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[AZ-344] C3 CrossDomainMatcher Protocol + factory + RollingHealthWindow
Defines the public `CrossDomainMatcher` Protocol (PEP 544 @runtime_checkable, two methods: `match` + `health_snapshot`), the three frozen+slotted DTOs (`CandidateMatchSet`, `MatchResult`, `MatcherHealth`) in the L1 `_types/matcher.py` layer, the `MatcherError` family (`MatcherBackboneError`, `InsufficientInliersError`), and the composition-root `build_matcher_strategy` factory with lazy-import + `BUILD_MATCHER_<variant>` gating per ADR-002. `RollingHealthWindow` accumulator (60 s, amortised O(1) update, strict O(1) snapshot) is constructed by the factory and injected into every concrete matcher so all backbones share window semantics; this is what backs C5's spoof-promotion gate. Legacy placeholder `MatchResult` removed from `_types/matching.py`; import-only consumers (`c4_pose.interface`, `c3_5_adhop.interface`) repointed at the new `_types/matcher.py` home — zero behavioural change to those components. AC-9 (single-thread binding) and AC-10 (LightGlueRuntime identity-share with C2.5) deferred to AZ-270 runtime-root composition, mirroring the AZ-342 Risk-4 escape clause. All other ACs + NFRs covered by 70 new conformance tests. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
@@ -4,8 +4,8 @@
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**Producer task**: AZ-344 (`CrossDomainMatcher` Protocol + factory + composition)
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**Consumer tasks**: AZ-345 (DISK+LightGlue primary), AZ-346 (ALIKED+LightGlue secondary), AZ-347 (XFeat alternate); downstream c3_5_adhop (epic AZ-258) which consumes `MatchResult`
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**Version**: 1.0.0
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**Status**: draft, awaiting AZ-344 implementation
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**Last Updated**: 2026-05-10
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**Status**: v1.0.0 (AZ-344 implemented 2026-05-12)
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**Last Updated**: 2026-05-12
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**Module-layout home**: `src/gps_denied_onboard/components/c3_matcher/interface.py` (Protocol), `src/gps_denied_onboard/components/c3_matcher/__init__.py` (re-exports), `src/gps_denied_onboard/runtime_root/matcher_factory.py` (factory)
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## Purpose
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@@ -65,14 +65,13 @@ class CrossDomainMatcher(Protocol):
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```python
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from dataclasses import dataclass
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from uuid import UUID
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import numpy as np
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@dataclass(frozen=True, slots=True)
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class CandidateMatchSet:
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"""Per-candidate matching outcome inside a MatchResult."""
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tile_id: tuple # composite (zoomLevel, lat, lon)
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tile_id: tuple[int, float, float] # composite (zoomLevel, lat, lon); mirrors VprCandidate / RerankCandidate encoding so the L1 _types layer is free of an L1→L3 import to c6_tile_cache.TileId
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inlier_count: int
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inlier_correspondences: np.ndarray # shape (I, 4) float32; (px_query, py_query, px_tile, py_tile)
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ransac_outlier_count: int
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@@ -82,8 +81,8 @@ class CandidateMatchSet:
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@dataclass(frozen=True, slots=True)
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class MatchResult:
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"""Cross-domain match outcome for one frame. Consumed by C3.5 ConditionalRefiner."""
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frame_id: UUID
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per_candidate: list[CandidateMatchSet] # 0 < len <= N=3, ranked by inlier_count descending; ties broken by per_candidate_residual_px ascending
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frame_id: int # mirrors NavCameraFrame.frame_id; matches AZ-336 / AZ-342 encoding
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per_candidate: tuple[CandidateMatchSet, ...] # 0 < len <= N=3, ranked by inlier_count descending; ties broken by per_candidate_residual_px ascending. tuple (not list) so frozen+slots actually holds.
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best_candidate_idx: int # 0 by construction (sorted)
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reprojection_residual_px: float # best candidate's median residual
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matched_at: int # monotonic_ns
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@@ -115,6 +114,8 @@ class InsufficientInliersError(MatcherError):
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"""Every candidate failed OR every candidate's inlier count is below `config.matcher.min_inliers_threshold`. Raised by `match`. C5 falls back to VIO-only."""
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```
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The composition-time selection error is **`StrategyNotAvailableError`** (`runtime_root.errors`), NOT a member of `MatcherError`: it surfaces when the binary lacks the requested `BUILD_MATCHER_<variant>` flag or the concrete strategy module is not built yet (AZ-345..AZ-347 pending). This matches the C2 VPR (AZ-336) and C2.5 ReRank (AZ-342) factory pattern: per-frame matcher errors live in the C3 family; composition-time selection errors live in the shared runtime-root family.
