[AZ-343] C2.5 InlierCountReRanker + shared FeatureExtractor helper

Implements the production-default ReRankStrategy: K=10 → N=3 by
single-pair LightGlue inlier count, with strict drop-and-continue
(INV-8) on per-candidate TileFetch / backbone / zero-inlier failures
and RerankAllCandidatesFailedError on zero survivors. Composition
root injects the shared LightGlueRuntime + Clock + the new
FeatureExtractor helper (an L1 placeholder OpenCvOrbExtractor that
unblocks AZ-343 and future C3 strategies — task scope expansion).

Architectural notes:
- Cross-component imports stay banned; tile_store types as `object`
  and the C6 TileCacheError family is duck-typed by class module
  prefix (same workaround AZ-348 adopted for c7_inference; proper
  fix is to relocate TileCacheError to _types/ in a follow-up).
- Clock injection follows the replay contract (AZ-398 Invariant 2);
  reranked_at is sourced from clock.monotonic_ns().
- AZ-342 factory grew `feature_extractor` + `clock` + `fdr_client`
  parameters; existing AZ-342 conformance tests updated.

Tests: 19 new AC-1..AC-12 + mixed-failure scenarios in
test_inlier_count_reranker.py; existing AZ-342 suite (26) still
green. Full repo sweep 1093 passed / 2 skipped (cmake/actionlint
not on PATH).

Co-authored-by: Cursor <cursoragent@cursor.com>

_docs/02_document/components/03_c2_5_rerank/description.md

@@ -4,11 +4,12 @@
 
 **Purpose**: re-rank C2's top-K=10 VPR candidates down to top-N=3 by single-pair LightGlue inlier count, producing a higher-precision input for the cross-domain matcher (C3). The re-rank step is the architectural boundary between cheap descriptor retrieval (C2) and expensive cross-domain matching (C3) — it pays a small extra cost so C3 only operates on the most promising candidates.
 
-**Architectural Pattern**: Strategy (single concrete implementation today: `InlierCountReRanker`). Future re-rank algorithms can be added as additional `ReRankStrategy` implementations behind the same interface.
+**Architectural Pattern**: Strategy (single concrete implementation today: `InlierCountReRanker`, AZ-343). Future re-rank algorithms can be added as additional `ReRankStrategy` implementations behind the same interface.
 
 **Upstream dependencies**:
 - C2 → `VprResult` (top-K=10 candidates).
 - Shared `LightGlueRuntime` helper (used in single-pair mode for inlier counting; the same matcher object is shared with C3 — owned by the helper, not by C3, so neither component depends on the other at build time).
+- Shared `FeatureExtractor` helper (`helpers/feature_extractor.py`, AZ-343 scope expansion) — extracts `KeypointSet` from both the per-frame nav image and each candidate's tile JPEG; the placeholder impl is `OpenCvOrbExtractor`, swapped out for a TRT-backed deep extractor before flight.
 - C6 TileStore → fetch tile pixels for each candidate (cheap, in-memory page-cache hit during a flight).
 - Camera calibration artifact — for nav-frame preprocessing.
 
@@ -59,7 +60,7 @@ No caching layer beyond C6's mmap. The same tile may be fetched repeatedly acros
 
 **Algorithmic Complexity**: `O(K)` LightGlue forward passes per frame (K=10), each `O(M_tile · M_query)` in feature counts. The whole step is GPU-bound on the same engine that C3 uses — hence the shared LightGlue runtime.
 
-**State Management**: stateless per-frame. Holds a reference to the shared LightGlue object owned by C3.
+**State Management**: stateless per-frame. Holds references to the constructor-injected `LightGlueRuntime`, `FeatureExtractor`, `TileStore`, `Clock`, and (optionally) `FdrClient` — all lifecycle-owned by the runtime root, not by C2.5.
 
 **Key Dependencies**:
 
@@ -78,6 +79,8 @@ No caching layer beyond C6's mmap. The same tile may be fetched repeatedly acros
 | Helper | Purpose | Used By |
 |--------|---------|---------|
 | `LightGlueRuntime` | shared LightGlue inference handle (one engine, many call sites) | C2.5, C3 |
+| `FeatureExtractor` (`helpers/feature_extractor.py`) | shared image → `KeypointSet` extractor; default `OpenCvOrbExtractor`, target TRT-backed DISK/ALIKED | C2.5, future C3 backbones |
+| `Clock` (`gps_denied_onboard.clock`) | composition-root time source; stamps `RerankResult.reranked_at` via `clock.monotonic_ns()` (Invariant 2 of the replay contract — no direct `time.*` in components) | every C* component |
 
 ## 7. Caveats & Edge Cases
 

_docs/02_document/module-layout.md

@@ -57,12 +57,14 @@ Bootstrap reference: `_docs/02_tasks/todo/AZ-263_initial_structure.md`. Architec
 - **Epic**: AZ-256 (E-C2.5 Rerank)
 - **Directory**: `src/gps_denied_onboard/components/c2_5_rerank/`
 - **Public API**:
-  - `__init__.py` (re-exports `ReRankStrategy`, `RerankResult`, `RerankCandidate`)
+  - `__init__.py` (re-exports `ReRankStrategy`, `RerankResult`, `RerankCandidate`, `RerankError` family, `C2_5RerankConfig`)
   - `interface.py` (`ReRankStrategy` Protocol)
+  - `config.py` (`C2_5RerankConfig` dataclass; registered on import; `strategy`, `top_n`, `debug_per_frame_log` fields)
+  - `errors.py` (`RerankError`, `RerankBackboneError`, `RerankAllCandidatesFailedError`)
 - **Internal**:
-  - `inlier_based_reranker.py` (single-pair LightGlue inlier count K=10→N=3)
-- **Owns**: `src/gps_denied_onboard/components/c2_5_rerank/**`, `tests/unit/c2_5_rerank/**`
-- **Imports from**: `_types`, `helpers.lightglue_runtime`, `helpers.descriptor_normaliser`, `helpers.ransac_filter`, `helpers.se3_utils`, `components.c6_tile_cache` (Public API), `components.c7_inference`, `config`, `logging`, `fdr_client`
+  - `inlier_based_reranker.py` (`InlierCountReRanker` — single-pair LightGlue inlier count K=10→N=3, AZ-343; module-level `create()` factory entry-point consumed by `runtime_root.rerank_factory.build_rerank_strategy`; gated by `BUILD_RERANK_INLIER_COUNT`)
+- **Owns**: `src/gps_denied_onboard/components/c2_5_rerank/**`, `src/gps_denied_onboard/runtime_root/rerank_factory.py`, `tests/unit/c2_5_rerank/**`
+- **Imports from**: `_types`, `helpers.lightglue_runtime`, `helpers.feature_extractor` (AZ-343 scope expansion), `helpers.descriptor_normaliser`, `helpers.ransac_filter`, `helpers.se3_utils`, `components.c6_tile_cache` (Public API only — `TileStore`, `TilePixelHandle`, `TileCacheError` family), `clock`, `config`, `logging`, `fdr_client`
 - **Consumed by**: `c3_matcher`, `runtime_root`
 
 ### Component: c3_matcher
@@ -289,6 +291,13 @@ Bootstrap reference: `_docs/02_tasks/todo/AZ-263_initial_structure.md`. Architec
 - **Owned by**: AZ-264.
 - **Consumed by**: c2_5_rerank, c3_matcher.
 
+### shared/helpers/feature_extractor
+
+- **Directory**: `src/gps_denied_onboard/helpers/feature_extractor.py`
+- **Purpose**: Shared image → `KeypointSet` Protocol + placeholder `OpenCvOrbExtractor` impl (AZ-343 scope expansion). Lets every consumer that feeds `LightGlueRuntime.match` reach for the SAME extractor (same descriptor distribution, same `descriptor_dim`) without each strategy reinventing its own preprocessing.
+- **Owned by**: AZ-343.
+- **Consumed by**: c2_5_rerank (today via `InlierCountReRanker`), c3_matcher (future concrete strategies in AZ-345 / AZ-346 / AZ-347).
+
 ### shared/helpers/wgs_converter
 
 - **Directory**: `src/gps_denied_onboard/helpers/wgs_converter.py`

_docs/_autodev_state.md

@@ -8,7 +8,7 @@ status: in_progress
 sub_step:
   phase: 2
   name: detect-progress
-  detail: "batch 24 complete (AZ-336, AZ-342, AZ-344, AZ-348 per-task commits); ready to plan batch 25"
+  detail: "batch 25 in progress: AZ-343 implemented (InlierCountReRanker + shared FeatureExtractor helper, 19 AZ-343 tests + 26 AZ-342 tests green, full sweep 1093 passed/2 skipped); pending AZ-345, AZ-332"
 retry_count: 0
 cycle: 1
 tracker: jira

src/gps_denied_onboard/components/c2_5_rerank/config.py

@@ -37,10 +37,18 @@ class C2_5RerankConfig:
 
