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

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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>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-12 06:22:40 +03:00
parent 9a605c8514
commit 48ea1e2fc2
10 changed files with 1739 additions and 13 deletions
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_docs/02_document/module-layout.md
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@@ -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`