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## Composition-Root Factory
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```python
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@@ -70,15 +70,18 @@ Bootstrap reference: `_docs/02_tasks/todo/AZ-263_initial_structure.md`. Architec
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- **Epic**: AZ-257 (E-C3 Cross-Domain Matcher)
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- **Directory**: `src/gps_denied_onboard/components/c3_matcher/`
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- **Public API**:
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- `__init__.py` (re-exports `CrossDomainMatcher`, `MatchResult`)
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- `__init__.py` (re-exports `CrossDomainMatcher`, `MatchResult`, `MatcherHealth`, `CandidateMatchSet`, `MatcherError`, `MatcherBackboneError`, `InsufficientInliersError`, `C3MatcherConfig`)
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- `interface.py` (`CrossDomainMatcher` Protocol)
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- `config.py` (`C3MatcherConfig`)
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- `errors.py` (error hierarchy)
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- **Internal**:
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- `disk_lightglue.py` (DISK + LightGlue)
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- `aliked_lightglue.py` (ALIKED + LightGlue)
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- `xfeat.py`
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- `_health_window.py` (`RollingHealthWindow` accumulator; constructor-injected into every concrete matcher)
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- `disk_lightglue.py` (DISK + LightGlue, AZ-345)
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- `aliked_lightglue.py` (ALIKED + LightGlue, AZ-346)
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- `xfeat.py` (XFeat, AZ-347)
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- `_native/`
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- **Owns**: `src/gps_denied_onboard/components/c3_matcher/**`, `tests/unit/c3_matcher/**`
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- **Imports from**: `_types`, `helpers.lightglue_runtime` (R14: SHARED with C2.5 — owned by helper, NOT by C3), `helpers.descriptor_normaliser`, `helpers.se3_utils`, `components.c7_inference`, `config`, `logging`, `fdr_client`
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- **Owns**: `src/gps_denied_onboard/components/c3_matcher/**`, `tests/unit/c3_matcher/**`, `src/gps_denied_onboard/runtime_root/matcher_factory.py`
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- **Imports from**: `_types`, `helpers.lightglue_runtime` (R14: SHARED with C2.5 — owned by helper, NOT by C3), `helpers.ransac_filter`, `helpers.descriptor_normaliser`, `helpers.se3_utils`, `components.c7_inference`, `config`, `logging`, `fdr_client`
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- **Consumed by**: `c3_5_adhop`, `runtime_root`
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### Component: c3_5_adhop
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@@ -8,7 +8,7 @@ status: in_progress
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sub_step:
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phase: 2
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name: detect-progress
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detail: "batch 23 complete (AZ-303, AZ-297, AZ-331, AZ-398 per-task commits); selecting batch 24"
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detail: "batch 24 in flight (per-task commits): AZ-336 done, AZ-342 done, AZ-344 done; next AZ-348"
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retry_count: 0
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cycle: 1
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tracker: jira
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@@ -0,0 +1,98 @@
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"""C3 cross-domain matcher DTOs (L1 cross-component layer; AZ-344).
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Frozen by ``contracts/c3_matcher/cross_domain_matcher_protocol.md``
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v1.0.0: three slotted, immutable dataclasses
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(:class:`CandidateMatchSet`, :class:`MatchResult`,
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:class:`MatcherHealth`).
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:class:`CandidateMatchSet.tile_id` is a plain
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``tuple[int, float, float]`` of ``(zoom_level, lat, lon)`` —
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identical encoding to :class:`VprCandidate.tile_id` /
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:class:`RerankCandidate.tile_id` — keeping the L1 layer free of an
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L1→L3 import per ``module-layout.md`` (consumers reconstruct
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:class:`gps_denied_onboard.components.c6_tile_cache.TileId` at the
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C6 boundary).
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:class:`MatchResult.per_candidate` is a ``tuple`` (not a ``list``)
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so the ``frozen=True, slots=True`` invariant truly holds — a frozen
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dataclass holding a mutable list lets consumers mutate it; the
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tuple closes that door.
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"""
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from __future__ import annotations
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from dataclasses import dataclass
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import numpy as np
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__all__ = ["CandidateMatchSet", "MatchResult", "MatcherHealth"]
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@dataclass(frozen=True, slots=True)
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class CandidateMatchSet:
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"""Per-candidate matching outcome inside a :class:`MatchResult`.
