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[AZ-271] [AZ-276] [AZ-278] [AZ-282] Finish cross-cutting helpers + relax opencv pin

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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
2026-05-11 03:23:33 +03:00
parent ba20c2d195
commit 33486588de
24 changed files with 2096 additions and 36 deletions
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ci/opencv_pin_gate.py
+11 -2
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@@ -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")