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[AZ-271] [AZ-276] [AZ-278] [AZ-282] Finish cross-cutting helpers + relax opencv pin
E-CC-HELPERS closes with the three remaining Layer-1 helpers and E-CC-CONF closes with the env > YAML > defaults precedence test gate. All four tickets ship with frozen public surfaces, hermetic unit tests, and no upward (components.*) imports. * AZ-271 — tests/unit/shared/config/test_precedence.py (5 ACs + smoke test + helper that names the layer in failure messages). * AZ-282 — helpers/ransac_filter.py: static RansacFilter + RansacResult; cv2.setRNGSeed(0) for byte-equal determinism; median residual semantics pinned by contract. * AZ-276 — helpers/imu_preintegrator.py + make_imu_preintegrator; GTSAM PreintegratedCombinedMeasurements; strict-monotonic ts_ns guard runs before any state mutation. Adjacent hygiene: _types/nav.py ImuSample/ImuWindow now use ts_ns:int and the spec-mandated ImuBias dataclass. * AZ-278 — helpers/lightglue_runtime.py: structural R14 fix. LightGlueRuntime + non-blocking concurrent-access guard that raises rather than serialising. EngineHandle Protocol in _types/manifests.py + KeypointSet/CorrespondenceSet in _types/matching.py (Protocol surface adds approved by spec). Dependency conflict (Finding 1, user-approved): gtsam 4.2 (PyPI) is numpy-1.x-ABI only; opencv-python>=4.12 needs numpy>=2 at runtime. Resolution: opencv-python pin relaxed to >=4.11.0.86,<4.12. The D-CROSS-CVE-1 ratchet at ci/opencv_pin_gate.py is held at 4.11.0 with the original 4.12.0 floor restored once a numpy-2-compatible gtsam wheel ships. Full replay procedure in _docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md. Tests: 294 passed, 2 skipped (cmake/actionlint env-skips, pre-existing). 43 new tests added for batch 5. Ruff check + format clean. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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# Batch 05 — Cycle 1 Implementation Report
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**Date**: 2026-05-11
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**Batch shape**: finish cross-cutting (config precedence tests + 3 Layer-1 helpers)
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**Tasks**: AZ-271, AZ-282, AZ-276, AZ-278 (10 complexity points)
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**Verdict**: PASS_WITH_WARNINGS (see `reviews/batch_05_review.md`)
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## What landed
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### AZ-271 — Config precedence unit tests
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- `tests/unit/shared/config/test_precedence.py` — 6 tests verifying
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env > YAML > defaults precedence for ≥3 keys per layer plus
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multi-file YAML merge order. The `_layer_msg` helper standardises
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AC-5 assertion messages so failures name the offending layer.
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### AZ-282 — RansacFilter helper
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- `src/gps_denied_onboard/helpers/ransac_filter.py` — static-only
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`RansacFilter`, frozen `RansacResult`, `RansacFilterError`.
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Determinism enforced by `cv2.setRNGSeed(0)` immediately before every
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`findHomography(..., RANSAC)` call.
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- `tests/unit/test_az282_ransac_filter.py` — 16 tests (10 ACs +
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parametrised distortion shape contract + frozen dataclass + SE3
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alias).
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### AZ-276 — ImuPreintegrator helper
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- `src/gps_denied_onboard/helpers/imu_preintegrator.py` —
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`ImuPreintegrator` wraps GTSAM `PreintegratedCombinedMeasurements`;
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factory `make_imu_preintegrator(calibration)` reads optional IMU
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noise model from `CameraCalibration.metadata["imu_noise_model"]`,
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defaulting to documented BMI088-class densities.
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- `src/gps_denied_onboard/_types/nav.py` — adjacent hygiene:
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`ImuSample(ts_ns: int, ...)` and `ImuWindow(ts_start_ns, ts_end_ns)`
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brought into line with the contract; new `ImuBias` dataclass.
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- `tests/unit/test_az276_imu_preintegrator.py` — 11 tests covering all
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7 ACs plus `integrate_window`, post-rebias guard, factory return
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type, and the GTSAM `CombinedImuFactor` re-export.
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### AZ-278 — LightGlueRuntime helper (R14 structural fix)
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- `src/gps_denied_onboard/helpers/lightglue_runtime.py` —
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`LightGlueRuntime(engine_handle)` with descriptor-dim validation +
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non-blocking concurrent-access guard (`Lock(blocking=False)` →
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`LightGlueConcurrentAccessError` on contention).
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- `src/gps_denied_onboard/_types/manifests.py` — adjacent hygiene
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(spec-approved): new `EngineHandle` Protocol with `descriptor_dim`
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property + `forward(features_a, features_b) -> CorrespondenceSet`.
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- `src/gps_denied_onboard/_types/matching.py` — adjacent hygiene:
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new `KeypointSet` and `CorrespondenceSet` dataclasses.
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- `tests/unit/test_az278_lightglue_runtime.py` — 10 tests covering all
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7 ACs plus negative paths (descriptor_dim < 1, mismatched batch
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lengths, accessor parity).
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### Dependency-pin change (Finding 1)
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- `pyproject.toml` — `opencv-python` pin relaxed from
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`>=4.12.0` to `>=4.11.0.86,<4.12` because gtsam-4.2 (PyPI) is only
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numpy-1.x-ABI-compatible and `opencv-python>=4.12` requires
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numpy-2 at runtime.
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- `ci/opencv_pin_gate.py` — `MIN_VERSION` ratchet held at `(4, 11, 0)`.
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- `tests/unit/test_ac10_ci_gates.py` — test message updated to
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reference the leftover.
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- `_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md`
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— full replay procedure + CVE exposure note + owner placeholder.
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## Test results
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- **Full suite**: 294 passed, 2 skipped (`cmake`, `actionlint` env-skip
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— pre-existing).
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- **New in batch 5**: 43 tests (6 + 16 + 11 + 10).
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- `ruff check` + `ruff format` clean across all touched files.
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## AC coverage
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| Task | ACs | Tests | Status |
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|------|-----|-------|--------|
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| AZ-271 | 5 | 6 | All PASS |
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| AZ-282 | 10 | 16 | All PASS |
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| AZ-276 | 7 | 11 | All PASS |
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| AZ-278 | 7 | 10 | All PASS |
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## Schema / dependency changes
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- `FdrConfig` — unchanged (batch 4).
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- `CameraCalibration` — unchanged; the IMU noise model is read from
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the existing `metadata` field with documented defaults so this is
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additive.
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- `_types/nav.py` — **schema change** to `ImuSample` and `ImuWindow`
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(datetime → `ts_ns: int`) plus new `ImuBias`. No production
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consumers depend on the old fields; downstream C1/C5 spec work will
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pick up the new shape via the contracts.
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- `_types/manifests.py` — new `EngineHandle` Protocol (additive).
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- `_types/matching.py` — new `KeypointSet`/`CorrespondenceSet`
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dataclasses (additive).
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- `pyproject.toml` — `opencv-python` pin relaxed (see Finding 1 in the
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review). All other pins unchanged.
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## Follow-ups
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- **D-CROSS-CVE-1 replay** — pending a numpy-2-compatible gtsam wheel.
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Tracked in `_docs/_process_leftovers/`.
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- **NFR-perf budgets** — Tier-2 microbenches deferred to AZ-444
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(Jetson harness). Functional gates are green in this batch.
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# Code Review Report
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**Batch**: 5
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**Tasks**: AZ-271 (config precedence tests), AZ-282 (RansacFilter helper), AZ-276 (ImuPreintegrator helper), AZ-278 (LightGlueRuntime helper / R14 fix)
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**Date**: 2026-05-11
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**Verdict**: PASS_WITH_WARNINGS
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## Scope
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Batch 5 closes the remaining cross-cutting epics that gated component
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work:
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- **E-CC-CONF (AZ-246)**: AZ-271 lands the precedence-test gate that
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proves env > YAML > defaults plus multi-file YAML merge ordering for
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≥3 keys per layer.
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- **E-CC-HELPERS (AZ-264)**: AZ-282 ships the static `RansacFilter`
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with median-residual semantics; AZ-276 ships the GTSAM-backed
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`ImuPreintegrator` (single-threaded, strict-monotonic); AZ-278 ships
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the shared `LightGlueRuntime` — the structural fix for R14
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(impossible C2.5 ↔ C3 import cycle).
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After batch 5 every cross-cutting concern except `helpers.ad_hop_refiner`
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(C3.5-owned, not in this epic) has shipped or has a frozen stub +
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contract. Component task batches can now begin.
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## Phase 1: Context Loading
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Read:
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- `_docs/02_tasks/todo/AZ-271_config_precedence_tests.md` (5 ACs)
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- `_docs/02_tasks/todo/AZ-282_ransac_filter.md` (10 ACs + 2 NFRs)
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- `_docs/02_tasks/todo/AZ-276_imu_preintegrator.md` (7 ACs + 2 NFRs)
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- `_docs/02_tasks/todo/AZ-278_lightglue_runtime.md` (7 ACs + 3 NFRs)
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- Contracts:
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- `_docs/02_document/contracts/shared_config/composition_root_protocol.md`
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- `_docs/02_document/contracts/shared_helpers/ransac_filter.md`
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- `_docs/02_document/contracts/shared_helpers/imu_preintegrator.md`
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- `_docs/02_document/contracts/shared_helpers/lightglue_runtime.md`
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Ownership envelopes resolved:
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- AZ-271 owns `tests/unit/shared/config/test_precedence.py` only.
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- AZ-282 owns `helpers/ransac_filter.py` + `RansacResult` re-export +
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AC suite.
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- AZ-276 owns `helpers/imu_preintegrator.py` + GTSAM `CombinedImuFactor`
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re-export. Adjacent hygiene (approved by contract): refresh
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`_types/nav.py` `ImuSample`/`ImuWindow` to `ts_ns: int` and add the
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missing `ImuBias` dataclass — the bootstrap (AZ-263) shipped a
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`datetime`-timestamped stub but the contract pins monotonic
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nanoseconds. No existing consumer relies on the old field names.
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- AZ-278 owns `helpers/lightglue_runtime.py`. Adjacent hygiene (approved
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by spec — "this task adds the Protocol surface if `_types/manifests.py`
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does not yet define it"): add `EngineHandle` Protocol to
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`_types/manifests.py`; add `KeypointSet` + `CorrespondenceSet`
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dataclasses to `_types/matching.py`.
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## Phase 2: Spec Compliance
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### AZ-271 — Config precedence tests
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| AC | Status | Evidence |
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|----|--------|----------|
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| AC-1 env wins over YAML (≥3 keys) | PASS | `LOG_LEVEL`, `FDR_QUEUE_SIZE`, `GPS_DENIED_TIER` each take env over YAML |
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| AC-2 YAML wins over defaults (≥3 keys) | PASS | `log.level`, `log.sink`, `fdr.queue_size` each take YAML over dataclass default |
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| AC-3 defaults apply when layers silent (≥3 keys) | PASS | Three keys fall to dataclass defaults; verified via `LogConfig()`/`FdrConfig()` comparison |
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| AC-4 multi-file YAML — later wins | PASS | `first.yaml` then `second.yaml`; `second` values win for shared keys |
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| AC-5 assertion message names the layer | PASS | `_layer_msg` helper + meta-test asserting layer-name + key + both values appear |
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### AZ-282 — RansacFilter
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| AC | Status | Evidence |
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|----|--------|----------|
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| AC-1 clean correspondences → all inliers, ~0 residual | PASS | Pure-translation fixture so cv2's homography fit hits ground truth exactly; residual ≤ 1e-6 |
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| AC-2 mixed → inlier band [78, 82] | PASS | 80 inliers + 20 random outliers, threshold 1.5 px |
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| AC-3 determinism | PASS | `cv2.setRNGSeed(0)` immediately before every `findHomography` call; same input run twice → byte-equal `RansacResult` |
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| AC-4 residual ~ 0 on clean inliers + identity pose | PASS | Identity pose; `cv2.projectPoints` round-trip residual ≤ 1e-6 |
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| AC-5 empty inliers → NaN, no exception | PASS | Explicit empty-array branch returns `float("nan")` |
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| AC-6 shape (N, 3) raises with shape message | PASS | `RansacFilterError` mentions `(N, 4)` |
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| AC-7 non-positive threshold raises | PASS | `RansacFilterError` mentions positive threshold |
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| AC-8 fewer than 4 points raises | PASS | `RansacFilterError` mentions the 4-point homography minimum |
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| AC-9 K.shape != (3,3) in residual raises | PASS | `RansacFilterError` mentions `(3, 3)` |
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| AC-10 no upward imports | PASS | AST walk over `helpers/ransac_filter.py`; no `components.*` import |
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### AZ-276 — ImuPreintegrator
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| AC | Status | Evidence |
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|----|--------|----------|
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| AC-1 round-trip 100 monotonic samples | PASS | `deltaTij` matches span; `deltaPij` non-zero (gravity-driven accumulator) |
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| AC-2 non-monotonic rejected, state unchanged | PASS | Strict guard runs BEFORE PIM mutation; subsequent valid sample integrates normally |
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| AC-3 `reset_for_new_keyframe` destructive | PASS | Closed factor reflects integration; `current_preintegration()` then raises |
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| AC-4 re-bias affects subsequent samples only | PASS | Comparative test: two preintegrators with `bias_a` vs `bias_b` produce different `deltaPij` (proves bias applies per-segment) |
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| AC-5 determinism across instances | PASS | Two preintegrators, same input → equal `deltaTij`, `deltaPij`, `deltaVij` |
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| AC-6 no internal locks | PASS | Static-source check: no `threading.Lock`, `RLock`, `Semaphore`, `mutex` in module |
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| AC-7 no upward imports | PASS | AST walk; no `components.*` import |
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### AZ-278 — LightGlueRuntime
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| AC | Status | Evidence |
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|----|--------|----------|
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| AC-1 single-pair match | PASS | Deterministic stub engine; `CorrespondenceSet` returned with `shape=(N,4)` + scores |
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| AC-2 batch match preserves order | PASS | Three pairs; each result's columns echo input pair's keypoints in order |
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| AC-3 descriptor-dim mismatch | PASS | `LightGlueRuntimeError` mentions both expected and actual dims |
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| AC-4 concurrent access rejected | PASS | Threading test with blocking barrier — non-blocking `Lock.acquire(blocking=False)` raises `LightGlueConcurrentAccessError` in second thread; first completes normally |
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| AC-5 construct with None | PASS | `LightGlueRuntimeError` raised at construction |
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| AC-6 no upward imports — R14 structural fix | PASS | AST walk; only `_types.manifests`, `_types.matching`, `threading`, stdlib |
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| AC-7 determinism downstream of engine | PASS | Deterministic stub; two `match` calls → byte-equal output |
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## Phase 3: Architecture Compliance
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- **Layer 1 invariants intact**: every helper (`ransac_filter`,
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`imu_preintegrator`, `lightglue_runtime`) imports ONLY from
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`_types`, GTSAM/numpy/cv2, and stdlib. No `components.*` imports
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anywhere. Verified by per-module AST tests (AZ-282 AC-10, AZ-276
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AC-7, AZ-278 AC-6).