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``inlier_correspondences`` is shape ``(I, 4)`` ``float32`` with
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columns ``(px_query, py_query, px_tile, py_tile)``; rows are
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RANSAC inliers only so ``I == inlier_count``.
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``per_candidate_residual_px`` is the MEDIAN reprojection
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residual on inliers — not the mean, not the max. C3.5's
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threshold gate compares against this value (INV-8).
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"""
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tile_id: tuple[int, float, float]
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inlier_count: int
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inlier_correspondences: np.ndarray
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ransac_outlier_count: int
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per_candidate_residual_px: float
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@dataclass(frozen=True, slots=True)
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class MatchResult:
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"""Cross-domain match outcome for one frame.
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Consumed by C3.5 :class:`ConditionalRefiner` (AZ-348). The
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``per_candidate`` tuple is sorted descending by
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``inlier_count`` with ties broken ascending by
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``per_candidate_residual_px`` (INV-3) so
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``best_candidate_idx == 0`` by construction.
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``reprojection_residual_px`` is the best candidate's median
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residual (mirrors ``per_candidate[0].per_candidate_residual_px``)
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surfaced separately so consumers do not have to know the
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ranking encoding.
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"""
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frame_id: int
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per_candidate: tuple[CandidateMatchSet, ...]
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best_candidate_idx: int
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reprojection_residual_px: float
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matched_at: int
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matcher_label: str
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candidates_input: int
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candidates_dropped: int
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@dataclass(frozen=True, slots=True)
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class MatcherHealth:
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"""Rolling-window matcher health snapshot.
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Produced by :meth:`CrossDomainMatcher.health_snapshot`. Drives
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C5's spoof-promotion gate (AC-NEW-2 / AC-NEW-7) and post-flight
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forensics.
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``consecutive_low_inlier`` is the count of CONSECUTIVE recent
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frames whose best-candidate inlier count fell below the
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configured ``min_inliers_threshold`` floor; it resets to zero on
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any frame whose inlier count meets or exceeds the floor
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(INV-12).
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``mean_inliers_60s`` is the rolling 60 s mean of best-candidate
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inlier counts. ``backbone_error_count_60s`` counts per-candidate
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:class:`MatcherBackboneError` occurrences in the same window.
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"""
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consecutive_low_inlier: int
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mean_inliers_60s: float
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backbone_error_count_60s: int
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@@ -1,25 +1,20 @@
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"""C3 / shared cross-domain matching DTOs."""
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"""Shared LightGlue-runtime DTOs (L1 helper layer; AZ-278).
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The cross-component ``MatchResult`` DTO previously lived here under
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a placeholder schema; AZ-344 froze the real shape in
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:mod:`gps_denied_onboard._types.matcher`. The two surviving classes
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(:class:`KeypointSet`, :class:`CorrespondenceSet`) are the L1
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helper substrate for :class:`gps_denied_onboard.helpers.lightglue_runtime.LightGlueRuntime`
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and stay here.
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"""
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from __future__ import annotations
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from dataclasses import dataclass
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from typing import Any
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import numpy as np
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@dataclass(frozen=True)
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class MatchResult:
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"""Output of the cross-domain matcher (frame ↔ satellite tile)."""
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query_frame_id: int
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tile_id: str
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keypoints_query: Any
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keypoints_tile: Any
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matches: Any
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inlier_mask: Any | None = None
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@dataclass(frozen=True)
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class KeypointSet:
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"""A backbone-extracted keypoint + descriptor bundle.
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@@ -7,7 +7,7 @@ from __future__ import annotations
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from typing import Protocol
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from gps_denied_onboard._types.matching import MatchResult
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from gps_denied_onboard._types.matcher import MatchResult
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class AdHoPRefinementStrategy(Protocol):
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@@ -1,6 +1,51 @@
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"""C3 Cross-Domain Matcher component — Public API."""
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"""C3 cross-domain matcher — Public API (AZ-344).
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from gps_denied_onboard._types.matching import MatchResult
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Per ``cross_domain_matcher_protocol.md`` v1.0.0 the public surface
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consists of:
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- :class:`CrossDomainMatcher` Protocol (two methods).
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- DTOs re-exported from :mod:`gps_denied_onboard._types.matcher`
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(the L1 home for cross-component DTOs):
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:class:`MatchResult`, :class:`MatcherHealth`. The internal
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per-candidate sub-DTO :class:`CandidateMatchSet` is intentionally
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re-exported too because C3.5 reads
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``MatchResult.per_candidate[i]`` directly.
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- Error family rooted at :class:`MatcherError`; two documented
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subtypes (:class:`MatcherBackboneError`,
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:class:`InsufficientInliersError`).