     ``top_n`` is the per-frame N cap (1..K-1). Default 3 (the epic's
     K=10 → N=3 spec).
+
+    ``debug_per_frame_log`` gates the two DEBUG events
+    (``c2_5.rerank.zero_inliers`` per dropped candidate and
+    ``c2_5.rerank.frame_done`` per frame); flooding journald at
+    ``3 Hz × K=10 = 30 events/sec`` by default would violate
+    description.md § 9. Operators flip this to ``True`` for the
+    debug-build flight binary.
     """
 
     strategy: str = "inlier_count"
     top_n: int = 3
+    debug_per_frame_log: bool = False
 
     def __post_init__(self) -> None:
         if self.strategy not in KNOWN_STRATEGIES:

src/gps_denied_onboard/components/c2_5_rerank/inlier_based_reranker.py

@@ -0,0 +1,584 @@
+"""C2.5 :class:`InlierCountReRanker` — single-pair LightGlue inlier count (AZ-343).
+
+Production-default :class:`ReRankStrategy` for the K=10 → N=3 cut.
+
+For each candidate in :class:`VprResult.candidates`:
+
+1. Fetch tile pixels via :class:`TileStore.read_tile_pixels` (a
+   :class:`TilePixelHandle` context manager backed by an mmap'd JPEG).
+2. Extract :class:`KeypointSet` from BOTH the query frame and the
+   candidate tile via the shared :class:`FeatureExtractor` (AZ-343
+   scope expansion).
+3. Call :meth:`LightGlueRuntime.match` for the single pair; count the
+   number of correspondences as the inlier proxy.
+4. Sort surviving candidates descending by ``inlier_count`` (ties
+   broken ascending by ``descriptor_distance`` carried forward from
+   C2; INV-3); truncate to ``n``; return a :class:`RerankResult`.
+
+Drop-and-continue (INV-8) is the central reliability mechanism: any
+per-candidate :class:`TileCacheError` or LightGlue / feature-extractor
+failure is caught inside the loop, the candidate is dropped, an ERROR
+log + FDR record is emitted, and the loop continues. Only the
+zero-survivors case escapes as :class:`RerankAllCandidatesFailedError`.
+
+The survivor's ``tile_pixels_handle`` is identity-equal to the handle
+returned by ``TileStore.read_tile_pixels`` (INV-6 / AC-7). The handle
+is exited at the end of feature extraction; downstream C3 re-enters it
+to read pixels — the C6 page-cache-backed impl supports re-entry for
+the per-frame TTL window.
+"""
+
+from __future__ import annotations
+
+import logging
+from datetime import datetime, timezone
+from typing import TYPE_CHECKING
+
+import cv2
+import numpy as np
+
+from gps_denied_onboard._types.rerank import RerankCandidate, RerankResult
+from gps_denied_onboard.components.c2_5_rerank.errors import (
+    RerankAllCandidatesFailedError,
+    RerankBackboneError,
+)
+from gps_denied_onboard.fdr_client import FdrRecord
+from gps_denied_onboard.helpers.feature_extractor import FeatureExtractorError
+from gps_denied_onboard.helpers.lightglue_runtime import (
+    LightGlueConcurrentAccessError,
+    LightGlueRuntimeError,
+)
+
+if TYPE_CHECKING:
+    from gps_denied_onboard._types.calibration import CameraCalibration
+    from gps_denied_onboard._types.matching import KeypointSet
+    from gps_denied_onboard._types.nav import NavCameraFrame
+    from gps_denied_onboard._types.vpr import VprResult
+    from gps_denied_onboard.clock import Clock
+    from gps_denied_onboard.config.schema import Config
+    from gps_denied_onboard.fdr_client import FdrClient
+    from gps_denied_onboard.helpers.feature_extractor import FeatureExtractor
+    from gps_denied_onboard.helpers.lightglue_runtime import LightGlueRuntime
+
+# Cross-component types (`TileStore`, `ReRankStrategy`,
+# `C2_5RerankConfig`) are intentionally NOT imported here — even under
+# ``TYPE_CHECKING``, an AST-level cross-component import is rejected by
+# ``test_ac6_only_compose_root_imports_concrete_strategies``. The
+# composition root (``runtime_root.rerank_factory``) injects concrete
+# instances satisfying these Protocols; we accept them as ``object``
+# at the constructor boundary and trust the runtime root for type
+# safety.
+
+__all__ = ["InlierCountReRanker", "create"]
+
+
+_LOG = logging.getLogger("gps_denied_onboard.c2_5_rerank")
+_PRODUCER_ID = "c2_5_rerank.inlier_count"
+
+# C6 TileCacheError lives in `gps_denied_onboard.components.c6_tile_cache.errors`
+# but we cannot import it: cross-component imports are banned outside the
+# composition root (test_ac6_only_compose_root_imports_concrete_strategies).
+# Match the family by class-module prefix instead — the C6 contract documents
+# the module path so a future module-rename surfaces as a test failure here.
+_C6_ERROR_MODULE_PREFIX = "gps_denied_onboard.components.c6_tile_cache"
+
+
+def _is_tile_cache_error(exc: BaseException) -> bool:
+    """True if ``exc`` is a C6 :class:`TileCacheError` subclass.
+
+    Duck-types against the producer's class module to keep the
+    architectural import boundary clean. Programming errors raised
+    from the C6 module (e.g. ``AttributeError``) would also match —
+    that is acceptable, since by Contract C6 wraps OS errors into
+    :class:`TileCacheError`; anything bare leaking out is a C6 bug
+    that the per-candidate drop semantics will absorb just as the
+    contract expects of any per-candidate failure.
+    """
+    return type(exc).__module__.startswith(_C6_ERROR_MODULE_PREFIX)
+
+
+class InlierCountReRanker:
+    """Single-pair LightGlue inlier-count :class:`ReRankStrategy` (AZ-343)."""
+
+    def __init__(
+        self,
+        *,
+        config: Config,
+        tile_store: object,
+        lightglue_runtime: LightGlueRuntime,
+        feature_extractor: FeatureExtractor,
+        clock: Clock,
+        fdr_client: FdrClient | None,
+    ) -> None:
+        # Keyword-only injection: a runtime-root regression that forgets
+        # one of the helpers fails loudly instead of silently constructing
+        # an under-wired strategy. ``tile_store`` is typed ``object``
+        # because the C6 ``TileStore`` Protocol lives in another
+        # component (see the module docstring on cross-component imports).
+        block = config.components["c2_5_rerank"]
+        self._tile_store = tile_store
+        self._lightglue_runtime = lightglue_runtime
+        self._feature_extractor = feature_extractor
+        self._clock = clock
+        self._fdr_client = fdr_client
+        self._top_n = int(block.top_n)
+        self._debug_per_frame_log = bool(block.debug_per_frame_log)
+
+    def rerank(
+        self,
+        frame: NavCameraFrame,
+        vpr_result: VprResult,
+        n: int,
+        calibration: CameraCalibration,
+    ) -> RerankResult:
+        candidates_input = len(vpr_result.candidates)
+        target_n = self._top_n if n <= 0 else min(self._top_n, n)
+
+        if candidates_input == 0:
+            self._fail_all(
+                frame_id=vpr_result.frame_id,
+                candidates_input=0,
+                candidates_dropped=0,
+                reason="no_input_candidates",
+            )
+
+        query_features = self._extract_query_features(frame)
+        if query_features is None:
+            self._fail_all(
+                frame_id=vpr_result.frame_id,
+                candidates_input=candidates_input,
+                candidates_dropped=candidates_input,
+                reason="query_extraction_failed",
+            )
+
+        survivors: list[RerankCandidate] = []
+        dropped = 0
+        inlier_counts: list[int] = []
+        for vpr_candidate in vpr_result.candidates:
+            tile_id = vpr_candidate.tile_id
+            survivor = self._process_candidate(
+                tile_id=tile_id,
+                vpr_candidate=vpr_candidate,
+                query_features=query_features,
+                frame_id=vpr_result.frame_id,
+            )
+            if survivor is None:
+                dropped += 1
+                continue
+            survivors.append(survivor)
+            inlier_counts.append(survivor.inlier_count)
+
+        if not survivors:
+            self._fail_all(
+                frame_id=vpr_result.frame_id,
+                candidates_input=candidates_input,
+                candidates_dropped=dropped,
+                reason="all_candidates_dropped",
+            )
+
+        survivors.sort(key=lambda c: (-c.inlier_count, c.descriptor_distance))
+        truncated = tuple(survivors[:target_n])
+
+        if len(truncated) < target_n:
+            _LOG.warning(
+                "c2_5.rerank.fewer_than_n_survivors",
+                extra={
+                    "kind": "c2_5.rerank.fewer_than_n_survivors",
+                    "kv": {
+                        "requested": target_n,
+                        "returned": len(truncated),
+                        "dropped": dropped,
+                        "frame_id": vpr_result.frame_id,
+                    },
+                },
+            )
+
+        if self._debug_per_frame_log:
+            _LOG.debug(
+                "c2_5.rerank.frame_done",
+                extra={
+                    "kind": "c2_5.rerank.frame_done",
+                    "kv": {
+                        "frame_id": vpr_result.frame_id,
+                        "inlier_counts": inlier_counts,
+                    },
+                },
+            )
+
+        result = RerankResult(
+            frame_id=vpr_result.frame_id,
+            candidates=truncated,
+            reranked_at=int(self._clock.monotonic_ns()),
+            rerank_label="inlier_count",
+            candidates_input=candidates_input,
+            candidates_dropped=dropped,
+        )
+        self._emit_frame_done_fdr(result)
+        return result
+
+    # ------------------------------------------------------------------
+    # Per-candidate pipeline: open handle → extract → match → score.
+
+    def _process_candidate(
+        self,
+        *,
+        tile_id,
+        vpr_candidate,
+        query_features,
+        frame_id: int,
+    ) -> RerankCandidate | None:
+        try:
+            handle = self._tile_store.read_tile_pixels(tile_id)
+        except Exception as exc:
+            if not _is_tile_cache_error(exc):
+                raise
+            self._log_tile_fetch_error(tile_id=tile_id, frame_id=frame_id, exc=exc)
+            return None
+
+        tile_features = self._extract_tile_features(
+            handle=handle, tile_id=tile_id, frame_id=frame_id
+        )
+        if tile_features is None:
+            return None
+
+        inlier_count = self._count_inliers(
+            query_features=query_features,
+            tile_features=tile_features,
+            tile_id=tile_id,
+            frame_id=frame_id,
+        )
+        if inlier_count is None:
+            return None
+        if inlier_count == 0:
+            self._maybe_log_zero_inliers(tile_id=tile_id, frame_id=frame_id)
+            return None
+
+        return RerankCandidate(
+            tile_id=tile_id,
+            inlier_count=inlier_count,
+            descriptor_distance=vpr_candidate.descriptor_distance,
+            descriptor_dim=vpr_candidate.descriptor_dim,
+            tile_pixels_handle=handle,
+        )
+
+    def _extract_query_features(
+        self, frame: NavCameraFrame
+    ) -> KeypointSet | None:
+        image = _ensure_bgr_array(frame.image)
+        if image is None:
+            self._log_backbone_error(
+                frame_id=frame.frame_id,
+                tile_id=None,
+                reason="query_image_not_decodable",
+                error=None,
+            )
+            return None
+        try:
+            return self._feature_extractor.extract(image)
+        except FeatureExtractorError as exc:
+            self._log_backbone_error(
+                frame_id=frame.frame_id,
+                tile_id=None,
+                reason="query_feature_extraction_failed",
+                error=exc,
+            )
+            return None
+
+    def _extract_tile_features(
+        self, *, handle, tile_id, frame_id: int
+    ) -> KeypointSet | None:
+        try:
+            with handle as jpeg_view:
+                tile_image = _decode_jpeg(jpeg_view)
+        except ValueError as exc:
+            self._log_tile_fetch_error(tile_id=tile_id, frame_id=frame_id, exc=exc)
+            return None
+        except Exception as exc:
+            if not _is_tile_cache_error(exc):
+                raise
+            self._log_tile_fetch_error(tile_id=tile_id, frame_id=frame_id, exc=exc)
+            return None
+        try:
+            return self._feature_extractor.extract(tile_image)
+        except FeatureExtractorError as exc:
+            self._log_backbone_error(
+                frame_id=frame_id,
+                tile_id=tile_id,
+                reason="tile_feature_extraction_failed",
+                error=exc,
+            )
+            return None
+
+    def _count_inliers(
+        self,
+        *,
+        query_features,
+        tile_features,
+        tile_id,
+        frame_id: int,
+    ) -> int | None:
+        try:
+            correspondences = self._lightglue_runtime.match(
+                query_features, tile_features
+            )
+        except (
+            LightGlueRuntimeError,
+            LightGlueConcurrentAccessError,
+            RerankBackboneError,
+            RuntimeError,
+        ) as exc:
+            self._log_backbone_error(
+                frame_id=frame_id,
+                tile_id=tile_id,
+                reason="lightglue_forward_failed",
+                error=exc,
+            )
+            return None
+        scores = getattr(correspondences, "scores", None)
+        if scores is None:
+            return 0
+        try:
+            return int(np.asarray(scores).shape[0])
+        except (TypeError, ValueError):
+            return 0
+
+    # ------------------------------------------------------------------
+    # Log + FDR helpers.
+
+    def _log_tile_fetch_error(self, *, tile_id, frame_id: int, exc: BaseException) -> None:
+        _LOG.error(
+            "c2_5.rerank.tile_fetch_error",
+            extra={
+                "kind": "c2_5.rerank.tile_fetch_error",
+                "kv": {
+                    "frame_id": frame_id,
+                    "tile_id": list(tile_id),
+                    "error": repr(exc),
+                },
+            },
+        )
+        if self._fdr_client is None:
+            return
+        self._safe_enqueue(
+            FdrRecord(
+                schema_version=1,
+                ts=self._fdr_ts(),
+                producer_id=_PRODUCER_ID,
+                kind="rerank.tile_fetch_error",
+                payload={
+                    "frame_id": int(frame_id),
+                    "tile_id": list(tile_id),
+                },
+            )
+        )
+
+    def _log_backbone_error(
+        self,
+        *,
+        frame_id: int,
+        tile_id,
+        reason: str,
+        error: BaseException | None,
+    ) -> None:
+        kv: dict[str, object] = {"frame_id": frame_id, "reason": reason}
+        if tile_id is not None:
+            kv["tile_id"] = list(tile_id)
+        if error is not None:
+            kv["error"] = repr(error)
+        _LOG.error(
+            "c2_5.rerank.backbone_error",
+            extra={"kind": "c2_5.rerank.backbone_error", "kv": kv},
+        )
+        if self._fdr_client is None:
+            return
+        payload: dict[str, object] = {
+            "frame_id": int(frame_id),
+            "reason": reason,
+        }
+        if tile_id is not None:
+            payload["tile_id"] = list(tile_id)
+        self._safe_enqueue(
+            FdrRecord(
+                schema_version=1,
+                ts=self._fdr_ts(),
+                producer_id=_PRODUCER_ID,
+                kind="rerank.backbone_error",
+                payload=payload,
+            )
+        )
+
+    def _maybe_log_zero_inliers(self, *, tile_id, frame_id: int) -> None:
+        if not self._debug_per_frame_log:
+            return
+        _LOG.debug(
+            "c2_5.rerank.zero_inliers",
+            extra={
+                "kind": "c2_5.rerank.zero_inliers",
+                "kv": {"frame_id": frame_id, "tile_id": list(tile_id)},
+            },
+        )
+
+    def _emit_frame_done_fdr(self, result: RerankResult) -> None:
+        if self._fdr_client is None:
+            return
+        top = result.candidates[0]
+        self._safe_enqueue(
+            FdrRecord(
+                schema_version=1,
+                ts=self._fdr_ts(),
+                producer_id=_PRODUCER_ID,
+                kind="rerank.frame_done",
+                payload={
+                    "frame_id": int(result.frame_id),
+                    "candidates_input": int(result.candidates_input),
+                    "candidates_dropped": int(result.candidates_dropped),
+                    "top_inlier_count": int(top.inlier_count),
+                    "top_tile_id": list(top.tile_id),
+                },
+            )
+        )
+
+    def _emit_all_failed_fdr(
+        self, *, frame_id: int, candidates_input: int, candidates_dropped: int
+    ) -> None:
+        if self._fdr_client is None:
+            return
+        self._safe_enqueue(
+            FdrRecord(
+                schema_version=1,
+                ts=self._fdr_ts(),
+                producer_id=_PRODUCER_ID,
+                kind="rerank.all_failed",
+                payload={
+                    "frame_id": int(frame_id),
+                    "candidates_input": int(candidates_input),
+                    "candidates_dropped": int(candidates_dropped),
+                },
+            )
+        )
+
+    def _fail_all(
+        self,
+        *,
+        frame_id: int,
+        candidates_input: int,
+        candidates_dropped: int,
+        reason: str,
+    ) -> None:
+        _LOG.error(
+            "c2_5.rerank.all_failed",
+            extra={
+                "kind": "c2_5.rerank.all_failed",
+                "kv": {
+                    "frame_id": frame_id,
+                    "candidates_input": candidates_input,
+                    "candidates_dropped": candidates_dropped,
+                    "reason": reason,
+                },
+            },
+        )
+        self._emit_all_failed_fdr(
+            frame_id=frame_id,
+            candidates_input=candidates_input,
+            candidates_dropped=candidates_dropped,
+        )
+        raise RerankAllCandidatesFailedError(
+            f"InlierCountReRanker.rerank: zero survivors "
+            f"(frame_id={frame_id!r}, candidates_input={candidates_input}, "
+            f"candidates_dropped={candidates_dropped}, reason={reason!r})"
+        )
+
+    def _safe_enqueue(self, record: FdrRecord) -> None:
+        try:
+            self._fdr_client.enqueue(record)  # type: ignore[union-attr]
+        except Exception as exc:
+            # FDR enqueue failures are observability-only; they must
+            # NEVER promote to an InlierCountReRanker drop event.
+            _LOG.debug(
+                "c2_5.rerank.fdr_enqueue_failed",
+                extra={
+                    "kind": "c2_5.rerank.fdr_enqueue_failed",
+                    "kv": {"error": repr(exc)},
+                },
+            )
+
+    def _fdr_ts(self) -> str:
+        ns = int(self._clock.time_ns())
+        seconds, fraction_ns = divmod(ns, 1_000_000_000)
+        dt = datetime.fromtimestamp(seconds, tz=timezone.utc)
+        # ISO-8601 with nanosecond fractional part and an explicit UTC
+        # offset; survives a round-trip through datetime.fromisoformat
+        # (which accepts up to microseconds — the extra ns digits are
+        # preserved as a string suffix for the FDR consumer).
+        return f"{dt.strftime('%Y-%m-%dT%H:%M:%S')}.{fraction_ns:09d}+00:00"
+
+
+def _ensure_bgr_array(image: object) -> np.ndarray | None:
+    """Coerce ``NavCameraFrame.image`` into a BGR ``np.ndarray``.
+
+    Accepts an already-decoded array (returned as-is) or a JPEG/PNG
+    byte buffer (decoded via ``cv2.imdecode``). Anything else returns
+    ``None`` so the caller routes through the backbone-error drop path.
+    """
+    if isinstance(image, np.ndarray):
+        return image
+    if isinstance(image, (bytes, bytearray, memoryview)):
+        data = bytes(image)
+        if not data:
+            return None
+        buf = np.frombuffer(data, dtype=np.uint8)
+        return cv2.imdecode(buf, cv2.IMREAD_COLOR)
+    return None
+
+
+def _decode_jpeg(jpeg_view: memoryview) -> np.ndarray:
+    """Decode a JPEG ``memoryview`` into a BGR ``np.ndarray``.
+
+    Raises :class:`ValueError` if the buffer is empty or invalid; the
+    caller catches both and treats them as a tile-fetch-error drop.
+    """
+    data = bytes(jpeg_view)
+    if not data:
+        raise ValueError("empty JPEG buffer")
+    buf = np.frombuffer(data, dtype=np.uint8)
+    decoded = cv2.imdecode(buf, cv2.IMREAD_COLOR)
+    if decoded is None:
+        raise ValueError("cv2.imdecode returned None for tile JPEG")
+    return decoded
+
+
+# ----------------------------------------------------------------------
+# Module-level factory entry-point consumed by
+# :mod:`gps_denied_onboard.runtime_root.rerank_factory.build_rerank_strategy`.
+
+
+def create(
+    config: Config,
+    *,
+    tile_store: object,
+    lightglue_runtime: LightGlueRuntime,
+    feature_extractor: FeatureExtractor,
+    clock: Clock,
+    fdr_client: FdrClient | None = None,
+) -> object:
+    """Construct an :class:`InlierCountReRanker` from injected helpers."""
+    strategy = InlierCountReRanker(
+        config=config,
+        tile_store=tile_store,
+        lightglue_runtime=lightglue_runtime,
+        feature_extractor=feature_extractor,
+        clock=clock,
+        fdr_client=fdr_client,
+    )
+    _LOG.info(
+        "c2_5.rerank.ready",
+        extra={
+            "kind": "c2_5.rerank.ready",
+            "kv": {
+                "strategy": "inlier_count",
+                "N": int(config.components["c2_5_rerank"].top_n),
+                "K": 10,
+            },
+        },
+    )
+    return strategy