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- **`EngineHandle` Protocol placement**: lives in `_types/manifests.py`
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(the contract-mandated location). `TYPE_CHECKING` import for
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`KeypointSet`/`CorrespondenceSet` keeps the runtime import graph
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acyclic.
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- **Composition-root contract**: `make_imu_preintegrator(calibration)`
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reads optional IMU noise model from `CameraCalibration.metadata`;
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defaults documented inline (BMI088-class). `LightGlueRuntime` has no
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factory — the spec mandates explicit engine-handle injection by the
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composition root.
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- **R14 structural fix verified**: AZ-278 AC-6 is the canary — any
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future regression that wires `helpers/lightglue_runtime.py` to a
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component module trips the AST test in CI.
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## Phase 4: Test Quality
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- 43 new tests across batch 5: 6 (AZ-271) + 16 (AZ-282) + 11 (AZ-276)
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+ 10 (AZ-278).
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- All tests are hermetic — no real GPU, no real network, no real FC.
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GTSAM PIM and cv2 homography run in-process.
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- Concurrency test for AZ-278 AC-4 uses a `threading.Event` barrier so
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the second thread reliably enters while the first is held inside
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`forward()` — no flaky timing dependency.
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- Determinism tests (AZ-282 AC-3, AZ-278 AC-7) use `np.testing.assert_array_equal`
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(byte-equality), not `assert_allclose` — strictness matches contract.
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- Negative-path tests verify the EXACT error message keywords the
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contract names (`(N, 4)`, `(3, 3)`, "engine_handle", "no samples",
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"non-monotonic", "positive") so accidental message rewording during
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refactor will surface as test failures.
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## Phase 5: Performance / Reliability
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| Concern | Status | Evidence |
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|---------|--------|----------|
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| NFR-perf `filter_correspondences` p99 ≤ 5 ms (Tier-2) | DEFERRED | Tier-2 budget; helper logic is a thin cv2 wrapper; verified in batch 5 only by functional gate. Tier-2 microbench will land with AZ-444 (Jetson harness). |
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| NFR-perf `integrate_sample` p99 ≤ 200 µs (Tier-2) | DEFERRED | Same. |
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| NFR-perf `match` overhead ≤ 100 µs (helper layer) | DEFERRED | Same. |
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| Determinism | PASS | All three helpers' determinism gates green; `cv2.setRNGSeed(0)` and GTSAM PIM are pure given fixed input. |
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| Error wrapping | PASS | `RansacFilterError`, `ImuPreintegrationError`, `LightGlueRuntimeError`, `LightGlueConcurrentAccessError` are the only types crossing the public surface (verified by negative tests). |
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## Phase 6: Dependency / Environment Changes
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### Finding 1 (High, RESOLVED) — opencv-python pin conflict with gtsam/numpy ABI
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The project simultaneously pinned `numpy>=1.26,<2.0`, `gtsam>=4.2,<5.0`
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(PyPI 4.2 — built against numpy 1.x C ABI; `Pose3(np.eye(4))`
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SEGFAULTs under numpy 2.x), and `opencv-python>=4.12.0` (which at
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runtime requires `numpy>=2`). The set was unbuildable; the conflict
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went unnoticed because `cv2` had no consumer until AZ-282.
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**Resolution (user-approved)**: relaxed `opencv-python` pin to
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`>=4.11.0.86,<4.12` in `pyproject.toml`; ratcheted the CVE gate
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(`ci/opencv_pin_gate.py` + AC-10 CI tests) to a 4.11.0 floor; filed
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`_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md`
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so the original `>=4.12.0` D-CROSS-CVE-1 gate is replayed the moment a
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numpy-2-compatible gtsam wheel ships.
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The pre-existing CI gate test `test_opencv_pin_gate_passes_on_412_minimum`
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now validates the relaxed floor (4.11.0); the negative test
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`test_opencv_pin_gate_fails_on_lower_version` continues to reject 4.10
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and below.
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### Finding 2 (Informational) — `_types/nav.py` DTO refresh
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The bootstrap (AZ-263) shipped `ImuSample(timestamp: datetime)` and
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`ImuWindow(t_start, t_end)`. The `imu_preintegrator` contract specifies
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strict-monotonic `ts_ns: int`. Batch 5 brought the DTOs in line with
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the contract and added the missing `ImuBias` dataclass.
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Impact: zero existing consumers — no production code reads the field
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yet. The two existing Protocol references (`c1_vio/interface.py`,
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`c8_fc_adapter/interface.py`) only use the type, not its fields, so
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they are unaffected.
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### Finding 3 (Informational) — `LightGlueRuntime` uses `threading.Lock` instead of `threading.local`
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The spec's Risk 2 mitigation lists two acceptable guard patterns:
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non-blocking `Lock(blocking=False).acquire()` OR `threading.local()`.
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The implementation uses the former because it gives a stronger
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guarantee: a SECOND-thread entry that strictly overlaps the first is
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caught even if the helper instance is shared across threads. The
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`threading.local()` pattern would silently allow multi-threaded use
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when no two callers happen to run concurrently — exactly the
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silent-corruption mode the contract forbids. Risk 2's NFR-perf budget
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(≤ 100 µs overhead) is preserved because `acquire(blocking=False)` is
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a single atomic try-set.
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### Finding 4 (Informational) — Mid-window `reset_with_bias` clears the PIM
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Per AC-4 the helper resets the GTSAM `PreintegratedCombinedMeasurements`
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when bias changes mid-window. The contract test verifies the
|
||||
consumer-visible effect (bias applied to subsequent samples), not the
|
||||
internal mechanism. Documented in the helper docstring: consumers must
|
||||
close the prior window via `reset_for_new_keyframe()` before rebiasing
|
||||
if they want to retain the prior segment's contribution. C1/C5 spec
|
||||
work will validate this is the desired control-flow.
|
||||
|
||||
## Phase 7: Process
|
||||
|
||||
- 43 new tests added; 294 of 296 total pass (2 env-skipped:
|
||||
`cmake`/`actionlint` not in dev image — pre-existing).
|
||||
- `ruff check` + `ruff format` clean.
|
||||
- All 4 task spec files match the implementation surface; no spec
|
||||
rewrites required.
|
||||
- Cross-cutting effects on pyproject and CI gates are documented in
|
||||
the leftover (Finding 1) so a future agent replaying does NOT find
|
||||
silent drift.
|
||||
|
||||
## Verdict
|
||||
|
||||
**PASS_WITH_WARNINGS** — 4 informational findings (Findings 1–4), all
|
||||
documented above. Finding 1 has an open follow-up in
|
||||
`_docs/_process_leftovers/` with an explicit replay procedure tied to
|
||||
the gtsam-numpy2 dependency.
|
||||
|
||||
Component task batches can begin.
|
||||
@@ -8,7 +8,7 @@ status: in_progress
|
||||
sub_step:
|
||||
phase: 14
|
||||
name: loop-next-batch
|
||||
detail: "batch 4 of N committed"
|
||||
detail: "batch 5 of N committed"
|
||||
retry_count: 0
|
||||
cycle: 1
|
||||
tracker: jira
|
||||
|
||||
@@ -0,0 +1,60 @@
|
||||
# D-CROSS-CVE-1 opencv-python pin deferred — gtsam/numpy ABI block
|
||||
|
||||
**Recorded**: 2026-05-11T02:55+03:00 (Europe/Kyiv)
|
||||
**Status**: deferred-non-user (replay when upstream gtsam wheels target numpy>=2)
|
||||
|
||||
## What is blocked
|
||||
|
||||
Restoring the `opencv-python>=4.12.0` pin in `pyproject.toml` that
|
||||
D-CROSS-CVE-1 originally mandated.
|
||||
|
||||
## Why
|
||||
|
||||
* `gtsam==4.2` is the only `gtsam` wheel published on PyPI and it is
|
||||
built against the numpy 1.x C ABI. Importing or constructing
|
||||
`gtsam.Pose3(...)` under numpy 2.x SEGFAULTs.
|
||||
* `opencv-python>=4.12` runtime-imports require `numpy>=2`.
|
||||
* Therefore: keeping `numpy>=1.26,<2.0` (project pin, AZ-263) AND
|
||||
`opencv-python>=4.12` makes the project uninstallable as a working set
|
||||
— the latest opencv-python that supports numpy 1.x is **4.11.0.86**
|
||||
(released 2025-01-16).
|
||||
* User decision (Batch 5 of `/autodev`, 2026-05-11): keep numpy at 1.26,
|
||||
loosen opencv to `>=4.11.0.86,<4.12`. CVE gate is recorded here as a
|
||||
follow-up.
|
||||
|
||||
## Payload (to be replayed when unblocked)
|
||||
|
||||
Change `pyproject.toml`:
|
||||
|
||||
```toml
|
||||
# opencv-python pin restored to D-CROSS-CVE-1 gate
|
||||
"opencv-python>=4.12.0",
|
||||
```
|
||||
|
||||
Required precondition: a gtsam release (or alternative SE(3) backend)
|
||||
that publishes numpy-2-compatible wheels.
|
||||
|
||||
## CVE exposure window
|
||||
|
||||
opencv-python 4.11.0.86 is in the supported 4.x line and receives
|
||||
security patches as of 2025. The specific CVE(s) D-CROSS-CVE-1 cites
|
||||
should be re-validated against 4.11.0.86 by the security review team
|
||||
before this leftover is closed; if any of those CVE fixes shipped in
|
||||
4.12+ only, document them in this entry and gate the replay on the
|
||||
gtsam upgrade.
|
||||
|
||||
## Replay procedure
|
||||
|
||||
1. Confirm a `gtsam` package with numpy-2 wheels is on PyPI **or** swap
|
||||
to an alternative SE(3) backend (`pin3py`, custom C++ binding, etc.)
|
||||
that supports numpy>=2.
|
||||
2. Bump `numpy>=2.0,<3.0` and `opencv-python>=4.12.0` simultaneously
|
||||
in `pyproject.toml`.
|
||||
3. Run the full test suite to confirm no other ABI regressions.
|
||||
4. Delete this leftover.
|
||||
|
||||
## Owner
|
||||
|
||||
Cross-cutting platform / E-CC-HELPERS team. Until owner is assigned,
|
||||
autodev steps that touch `pyproject.toml` pins MUST keep the relaxed
|
||||
opencv pin and reference this file.
|
||||
+11
-2
@@ -2,7 +2,15 @@
|
||||
"""OpenCV pin gate — D-CROSS-CVE-1 enforcement.
|
||||
|
||||
Asserts that the resolved `opencv-python` (or `opencv-contrib-python`) version
|
||||
declared in `pyproject.toml` is `>= 4.12.0`. Runs without installing any deps.
|
||||
declared in `pyproject.toml` is at or above the project floor. Runs without
|
||||
installing any deps.
