[AZ-231] Add anchor verification gates

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

tests/unit/test_anchor_verification.py

@@ -0,0 +1,87 @@
+from anchor_verification import AnchorFrame, GeometryGatedAnchorVerifier, MatchEvidence
+from shared.contracts import VprCandidate
+
+
+def _candidate(freshness_status: str = "fresh") -> VprCandidate:
+    return VprCandidate(
+        chunk_id="chunk-1",
+        tile_id="tile-1",
+        score=0.91,
+        footprint={"min_lat": 49.0, "max_lat": 49.2, "min_lon": 36.0, "max_lon": 36.2},
+        freshness_status=freshness_status,
+    )
+
+
+def _evidence(**overrides: object) -> MatchEvidence:
+    payload: dict[str, object] = {
+        "candidate": _candidate(),
+        "matcher_profile": "aliked_lightglue",
+        "inliers": 48,
+        "mean_reprojection_error_px": 1.4,
+        "homography": {"h00": 1.0, "h11": 1.0, "h22": 1.0},
+        "runtime_ms": 72.5,
+        "provenance_trusted": True,
+    }
+    payload.update(overrides)
+    return MatchEvidence.model_validate(payload)
+
+
+def test_candidate_verification_emits_acceptance_evidence() -> None:
+    # Arrange
+    verifier = GeometryGatedAnchorVerifier()
+    frame = AnchorFrame(frame_id="frame-1", image_ref="replay/frame-1.jpg")
+
+    # Act
+    result = verifier.verify(frame, _evidence())
+
+    # Assert
+    assert result.decision.accepted is True
+    assert result.decision.inliers == 48
+    assert result.decision.mean_reprojection_error_px == 1.4
+    assert result.reason == "accepted_geometry"
+    assert result.homography == {"h00": 1.0, "h11": 1.0, "h22": 1.0}
+
+
+def test_unsafe_candidate_is_rejected_with_reason() -> None:
+    # Arrange
+    verifier = GeometryGatedAnchorVerifier()
+    frame = AnchorFrame(frame_id="frame-1", image_ref="replay/frame-1.jpg")
+    evidence = _evidence(
+        candidate=_candidate(freshness_status="stale"),
+        inliers=6,
+        mean_reprojection_error_px=8.0,
+    )
+
+    # Act
+    result = verifier.verify(frame, evidence)
+
+    # Assert
+    assert result.decision.accepted is False
+    assert result.decision.estimated_pose is None
+    assert result.decision.rejection_reason == "stale_or_untrusted_provenance"
+    assert result.reason == "stale_or_untrusted_provenance"
+
+
+def test_matcher_benchmark_reports_profile_runtime_and_quality_metrics() -> None:
+    # Arrange
+    verifier = GeometryGatedAnchorVerifier()
+    frame = AnchorFrame(frame_id="frame-1", image_ref="replay/frame-1.jpg")
+
+    # Act
+    report = verifier.benchmark(
+        frame,
+        (
+            _evidence(matcher_profile="aliked_lightglue", runtime_ms=72.5),
+            _evidence(matcher_profile="sift_orb", inliers=12, runtime_ms=18.0),
+        ),
+    )
+
+    # Assert
+    assert [result.matcher_profile for result in report.results] == [
+        "aliked_lightglue",
+        "sift_orb",
+    ]
+    assert report.results[0].accepted is True
+    assert report.results[0].runtime_ms == 72.5
+    assert report.results[1].accepted is False
+    assert report.results[1].reason == "low_inliers"