src/gps_denied_onboard/helpers/feature_extractor.py

@@ -0,0 +1,159 @@
+"""`FeatureExtractor` — shared image → :class:`KeypointSet` helper (AZ-343 scope expansion).
+
+L1 helper analogous to :mod:`gps_denied_onboard.helpers.lightglue_runtime`
+and :mod:`gps_denied_onboard.helpers.ransac_filter`. Produces a
+:class:`gps_denied_onboard._types.matching.KeypointSet` (the same
+DTO that :class:`LightGlueRuntime.match` consumes) from a raw BGR
+image.
+
+Why a shared helper:
+
+- C2.5 :class:`InlierCountReRanker` (AZ-343) consumes one
+  :class:`FeatureExtractor` instance to extract features from each
+  per-frame nav-camera image AND from each candidate tile's JPEG
+  bytes. The same instance MUST produce comparable feature sets
+  for both inputs — otherwise the LightGlue inlier count would
+  collapse to noise.
+- A future C3 backbone that wants to share keypoints with C2.5
+  (rather than re-extracting them) can read the same handle from
+  the composition root, mirroring the
+  :class:`LightGlueRuntime` ownership pattern (R14 fix).
+
+Concrete impls:
+
+- :class:`OpenCvOrbExtractor`: CPU, deterministic, placeholder used
+  by tests and by the airborne binary until the C7
+  :class:`InferenceRuntime`-backed DISK / ALIKED extractor lands.
+  ORB returns binary (``uint8``) descriptors of 32 bytes; we
+  convert to ``float32`` per the
+  :class:`gps_denied_onboard._types.matching.KeypointSet` contract.
+- Future: TensorRT-backed DISK / ALIKED extractor; consumes
+  :class:`InferenceRuntime` from C7.
+
+This helper is intentionally L1 — it imports only ``numpy`` and
+``cv2`` plus the L1 :class:`KeypointSet` DTO. Concrete strategies
+that need GPU backbones live in their own modules and accept the
+:class:`InferenceRuntime` via constructor injection.
+"""
+
+from __future__ import annotations
+
+from typing import Protocol, runtime_checkable
+
+import cv2
+import numpy as np
+
+from gps_denied_onboard._types.matching import KeypointSet
+
+__all__ = [
+    "FeatureExtractor",
+    "FeatureExtractorError",
+    "OpenCvOrbExtractor",
+]
+
+
+# ORB descriptors are 32 bytes (256 bits). LightGlue's KeypointSet
+# requires float32 descriptors so we widen ORB's uint8 output. This is
+# a placeholder choice; production will swap in DISK/ALIKED (128-d
+# float32) via the C7 InferenceRuntime path.
+_ORB_DESCRIPTOR_BYTES = 32
+_ORB_FLOAT_DESCRIPTOR_DIM = _ORB_DESCRIPTOR_BYTES * 8  # 256-d float32
+
+
+class FeatureExtractorError(RuntimeError):
+    """Raised on extractor construction or per-image failure."""
+
+
+@runtime_checkable
+class FeatureExtractor(Protocol):
+    """Image → :class:`KeypointSet` Protocol.
+
+    Implementations are constructor-injected by the composition root
+    and shared across consumers (e.g., C2.5 :class:`InlierCountReRanker`
+    uses one instance for both query frames and tile pixels).
+
+    Invariants:
+
+    - :meth:`extract` returns a :class:`KeypointSet` whose
+      ``descriptors.shape[1] == self.descriptor_dim()``.
+    - ``keypoints`` is shape ``(N, 2)`` ``float32`` pixel coordinates.
+    - ``descriptors`` is shape ``(N, descriptor_dim)`` ``float32``.
+    - Empty inputs (zero keypoints detected) return an empty-but-shaped
+      :class:`KeypointSet` (``N == 0``) rather than raising — the
+      C2.5 strategy treats zero-feature candidates as drop events.
+    - Deterministic for fixed inputs (no internal RNG state).
+    """
+
+    def extract(self, image_bgr: np.ndarray) -> KeypointSet:
+        """Detect keypoints + compute descriptors on a single image."""
+        ...
+
+    def descriptor_dim(self) -> int:
+        """Return the dim of every descriptor row produced by :meth:`extract`."""
+        ...
+
+
+class OpenCvOrbExtractor:
+    """CPU :class:`FeatureExtractor` backed by ``cv2.ORB_create``.
+
+    Placeholder implementation: ORB is fast (~5 ms / 480p image on a
+    modern CPU) and stable enough to exercise the C2.5 strategy's
+    orchestration logic, but its uint8 binary descriptors are NOT a
+    drop-in for LightGlue-trained DISK/ALIKED features. Production
+    deployments MUST replace this extractor with a deep-learning
+    backbone before flight (tracked under the future C2.5
+    backbone-extractor task).
+
+    The ``nfeatures`` constructor arg caps the number of keypoints
+    per image; default 1024 mirrors typical DISK / ALIKED budgets.
+    """
+
+    def __init__(self, *, nfeatures: int = 1024) -> None:
+        if nfeatures < 1:
+            raise FeatureExtractorError(
+                f"OpenCvOrbExtractor.nfeatures must be >= 1; got {nfeatures}"
+            )
+        self._nfeatures: int = nfeatures
+        # ORB itself is created lazily so test environments without
+        # a working OpenCV install can still import this module.
+        # Cached on first call to amortise the per-image cost.
+        self._orb: cv2.ORB | None = None
+
+    def descriptor_dim(self) -> int:
+        return _ORB_FLOAT_DESCRIPTOR_DIM
+
+    def _get_orb(self) -> cv2.ORB:
+        if self._orb is None:
+            self._orb = cv2.ORB_create(nfeatures=self._nfeatures)
+        return self._orb
+
+    def extract(self, image_bgr: np.ndarray) -> KeypointSet:
+        if image_bgr.ndim == 3:
+            gray = cv2.cvtColor(image_bgr, cv2.COLOR_BGR2GRAY)
+        elif image_bgr.ndim == 2:
+            gray = image_bgr
+        else:
+            raise FeatureExtractorError(
+                "image_bgr must be 2-D (gray) or 3-D (BGR); "
+                f"got ndim={image_bgr.ndim} shape={image_bgr.shape}"
+            )
+        if gray.dtype != np.uint8:
+            gray = gray.astype(np.uint8)
+        try:
+            keypoints_cv, descriptors_uint8 = self._get_orb().detectAndCompute(
+                gray, mask=None
+            )
+        except cv2.error as exc:
+            raise FeatureExtractorError(f"cv2.ORB.detectAndCompute failed: {exc}") from exc
+        if descriptors_uint8 is None or len(keypoints_cv) == 0:
+            keypoints = np.zeros((0, 2), dtype=np.float32)
+            descriptors = np.zeros((0, _ORB_FLOAT_DESCRIPTOR_DIM), dtype=np.float32)
+            return KeypointSet(keypoints=keypoints, descriptors=descriptors)
+        keypoints = np.array(
+            [(kp.pt[0], kp.pt[1]) for kp in keypoints_cv], dtype=np.float32
+        )
+        # Expand each 32-byte ORB descriptor to a 256-d float32 vector
+        # of bit indicators (0/1). Matches the contract that
+        # ``KeypointSet.descriptors`` is float32.
+        bits = np.unpackbits(descriptors_uint8, axis=1).astype(np.float32)
+        return KeypointSet(keypoints=keypoints, descriptors=bits)

src/gps_denied_onboard/runtime_root/rerank_factory.py

@@ -28,12 +28,15 @@ from typing import TYPE_CHECKING
 from gps_denied_onboard.runtime_root.errors import StrategyNotAvailableError
 
 if TYPE_CHECKING:
+    from gps_denied_onboard.clock import Clock
     from gps_denied_onboard.components.c2_5_rerank import (
         C2_5RerankConfig,
         ReRankStrategy,
     )
     from gps_denied_onboard.components.c6_tile_cache import TileStore
     from gps_denied_onboard.config.schema import Config
+    from gps_denied_onboard.fdr_client import FdrClient
+    from gps_denied_onboard.helpers.feature_extractor import FeatureExtractor
     from gps_denied_onboard.helpers.lightglue_runtime import LightGlueRuntime
 
 __all__ = ["build_rerank_strategy"]
@@ -71,6 +74,9 @@ def build_rerank_strategy(
     *,
     tile_store: "TileStore",
     lightglue_runtime: "LightGlueRuntime",
+    feature_extractor: "FeatureExtractor",
+    clock: "Clock",
+    fdr_client: "FdrClient | None" = None,
 ) -> "ReRankStrategy":
     """Construct the :class:`ReRankStrategy` impl selected by config.
 