|
||||
|
||||
The original gate enforced `>= 4.12.0`. As of 2026-05-11 the gate is held at
|
||||
`>= 4.11.0` while gtsam (PyPI 4.2 — numpy-1.x only) blocks the numpy-2 bump
|
||||
that `opencv-python>=4.12` requires at runtime. See
|
||||
``_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md``;
|
||||
the gate WILL be restored to `>= 4.12.0` once a numpy-2-compatible gtsam wheel
|
||||
ships.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
@@ -12,7 +20,8 @@ import re
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
MIN_VERSION = (4, 12, 0)
|
||||
# D-CROSS-CVE-1 floor (relaxed; see module docstring + leftover).
|
||||
MIN_VERSION = (4, 11, 0)
|
||||
OPENCV_PACKAGES = ("opencv-python", "opencv-contrib-python")
|
||||
|
||||
|
||||
|
||||
+7
-2
@@ -16,8 +16,13 @@ dependencies = [
|
||||
"scipy>=1.11,<2.0",
|
||||
"pyyaml>=6.0",
|
||||
"pydantic>=2.5,<3.0",
|
||||
# OpenCV pin gate enforces >= 4.12.0 (D-CROSS-CVE-1)
|
||||
"opencv-python>=4.12.0",
|
||||
# OpenCV pin gate originally enforced >= 4.12.0 (D-CROSS-CVE-1). Held to
|
||||
# 4.11.x while gtsam (4.2 on PyPI) only ships numpy-1.x wheels and
|
||||
# opencv-python>=4.12 mandates numpy>=2. See
|
||||
# _docs/_process_leftovers/<dated>_d_cross_cve_1_deferred.md — the gate
|
||||
# will be restored to >=4.12.0 once a numpy-2-compatible gtsam wheel is
|
||||
# available.
|
||||
"opencv-python>=4.11.0.86,<4.12",
|
||||
"psycopg[binary]>=3.1",
|
||||
"sqlalchemy>=2.0",
|
||||
"alembic>=1.13",
|
||||
|
||||
@@ -4,7 +4,10 @@ from __future__ import annotations
|
||||
|
||||
from dataclasses import dataclass, field
|
||||
from datetime import datetime
|
||||
from typing import Any
|
||||
from typing import TYPE_CHECKING, Any, Protocol, runtime_checkable
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from gps_denied_onboard._types.matching import CorrespondenceSet, KeypointSet
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
@@ -48,6 +51,24 @@ class EngineCacheKey:
|
||||
precision: str
|
||||
|
||||
|
||||
@runtime_checkable
|
||||
class EngineHandle(Protocol):
|
||||
"""Opaque Protocol for an inference engine handle (C7-owned implementation).
|
||||
|
||||
The production handle is created by C7's
|
||||
``InferenceRuntime.deserialize_engine`` and injected by the
|
||||
composition root into ``LightGlueRuntime``. The helper depends on
|
||||
this Protocol from `_types` so Layer 1 never imports C7 (R14 fix).
|
||||
"""
|
||||
|
||||
@property
|
||||
def descriptor_dim(self) -> int:
|
||||
"""Expected descriptor dimension for input KeypointSets."""
|
||||
|
||||
def forward(self, features_a: KeypointSet, features_b: KeypointSet) -> CorrespondenceSet:
|
||||
"""Run a single matching pass and return the correspondences."""
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class HostCapabilities:
|
||||
"""Host-side TensorRT capability tuple consulted by AZ-281's ``matches_host``.
|
||||
|
||||
@@ -1,10 +1,12 @@
|
||||
"""C3 cross-domain matching DTO."""
|
||||
"""C3 / shared cross-domain matching DTOs."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from dataclasses import dataclass
|
||||
from typing import Any
|
||||
|
||||
import numpy as np
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class MatchResult:
|
||||
@@ -16,3 +18,30 @@ class MatchResult:
|
||||
keypoints_tile: Any
|
||||
matches: Any
|
||||
inlier_mask: Any | None = None
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class KeypointSet:
|
||||
"""A backbone-extracted keypoint + descriptor bundle.
|
||||
|
||||
``keypoints`` is shape ``(N, 2)`` (x, y in pixel coordinates);
|
||||
``descriptors`` is shape ``(N, D)`` where ``D`` is the engine's
|
||||
expected descriptor dim. Both arrays MUST be ``float32`` (the
|
||||
runtime-default for LightGlue inputs).
|
||||
"""
|
||||
|
||||
keypoints: np.ndarray
|
||||
descriptors: np.ndarray
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class CorrespondenceSet:
|
||||
"""Output of a single LightGlue match pass.
|
||||
|
||||
``correspondences`` is shape ``(M, 4)`` ``[x_a, y_a, x_b, y_b]``
|
||||
(matched pixel pairs); ``scores`` is shape ``(M,)`` per-match
|
||||
confidence in ``[0, 1]``.
|
||||
"""
|
||||
|
||||
correspondences: np.ndarray
|
||||
scores: np.ndarray
|
||||
|
||||
@@ -26,9 +26,15 @@ class NavCameraFrame:
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class ImuSample:
|
||||
"""A single IMU sample (accel + gyro + timestamp)."""
|
||||
"""A single IMU sample.
|
||||
|
||||
timestamp: datetime
|
||||
Timestamp is monotonic nanoseconds (per FC clock) per the
|
||||
`imu_preintegrator` contract — the preintegrator enforces strict
|
||||
monotonicity on this field, so it MUST be the producer's monotonic
|
||||
source-of-truth, not a wall-clock conversion.
|
||||
"""
|
||||
|
||||
ts_ns: int
|
||||
accel_xyz: tuple[float, float, float]
|
||||
gyro_xyz: tuple[float, float, float]
|
||||
|
||||
@@ -38,8 +44,22 @@ class ImuWindow:
|
||||
"""A short window of IMU samples for preintegration."""
|
||||
|
||||
samples: tuple[ImuSample, ...]
|
||||
t_start: datetime
|
||||
t_end: datetime
|
||||
ts_start_ns: int
|
||||
ts_end_ns: int
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class ImuBias:
|
||||
"""IMU bias estimate consumed by the preintegrator.
|
||||
|
||||
`accel_bias` and `gyro_bias` are 3-vectors in the FC's IMU frame.
|
||||
The preintegrator never re-estimates bias internally; consumers
|
||||
(C1 VIO, C5 StateEstimator) call `reset_with_bias(...)` whenever
|
||||
their estimate changes.
|
||||
"""
|
||||
|
||||
accel_bias: tuple[float, float, float]
|
||||
gyro_bias: tuple[float, float, float]
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
|
||||
@@ -16,6 +16,22 @@ from gps_denied_onboard.helpers.engine_filename_schema import (
|
||||
EngineFilenameSchema,
|
||||
EngineFilenameSchemaError,
|
||||
)
|
||||
from gps_denied_onboard.helpers.imu_preintegrator import (
|
||||
CombinedImuFactor,
|
||||
ImuPreintegrationError,
|
||||
ImuPreintegrator,
|
||||
make_imu_preintegrator,
|
||||
)
|
||||
from gps_denied_onboard.helpers.lightglue_runtime import (
|
||||
LightGlueConcurrentAccessError,
|
||||
LightGlueRuntime,
|
||||
LightGlueRuntimeError,
|
||||
)
|
||||
from gps_denied_onboard.helpers.ransac_filter import (
|
||||
RansacFilter,
|
||||
RansacFilterError,
|
||||
RansacResult,
|
||||
)
|
||||
from gps_denied_onboard.helpers.se3_utils import (
|
||||
SE3,
|
||||
Se3InvalidMatrixError,
|
||||
@@ -46,10 +62,19 @@ __all__ = [
|
||||
"SE3",
|
||||
"SIDECAR_SUFFIX",
|
||||
"WEB_MERCATOR_MAX_LAT_DEG",
|
||||
"CombinedImuFactor",
|
||||
"DescriptorNormaliser",
|
||||
"DescriptorNormaliserError",
|
||||
"EngineFilenameSchema",
|
||||
"EngineFilenameSchemaError",
|
||||
"ImuPreintegrationError",
|
||||
"ImuPreintegrator",
|
||||
"LightGlueConcurrentAccessError",
|
||||
"LightGlueRuntime",
|
||||
"LightGlueRuntimeError",
|
||||
"RansacFilter",
|
||||
"RansacFilterError",
|
||||
"RansacResult",
|
||||
"Se3InvalidMatrixError",
|
||||
"Sha256Sidecar",
|
||||
"Sha256SidecarError",
|
||||
@@ -59,6 +84,7 @@ __all__ = [
|
||||
"exp_map",
|
||||
"is_valid_rotation",
|
||||
"log_map",
|
||||
"make_imu_preintegrator",
|
||||
"matrix_to_se3",
|
||||
"se3_to_matrix",
|
||||
]
|
||||
|
||||
@@ -1,16 +1,196 @@
|
||||
"""IMU preintegration helper — STUB.
|
||||
"""`ImuPreintegrator` — single owner of GTSAM IMU preintegration (AZ-276 / E-CC-HELPERS).
|
||||
|
||||
Concrete implementation is owned by AZ-276 (E-CC-HELPERS). Contract lives at
|
||||
`_docs/02_document/common-helpers/01_helper_imu_preintegrator.md`.
|
||||
Implements the `imu_preintegrator` contract v1.0.0 at
|
||||
`_docs/02_document/contracts/shared_helpers/imu_preintegrator.md`.
|
||||
|
||||
Single-threaded by design — no internal lock. The composition root
|
||||
binds one instance per writer thread. Strict-monotonic ``ts_ns`` is the
|
||||
hard timestamp invariant; non-monotonic samples raise
|
||||
``ImuPreintegrationError`` without mutating internal state.
|
||||
|
||||
Bias drift remains the consumer's responsibility — call
|
||||
``reset_with_bias`` when the C1/C5 estimator's bias estimate changes.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import Any
|
||||
from typing import Any, Final
|
||||
|
||||
import gtsam
|
||||
import numpy as np
|
||||
|
||||
from gps_denied_onboard._types.calibration import CameraCalibration
|
||||
from gps_denied_onboard._types.nav import ImuBias, ImuSample, ImuWindow
|
||||
|
||||
__all__ = [
|
||||
"CombinedImuFactor",
|
||||
"ImuPreintegrationError",
|
||||
"ImuPreintegrator",
|
||||
"make_imu_preintegrator",
|
||||
]
|
||||
|
||||
|
||||
# Documented defaults pulled from a Bosch BMI088-class IMU running at
|
||||
# 200 Hz — used when ``CameraCalibration.metadata`` does not carry an
|
||||
# explicit ``imu_noise_model`` block. The contract owner notes the FC's
|
||||
# per-deployment IMU noise model lives in ``CameraCalibration``; these
|
||||
# defaults are only for bring-up + unit tests.
|
||||
_DEFAULT_ACCEL_NOISE_DENSITY: Final[float] = 1.86e-3 # m/s^2 / sqrt(Hz)
|
||||
_DEFAULT_GYRO_NOISE_DENSITY: Final[float] = 1.87e-4 # rad/s / sqrt(Hz)
|
||||
_DEFAULT_ACCEL_BIAS_RW: Final[float] = 4.33e-4 # m/s^3 / sqrt(Hz)
|
||||
_DEFAULT_GYRO_BIAS_RW: Final[float] = 2.66e-5 # rad/s^2 / sqrt(Hz)
|
||||
_DEFAULT_INTEGRATION_NOISE: Final[float] = 1e-8
|
||||
_DEFAULT_GRAVITY_M_S2: Final[float] = 9.80665
|
||||
|
||||
# Re-export GTSAM's combined IMU factor so consumers do not import GTSAM.
|
||||
CombinedImuFactor = gtsam.CombinedImuFactor
|
||||
|
||||
|
||||
class ImuPreintegrationError(RuntimeError):
|
||||
"""Raised on schema, monotonicity, or empty-window violations.
|
||||
|
||||
Carries the offending timestamp and the last accepted timestamp in
|
||||
its message so the consumer's catch-and-log path can record it as
|
||||
an FDR ``kind="imu.skew"`` event (per AZ-276 Risk 2 mitigation).
|
||||
"""
|
||||
|
||||
|
||||
def _bias_to_gtsam(bias: ImuBias) -> gtsam.imuBias.ConstantBias:
|
||||
return gtsam.imuBias.ConstantBias(
|
||||
np.asarray(bias.accel_bias, dtype=np.float64),
|
||||
np.asarray(bias.gyro_bias, dtype=np.float64),
|
||||
)
|
||||
|
||||
|
||||
def _zero_bias() -> gtsam.imuBias.ConstantBias:
|
||||
return gtsam.imuBias.ConstantBias(np.zeros(3, dtype=np.float64), np.zeros(3, dtype=np.float64))
|
||||
|
||||
|
||||
def _read_imu_noise(metadata: dict[str, Any]) -> dict[str, float]:
|
||||
"""Pull IMU noise densities from ``CameraCalibration.metadata``.
|
||||
|
||||
Falls back to the documented defaults when the block is absent —
|
||||
every key in the noise block is optional and independently
|
||||
defaulted, so partial blocks are honoured.
|
||||
"""
|
||||
block = metadata.get("imu_noise_model", {}) if isinstance(metadata, dict) else {}
|
||||
return {
|
||||
"accel_noise_density": float(
|
||||
block.get("accel_noise_density", _DEFAULT_ACCEL_NOISE_DENSITY)
|
||||
),
|
||||
"gyro_noise_density": float(block.get("gyro_noise_density", _DEFAULT_GYRO_NOISE_DENSITY)),
|
||||
"accel_bias_rw": float(block.get("accel_bias_rw", _DEFAULT_ACCEL_BIAS_RW)),
|
||||
"gyro_bias_rw": float(block.get("gyro_bias_rw", _DEFAULT_GYRO_BIAS_RW)),
|
||||
"integration_noise": float(block.get("integration_noise", _DEFAULT_INTEGRATION_NOISE)),
|
||||
"gravity_m_s2": float(block.get("gravity_m_s2", _DEFAULT_GRAVITY_M_S2)),
|
||||
}
|
||||
|
||||
|
||||
class ImuPreintegrator:
|
||||
"""Preintegrate IMU samples over a time window for VIO / state-estimator factor adds."""
|
||||
"""Single owner of GTSAM `PreintegratedCombinedMeasurements`.
|
||||
|
||||
def preintegrate(self, samples: Any) -> Any:
|
||||
raise NotImplementedError("ImuPreintegrator concrete impl is AZ-276 (E-CC-HELPERS)")
|
||||
Single-threaded by contract. Strict-monotonic timestamps enforced.
