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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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pyproject.toml
+7 -2
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@@ -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",