@@ -79,15 +85,27 @@ def build_rerank_strategy(
        raises :class:`StrategyNotAvailableError` BEFORE any import.
     3. Lazily imports the concrete strategy module.
     4. Constructs the strategy via its module-level
-       ``create(config, tile_store, lightglue_runtime)`` factory
-       function (each concrete strategy module exports ``create`` as
-       its public entry-point; concrete constructors stay private).
+       ``create(config, tile_store, lightglue_runtime, feature_extractor, fdr_client)``
+       factory function (each concrete strategy module exports
+       ``create`` as its public entry-point; concrete constructors
+       stay private).
     5. Emits ONE INFO log ``kind="c2_5.rerank.strategy_loaded"`` with
        structured fields ``{strategy, top_n}``.
 
+    ``feature_extractor`` is a shared L1 helper (AZ-343 scope
+    expansion) used by the concrete strategy to extract keypoints +
+    descriptors from each per-frame nav image AND from each
+    candidate's tile pixels. ``clock`` is the composition-root
+    :class:`Clock` (AZ-398) — strategies stamp
+    :attr:`RerankResult.reranked_at` via ``clock.monotonic_ns()``
+    rather than calling stdlib ``time`` directly (Invariant 2 of
+    the replay contract). ``fdr_client`` is optional — passed
+    through to strategies that emit FDR records; ``None`` lets the
+    strategy run without FDR emission (useful for tests).
+
     Raises:
         StrategyNotAvailableError: compile-time flag OFF or
-            concrete module not yet built (AZ-343 pending).
+            concrete module not yet built.
     """
     block = _c2_5_config(config)
     strategy = block.strategy
@@ -128,12 +146,18 @@ def build_rerank_strategy(
             config,
             tile_store=tile_store,
             lightglue_runtime=lightglue_runtime,
+            feature_extractor=feature_extractor,
+            clock=clock,
+            fdr_client=fdr_client,
         )
     else:
         instance = create_fn(
             config,
             tile_store=tile_store,
             lightglue_runtime=lightglue_runtime,
+            feature_extractor=feature_extractor,
+            clock=clock,
+            fdr_client=fdr_client,
         )
     _LOG.info(
         "c2_5.rerank.strategy_loaded",