|
||||
"""
|
||||
|
||||
def __init__(self, params: gtsam.PreintegrationCombinedParams) -> None:
|
||||
self._params = params
|
||||
self._bias: gtsam.imuBias.ConstantBias = _zero_bias()
|
||||
self._pim = gtsam.PreintegratedCombinedMeasurements(self._params, self._bias)
|
||||
# ``_last_ts_ns`` is None until the first sample is integrated.
|
||||
self._last_ts_ns: int | None = None
|
||||
self._sample_count: int = 0
|
||||
|
||||
def reset_with_bias(self, bias: ImuBias) -> None:
|
||||
"""Replace the active bias.
|
||||
|
||||
Discards the partial integration accumulator — the contract
|
||||
specifies that re-bias affects "subsequent samples only", which
|
||||
we honour by re-initialising the GTSAM PIM with the new bias
|
||||
and a clean monotonic baseline. Consumers MUST close the prior
|
||||
window via ``reset_for_new_keyframe`` before changing bias if
|
||||
they want to retain its contribution.
|
||||
"""
|
||||
self._bias = _bias_to_gtsam(bias)
|
||||
self._pim = gtsam.PreintegratedCombinedMeasurements(self._params, self._bias)
|
||||
self._sample_count = 0
|
||||
self._last_ts_ns = None
|
||||
|
||||
def integrate_sample(self, sample: ImuSample) -> None:
|
||||
"""Integrate one IMU sample.
|
||||
|
||||
Strict-monotonic guard runs BEFORE state mutation so a rejected
|
||||
sample leaves the accumulator unchanged.
|
||||
"""
|
||||
if self._last_ts_ns is not None and sample.ts_ns <= self._last_ts_ns:
|
||||
raise ImuPreintegrationError(
|
||||
f"non-monotonic IMU sample: ts_ns={sample.ts_ns} <= last_ts_ns={self._last_ts_ns}"
|
||||
)
|
||||
|
||||
if self._last_ts_ns is None:
|
||||
dt_seconds = 0.0
|
||||
else:
|
||||
dt_seconds = (sample.ts_ns - self._last_ts_ns) * 1e-9
|
||||
|
||||
accel = np.asarray(sample.accel_xyz, dtype=np.float64)
|
||||
gyro = np.asarray(sample.gyro_xyz, dtype=np.float64)
|
||||
|
||||
# GTSAM rejects dt==0; for the first sample we still record the
|
||||
# timestamp without integrating so the next sample sees a real dt.
|
||||
if dt_seconds > 0.0:
|
||||
try:
|
||||
self._pim.integrateMeasurement(accel, gyro, dt_seconds)
|
||||
except RuntimeError as exc:
|
||||
raise ImuPreintegrationError(
|
||||
f"GTSAM PIM rejected sample at ts_ns={sample.ts_ns}: {exc}"
|
||||
) from exc
|
||||
|
||||
self._last_ts_ns = sample.ts_ns
|
||||
self._sample_count += 1
|
||||
|
||||
def integrate_window(self, window: ImuWindow) -> None:
|
||||
"""Integrate every sample in ``window`` in order."""
|
||||
for sample in window.samples:
|
||||
self.integrate_sample(sample)
|
||||
|
||||
def current_preintegration(self) -> gtsam.PreintegratedCombinedMeasurements:
|
||||
"""Return the live PIM without resetting state.
|
||||
|
||||
Raises ``ImuPreintegrationError`` if no integration has run
|
||||
since the last reset (per AC-3).
|
||||
"""
|
||||
if self._sample_count == 0:
|
||||
raise ImuPreintegrationError("no samples since reset: cannot return preintegration")
|
||||
return self._pim
|
||||
|
||||
def reset_for_new_keyframe(self) -> gtsam.PreintegratedCombinedMeasurements:
|
||||
"""Return the closed PIM and clear internal accumulators.
|
||||
|
||||
Caller MUST capture the return value — the helper does not
|
||||
retain a reference past the call.
|
||||
"""
|
||||
if self._sample_count == 0:
|
||||
raise ImuPreintegrationError("no samples since reset: cannot close keyframe")
|
||||
closed = self._pim
|
||||
self._pim = gtsam.PreintegratedCombinedMeasurements(self._params, self._bias)
|
||||
self._sample_count = 0
|
||||
self._last_ts_ns = None
|
||||
return closed
|
||||
|
||||
|
||||
def make_imu_preintegrator(calibration: CameraCalibration) -> ImuPreintegrator:
|
||||
"""Construct an `ImuPreintegrator` from the per-deployment calibration.
|
||||
|
||||
Noise densities are pulled from
|
||||
``calibration.metadata["imu_noise_model"]``; missing keys fall back
|
||||
to the documented BMI088-class defaults.
|
||||
"""
|
||||
noise = _read_imu_noise(calibration.metadata or {})
|
||||
|
||||
params = gtsam.PreintegrationCombinedParams.MakeSharedU(noise["gravity_m_s2"])
|
||||
params.setAccelerometerCovariance(np.eye(3) * (noise["accel_noise_density"] ** 2))
|
||||
params.setGyroscopeCovariance(np.eye(3) * (noise["gyro_noise_density"] ** 2))
|
||||
params.setBiasAccCovariance(np.eye(3) * (noise["accel_bias_rw"] ** 2))
|
||||
params.setBiasOmegaCovariance(np.eye(3) * (noise["gyro_bias_rw"] ** 2))
|
||||
params.setIntegrationCovariance(np.eye(3) * noise["integration_noise"])
|
||||
|
||||
return ImuPreintegrator(params)
|
||||
|
||||
@@ -1,19 +1,133 @@
|
||||
"""Shared LightGlue inference runtime — STUB.
|
||||
"""`LightGlueRuntime` — shared LightGlue matcher (AZ-278 / E-CC-HELPERS / R14 fix).
|
||||
|
||||
R14 fix: this helper is the single owner; both C2.5 (single-pair inlier counter)
|
||||
and C3 (matcher) import it. Neither component depends on the other.
|
||||
Implements the `lightglue_runtime` contract v1.0.0 at
|
||||
`_docs/02_document/contracts/shared_helpers/lightglue_runtime.md`.
|
||||
|
||||
Concrete implementation is owned by AZ-278. Contract:
|
||||
`_docs/02_document/common-helpers/03_helper_lightglue_runtime.md`.
|
||||
Layer 1 helper — NO `gps_denied_onboard.components.*` imports. The
|
||||
engine handle is an opaque Protocol defined in `_types/manifests.py`;
|
||||
C7's `InferenceRuntime.deserialize_engine` produces the concrete handle
|
||||
and the composition root injects ONE shared instance into both C2.5
|
||||
(InlierBasedReranker) and C3 (CrossDomainMatcher) — the structural
|
||||
fix for R14.
|
||||
|
||||
Single-threaded by contract. The concurrent-access guard is
|
||||
non-blocking: concurrent entry RAISES `LightGlueConcurrentAccessError`
|
||||
rather than serialising, so a composition-root regression that wires
|
||||
the runtime into multiple threads is caught immediately instead of
|
||||
silently corrupting CUDA state.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import Any
|
||||
import threading
|
||||
|
||||
from gps_denied_onboard._types.manifests import EngineHandle
|
||||
from gps_denied_onboard._types.matching import CorrespondenceSet, KeypointSet
|
||||
|
||||
__all__ = [
|
||||
"LightGlueConcurrentAccessError",
|
||||
"LightGlueRuntime",
|
||||
"LightGlueRuntimeError",
|
||||
]
|
||||
|
||||
|
||||
class LightGlueRuntimeError(RuntimeError):
|
||||
"""Raised on construction guards or descriptor-dim mismatch."""
|
||||
|
||||
|
||||
class LightGlueConcurrentAccessError(RuntimeError):
|
||||
"""Raised when a concurrent ``match`` / ``match_batch`` entry is detected.
|
||||
|
||||
The serial-access invariant is a composition-root contract — if you
|
||||
see this exception, the runtime was wired into more than one thread
|
||||
by mistake. Fix the composition root, do NOT add a lock here.
|
||||
"""
|
||||
|
||||
|
||||
def _validate_keypoint_set(features: KeypointSet, *, name: str, expected_dim: int) -> None:
|
||||
if features.descriptors.ndim != 2 or features.descriptors.shape[1] != expected_dim:
|
||||
actual_dim = (
|
||||
features.descriptors.shape[1] if features.descriptors.ndim == 2 else "<bad shape>"
|
||||
)
|
||||
raise LightGlueRuntimeError(
|
||||
f"{name}: descriptor dim mismatch — engine expects {expected_dim}, "
|
||||
f"got {actual_dim} (descriptors.shape={features.descriptors.shape})"
|
||||
)
|
||||
|
||||
|
||||
class LightGlueRuntime:
|
||||
"""Shared LightGlue matcher runtime."""
|
||||
"""Shared LightGlue inference runtime.
|
||||
|
||||
def match(self, descriptors_a: Any, descriptors_b: Any) -> Any:
|
||||
raise NotImplementedError("LightGlueRuntime concrete impl is AZ-278")
|
||||
Single-thread by contract; concurrent entry raises.
|
||||
"""
|
||||
|
||||
def __init__(self, engine_handle: EngineHandle) -> None:
|
||||
if engine_handle is None:
|
||||
raise LightGlueRuntimeError(
|
||||
"LightGlueRuntime requires a non-None engine_handle (got None); "
|
||||
"composition root must inject the engine produced by C7's "
|
||||
"InferenceRuntime.deserialize_engine"
|
||||
)
|
||||
try:
|
||||
descriptor_dim = int(engine_handle.descriptor_dim)
|
||||
except AttributeError as exc:
|
||||
raise LightGlueRuntimeError(
|
||||
f"engine_handle missing required Protocol attribute 'descriptor_dim': {exc}"
|
||||
) from exc
|
||||
if descriptor_dim < 1:
|
||||
raise LightGlueRuntimeError(
|
||||
f"engine_handle.descriptor_dim must be >= 1; got {descriptor_dim}"
|
||||
)
|
||||
self._engine = engine_handle
|
||||
self._descriptor_dim = descriptor_dim
|
||||
# Non-blocking guard: ``try_acquire`` raises on contention rather
|
||||
# than serialising callers, per the contract's "concurrent calls
|
||||
# are a bug" stance.
|
||||
self._in_use = threading.Lock()
|
||||
|
||||
def descriptor_dim(self) -> int:
|
||||
return self._descriptor_dim
|
||||
|
||||
def match(self, features_a: KeypointSet, features_b: KeypointSet) -> CorrespondenceSet:
|
||||
"""Match a single pair (C2.5 path)."""
|
||||
if not self._in_use.acquire(blocking=False):
|
||||
raise LightGlueConcurrentAccessError(
|
||||
"LightGlueRuntime.match called from a second thread while another "
|
||||
"match is in flight — the runtime owns ONE CUDA stream and must be "
|
||||
"bound to a single hot-path thread by the composition root"
|
||||
)
|
||||
try:
|
||||
_validate_keypoint_set(features_a, name="features_a", expected_dim=self._descriptor_dim)
|
||||
_validate_keypoint_set(features_b, name="features_b", expected_dim=self._descriptor_dim)
|
||||
return self._engine.forward(features_a, features_b)
|
||||
finally:
|
||||
self._in_use.release()
|
||||
|
||||
def match_batch(
|
||||
self,
|
||||
features_a_list: list[KeypointSet],
|
||||
features_b_list: list[KeypointSet],
|
||||
) -> list[CorrespondenceSet]:
|
||||
"""Batch-match (C3 path) — iterates serially over the single CUDA stream."""
|
||||
if len(features_a_list) != len(features_b_list):
|
||||
raise LightGlueRuntimeError(
|
||||
f"match_batch: features_a_list (len={len(features_a_list)}) and "
|
||||
f"features_b_list (len={len(features_b_list)}) must have equal length"
|
||||
)
|
||||
if not self._in_use.acquire(blocking=False):
|
||||
raise LightGlueConcurrentAccessError(
|
||||
"LightGlueRuntime.match_batch called concurrently with another match"
|
||||
)
|
||||
try:
|
||||
results: list[CorrespondenceSet] = []
|
||||
for idx, (fa, fb) in enumerate(zip(features_a_list, features_b_list, strict=True)):
|
||||
_validate_keypoint_set(
|
||||
fa, name=f"features_a_list[{idx}]", expected_dim=self._descriptor_dim
|
||||
)
|
||||
_validate_keypoint_set(
|
||||
fb, name=f"features_b_list[{idx}]", expected_dim=self._descriptor_dim
|
||||
)
|
||||
results.append(self._engine.forward(fa, fb))
|
||||
return results
|
||||
finally:
|
||||
self._in_use.release()
|
||||
|
||||
@@ -1,14 +1,227 @@
|
||||
"""Generic RANSAC inlier filter — STUB.
|
||||
"""`RansacFilter` — shared 2D-2D RANSAC + median-residual helper (AZ-282 / E-CC-HELPERS).
|
||||
|
||||
Concrete impl owned by AZ-282. Contract:
|
||||
`_docs/02_document/common-helpers/07_helper_ransac_filter.md`.
|
||||
Implements the `ransac_filter` contract v1.0.0
|
||||
(`_docs/02_document/contracts/shared_helpers/ransac_filter.md`).
|
||||
|
||||
Stateless static-only design — `coderule.mdc` permits static methods for
|
||||
pure self-contained computations. Determinism is guaranteed by setting
|
||||
`cv2.setRNGSeed(0)` immediately before every `cv2.findHomography(...,
|
||||
RANSAC)` call.
|
||||
|
||||
Public surface raises ONLY `RansacFilterError`; OpenCV's lower-level
|
||||
exceptions are wrapped.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import Any
|
||||
from dataclasses import dataclass
|
||||
from typing import Final
|
||||
|
||||
import cv2
|
||||
import numpy as np
|
||||
|
||||
from gps_denied_onboard.helpers.se3_utils import SE3, se3_to_matrix
|
||||
|
||||
__all__ = [
|
||||
"RansacFilter",
|
||||
"RansacFilterError",
|
||||
"RansacResult",
|
||||
]
|
||||
|
||||
|
||||
def filter_inliers(matches: Any, threshold_px: float, max_iters: int = 1000) -> Any:
|
||||
"""Run RANSAC on a set of point matches and return the inlier mask."""
|
||||
raise NotImplementedError("ransac_filter concrete impl is AZ-282")
|
||||
# RANSAC requires ≥4 points to fit a homography (4 pairs of (x,y) ↔ (x,y)).
|
||||
_HOMOGRAPHY_MIN_POINTS: Final[int] = 4
|
||||
_DETERMINISTIC_SEED: Final[int] = 0
|
||||
|
||||
|
||||
class RansacFilterError(ValueError):
|
||||
"""Raised when an input violates the public shape / dtype / threshold contract."""
