/covariance viewer (`scene3d.js`), and filter-internal covariance / NIS / +convergence figures (`gen-*-figures.mjs`). Built for every stage whose operator +exists in the filter — **S0, S4** (image), **S5** (3-D), and **S6, S1, S2, S3, S9, +S10** (filter-internal). The two not built, **S7** (persistent SLAM features) and +**S8** (zero-velocity / ZUPT), are optional layers not present in the cortex filter +and become buildable only once those subsystems are added. + ## Tracking index | Area | Issue | @@ -70,6 +81,7 @@ distilled into the eleven staged contracts (S0–S10) of this section, each with | Over-confidence (the umbrella) | | | Consistency instrument (NEES/NIS) | | | Diagnostic-instrumentation epic | | +| Real-data stage inspectors (epic — complete) | | | Stream characterization (Allan → Q) | | | Dynamic init on real EuRoC | , |