tests/unit/c2_5_rerank/test_inlier_count_reranker.py

@@ -0,0 +1,889 @@
+"""AZ-343 — :class:`InlierCountReRanker` acceptance + NFR coverage.
+
+Covers AC-1..AC-12 from the task spec at
+``_docs/02_tasks/todo/AZ-343_c2_5_inlier_count_reranker.md``.
+
+Performance NFR (C2.5-PT-01 p95 ≤ 80 ms for 10 single-pair LightGlue
+passes against the real TRT engine) is deferred to Step 9 / E-BBT per
+the task's "Excluded" section — the harness here uses test doubles
+that bypass real GPU work.
+"""
+
+from __future__ import annotations
+
+import logging
+from dataclasses import dataclass
+
+import numpy as np
+import pytest
+
+from gps_denied_onboard._types.matching import CorrespondenceSet, KeypointSet
+from gps_denied_onboard._types.nav import NavCameraFrame
+from gps_denied_onboard._types.rerank import RerankResult
+from gps_denied_onboard._types.vpr import VprCandidate, VprResult
+from gps_denied_onboard.components.c2_5_rerank import (
+    C2_5RerankConfig,
+    RerankAllCandidatesFailedError,
+    ReRankStrategy,
+)
+from gps_denied_onboard.components.c2_5_rerank.inlier_based_reranker import (
+    InlierCountReRanker,
+    create,
+)
+from gps_denied_onboard.components.c6_tile_cache import TilePixelHandle
+from gps_denied_onboard.components.c6_tile_cache.errors import TileNotFoundError
+from gps_denied_onboard.config.schema import Config
+from gps_denied_onboard.fdr_client import FdrRecord
+from gps_denied_onboard.helpers.feature_extractor import FeatureExtractorError
+from gps_denied_onboard.helpers.lightglue_runtime import LightGlueRuntimeError
+
+# ----------------------------------------------------------------------
+# Test doubles
+
+
+@dataclass
+class _FakeClock:
+    _t: int = 1_700_000_000_000_000_000
+
+    def monotonic_ns(self) -> int:
+        self._t += 1
+        return self._t
+
+    def time_ns(self) -> int:
+        return self._t
+
+    def sleep_until_ns(self, target_ns: int) -> None:
+        return None
+
+
+class _FakeTilePixelHandle(TilePixelHandle):
+    """Reusable :class:`TilePixelHandle` — supports multi-shot ``with`` blocks.
+
+    The buffer is mutable so AC-7 can prove identity (mutation through
+    one ``with`` block must be visible through the next).
+    """
+
+    def __init__(self, jpeg_bytes: bytes, path):
+        self._buf = bytearray(jpeg_bytes)
+        self._path = path
+
+    @property
+    def filesystem_path(self):
+        return self._path
+
+    def __enter__(self) -> memoryview:
+        return memoryview(self._buf)
+
+    def __exit__(self, exc_type, exc_val, exc_tb) -> None:
+        return None
+
+    def mutate(self, new_bytes: bytes) -> None:
+        self._buf = bytearray(new_bytes)
+
+
+def _synthesise_jpeg(seed: int) -> bytes:
+    """Produce a deterministic colour JPEG keyed off ``seed``."""
+    import cv2
+
+    rng = np.random.default_rng(seed)
+    image = rng.integers(0, 255, size=(32, 32, 3), dtype=np.uint8)
+    ok, buf = cv2.imencode(".jpg", image)
+    assert ok, "cv2.imencode failed in test fixture"
+    return bytes(buf)
+
+
+class _FakeTileStore:
+    """Returns deterministic handles per ``tile_id``; can be told to fail."""
+
+    def __init__(self):
+        from pathlib import Path
+
+        self._handles: dict[tuple, _FakeTilePixelHandle] = {}
+        self._fail: set[tuple] = set()
+        self._path_base = Path("/tmp/c2_5_rerank_fake")
+
+    def install(self, tile_id, *, fail: bool = False, jpeg_seed: int | None = None) -> None:
+        if fail:
+            self._fail.add(tile_id)
+            return
+        if jpeg_seed is None:
+            jpeg_seed = hash(tile_id) & 0xFFFF
+        self._handles[tile_id] = _FakeTilePixelHandle(
+            jpeg_bytes=_synthesise_jpeg(jpeg_seed),
+            path=self._path_base / f"{tile_id}.jpg",
+        )
+
+    def handle(self, tile_id) -> _FakeTilePixelHandle:
+        return self._handles[tile_id]
+
+    def read_tile_pixels(self, tile_id):
+        if tile_id in self._fail:
+            raise TileNotFoundError(f"fake: {tile_id} marked as failing")
+        return self._handles[tile_id]
+
+    def write_tile(self, tile_blob, metadata):
+        raise NotImplementedError
+
+    def tile_exists(self, tile_id):
+        return tile_id in self._handles
+
+    def delete_tile(self, tile_id):
+        return self._handles.pop(tile_id, None) is not None
+
+
+class _FakeFeatureExtractor:
+    """Returns a deterministic :class:`KeypointSet` per image; can fail."""
+
+    def __init__(self) -> None:
+        self._fail_calls: set[int] = set()
+        self._call_count = 0
+
+    def fail_on(self, call_index: int) -> None:
+        self._fail_calls.add(call_index)
+
+    def descriptor_dim(self) -> int:
+        return 256
+
+    def extract(self, image_bgr: np.ndarray) -> KeypointSet:
+        idx = self._call_count
+        self._call_count += 1
+        if idx in self._fail_calls:
+            raise FeatureExtractorError(f"fake extractor failing on call {idx}")
+        return KeypointSet(
+            keypoints=np.zeros((4, 2), dtype=np.float32),
+            descriptors=np.zeros((4, 256), dtype=np.float32),
+        )
+
+
+class _ProgrammableLightGlue:
+    """Returns the next pre-programmed :class:`CorrespondenceSet`; can raise."""
+
+    def __init__(self) -> None:
+        self._calls: list[
+            tuple[KeypointSet, KeypointSet]
+        ] = []
+        self._results: list[object] = []  # CorrespondenceSet | Exception
+
+    def queue_inliers(self, count: int) -> None:
+        self._results.append(_make_correspondence_set(count))
+
+    def queue_error(self, exc: BaseException) -> None:
+        self._results.append(exc)
+
+    def descriptor_dim(self) -> int:
+        return 256
+
+    def match(self, features_a: KeypointSet, features_b: KeypointSet) -> CorrespondenceSet:
+        self._calls.append((features_a, features_b))
+        if not self._results:
+            raise AssertionError(
+                "fake LightGlue ran out of programmed responses; queue more"
+            )
+        result = self._results.pop(0)
+        if isinstance(result, BaseException):
+            raise result
+        return result
+
+    def match_batch(self, features_a_list, features_b_list):
+        raise NotImplementedError
+
+    @property
+    def calls(self) -> list[tuple[KeypointSet, KeypointSet]]:
+        return self._calls
+
+
+class _CapturingFdrClient:
+    def __init__(self) -> None:
+        self.records: list[FdrRecord] = []
+
+    def enqueue(self, record: FdrRecord) -> None:
+        self.records.append(record)
+
+
+def _make_correspondence_set(count: int) -> CorrespondenceSet:
+    return CorrespondenceSet(
+        correspondences=np.zeros((count, 4), dtype=np.float32),
+        scores=np.full((count,), 0.5, dtype=np.float32),
+    )
+
+
+def _make_frame(frame_id: int = 7) -> NavCameraFrame:
+    from datetime import datetime, timezone
+
+    image = (np.random.default_rng(frame_id).integers(0, 255, (16, 16, 3))).astype(
+        np.uint8
+    )
+    return NavCameraFrame(
+        frame_id=frame_id,
+        timestamp=datetime.now(tz=timezone.utc),
+        image=image,
+        camera_calibration_id="cam0",
+    )
+
+
+def _make_vpr_candidate(*, tile_id, distance: float) -> VprCandidate:
+    return VprCandidate(tile_id=tile_id, descriptor_distance=distance, descriptor_dim=256)
+
+
+def _make_vpr_result(*, frame_id: int, candidates: list[VprCandidate]) -> VprResult:
+    return VprResult(
+        frame_id=frame_id,
+        candidates=tuple(candidates),
+        retrieved_at=10,
+        backbone_label="ultra_vpr",
+    )
+
+
+def _build_reranker(
+    *,
+    tile_store: _FakeTileStore,
+    extractor: _FakeFeatureExtractor,
+    lightglue: _ProgrammableLightGlue,
+    fdr_client=None,
+    top_n: int = 3,
+    debug_per_frame_log: bool = False,
+) -> InlierCountReRanker:
+    config = Config.with_blocks(
+        c2_5_rerank=C2_5RerankConfig(
+            strategy="inlier_count",
+            top_n=top_n,
+            debug_per_frame_log=debug_per_frame_log,
+        )
+    )
+    return InlierCountReRanker(
+        config=config,
+        tile_store=tile_store,
+        lightglue_runtime=lightglue,
+        feature_extractor=extractor,
+        clock=_FakeClock(),
+        fdr_client=fdr_client,
+    )
+
+
+def _install_k_candidates(
+    tile_store: _FakeTileStore,
+    *,
+    k: int,
+    distances: list[float] | None = None,
+    fail_indices: set[int] | None = None,
+) -> list[VprCandidate]:
+    distances = distances or [0.1 * i for i in range(k)]
+    fail_indices = fail_indices or set()
+    candidates: list[VprCandidate] = []
+    for i in range(k):
+        tile_id = (18, 49.0 + i * 0.001, 36.0 + i * 0.001)
+        tile_store.install(tile_id, fail=i in fail_indices, jpeg_seed=i)
+        candidates.append(_make_vpr_candidate(tile_id=tile_id, distance=distances[i]))
+    return candidates
+
+
+# ----------------------------------------------------------------------
+# Calibration fixture (the strategy ignores it for now — Protocol shape only).
+
+
+@pytest.fixture
+def calibration():
+    from gps_denied_onboard._types.calibration import CameraCalibration
+
+    return CameraCalibration(
+        camera_id="cam0",
+        intrinsics_3x3=np.eye(3, dtype=np.float32),
+        distortion=np.zeros((5,), dtype=np.float32),
+        body_to_camera_se3=np.eye(4, dtype=np.float32),
+        acquisition_method="synthetic",
+    )
+
+
+# ----------------------------------------------------------------------
+# AC-1 — Protocol conformance.
+
+
+def test_ac1_isinstance_rerank_strategy(calibration) -> None:
+    # Arrange
+    tile_store = _FakeTileStore()
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=_ProgrammableLightGlue(),
+    )
+    # Assert
+    assert isinstance(reranker, ReRankStrategy)
+    assert hasattr(reranker, "rerank")
+
+
+# ----------------------------------------------------------------------
+# AC-2 — top-N ordering with mixed inlier counts + ties + zeros.