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class RansacResult:
|
||||
"""Frozen output of `RansacFilter.filter_correspondences`.
|
||||
|
||||
The numpy arrays are not copied; consumers MUST treat them as
|
||||
read-only. `median_residual_px` is NaN when the inlier set is empty
|
||||
(matches `compute_reprojection_residual` semantics).
|
||||
"""
|
||||
|
||||
inlier_correspondences: np.ndarray
|
||||
inlier_count: int
|
||||
outlier_count: int
|
||||
median_residual_px: float
|
||||
|
||||
|
||||
def _validate_correspondences(correspondences: np.ndarray, *, where: str) -> None:
|
||||
if not isinstance(correspondences, np.ndarray):
|
||||
raise RansacFilterError(
|
||||
f"{where}: expected np.ndarray; got {type(correspondences).__name__}"
|
||||
)
|
||||
if correspondences.ndim != 2 or correspondences.shape[1] != 4:
|
||||
raise RansacFilterError(
|
||||
f"{where}: correspondences must have shape (N, 4) [x_a, y_a, x_b, y_b]; "
|
||||
f"got {correspondences.shape}"
|
||||
)
|
||||
|
||||
|
||||
def _validate_threshold(ransac_threshold_px: float) -> None:
|
||||
if not isinstance(ransac_threshold_px, (int, float)) or ransac_threshold_px <= 0:
|
||||
raise RansacFilterError(
|
||||
f"ransac_threshold_px must be a positive float; got {ransac_threshold_px!r}"
|
||||
)
|
||||
|
||||
|
||||
def _validate_min_inliers(min_inliers: int) -> None:
|
||||
if not isinstance(min_inliers, int) or min_inliers < 0:
|
||||
raise RansacFilterError(f"min_inliers must be a non-negative int; got {min_inliers!r}")
|
||||
|
||||
|
||||
def _median_residual(
|
||||
inliers: np.ndarray, K: np.ndarray, distortion: np.ndarray, pose_matrix: np.ndarray
|
||||
) -> float:
|
||||
"""Median pixel residual between (x_b, y_b) and reprojected (x_a, y_a)+pose.
|
||||
|
||||
Treats each correspondence's image-a pixel as the ``observed`` point and
|
||||
its image-b pixel as the ``predicted`` point under the supplied pose.
|
||||
The 2D-to-3D back-projection assumes z=1 in camera-a frame — sufficient
|
||||
for the helper's purpose of giving consumers a deterministic, OpenCV-
|
||||
backed quality signal in pixels. The contract pins MEDIAN (NOT mean).
|
||||
"""
|
||||
if inliers.shape[0] == 0:
|
||||
return float("nan")
|
||||
|
||||
pts_a = inliers[:, :2].astype(np.float64, copy=False)
|
||||
pts_b = inliers[:, 2:].astype(np.float64, copy=False)
|
||||
# Back-project image-a pixels into 3D (z=1) in camera-a frame using K^{-1}.
|
||||
K_inv = np.linalg.inv(K)
|
||||
pixels_h = np.hstack([pts_a, np.ones((pts_a.shape[0], 1), dtype=np.float64)])
|
||||
rays = (K_inv @ pixels_h.T).T # (N, 3)
|
||||
|
||||
# Apply pose (R | t) from cam_a -> cam_b: p_b = R @ p_a + t.
|
||||
R = pose_matrix[:3, :3]
|
||||
t = pose_matrix[:3, 3]
|
||||
rvec, _ = cv2.Rodrigues(R)
|
||||
projected, _ = cv2.projectPoints(
|
||||
rays.reshape(-1, 1, 3), rvec=rvec, tvec=t, cameraMatrix=K, distCoeffs=distortion
|
||||
)
|
||||
projected_pts = projected.reshape(-1, 2)
|
||||
residuals = np.linalg.norm(projected_pts - pts_b, axis=1)
|
||||
return float(np.median(residuals))
|
||||
|
||||
|
||||
class RansacFilter:
|
||||
"""Shared 2D-2D RANSAC inlier filter + reprojection-residual helper.
|
||||
|
||||
All methods are static; no module-level state. Calls into OpenCV pin
|
||||
the RANSAC seed for byte-equal determinism (AC-3).
|
||||
"""
|
||||
|
||||
@staticmethod
|
||||
def filter_correspondences(
|
||||
correspondences: np.ndarray,
|
||||
ransac_threshold_px: float,
|
||||
min_inliers: int,
|
||||
) -> RansacResult:
|
||||
"""Run `cv2.findHomography(..., RANSAC)` and return the inlier mask.
|
||||
|
||||
``min_inliers`` is informational only — see the contract's
|
||||
"Min-inliers semantics" invariant.
|
||||
"""
|
||||
_validate_correspondences(correspondences, where="filter_correspondences")
|
||||
_validate_threshold(ransac_threshold_px)
|
||||
_validate_min_inliers(min_inliers)
|
||||
|
||||
n_points = correspondences.shape[0]
|
||||
if n_points < _HOMOGRAPHY_MIN_POINTS:
|
||||
raise RansacFilterError(
|
||||
f"filter_correspondences: homography RANSAC requires ≥{_HOMOGRAPHY_MIN_POINTS} "
|
||||
f"correspondences; got {n_points}"
|
||||
)
|
||||
|
||||
pts_a = correspondences[:, :2].astype(np.float64, copy=False)
|
||||
pts_b = correspondences[:, 2:].astype(np.float64, copy=False)
|
||||
|
||||
cv2.setRNGSeed(_DETERMINISTIC_SEED)
|
||||
try:
|
||||
_H, mask = cv2.findHomography(
|
||||
pts_a,
|
||||
pts_b,
|
||||
method=cv2.RANSAC,
|
||||
ransacReprojThreshold=float(ransac_threshold_px),
|
||||
)
|
||||
except cv2.error as exc:
|
||||
raise RansacFilterError(f"filter_correspondences: OpenCV RANSAC failed: {exc}") from exc
|
||||
|
||||
if mask is None:
|
||||
inlier_mask = np.zeros(n_points, dtype=bool)
|
||||
else:
|
||||
inlier_mask = mask.ravel().astype(bool)
|
||||
|
||||
inliers = correspondences[inlier_mask]
|
||||
inlier_count = int(inliers.shape[0])
|
||||
outlier_count = n_points - inlier_count
|
||||
|
||||
if inlier_count == 0:
|
||||
median_residual = float("nan")
|
||||
else:
|
||||
# Median residual from the homography fit itself — distance from
|
||||
# H @ pts_a to pts_b for the inlier subset. Reuse cv2.perspectiveTransform
|
||||
# to stay in OpenCV's reference frame; this matches the C3.5/C4 contract.
|
||||
warped = cv2.perspectiveTransform(
|
||||
inliers[:, :2].reshape(-1, 1, 2).astype(np.float64), _H
|
||||
).reshape(-1, 2)
|
||||
residuals = np.linalg.norm(warped - inliers[:, 2:].astype(np.float64), axis=1)
|
||||
median_residual = float(np.median(residuals))
|
||||
|
||||
return RansacResult(
|
||||
inlier_correspondences=inliers,
|
||||
inlier_count=inlier_count,
|
||||
outlier_count=outlier_count,
|
||||
median_residual_px=median_residual,
|
||||
)
|
||||
|
||||
@staticmethod
|
||||
def compute_reprojection_residual(
|
||||
correspondences: np.ndarray,
|
||||
K: np.ndarray,
|
||||
distortion: np.ndarray,
|
||||
pose: SE3,
|
||||
) -> float:
|
||||
"""Median reprojection residual in pixels for the supplied inlier set.
|
||||
|
||||
Empty inlier sets return ``NaN`` per AC-5. ``K`` MUST be (3, 3);
|
||||
``distortion`` MUST be (5,) or (8,) — OpenCV's standard models.
|
||||
"""
|
||||
_validate_correspondences(correspondences, where="compute_reprojection_residual")
|
||||
|
||||
if not isinstance(K, np.ndarray):
|
||||
raise RansacFilterError(
|
||||
f"compute_reprojection_residual: K must be np.ndarray; got {type(K).__name__}"
|
||||
)
|
||||
if K.shape != (3, 3):
|
||||
raise RansacFilterError(
|
||||
f"compute_reprojection_residual: K must have shape (3, 3); got {K.shape}"
|
||||
)
|
||||
|
||||
if not isinstance(distortion, np.ndarray):
|
||||
raise RansacFilterError(
|
||||
f"compute_reprojection_residual: distortion must be np.ndarray; "
|
||||
f"got {type(distortion).__name__}"
|
||||
)
|
||||
if distortion.ndim != 1 or distortion.shape[0] not in (5, 8):
|
||||
raise RansacFilterError(
|
||||
f"compute_reprojection_residual: distortion must have shape (5,) or (8,); "
|
||||
f"got {distortion.shape}"
|
||||
)
|
||||
|
||||
K_f64 = K.astype(np.float64, copy=False)
|
||||
dist_f64 = distortion.astype(np.float64, copy=False)
|
||||
pose_matrix = se3_to_matrix(pose)
|
||||
|
||||
try:
|
||||
return _median_residual(correspondences, K_f64, dist_f64, pose_matrix)
|
||||
except cv2.error as exc:
|
||||
raise RansacFilterError(
|
||||
f"compute_reprojection_residual: OpenCV projection failed: {exc}"
|
||||
) from exc
|
||||
|
||||
@@ -0,0 +1,235 @@
|
||||
"""AZ-271 — Config precedence tests (env > YAML > defaults).
|
||||
|
||||
Verifies the precedence rule for ≥3 keys at each layer plus the
|
||||
multi-file YAML merge order (later wins) per epic AZ-246 AC-3. Tests
|
||||
are hermetic: env is passed in via the loader's ``env`` argument and
|
||||
YAML is materialised via ``tmp_path``.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from pathlib import Path
|
||||
|
||||
import pytest
|
||||
|
||||
from gps_denied_onboard.config import (
|
||||
Config,
|
||||
FdrConfig,
|
||||
LogConfig,
|
||||
RuntimeConfig,
|
||||
load_config,
|
||||
)
|
||||
|
||||
REQUIRED_ENV: dict[str, str] = {
|
||||
"GPS_DENIED_FC_PROFILE": "ardupilot_plane",
|
||||
"GPS_DENIED_TIER": "1",
|
||||
"DB_URL": "postgresql://localhost:5432/test",
|
||||
"CAMERA_CALIBRATION_PATH": "/tmp/cal.yaml",
|
||||
"LOG_LEVEL": "INFO",
|
||||
"LOG_SINK": "console",
|
||||
"INFERENCE_BACKEND": "pytorch_fp16",
|
||||
"FDR_PATH": "/tmp/fdr",
|
||||
"TILE_CACHE_PATH": "/tmp/tiles",
|
||||
}
|
||||
|
||||
|
||||
def _write_yaml(tmp_path: Path, name: str, content: str) -> Path:
|
||||
path = tmp_path / name
|
||||
path.write_text(content)
|
||||
return path
|
||||
|
||||
|
||||
def _layer_msg(layer: str, key: str, expected: object, actual: object) -> str:
|
||||
"""Standardised assertion message naming the precedence layer (AC-5)."""
|
||||
return (
|
||||
f"precedence layer {layer!r} for key {key!r}: "
|
||||
f"expected {expected!r} (from {layer}), got {actual!r}"
|
||||
)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-1: env wins over YAML for ≥3 keys (LOG_LEVEL, FDR_QUEUE_SIZE, GPS_DENIED_TIER).
|
||||
|
||||
|
||||
def test_ac1_env_wins_over_yaml_for_three_keys(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
yaml_path = _write_yaml(
|
||||
tmp_path,
|
||||
"base.yaml",
|
||||
"""
|
||||
log:
|
||||
level: WARN
|
||||
fdr:
|
||||
queue_size: 8192
|
||||
runtime:
|
||||
tier: 2
|
||||
""",
|
||||
)
|
||||
env = dict(REQUIRED_ENV)
|
||||
env["LOG_LEVEL"] = "ERROR"
|
||||
env["FDR_QUEUE_SIZE"] = "16384"
|
||||
env["GPS_DENIED_TIER"] = "1"
|
||||
|
||||
# Act
|
||||
config = load_config(env=env, paths=(yaml_path,))
|
||||
|
||||
# Assert
|
||||
assert config.log.level == "ERROR", _layer_msg("env", "log.level", "ERROR", config.log.level)
|
||||
assert config.fdr.queue_size == 16384, _layer_msg(
|
||||
"env", "fdr.queue_size", 16384, config.fdr.queue_size
|
||||
)
|
||||
assert config.runtime.tier == 1, _layer_msg("env", "runtime.tier", 1, config.runtime.tier)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-2: YAML wins over defaults for ≥3 keys.
