azaion/gps-denied-onboard
1
0
Fork 0
mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-22 15:11:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

[AZ-240] [AZ-241] [AZ-242] Add native retrieval remediation

Browse Source 
Implement the product remediation paths required before greenfield
code testability revision: native VIO backend selection, local
VPR descriptor index retrieval, and computed anchor matching gates.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-05 06:05:10 +03:00
parent 44c19ed117
commit 70f786f2d1
26 changed files with 869 additions and 114 deletions
Download Patch File Download Diff File Expand all files Collapse all files
_docs/03_implementation/reviews/batch_10_review.md
+31
View File
@@ -0,0 +1,31 @@
# Code Review Report
**Batch**: AZ-240_native_vio_backend_integration, AZ-241_real_satellite_vpr_descriptor_retrieval, AZ-242_real_anchor_feature_matching_ransac
**Date**: 2026-05-05
**Verdict**: PASS
## Findings
| # | Severity | Category | File:Line | Title |
|---|----------|----------|-----------|-------|
| - | - | - | - | No findings |
## Review Notes
- AZ-240: `NativeVioBackend` keeps engine-specific setup behind the `VioBackend` protocol, maps initialization/runtime errors to explicit `VioHealthReport` failures, and preserves timestamp mismatch, tracking-quality degradation, and no-WGS84-authority behavior.
- AZ-241: `LocalVprRetriever` now loads local descriptor/index packages from cache files, builds a CPU FAISS-compatible descriptor index, reports readiness with loaded record counts, and returns degraded/no-candidate results for missing or invalid packages without network access.
- AZ-242: `GeometryGatedAnchorVerifier` now has a computed matcher path from frame/tile keypoints through `KeypointRansacMatcher`, while the existing safety gates still reject stale provenance, low inliers, high MRE, and geometry failures.
## AC Coverage
| Task | AC Coverage |
|------|-------------|
| AZ-240 | 3/3 covered by `tests/unit/test_vio_adapter.py` |
| AZ-241 | 3/3 covered by `tests/unit/test_satellite_service_vpr.py` |
| AZ-242 | 3/3 covered by `tests/unit/test_anchor_verification.py` |
## Verification
- `python3 -m pytest tests/unit/test_vio_adapter.py tests/unit/test_satellite_service_vpr.py tests/unit/test_anchor_verification.py` passed: 19 tests.
- `python3 -m pytest` passed: 58 tests.
- `python3 -m black ...` and `python3 -m ruff ...` could not run because those optional dev tools are not installed in the current interpreter.