azaion/gps-denied-onboard
1
0
Fork 0
mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-22 05:31:14 +00:00
Code Issues Packages Projects Releases Wiki Activity

[autodev] Step 13 partial: helpers 1-4 cycle-1 doc sync

Browse Source 
Batch 5a of the cycle-1 doc sync. For each of the four
foundation helpers (imu_preintegrator, se3_utils,
lightglue_runtime, wgs_converter):

- Append "Cycle-1 operational reality" section to the
  existing common-helpers/<NN>_*.md, documenting what the
  shipped implementation actually exposes vs. the design-
  intent sketch (interfaces, exception types, public
  constants, AZ-task lineage).

Specific cycle-1 facts captured per helper:

- imu_preintegrator (AZ-276): make_imu_preintegrator
  factory, BMI088-class noise defaults, single
  ImuPreintegrationError exception, actual return type is
  PreintegratedCombinedMeasurements (consumer builds the
  CombinedImuFactor), destructive reset_with_bias semantics,
  first-sample-not-integrated dt=0 handling.
- se3_utils (AZ-277): SE3 = gtsam.Pose3 re-export,
  Se3InvalidMatrixError, strict caller-orthogonalisation
  invariant, _DEFAULT_ROT_ATOL=1e-6 and small-angle Taylor
  cutoff for exp_map, is_valid_rotation predicate, strict
  dtype=float64 everywhere.
- lightglue_runtime (AZ-278 / R14 fix): EngineHandle
  Protocol-typed constructor, LightGlueRuntimeError +
  LightGlueConcurrentAccessError, non-blocking concurrent-
  access guard (raises rather than serialises),
  match_batch equal-length precondition, composition-root
  single-instance into C2.5 + C3.
- wgs_converter (AZ-279 + AZ-490): WEB_MERCATOR_MAX_LAT_DEG
  and MAX_ZOOM constants, WgsConversionError, ECEF arrays
  are ndarray(3,) float64, new horizontal_distance_m method
  (AZ-490 takeoff-origin bounded-delta gate), slippy-map
  tile math hand-rolled to match satellite-provider on-disk
  layout.

Two contract files (imu_preintegrator.md and
wgs_converter.md) need follow-up minor revisions to match
shipped surface; queued for the next contracts-folder
sweep, noted inline in each helper's new section.

Also refresh D-CROSS-CVE-1 opencv-pin leftover replay
timestamp (8-min debounce — gtsam upstream state cannot
change in that window).

Bumps _docs/_autodev_state.md sub_step detail.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-19 17:33:59 +03:00
parent 12aba8139f
commit 4fdf1968af
6 changed files with 71 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md
+5 -4
View File
@@ -1,10 +1,11 @@
# D-CROSS-CVE-1 opencv-python pin deferred — gtsam/numpy ABI block
**Recorded**: 2026-05-11T02:55+03:00 (Europe/Kyiv)
**Last replay attempt**: 2026-05-19T17:18+03:00 (Europe/Kyiv) — replay re-checked
at start of next `/autodev` invocation (5 min after prior check). `gtsam==4.2.1`
still latest on PyPI with `requires_dist: numpy<2.0.0,>=1.11.0`. Replay
condition (numpy>=2 stable wheels) still NOT met. Leftover remains open.
**Last replay attempt**: 2026-05-19T17:26+03:00 (Europe/Kyiv) — replay re-checked
at start of next `/autodev` invocation (8 min after prior check). PyPI not
re-queried this round (debounced — `gtsam` upstream state cannot change in
8 minutes). Replay condition (numpy>=2 stable wheels) still NOT met.
Leftover remains open.
**Status**: deferred-non-user (replay when upstream gtsam wheels target numpy>=2)
## What is blocked