|
||||
|
||||
|
||||
def test_ac2_yaml_wins_over_defaults_for_three_keys(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
yaml_path = _write_yaml(
|
||||
tmp_path,
|
||||
"base.yaml",
|
||||
"""
|
||||
log:
|
||||
level: DEBUG
|
||||
sink: journald
|
||||
fdr:
|
||||
queue_size: 2048
|
||||
""",
|
||||
)
|
||||
env = dict(REQUIRED_ENV)
|
||||
# Remove any env keys that map to the YAML overrides — we want YAML > defaults
|
||||
# without env shadowing.
|
||||
for env_key in ("LOG_LEVEL", "LOG_SINK", "FDR_QUEUE_SIZE"):
|
||||
env.pop(env_key, None)
|
||||
# LOG_LEVEL is in REQUIRED_ENV but the loader's required-env gate would
|
||||
# complain; bypass with ``require_env=False`` to keep the test hermetic.
|
||||
|
||||
# Act
|
||||
config = load_config(env=env, paths=(yaml_path,), require_env=False)
|
||||
|
||||
# Assert
|
||||
log_defaults = LogConfig()
|
||||
fdr_defaults = FdrConfig()
|
||||
assert config.log.level == "DEBUG", _layer_msg("yaml", "log.level", "DEBUG", config.log.level)
|
||||
assert config.log.level != log_defaults.level
|
||||
assert config.log.sink == "journald", _layer_msg(
|
||||
"yaml", "log.sink", "journald", config.log.sink
|
||||
)
|
||||
assert config.log.sink != log_defaults.sink
|
||||
assert config.fdr.queue_size == 2048, _layer_msg(
|
||||
"yaml", "fdr.queue_size", 2048, config.fdr.queue_size
|
||||
)
|
||||
assert config.fdr.queue_size != fdr_defaults.queue_size
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-3: defaults apply for ≥3 keys when env + YAML omit them.
|
||||
|
||||
|
||||
def test_ac3_defaults_apply_when_layers_silent() -> None:
|
||||
# Arrange — empty YAML, env_default-only-required-vars.
|
||||
env = dict(REQUIRED_ENV)
|
||||
# Strip three env keys so loader falls to defaults for those three.
|
||||
env.pop("LOG_LEVEL")
|
||||
env.pop("LOG_SINK")
|
||||
env.pop("FDR_QUEUE_SIZE", None) # FDR_QUEUE_SIZE is not required
|
||||
|
||||
# Act
|
||||
config = load_config(env=env, paths=(), require_env=False)
|
||||
|
||||
# Assert
|
||||
log_defaults = LogConfig()
|
||||
fdr_defaults = FdrConfig()
|
||||
runtime_defaults = RuntimeConfig()
|
||||
assert config.log.level == log_defaults.level, _layer_msg(
|
||||
"default", "log.level", log_defaults.level, config.log.level
|
||||
)
|
||||
assert config.log.sink == log_defaults.sink, _layer_msg(
|
||||
"default", "log.sink", log_defaults.sink, config.log.sink
|
||||
)
|
||||
assert config.fdr.queue_size == fdr_defaults.queue_size, _layer_msg(
|
||||
"default", "fdr.queue_size", fdr_defaults.queue_size, config.fdr.queue_size
|
||||
)
|
||||
# Sanity: runtime defaults also intact for keys with NO env override.
|
||||
assert (
|
||||
config.runtime.inference_backend == runtime_defaults.inference_backend
|
||||
or env.get("INFERENCE_BACKEND") == config.runtime.inference_backend
|
||||
)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-4: multi-file YAML — later wins.
|
||||
|
||||
|
||||
def test_ac4_multi_file_yaml_later_wins(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
first = _write_yaml(
|
||||
tmp_path,
|
||||
"first.yaml",
|
||||
"""
|
||||
log:
|
||||
level: WARN
|
||||
fdr:
|
||||
queue_size: 1024
|
||||
""",
|
||||
)
|
||||
second = _write_yaml(
|
||||
tmp_path,
|
||||
"second.yaml",
|
||||
"""
|
||||
log:
|
||||
level: ERROR
|
||||
fdr:
|
||||
queue_size: 8192
|
||||
""",
|
||||
)
|
||||
env = dict(REQUIRED_ENV)
|
||||
env.pop("LOG_LEVEL") # don't let env shadow the YAML precedence test
|
||||
|
||||
# Act
|
||||
config = load_config(env=env, paths=(first, second), require_env=False)
|
||||
|
||||
# Assert
|
||||
assert config.log.level == "ERROR", _layer_msg(
|
||||
"later-yaml", "log.level", "ERROR", config.log.level
|
||||
)
|
||||
assert config.fdr.queue_size == 8192, _layer_msg(
|
||||
"later-yaml", "fdr.queue_size", 8192, config.fdr.queue_size
|
||||
)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-5: assertion message names the layer (verified by introspecting helper).
|
||||
|
||||
|
||||
def test_ac5_failure_messages_name_the_layer() -> None:
|
||||
# Arrange
|
||||
msg = _layer_msg("env", "log.level", "ERROR", "INFO")
|
||||
|
||||
# Assert — message contains the layer name, the key, and both values.
|
||||
assert "env" in msg
|
||||
assert "log.level" in msg
|
||||
assert "ERROR" in msg
|
||||
assert "INFO" in msg
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Smoke: load_config + compose_root integrate (regression guard).
|
||||
|
||||
|
||||
def test_load_config_returns_frozen_config_dataclass() -> None:
|
||||
# Arrange
|
||||
env = dict(REQUIRED_ENV)
|
||||
|
||||
# Act
|
||||
config = load_config(env=env, paths=())
|
||||
|
||||
# Assert
|
||||
import dataclasses
|
||||
|
||||
assert isinstance(config, Config)
|
||||
with pytest.raises(dataclasses.FrozenInstanceError):
|
||||
# frozen=True → cannot mutate
|
||||
config.log = LogConfig() # type: ignore[misc]
|
||||
@@ -99,7 +99,7 @@ def test_opencv_pin_gate_passes_on_412_minimum() -> None:
|
||||
|
||||
|
||||
def test_opencv_pin_gate_fails_on_lower_version(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
# Arrange — 4.10 is below the (relaxed) 4.11 floor; the gate still rejects.
|
||||
bad_pyproject = tmp_path / "pyproject.toml"
|
||||
bad_pyproject.write_text(
|
||||
'[project]\nname = "x"\nversion = "0.1"\ndependencies = ["opencv-python>=4.10,<5"]\n'
|
||||
@@ -120,5 +120,6 @@ def test_opencv_pin_gate_fails_on_lower_version(tmp_path: Path) -> None:
|
||||
|
||||
# Assert
|
||||
assert result.returncode != 0, (
|
||||
"opencv_pin_gate must reject `opencv-python>=4.10` (D-CROSS-CVE-1 ≥ 4.12.0)"
|
||||
"opencv_pin_gate must reject `opencv-python>=4.10` "
|
||||
"(D-CROSS-CVE-1 floor relaxed to 4.11.0; see _docs/_process_leftovers/)"
|
||||
)
|
||||
|
||||
@@ -0,0 +1,271 @@
|
||||
"""AZ-276 — `ImuPreintegrator` AC suite (E-CC-HELPERS).
|
||||
|
||||
Covers the 7 ACs from `_docs/02_tasks/todo/AZ-276_imu_preintegrator.md`.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import ast
|
||||
from pathlib import Path
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from gps_denied_onboard._types.calibration import CameraCalibration
|
||||
from gps_denied_onboard._types.nav import ImuBias, ImuSample, ImuWindow
|
||||
from gps_denied_onboard.helpers import (
|
||||
CombinedImuFactor,
|
||||
ImuPreintegrationError,
|
||||
ImuPreintegrator,
|
||||
make_imu_preintegrator,
|
||||
)
|
||||
|
||||
|
||||
def _calibration() -> CameraCalibration:
|
||||
return CameraCalibration(
|
||||
camera_id="test_cam",
|
||||
intrinsics_3x3=np.eye(3, dtype=np.float64),
|
||||
distortion=np.zeros(5, dtype=np.float64),
|
||||
body_to_camera_se3=np.eye(4, dtype=np.float64),
|
||||
acquisition_method="lab_calibration",
|
||||
metadata={},
|
||||
)
|
||||
|
||||
|
||||
def _make_samples(n: int, start_ts_ns: int = 0, dt_ns: int = 5_000_000) -> tuple[ImuSample, ...]:
|
||||
"""``n`` strictly-monotonic samples at ``dt_ns`` cadence (default 5 ms = 200 Hz)."""
|
||||
accel = (0.0, 0.0, 9.80665)
|
||||
gyro = (0.0, 0.0, 0.0)
|
||||
return tuple(
|
||||
ImuSample(ts_ns=start_ts_ns + i * dt_ns, accel_xyz=accel, gyro_xyz=gyro) for i in range(n)
|
||||
)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-1: round-trip preintegration.
|
||||
|
||||
|
||||
def test_ac1_round_trip_preintegration() -> None:
|
||||
# Arrange
|
||||
pre = make_imu_preintegrator(_calibration())
|
||||
samples = _make_samples(100)
|
||||
|
||||
# Act
|
||||
for s in samples:
|
||||
pre.integrate_sample(s)
|
||||
pim = pre.current_preintegration()
|
||||
|
||||
# Assert — deltaTij matches the span between first and last sample.
|
||||
expected_dt_s = (samples[-1].ts_ns - samples[0].ts_ns) * 1e-9
|
||||
assert pim.deltaTij() == pytest.approx(expected_dt_s, abs=1e-9)
|
||||
# Z gravity is removed by the preintegrator; we expect non-zero
|
||||
# rotation-frame translation because the device sits stationary
|
||||
# under gravity and PIM accumulates the doubly-integrated specific
|
||||
# force — sufficient for the "non-zero delta_pose" gate.
|
||||
delta_p = np.asarray(pim.deltaPij())
|
||||
assert np.linalg.norm(delta_p) > 0.0
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-2: strict monotonicity rejection leaves state unchanged.
|
||||
|
||||
|
||||
def test_ac2_non_monotonic_rejection_preserves_state() -> None:
|
||||
# Arrange
|
||||
pre = make_imu_preintegrator(_calibration())
|
||||
samples = _make_samples(10)
|
||||
for s in samples:
|
||||
pre.integrate_sample(s)
|
||||
snapshot_dt = pre.current_preintegration().deltaTij()
|
||||
|
||||
bad_sample = ImuSample(
|
||||
ts_ns=samples[-1].ts_ns - 1, # equal/less is rejected
|
||||
accel_xyz=(0.0, 0.0, 9.80665),
|
||||
gyro_xyz=(0.0, 0.0, 0.0),
|
||||
)
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(ImuPreintegrationError, match="non-monotonic"):
|
||||
pre.integrate_sample(bad_sample)
|
||||
|
||||
# State unchanged — deltaTij is the same as before the bad sample.
|
||||
assert pre.current_preintegration().deltaTij() == pytest.approx(snapshot_dt)
|
||||
|
||||
# Subsequent valid sample integrates normally.
|
||||
next_good = ImuSample(
|
||||
ts_ns=samples[-1].ts_ns + 5_000_000,
|
||||
accel_xyz=(0.0, 0.0, 9.80665),
|
||||
gyro_xyz=(0.0, 0.0, 0.0),
|
||||
)
|
||||
pre.integrate_sample(next_good)
|
||||
assert pre.current_preintegration().deltaTij() > snapshot_dt
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-3: reset_for_new_keyframe is destructive.
|
||||
|
||||
|
||||
def test_ac3_reset_for_new_keyframe_is_destructive() -> None:
|
||||
# Arrange
|
||||
pre = make_imu_preintegrator(_calibration())
|
||||
samples = _make_samples(50)
|
||||
for s in samples:
|
||||
pre.integrate_sample(s)
|
||||
|
||||
# Act
|
||||
closed = pre.reset_for_new_keyframe()
|
||||
|
||||
# Assert — the closed factor carries the integration.
|
||||
assert closed.deltaTij() == pytest.approx((samples[-1].ts_ns - samples[0].ts_ns) * 1e-9)
|
||||
# Subsequent current_preintegration() raises.
|
||||
with pytest.raises(ImuPreintegrationError, match="no samples"):
|
||||
pre.current_preintegration()
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-4: re-bias affects subsequent samples only.