+
+
+def test_ac2_top_n_ordering_and_tie_break(calibration) -> None:
+    # Arrange
+    inlier_counts = [412, 198, 287, 153, 287, 0, 65, 412, 89, 234]
+    descriptor_distances = [0.1, 0.4, 0.2, 0.3, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0]
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(
+        tile_store, k=10, distances=descriptor_distances
+    )
+    lightglue = _ProgrammableLightGlue()
+    for count in inlier_counts:
+        lightglue.queue_inliers(count)
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+        top_n=3,
+    )
+    vpr_result = _make_vpr_result(frame_id=12, candidates=candidates)
+    # Act
+    result = reranker.rerank(_make_frame(12), vpr_result, n=3, calibration=calibration)
+    # Assert
+    assert len(result.candidates) == 3
+    assert result.candidates[0].inlier_count == 412
+    assert result.candidates[0].descriptor_distance == pytest.approx(0.1)
+    assert result.candidates[1].inlier_count == 412
+    assert result.candidates[1].descriptor_distance == pytest.approx(0.8)
+    assert result.candidates[2].inlier_count == 287
+    assert result.candidates[2].descriptor_distance == pytest.approx(0.2)
+    # Zero-inlier candidate is dropped; candidates_dropped accounts for it.
+    assert result.candidates_dropped >= 1
+
+
+# ----------------------------------------------------------------------
+# AC-3 — drop-and-continue on LightGlue failure.
+
+
+def test_ac3_drop_and_continue_on_backbone_error(calibration, caplog) -> None:
+    # Arrange
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=10)
+    lightglue = _ProgrammableLightGlue()
+    for i in range(10):
+        if i == 3:
+            lightglue.queue_error(LightGlueRuntimeError("boom"))
+        else:
+            lightglue.queue_inliers(100 + i)
+    fdr = _CapturingFdrClient()
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+        fdr_client=fdr,
+    )
+    vpr_result = _make_vpr_result(frame_id=21, candidates=candidates)
+    # Act
+    with caplog.at_level(logging.ERROR, logger="gps_denied_onboard.c2_5_rerank"):
+        result = reranker.rerank(
+            _make_frame(21), vpr_result, n=3, calibration=calibration
+        )
+    # Assert
+    assert len(result.candidates) == 3
+    assert result.candidates_dropped >= 1
+    backbone_errors = [
+        r for r in caplog.records if r.message == "c2_5.rerank.backbone_error"
+    ]
+    assert len(backbone_errors) == 1
+    assert getattr(backbone_errors[0], "kv", {}).get("reason") == "lightglue_forward_failed"
+    backbone_fdr = [r for r in fdr.records if r.kind == "rerank.backbone_error"]
+    assert len(backbone_fdr) == 1
+
+
+# ----------------------------------------------------------------------
+# AC-4 — drop-and-continue on TileStore failure.
+
+
+def test_ac4_drop_and_continue_on_tile_fetch_error(calibration, caplog) -> None:
+    # Arrange
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=10, fail_indices={6})
+    lightglue = _ProgrammableLightGlue()
+    for _ in range(9):
+        lightglue.queue_inliers(200)
+    fdr = _CapturingFdrClient()
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+        fdr_client=fdr,
+    )
+    vpr_result = _make_vpr_result(frame_id=42, candidates=candidates)
+    # Act
+    with caplog.at_level(logging.ERROR, logger="gps_denied_onboard.c2_5_rerank"):
+        result = reranker.rerank(
+            _make_frame(42), vpr_result, n=3, calibration=calibration
+        )
+    # Assert
+    assert len(result.candidates) == 3
+    assert result.candidates_dropped >= 1
+    tile_fetch_errors = [
+        r for r in caplog.records if r.message == "c2_5.rerank.tile_fetch_error"
+    ]
+    assert len(tile_fetch_errors) == 1
+    tile_fetch_fdr = [r for r in fdr.records if r.kind == "rerank.tile_fetch_error"]
+    assert len(tile_fetch_fdr) == 1
+
+
+# ----------------------------------------------------------------------
+# AC-5 — zero survivors raises RerankAllCandidatesFailedError.
+
+
+def test_ac5_zero_survivors_raises(calibration, caplog) -> None:
+    # Arrange
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=10)
+    lightglue = _ProgrammableLightGlue()
+    for _ in range(10):
+        lightglue.queue_error(LightGlueRuntimeError("everything-fails"))
+    fdr = _CapturingFdrClient()
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+        fdr_client=fdr,
+    )
+    vpr_result = _make_vpr_result(frame_id=99, candidates=candidates)
+    # Act / Assert
+    with caplog.at_level(logging.ERROR, logger="gps_denied_onboard.c2_5_rerank"):
+        with pytest.raises(RerankAllCandidatesFailedError):
+            reranker.rerank(
+                _make_frame(99), vpr_result, n=3, calibration=calibration
+            )
+    backbone_errors = [
+        r for r in caplog.records if r.message == "c2_5.rerank.backbone_error"
+    ]
+    assert len(backbone_errors) == 10
+    all_failed = [
+        r for r in caplog.records if r.message == "c2_5.rerank.all_failed"
+    ]
+    assert len(all_failed) == 1
+    all_failed_fdr = [r for r in fdr.records if r.kind == "rerank.all_failed"]
+    assert len(all_failed_fdr) == 1
+    payload = all_failed_fdr[0].payload
+    assert payload["candidates_input"] == 10
+    assert payload["candidates_dropped"] == 10
+
+
+# ----------------------------------------------------------------------
+# AC-6 — fewer than N survivors → WARN log + partial result.
+
+
+def test_ac6_fewer_than_n_survivors_warn(calibration, caplog) -> None:
+    # Arrange — 8 fail, 2 succeed.
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=10)
+    lightglue = _ProgrammableLightGlue()
+    # Two succeed, six fail with LightGlueRuntimeError, two return zero inliers.
+    success_indices = {0, 5}
+    zero_indices = {2, 8}
+    for i in range(10):
+        if i in success_indices:
+            lightglue.queue_inliers(300 + i)
+        elif i in zero_indices:
+            lightglue.queue_inliers(0)
+        else:
+            lightglue.queue_error(LightGlueRuntimeError("bad"))
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+    )
+    vpr_result = _make_vpr_result(frame_id=55, candidates=candidates)
+    # Act
+    with caplog.at_level(logging.WARNING, logger="gps_denied_onboard.c2_5_rerank"):
+        result = reranker.rerank(
+            _make_frame(55), vpr_result, n=3, calibration=calibration
+        )
+    # Assert
+    assert len(result.candidates) == 2
+    assert result.candidates_dropped == 8
+    warn_records = [
+        r for r in caplog.records if r.message == "c2_5.rerank.fewer_than_n_survivors"
+    ]
+    assert len(warn_records) == 1
+    assert getattr(warn_records[0], "kv", {}).get("requested") == 3
+    assert getattr(warn_records[0], "kv", {}).get("returned") == 2
+    assert getattr(warn_records[0], "kv", {}).get("dropped") == 8
+
+
+# ----------------------------------------------------------------------
+# AC-7 — tile_pixels_handle is a reference, not a copy.
+
+
+def test_ac7_tile_pixels_handle_is_reference(calibration) -> None:
+    # Arrange
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=3)
+    lightglue = _ProgrammableLightGlue()
+    for _ in range(3):
+        lightglue.queue_inliers(500)
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+        top_n=3,
+    )
+    vpr_result = _make_vpr_result(frame_id=1, candidates=candidates)
+    # Act
+    result = reranker.rerank(
+        _make_frame(1), vpr_result, n=3, calibration=calibration
+    )
+    # Assert — identity preservation against the TileStore-returned handle.
+    for survivor in result.candidates:
+        original = tile_store.handle(survivor.tile_id)
+        assert survivor.tile_pixels_handle is original
+
+
+# ----------------------------------------------------------------------
+# AC-8 — descriptor_distance carried forward unchanged.
+
+
+def test_ac8_descriptor_distance_preserved(calibration) -> None:
+    # Arrange
+    tile_store = _FakeTileStore()
+    distance = 0.123456789
+    candidates = _install_k_candidates(
+        tile_store, k=3, distances=[distance, 0.2, 0.3]
+    )
+    lightglue = _ProgrammableLightGlue()
+    for _ in range(3):
+        lightglue.queue_inliers(700)
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+    )
+    vpr_result = _make_vpr_result(frame_id=2, candidates=candidates)
+    # Act
+    result = reranker.rerank(
+        _make_frame(2), vpr_result, n=3, calibration=calibration
+    )
+    # Assert
+    top_tile = candidates[0].tile_id
+    matching = [c for c in result.candidates if c.tile_id == top_tile]
+    assert matching
+    assert matching[0].descriptor_distance == distance
+
+
+# ----------------------------------------------------------------------
+# AC-9 — deterministic same-inputs → bit-identical RerankResult.candidates.
+
+
+def test_ac9_deterministic_candidates(calibration) -> None:
+    # Arrange — single reranker instance called three times so the
+    # injected clock advances between calls (AC-9: reranked_at MUST
+    # differ across calls but candidates MUST NOT).
+    counts = [40, 90, 70, 10, 60, 30, 80, 20, 50, 100]
+    distances = [0.1 * i for i in range(10)]
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=10, distances=distances)
+    lightglue = _ProgrammableLightGlue()
+    for _ in range(3):
+        for c in counts:
+            lightglue.queue_inliers(c)
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+    )
+    vpr_result = _make_vpr_result(frame_id=314, candidates=candidates)
+    # Act
+    runs: list[RerankResult] = [
+        reranker.rerank(_make_frame(314), vpr_result, n=3, calibration=calibration)
+        for _ in range(3)
+    ]
+    # Assert
+    triples = [
+        tuple((c.tile_id, c.inlier_count, c.descriptor_distance) for c in r.candidates)
+        for r in runs
+    ]
+    assert triples[0] == triples[1] == triples[2]
+    # reranked_at differs across calls because Clock.monotonic_ns advances.
+    assert runs[0].reranked_at != runs[1].reranked_at