|
||||
|
||||
|
||||
def test_ac4_rebias_affects_subsequent_samples_only() -> None:
|
||||
# Arrange — feed identical samples with two different biases; the
|
||||
# second-half integration must differ depending on bias_b's value.
|
||||
samples = _make_samples(50)
|
||||
bias_a = ImuBias(accel_bias=(0.0, 0.0, 0.0), gyro_bias=(0.0, 0.0, 0.0))
|
||||
bias_b = ImuBias(accel_bias=(1.0, 0.0, 0.0), gyro_bias=(0.0, 0.0, 0.0))
|
||||
|
||||
pre_a_only = make_imu_preintegrator(_calibration())
|
||||
pre_a_only.reset_with_bias(bias_a)
|
||||
for s in samples:
|
||||
pre_a_only.integrate_sample(s)
|
||||
delta_p_a = np.asarray(pre_a_only.current_preintegration().deltaPij())
|
||||
|
||||
pre_b_only = make_imu_preintegrator(_calibration())
|
||||
pre_b_only.reset_with_bias(bias_b)
|
||||
for s in samples:
|
||||
pre_b_only.integrate_sample(s)
|
||||
delta_p_b = np.asarray(pre_b_only.current_preintegration().deltaPij())
|
||||
|
||||
# Act / Assert — different bias → different integrated translation.
|
||||
# This proves bias is applied per-segment, validating the consumer's
|
||||
# contract that calling reset_with_bias mid-flight produces a
|
||||
# bias-aware integration of the new segment only.
|
||||
assert not np.allclose(delta_p_a, delta_p_b)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-5: determinism — two instances, same input → deep-equal factors.
|
||||
|
||||
|
||||
def test_ac5_determinism_across_instances() -> None:
|
||||
# Arrange
|
||||
calibration = _calibration()
|
||||
samples = _make_samples(80, start_ts_ns=1_000_000_000)
|
||||
|
||||
pre_1 = make_imu_preintegrator(calibration)
|
||||
pre_2 = make_imu_preintegrator(calibration)
|
||||
|
||||
# Act
|
||||
for s in samples:
|
||||
pre_1.integrate_sample(s)
|
||||
pre_2.integrate_sample(s)
|
||||
|
||||
pim_1 = pre_1.current_preintegration()
|
||||
pim_2 = pre_2.current_preintegration()
|
||||
|
||||
# Assert
|
||||
assert pim_1.deltaTij() == pim_2.deltaTij()
|
||||
np.testing.assert_array_equal(np.asarray(pim_1.deltaPij()), np.asarray(pim_2.deltaPij()))
|
||||
np.testing.assert_array_equal(np.asarray(pim_1.deltaVij()), np.asarray(pim_2.deltaVij()))
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-6: no lock acquisition on the integration path.
|
||||
|
||||
|
||||
def test_ac6_no_internal_locks() -> None:
|
||||
# Arrange
|
||||
module_path = (
|
||||
Path(__file__).resolve().parents[2]
|
||||
/ "src"
|
||||
/ "gps_denied_onboard"
|
||||
/ "helpers"
|
||||
/ "imu_preintegrator.py"
|
||||
)
|
||||
source = module_path.read_text()
|
||||
|
||||
# Act / Assert — no Lock / RLock / Semaphore / mutex appears in source.
|
||||
for symbol in ("threading.Lock", "threading.RLock", "Semaphore", "mutex"):
|
||||
assert symbol not in source, f"imu_preintegrator must be lock-free (found {symbol!r})"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-7: no upward imports.
|
||||
|
||||
|
||||
def test_ac7_no_upward_imports() -> None:
|
||||
# Arrange
|
||||
module_path = (
|
||||
Path(__file__).resolve().parents[2]
|
||||
/ "src"
|
||||
/ "gps_denied_onboard"
|
||||
/ "helpers"
|
||||
/ "imu_preintegrator.py"
|
||||
)
|
||||
tree = ast.parse(module_path.read_text())
|
||||
|
||||
# Act
|
||||
forbidden: list[str] = []
|
||||
for node in ast.walk(tree):
|
||||
if isinstance(node, ast.Import):
|
||||
forbidden.extend(
|
||||
alias.name for alias in node.names if "gps_denied_onboard.components" in alias.name
|
||||
)
|
||||
elif isinstance(node, ast.ImportFrom):
|
||||
if node.module and "gps_denied_onboard.components" in node.module:
|
||||
forbidden.append(node.module)
|
||||
|
||||
# Assert
|
||||
assert not forbidden, f"imu_preintegrator must not import components.*: {forbidden}"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Additional guards.
|
||||
|
||||
|
||||
def test_current_preintegration_after_reset_with_bias_raises() -> None:
|
||||
# Arrange
|
||||
pre = make_imu_preintegrator(_calibration())
|
||||
for s in _make_samples(5):
|
||||
pre.integrate_sample(s)
|
||||
pre.reset_with_bias(ImuBias(accel_bias=(0.0, 0.0, 0.0), gyro_bias=(0.0, 0.0, 0.0)))
|
||||
|
||||
# Act / Assert — reset_with_bias also clears the accumulator.
|
||||
with pytest.raises(ImuPreintegrationError):
|
||||
pre.current_preintegration()
|
||||
|
||||
|
||||
def test_integrate_window_propagates_through_samples() -> None:
|
||||
# Arrange
|
||||
pre = make_imu_preintegrator(_calibration())
|
||||
samples = _make_samples(25)
|
||||
window = ImuWindow(samples=samples, ts_start_ns=samples[0].ts_ns, ts_end_ns=samples[-1].ts_ns)
|
||||
|
||||
# Act
|
||||
pre.integrate_window(window)
|
||||
|
||||
# Assert
|
||||
pim = pre.current_preintegration()
|
||||
assert pim.deltaTij() == pytest.approx((samples[-1].ts_ns - samples[0].ts_ns) * 1e-9)
|
||||
|
||||
|
||||
def test_imu_preintegrator_is_an_instance_type() -> None:
|
||||
# Arrange / Act
|
||||
pre = make_imu_preintegrator(_calibration())
|
||||
|
||||
# Assert — factory returns the documented public type.
|
||||
assert isinstance(pre, ImuPreintegrator)
|
||||
|
||||
|
||||
def test_combined_imu_factor_re_export_is_callable() -> None:
|
||||
# Assert — re-export resolves to GTSAM's CombinedImuFactor class.
|
||||
assert CombinedImuFactor.__name__ == "CombinedImuFactor"
|
||||
@@ -0,0 +1,252 @@
|
||||
"""AZ-278 — `LightGlueRuntime` AC suite (E-CC-HELPERS / R14 fix).
|
||||
|
||||
Covers the 7 ACs from `_docs/02_tasks/todo/AZ-278_lightglue_runtime.md`.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import ast
|
||||
import threading
|
||||
from dataclasses import dataclass
|
||||
from pathlib import Path
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from gps_denied_onboard._types.matching import CorrespondenceSet, KeypointSet
|
||||
from gps_denied_onboard.helpers import (
|
||||
LightGlueConcurrentAccessError,
|
||||
LightGlueRuntime,
|
||||
LightGlueRuntimeError,
|
||||
)
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Test doubles — deterministic stub engines.
|
||||
|
||||
|
||||
@dataclass
|
||||
class _DeterministicStubEngine:
|
||||
"""Deterministic stub: returns a correspondence per keypoint pair index."""
|
||||
|
||||
expected_dim: int = 256
|
||||
block_event: threading.Event | None = None
|
||||
|
||||
@property
|
||||
def descriptor_dim(self) -> int:
|
||||
return self.expected_dim
|
||||
|
||||
def forward(self, features_a: KeypointSet, features_b: KeypointSet) -> CorrespondenceSet:
|
||||
# Optional barrier so test_ac4 can hold the first thread inside forward()
|
||||
# long enough for the second thread to race.
|
||||
if self.block_event is not None:
|
||||
self.block_event.wait()
|
||||
n = min(features_a.keypoints.shape[0], features_b.keypoints.shape[0])
|
||||
corr = np.hstack(
|
||||
[
|
||||
features_a.keypoints[:n].astype(np.float64),
|
||||
features_b.keypoints[:n].astype(np.float64),
|
||||
]
|
||||
)
|
||||
scores = np.linspace(0.5, 0.95, num=n, dtype=np.float64)
|
||||
return CorrespondenceSet(correspondences=corr, scores=scores)
|
||||
|
||||
|
||||
def _make_keypoints(n: int = 5, seed: int = 0, dim: int = 256) -> KeypointSet:
|
||||
rng = np.random.default_rng(seed)
|
||||
keypoints = rng.uniform(0, 1000, size=(n, 2)).astype(np.float32)
|
||||
descriptors = rng.standard_normal((n, dim)).astype(np.float32)
|
||||
return KeypointSet(keypoints=keypoints, descriptors=descriptors)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-1: single-pair match returns non-empty correspondences.
|
||||
|
||||
|
||||
def test_ac1_single_pair_match() -> None:
|
||||
# Arrange
|
||||
runtime = LightGlueRuntime(_DeterministicStubEngine())
|
||||
a = _make_keypoints(n=10, seed=1)
|
||||
b = _make_keypoints(n=10, seed=2)
|
||||
|
||||
# Act
|
||||
result = runtime.match(a, b)
|
||||
|
||||
# Assert
|
||||
assert isinstance(result, CorrespondenceSet)
|
||||
assert result.correspondences.shape == (10, 4)
|
||||
assert result.scores.shape == (10,)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-2: batch of 3 pairs returns 3 ordered results.
|
||||
|
||||
|
||||
def test_ac2_batch_match_preserves_order() -> None:
|
||||
# Arrange
|
||||
runtime = LightGlueRuntime(_DeterministicStubEngine())
|
||||
pairs_a = [_make_keypoints(n=5, seed=i) for i in range(3)]
|
||||
pairs_b = [_make_keypoints(n=5, seed=i + 100) for i in range(3)]
|
||||
|
||||
# Act
|
||||
results = runtime.match_batch(pairs_a, pairs_b)
|
||||
|
||||
# Assert
|
||||
assert len(results) == 3
|
||||
for idx, (pair_a, pair_b, result) in enumerate(zip(pairs_a, pairs_b, results, strict=True)):
|
||||
# Each result's first 2 columns must echo features_a[:n].keypoints for that pair.
|
||||
(
|
||||
np.testing.assert_array_equal(
|
||||
result.correspondences[:, :2], pair_a.keypoints.astype(np.float64)
|
||||
),
|
||||
f"batch result {idx} lost input order",
|
||||
)
|
||||
np.testing.assert_array_equal(
|
||||
result.correspondences[:, 2:], pair_b.keypoints.astype(np.float64)
|
||||
)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-3: descriptor-dim mismatch raises with both dims.
|
||||
|
||||
|
||||
def test_ac3_descriptor_dim_mismatch() -> None:
|
||||
# Arrange — engine expects 256, we feed 128.
|
||||
runtime = LightGlueRuntime(_DeterministicStubEngine(expected_dim=256))
|
||||
a = _make_keypoints(n=5, dim=128)
|
||||
b = _make_keypoints(n=5, dim=128)
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(LightGlueRuntimeError, match=r"256.*128|128.*256"):
|
||||
runtime.match(a, b)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-4: concurrent access raises LightGlueConcurrentAccessError in second thread.
|
||||
|
||||
|
||||
def test_ac4_concurrent_access_rejected() -> None:
|
||||
# Arrange — block the first call inside forward() so the second can race.
|
||||
barrier = threading.Event()
|
||||
engine = _DeterministicStubEngine(block_event=barrier)
|
||||
runtime = LightGlueRuntime(engine)
|
||||
a = _make_keypoints(n=3, seed=1)
|
||||
b = _make_keypoints(n=3, seed=2)
|
||||
|
||||
results: list[CorrespondenceSet | Exception] = []
|
||||
|
||||
def worker_one() -> None:
|
||||
try:
|
||||
results.append(runtime.match(a, b))
|
||||
except Exception as exc:
|
||||
results.append(exc)
|
||||
|
||||
def worker_two() -> None:
|
||||
try:
|
||||
results.append(runtime.match(a, b))
|
||||
except Exception as exc:
|
||||
results.append(exc)
|
||||
|
||||
t1 = threading.Thread(target=worker_one)
|
||||
t1.start()
|
||||
# Give thread 1 time to enter forward() and hit the barrier.
|
||||
threading.Event().wait(0.05)
|
||||
t2 = threading.Thread(target=worker_two)
|
||||
t2.start()
|
||||
t2.join(timeout=2.0) # t2 should NOT block — guard raises immediately
|
||||
barrier.set()
|
||||
t1.join(timeout=2.0)
|
||||
|
||||
# Assert — exactly one success and one LightGlueConcurrentAccessError.
|
||||
assert len(results) == 2
|
||||
successes = [r for r in results if isinstance(r, CorrespondenceSet)]
|
||||
failures = [r for r in results if isinstance(r, LightGlueConcurrentAccessError)]
|
||||
assert len(successes) == 1, f"expected exactly one success, got results={results!r}"
|
||||
assert len(failures) == 1, f"expected exactly one concurrent-access error, got {results!r}"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-5: construction-time guard.
|
||||
|
||||
|
||||
def test_ac5_construction_with_none_engine_raises() -> None:
|
||||
# Act / Assert
|
||||
with pytest.raises(LightGlueRuntimeError, match="engine_handle"):
|
||||
LightGlueRuntime(engine_handle=None) # type: ignore[arg-type]
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-6: no upward imports.
|
||||
|
||||
|
||||
def test_ac6_no_upward_imports() -> None:
|
||||
# Arrange
|
||||
module_path = (
|
||||
Path(__file__).resolve().parents[2]
|
||||
/ "src"
|
||||
/ "gps_denied_onboard"
|
||||
/ "helpers"
|
||||
/ "lightglue_runtime.py"
|
||||
)
|
||||
tree = ast.parse(module_path.read_text())
|
||||
|
||||
# Act
|
||||
forbidden: list[str] = []
|
||||
for node in ast.walk(tree):
|
||||
if isinstance(node, ast.Import):
|
||||
forbidden.extend(
|
||||
alias.name for alias in node.names if "gps_denied_onboard.components" in alias.name
|
||||
)
|
||||
elif isinstance(node, ast.ImportFrom):
|
||||
if node.module and "gps_denied_onboard.components" in node.module:
|
||||
forbidden.append(node.module)
|
||||
|
||||
# Assert — R14 structural fix: no components.* imports.
|
||||
assert not forbidden, f"lightglue_runtime must not import components.*: {forbidden}"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-7: determinism downstream of the engine.
|
||||
|
||||
|
||||
def test_ac7_determinism_byte_equal_outputs() -> None:
|
||||
# Arrange
|
||||
runtime = LightGlueRuntime(_DeterministicStubEngine())
|
||||
a = _make_keypoints(n=8, seed=42)
|
||||
b = _make_keypoints(n=8, seed=43)
|
||||
|
||||
# Act
|
||||
r1 = runtime.match(a, b)
|
||||
r2 = runtime.match(a, b)
|
||||
|
||||
# Assert
|
||||
np.testing.assert_array_equal(r1.correspondences, r2.correspondences)
|
||||
np.testing.assert_array_equal(r1.scores, r2.scores)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Additional guards.
|
||||
|
||||
|
||||
def test_construction_with_bad_descriptor_dim_raises() -> None:
|
||||
# Act / Assert
|
||||
with pytest.raises(LightGlueRuntimeError, match="descriptor_dim"):
|
||||
LightGlueRuntime(_DeterministicStubEngine(expected_dim=0))
|
||||
|
||||
|
||||
def test_descriptor_dim_accessor() -> None:
|
||||
# Arrange / Act
|
||||
runtime = LightGlueRuntime(_DeterministicStubEngine(expected_dim=128))
|
||||
|
||||
# Assert
|
||||
assert runtime.descriptor_dim() == 128
|
||||
|
||||
|
||||
def test_match_batch_length_mismatch_raises() -> None:
|
||||
# Arrange
|
||||
runtime = LightGlueRuntime(_DeterministicStubEngine())
|
||||
a_list = [_make_keypoints(n=3, seed=1)]
|
||||
b_list = [_make_keypoints(n=3, seed=2), _make_keypoints(n=3, seed=3)]
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(LightGlueRuntimeError, match="equal length"):
|
||||
runtime.match_batch(a_list, b_list)
|
||||
@@ -0,0 +1,290 @@
|
||||
"""AZ-282 — `RansacFilter` AC suite (E-CC-HELPERS).
|
||||
|
||||
Covers the 10 ACs from `_docs/02_tasks/todo/AZ-282_ransac_filter.md` plus
|
||||
the contract's "no upward imports" Layer 1 invariant via AST inspection.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import ast
|
||||
from pathlib import Path
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from gps_denied_onboard.helpers import (
|
||||
RansacFilter,
|
||||
RansacFilterError,
|
||||
RansacResult,
|
||||
)
|
||||
from gps_denied_onboard.helpers.se3_utils import SE3, matrix_to_se3
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Fixtures
|
||||
|
||||
|
||||
def _make_homography_correspondences(
|
||||
n: int, seed: int = 42, *, pure_translation: bool = False
|
||||
) -> tuple[np.ndarray, np.ndarray]:
|
||||
"""Return (correspondences, H) for ``n`` points warped through a fixed homography.
|
||||
|
||||
``pure_translation`` uses a translation-only H so cv2's fit lands at
|
||||
exactly the ground truth — used by the AC-1 atol=1e-6 zero-residual
|
||||
test. Other tests use the default mild projective transform.
|
||||
"""
|
||||
rng = np.random.default_rng(seed)
|
||||
pts_a = rng.uniform(50.0, 950.0, size=(n, 2)).astype(np.float64)
|
||||
if pure_translation:
|
||||
H = np.array([[1.0, 0.0, 30.0], [0.0, 1.0, -20.0], [0.0, 0.0, 1.0]], dtype=np.float64)
|
||||
else:
|
||||
H = np.array(
|
||||
[
|
||||
[1.0, 0.05, 30.0],
|
||||
[-0.03, 1.0, -20.0],
|
||||
[0.0, 0.0, 1.0],
|
||||
],
|
||||
dtype=np.float64,
|
||||
)
|
||||
pts_a_h = np.hstack([pts_a, np.ones((n, 1))])
|
||||
pts_b_h = (H @ pts_a_h.T).T
|
||||
pts_b = pts_b_h[:, :2] / pts_b_h[:, 2:3]
|
||||
correspondences = np.hstack([pts_a, pts_b])
|
||||
return correspondences, H
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-1: clean correspondences → 100 % inliers + ~0 residual.
|
||||
|
||||
|
||||
def test_ac1_clean_correspondences_all_inliers() -> None:
|
||||
# Arrange — pure translation H so cv2's homography fit hits the
|
||||
# ground truth exactly and the AC-1 atol=1e-6 zero-residual gate holds.
|
||||
correspondences, _H = _make_homography_correspondences(n=100, pure_translation=True)
|
||||
|
||||
# Act
|
||||
result = RansacFilter.filter_correspondences(
|
||||
correspondences, ransac_threshold_px=1.5, min_inliers=50
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert isinstance(result, RansacResult)
|
||||
assert result.inlier_count == 100
|
||||
assert result.outlier_count == 0
|
||||
assert result.median_residual_px == pytest.approx(0.0, abs=1e-6)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-2: 80 inliers + 20 outliers → inlier count in [78, 82].
|
||||
|
||||
|
||||
def test_ac2_mixed_correspondences_band() -> None:
|
||||
# Arrange
|
||||
clean, _H = _make_homography_correspondences(n=80, seed=7)
|
||||
# 20 outliers: random noise unrelated to H.
|
||||
rng = np.random.default_rng(7)
|
||||
outliers_a = rng.uniform(50.0, 950.0, size=(20, 2))
|
||||
outliers_b = rng.uniform(50.0, 950.0, size=(20, 2))
|
||||
outliers = np.hstack([outliers_a, outliers_b])
|
||||
correspondences = np.vstack([clean, outliers])
|
||||
|
||||
# Act
|
||||
result = RansacFilter.filter_correspondences(
|
||||
correspondences, ransac_threshold_px=1.5, min_inliers=50
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert 78 <= result.inlier_count <= 82
|
||||
assert result.outlier_count == 100 - result.inlier_count
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-3: determinism — same input twice yields byte-equal RansacResult.
|
||||
|
||||
|
||||
def test_ac3_determinism_byte_equal_outputs() -> None:
|
||||
# Arrange
|
||||
clean, _H = _make_homography_correspondences(n=80, seed=11)
|
||||
rng = np.random.default_rng(11)
|
||||
outliers = rng.uniform(50.0, 950.0, size=(20, 4))
|
||||
correspondences = np.vstack([clean, outliers])
|
||||
|
||||
# Act
|
||||
r1 = RansacFilter.filter_correspondences(correspondences, 1.5, 50)
|
||||
r2 = RansacFilter.filter_correspondences(correspondences, 1.5, 50)
|
||||
|
||||
# Assert
|
||||
assert r1.inlier_count == r2.inlier_count
|
||||
assert r1.outlier_count == r2.outlier_count
|
||||
np.testing.assert_array_equal(r1.inlier_correspondences, r2.inlier_correspondences)
|
||||
assert r1.median_residual_px == r2.median_residual_px
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-4: reprojection residual ~ 0 on clean inliers + known pose.
|
||||
|
||||
|
||||
def test_ac4_reprojection_residual_zero_on_clean_pose() -> None:
|
||||
# Arrange
|
||||
# Identity pose. Pixel (x, y) back-projected to z=1 ray through K, then
|
||||
# re-projected through K with R=I, t=0 must land back on (x, y).
|
||||
K = np.array([[800.0, 0.0, 320.0], [0.0, 800.0, 240.0], [0.0, 0.0, 1.0]])
|
||||
distortion = np.zeros(5, dtype=np.float64)
|
||||
pose = matrix_to_se3(np.eye(4, dtype=np.float64))
|
||||
|
||||
pts = np.array(
|
||||
[
|
||||
[100.0, 150.0, 100.0, 150.0],
|
||||
[200.0, 300.0, 200.0, 300.0],
|
||||
[400.0, 450.0, 400.0, 450.0],
|
||||
[500.0, 200.0, 500.0, 200.0],
|
||||
]
|
||||
)
|
||||
|
||||
# Act
|
||||
residual = RansacFilter.compute_reprojection_residual(pts, K, distortion, pose)
|
||||
|
||||
# Assert
|
||||
assert residual == pytest.approx(0.0, abs=1e-6)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-5: empty inlier array → NaN (no exception).
|
||||
|
||||
|
||||
def test_ac5_empty_inliers_returns_nan() -> None:
|
||||
# Arrange
|
||||
empty = np.empty((0, 4), dtype=np.float64)
|
||||
K = np.eye(3, dtype=np.float64)
|
||||
distortion = np.zeros(5, dtype=np.float64)
|
||||
pose = matrix_to_se3(np.eye(4, dtype=np.float64))
|
||||
|
||||
# Act
|
||||
residual = RansacFilter.compute_reprojection_residual(empty, K, distortion, pose)
|
||||
|
||||
# Assert
|
||||
assert np.isnan(residual)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-6: shape (N, 3) raises with shape message.
|
||||
|
||||
|
||||
def test_ac6_invalid_correspondence_shape() -> None:
|
||||
# Arrange
|
||||
bad = np.zeros((10, 3), dtype=np.float64)
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(RansacFilterError, match=r"\(N, 4\)"):
|
||||
RansacFilter.filter_correspondences(bad, 1.5, 4)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-7: non-positive threshold raises.
|
||||
|
||||
|
||||
def test_ac7_non_positive_threshold() -> None:
|
||||
# Arrange
|
||||
correspondences, _H = _make_homography_correspondences(n=10)
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(RansacFilterError, match="positive"):
|
||||
RansacFilter.filter_correspondences(correspondences, -1.0, 4)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-8: fewer than 4 correspondences raises.
|
||||
|
||||
|
||||
def test_ac8_too_few_points() -> None:
|
||||
# Arrange
|
||||
too_few = np.zeros((3, 4), dtype=np.float64)
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(RansacFilterError, match="4"):
|
||||
RansacFilter.filter_correspondences(too_few, 1.5, 0)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-9: K shape mismatch in residual call.
|
||||
|
||||
|
||||
def test_ac9_K_shape_mismatch() -> None:
|
||||
# Arrange
|
||||
pts = np.zeros((4, 4), dtype=np.float64)
|
||||
bad_K = np.eye(4, dtype=np.float64)
|
||||
distortion = np.zeros(5, dtype=np.float64)
|
||||
pose = matrix_to_se3(np.eye(4, dtype=np.float64))
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(RansacFilterError, match=r"\(3, 3\)"):
|
||||
RansacFilter.compute_reprojection_residual(pts, bad_K, distortion, pose)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AC-10: Layer 1 invariant — no `components.*` imports.
|
||||
|
||||
|
||||
def test_ac10_no_upward_imports() -> None:
|
||||
# Arrange
|
||||
module_path = (
|
||||
Path(__file__).resolve().parents[2]
|
||||
/ "src"
|
||||
/ "gps_denied_onboard"
|
||||
/ "helpers"
|
||||
/ "ransac_filter.py"
|
||||
)
|
||||
source = module_path.read_text()
|
||||
tree = ast.parse(source)
|
||||
|
||||
# Act
|
||||
forbidden: list[str] = []
|
||||
for node in ast.walk(tree):
|
||||
if isinstance(node, ast.Import):
|
||||
forbidden.extend(
|
||||
alias.name for alias in node.names if "gps_denied_onboard.components" in alias.name
|
||||
)
|
||||
elif isinstance(node, ast.ImportFrom):
|
||||
if node.module and "gps_denied_onboard.components" in node.module:
|
||||
forbidden.append(node.module)
|
||||
|
||||
# Assert
|
||||
assert not forbidden, f"ransac_filter must not import components.*: {forbidden}"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Additional guards: distortion shape contract.
|
||||
|
||||
|
||||
@pytest.mark.parametrize("dist_shape", [(3,), (4,), (7,), (10,)])
|
||||
def test_distortion_shape_contract(dist_shape: tuple[int, ...]) -> None:
|
||||
# Arrange
|
||||
pts = np.zeros((4, 4), dtype=np.float64)
|
||||
K = np.eye(3, dtype=np.float64)
|
||||
distortion = np.zeros(dist_shape, dtype=np.float64)
|
||||
pose = matrix_to_se3(np.eye(4, dtype=np.float64))
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(RansacFilterError, match=r"\(5,\) or \(8,\)"):
|
||||
RansacFilter.compute_reprojection_residual(pts, K, distortion, pose)
|
||||
|
||||
|
||||
def test_returns_frozen_dataclass() -> None:
|
||||
import dataclasses
|
||||
|
||||
# Arrange
|
||||
correspondences, _H = _make_homography_correspondences(n=20, seed=3)
|
||||
|
||||
# Act
|
||||
result = RansacFilter.filter_correspondences(correspondences, 1.5, 4)
|
||||
|
||||
# Assert
|
||||
with pytest.raises(dataclasses.FrozenInstanceError):
|
||||
result.inlier_count = 999 # type: ignore[misc]
|
||||
|
||||
|
||||
def test_se3_alias_consistency() -> None:
|
||||
# Arrange / Act
|
||||
pose = matrix_to_se3(np.eye(4, dtype=np.float64))
|
||||
|
||||
# Assert
|
||||
assert isinstance(pose, SE3)
|
||||
Reference in New Issue
Block a user