+    assert runs[1].reranked_at != runs[2].reranked_at
+
+
+# ----------------------------------------------------------------------
+# AC-10 — composition-root wiring via the AZ-342 factory.
+
+
+def test_ac10_composition_root_wiring(monkeypatch, caplog) -> None:
+    # Arrange — reuse the module already imported at file top so the
+    # class identity matches; the factory's lazy import picks it up
+    # from sys.modules unchanged.
+    monkeypatch.setenv("BUILD_RERANK_INLIER_COUNT", "ON")
+    from gps_denied_onboard.runtime_root.rerank_factory import build_rerank_strategy
+
+    config = Config.with_blocks(
+        c2_5_rerank=C2_5RerankConfig(strategy="inlier_count", top_n=3)
+    )
+    tile_store = _FakeTileStore()
+    extractor = _FakeFeatureExtractor()
+    lightglue = _ProgrammableLightGlue()
+    clock = _FakeClock()
+    # Act
+    with caplog.at_level(logging.INFO, logger="gps_denied_onboard.c2_5_rerank"):
+        instance = build_rerank_strategy(
+            config,
+            tile_store=tile_store,
+            lightglue_runtime=lightglue,
+            feature_extractor=extractor,
+            clock=clock,
+        )
+    # Assert
+    assert isinstance(instance, InlierCountReRanker)
+    assert isinstance(instance, ReRankStrategy)
+    assert instance._lightglue_runtime is lightglue
+    ready_logs = [r for r in caplog.records if r.message == "c2_5.rerank.ready"]
+    assert len(ready_logs) == 1
+    kv = getattr(ready_logs[0], "kv", {})
+    assert kv.get("strategy") == "inlier_count"
+    assert kv.get("N") == 3
+    assert kv.get("K") == 10
+
+
+# ----------------------------------------------------------------------
+# AC-11 — FDR rerank.frame_done emission per frame.
+
+
+def test_ac11_frame_done_fdr_emission(calibration) -> None:
+    # Arrange
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=10)
+    lightglue = _ProgrammableLightGlue()
+    successes = [412, 287, 198] + [10] * 7  # top three survive ranking.
+    for c in successes:
+        lightglue.queue_inliers(c)
+    fdr = _CapturingFdrClient()
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+        fdr_client=fdr,
+    )
+    vpr_result = _make_vpr_result(frame_id=77, candidates=candidates)
+    # Act
+    result = reranker.rerank(
+        _make_frame(77), vpr_result, n=3, calibration=calibration
+    )
+    # Assert
+    frame_done = [r for r in fdr.records if r.kind == "rerank.frame_done"]
+    assert len(frame_done) == 1
+    payload = frame_done[0].payload
+    assert payload["frame_id"] == 77
+    assert payload["candidates_input"] == 10
+    assert payload["top_inlier_count"] == result.candidates[0].inlier_count
+
+
+# ----------------------------------------------------------------------
+# AC-12 — single-pair LightGlue invocation count.
+
+
+def test_ac12_single_pair_lightglue_called_exactly_k_times(calibration) -> None:
+    # Arrange
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=10)
+    lightglue = _ProgrammableLightGlue()
+    for i in range(10):
+        lightglue.queue_inliers(10 + i)
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+    )
+    vpr_result = _make_vpr_result(frame_id=88, candidates=candidates)
+    # Act
+    reranker.rerank(_make_frame(88), vpr_result, n=3, calibration=calibration)
+    # Assert
+    assert len(lightglue.calls) == 10
+    first_query = lightglue.calls[0][0]
+    for query, _ in lightglue.calls[1:]:
+        assert query is first_query
+
+
+# ----------------------------------------------------------------------
+# Mixed drop-and-continue smoke (Risk-1 / Risk-2 coverage).
+
+
+def test_drop_and_continue_mixed_failures(calibration, caplog) -> None:
+    # Arrange — 1 TileFetch failure, 1 LightGlue failure, 2 zero-inliers, 6 succeed.
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=10, fail_indices={2})
+    lightglue = _ProgrammableLightGlue()
+    # Index 2 is dropped at tile fetch; the remaining 9 indices feed LightGlue.
+    counts_for_remaining = [50, 75, 25, 100, 0, 80, 90, 0]  # 8 entries for indices 0,1,3,4,5,6,7,8
+    # Index 9 hits a LightGlue error.
+    plan: list[object] = []
+    rem_iter = iter(counts_for_remaining)
+    for i in range(10):
+        if i == 2:
+            continue
+        if i == 9:
+            plan.append(LightGlueRuntimeError("backbone-died"))
+        else:
+            plan.append(next(rem_iter))
+    for item in plan:
+        if isinstance(item, Exception):
+            lightglue.queue_error(item)
+        else:
+            lightglue.queue_inliers(item)
+    fdr = _CapturingFdrClient()
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+        fdr_client=fdr,
+    )
+    vpr_result = _make_vpr_result(frame_id=66, candidates=candidates)
+    # Act
+    with caplog.at_level(logging.ERROR, logger="gps_denied_onboard.c2_5_rerank"):
+        result = reranker.rerank(
+            _make_frame(66), vpr_result, n=3, calibration=calibration
+        )
+    # Assert
+    assert len(result.candidates) == 3
+    # 1 tile-fetch + 1 backbone + 2 zero-inliers = 4 drops.
+    assert result.candidates_dropped == 4
+    backbone_errors = [
+        r for r in caplog.records if r.message == "c2_5.rerank.backbone_error"
+    ]
+    assert len(backbone_errors) == 1
+    tile_fetch_errors = [
+        r for r in caplog.records if r.message == "c2_5.rerank.tile_fetch_error"
+    ]
+    assert len(tile_fetch_errors) == 1
+    assert any(r.kind == "rerank.backbone_error" for r in fdr.records)
+    assert any(r.kind == "rerank.tile_fetch_error" for r in fdr.records)
+    assert any(r.kind == "rerank.frame_done" for r in fdr.records)
+
+
+# ----------------------------------------------------------------------
+# Public API — ``InlierCountReRanker`` stays out of c2_5_rerank.__all__ (AC-8).
+
+
+def test_inlier_count_reranker_not_publicly_re_exported() -> None:
+    # Arrange / Act
+    from gps_denied_onboard.components import c2_5_rerank
+
+    # Assert
+    assert "InlierCountReRanker" not in c2_5_rerank.__all__
+
+
+# ----------------------------------------------------------------------
+# Module-level create() is the factory entry-point (Outcome step 5).
+
+
+def test_create_returns_inlier_count_reranker() -> None:
+    # Arrange
+    config = Config.with_blocks(
+        c2_5_rerank=C2_5RerankConfig(strategy="inlier_count", top_n=3)
+    )
+    # Act
+    instance = create(
+        config,
+        tile_store=_FakeTileStore(),
+        lightglue_runtime=_ProgrammableLightGlue(),
+        feature_extractor=_FakeFeatureExtractor(),
+        clock=_FakeClock(),
+    )
+    # Assert
+    assert isinstance(instance, InlierCountReRanker)
+    assert isinstance(instance, ReRankStrategy)
+
+
+# ----------------------------------------------------------------------
+# Health: no_input_candidates short-circuit also raises.
+
+
+def test_zero_input_candidates_short_circuits(calibration) -> None:
+    # Arrange
+    reranker = _build_reranker(
+        tile_store=_FakeTileStore(),
+        extractor=_FakeFeatureExtractor(),
+        lightglue=_ProgrammableLightGlue(),
+    )
+    vpr_result = _make_vpr_result(frame_id=5, candidates=[])
+    # Act / Assert
+    with pytest.raises(RerankAllCandidatesFailedError):
+        reranker.rerank(
+            _make_frame(5), vpr_result, n=3, calibration=calibration
+        )
+
+
+# ----------------------------------------------------------------------
+# DEBUG gating — per-frame frame_done DEBUG only fires when configured on.
+
+
+def test_debug_per_frame_log_gated_off_by_default(calibration, caplog) -> None:
+    # Arrange
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=3)
+    lightglue = _ProgrammableLightGlue()
+    for _ in range(3):
+        lightglue.queue_inliers(100)
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+        debug_per_frame_log=False,
+    )
+    vpr_result = _make_vpr_result(frame_id=33, candidates=candidates)
+    # Act
+    with caplog.at_level(logging.DEBUG, logger="gps_denied_onboard.c2_5_rerank"):
+        reranker.rerank(_make_frame(33), vpr_result, n=3, calibration=calibration)
+    # Assert
+    debug_records = [
+        r for r in caplog.records if r.message == "c2_5.rerank.frame_done"
+    ]
+    assert debug_records == []
+
+
+def test_debug_per_frame_log_emits_when_enabled(calibration, caplog) -> None:
+    # Arrange
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=3)
+    lightglue = _ProgrammableLightGlue()
+    for _ in range(3):
+        lightglue.queue_inliers(100)
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+        debug_per_frame_log=True,
+    )
+    vpr_result = _make_vpr_result(frame_id=34, candidates=candidates)
+    # Act
+    with caplog.at_level(logging.DEBUG, logger="gps_denied_onboard.c2_5_rerank"):
+        reranker.rerank(_make_frame(34), vpr_result, n=3, calibration=calibration)
+    # Assert
+    debug_records = [
+        r for r in caplog.records if r.message == "c2_5.rerank.frame_done"
+    ]
+    assert len(debug_records) == 1
+
+
+# ----------------------------------------------------------------------
+# FDR enqueue failures must NEVER promote to drop events (observability-only).
+
+
+def test_fdr_enqueue_failure_is_swallowed(calibration) -> None:
+    # Arrange
+    class _BrokenFdr:
+        def enqueue(self, record):
+            raise RuntimeError("queue broken")
+
+    tile_store = _FakeTileStore()
+    candidates = _install_k_candidates(tile_store, k=3)
+    lightglue = _ProgrammableLightGlue()
+    for _ in range(3):
+        lightglue.queue_inliers(100)
+    reranker = _build_reranker(
+        tile_store=tile_store,
+        extractor=_FakeFeatureExtractor(),
+        lightglue=lightglue,
+        fdr_client=_BrokenFdr(),
+    )
+    vpr_result = _make_vpr_result(frame_id=99, candidates=candidates)
+    # Act
+    result = reranker.rerank(
+        _make_frame(99), vpr_result, n=3, calibration=calibration
+    )
+    # Assert
+    assert len(result.candidates) == 3

tests/unit/c2_5_rerank/test_protocol_conformance.py

@@ -70,11 +70,46 @@ class _FakeLightGlueRuntime:
         raise NotImplementedError
 
 
+class _FakeFeatureExtractor:
+    def descriptor_dim(self):
+        return 256
+
+    def extract(self, image_bgr):
+        raise NotImplementedError
+
+
+class _FakeClock:
+    def __init__(self) -> None:
+        self._t = 1_000_000_000
+
+    def monotonic_ns(self):
+        self._t += 1
+        return self._t
+
+    def time_ns(self):
+        return self._t
+
+    def sleep_until_ns(self, target_ns):
+        return None
+
+
 class _FullReRankStrategy:
-    def __init__(self, config, *, tile_store, lightglue_runtime) -> None:
+    def __init__(
+        self,
+        config,
+        *,
+        tile_store,
+        lightglue_runtime,
+        feature_extractor=None,
+        clock=None,
+        fdr_client=None,
+    ) -> None:
         self._config = config
         self._tile_store = tile_store
         self._lightglue_runtime = lightglue_runtime
+        self._feature_extractor = feature_extractor
+        self._clock = clock
+        self._fdr_client = fdr_client
         self._label = config.components["c2_5_rerank"].strategy
 
     def rerank(self, frame, vpr_result, n, calibration):
@@ -127,6 +162,7 @@ def test_ac1_rerank_strategy_conformance_full() -> None:
         _config_with_strategy(),
         tile_store=_FakeTileStore(),
         lightglue_runtime=_FakeLightGlueRuntime(),
+        clock=_FakeClock(),
     )
     assert isinstance(instance, ReRankStrategy)
 
@@ -201,6 +237,8 @@ def test_ac3_factory_rejects_missing_build_flag(
                 config,
                 tile_store=_FakeTileStore(),
                 lightglue_runtime=_FakeLightGlueRuntime(),
+                feature_extractor=_FakeFeatureExtractor(),
+                clock=_FakeClock(),
             )
     assert "BUILD_RERANK_INLIER_COUNT is OFF" in str(exc_info.value)
     assert any(
@@ -219,6 +257,8 @@ def test_ac3_factory_does_not_load_module_when_flag_off(
             config,
             tile_store=_FakeTileStore(),
             lightglue_runtime=_FakeLightGlueRuntime(),
+            feature_extractor=_FakeFeatureExtractor(),
+            clock=_FakeClock(),
         )
     assert module_name not in sys.modules
 
@@ -256,6 +296,8 @@ def test_ac5_factory_emits_info_log_on_success(
             config,
             tile_store=_FakeTileStore(),
             lightglue_runtime=_FakeLightGlueRuntime(),
+            feature_extractor=_FakeFeatureExtractor(),
+            clock=_FakeClock(),
         )
     assert isinstance(instance, ReRankStrategy)
     records = [
@@ -281,6 +323,8 @@ def test_ac6_strategy_resolution(monkeypatch, strategy_module_cleanup) -> None:
         config,
         tile_store=_FakeTileStore(),
         lightglue_runtime=_FakeLightGlueRuntime(),
+        feature_extractor=_FakeFeatureExtractor(),
+        clock=_FakeClock(),
     )
     assert isinstance(instance, fake_cls)
     assert isinstance(instance, ReRankStrategy)
@@ -373,12 +417,18 @@ def test_nfr_perf_factory_under_50ms_p99(
     config = _config_with_strategy(strategy)
     tile_store = _FakeTileStore()
     lightglue_runtime = _FakeLightGlueRuntime()
+    feature_extractor = _FakeFeatureExtractor()
+    clock = _FakeClock()
 
     durations_ms: list[float] = []
     for _ in range(100):
         t0 = time.perf_counter()
         build_rerank_strategy(
-            config, tile_store=tile_store, lightglue_runtime=lightglue_runtime
+            config,
+            tile_store=tile_store,
+            lightglue_runtime=lightglue_runtime,
+            feature_extractor=feature_extractor,
+            clock=clock,
         )
         durations_ms.append((time.perf_counter() - t0) * 1000.0)