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- Config block :class:`C3MatcherConfig` (registered on import).
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Internals — :class:`RollingHealthWindow` and the concrete strategy
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modules (``disk_lightglue``, ``aliked_lightglue``, ``xfeat``) —
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are intentionally NOT re-exported: consumers see only the
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Protocol; concrete strategies are imported lazily by
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:mod:`gps_denied_onboard.runtime_root.matcher_factory` (Risk-2
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mitigation).
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"""
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from gps_denied_onboard._types.matcher import (
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CandidateMatchSet,
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MatchResult,
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MatcherHealth,
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)
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from gps_denied_onboard.components.c3_matcher.config import C3MatcherConfig
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from gps_denied_onboard.components.c3_matcher.errors import (
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InsufficientInliersError,
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MatcherBackboneError,
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MatcherError,
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)
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from gps_denied_onboard.components.c3_matcher.interface import CrossDomainMatcher
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from gps_denied_onboard.config.schema import register_component_block
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__all__ = ["CrossDomainMatcher", "MatchResult"]
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register_component_block("c3_matcher", C3MatcherConfig)
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__all__ = [
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"C3MatcherConfig",
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"CandidateMatchSet",
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"CrossDomainMatcher",
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"InsufficientInliersError",
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"MatchResult",
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"MatcherBackboneError",
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"MatcherError",
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"MatcherHealth",
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]
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@@ -0,0 +1,122 @@
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"""C3 rolling matcher-health accumulator (AZ-344).
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:class:`RollingHealthWindow` maintains the three accumulators that
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back :class:`MatcherHealth` snapshots: ``consecutive_low_inlier``,
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``mean_inliers_60s``, ``backbone_error_count_60s``. The 60 s window
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is configurable for tests via the constructor.
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The structure is intentionally **single-thread** — no locks. The
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composition root binds every :class:`CrossDomainMatcher` to one
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ingest thread (AC-9) so adding a lock here would only mask binding
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bugs.
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Data structure choice: a ``collections.deque`` of
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``(timestamp_ns, inlier_count, had_backbone_error)`` tuples plus
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two running sums (``_inlier_sum``, ``_error_sum``). Every
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:meth:`update` call evicts expired entries from the left while
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maintaining the sums — amortised O(1). :meth:`snapshot` is strict
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O(1): it reads the sums and the current ``len(self._window)``
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without touching the deque body, so the NFR-perf-window microbench
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(p99 ≤ 50 µs) holds even with 6000 entries (100 Hz × 60 s).
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"""
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from __future__ import annotations
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from collections import deque
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from typing import Final
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from gps_denied_onboard._types.matcher import MatcherHealth
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__all__ = ["RollingHealthWindow"]
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_DEFAULT_WINDOW_NS: Final[int] = 60 * 1_000_000_000
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class RollingHealthWindow:
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"""Sliding 60 s window over best-candidate inlier counts.
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Constructor-injected into every concrete :class:`CrossDomainMatcher`
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so all strategies share semantics (the alternative — every
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matcher reimplements the window — drifts between backbones and
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breaks C5's spoof-promotion gate consistency).
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"""
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def __init__(
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self,
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*,
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min_inliers_threshold: int,
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window_ns: int = _DEFAULT_WINDOW_NS,
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) -> None:
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if min_inliers_threshold < 1:
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raise ValueError(
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"min_inliers_threshold must be >= 1; "
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f"got {min_inliers_threshold}"
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)
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if window_ns < 1:
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raise ValueError(f"window_ns must be >= 1; got {window_ns}")
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self._min_inliers_threshold: int = min_inliers_threshold
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self._window_ns: int = window_ns
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# Each entry: (timestamp_ns, inlier_count, had_backbone_error)
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self._window: deque[tuple[int, int, bool]] = deque()
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self._inlier_sum: int = 0
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self._error_sum: int = 0
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self._consecutive_low_inlier: int = 0
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@property
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def window_ns(self) -> int:
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return self._window_ns
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def update(
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self,
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*,
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timestamp_ns: int,
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best_inlier_count: int,
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had_backbone_error: bool,
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) -> None:
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"""Record one frame's outcome and evict any expired entries.
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``best_inlier_count`` is the BEST candidate's inlier count
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for the frame (zero if every candidate was dropped /
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below-threshold). ``had_backbone_error`` is ``True`` if at
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least one per-candidate
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:class:`MatcherBackboneError` fired in this frame.
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AC-12: ``consecutive_low_inlier`` increments when
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``best_inlier_count < min_inliers_threshold``; resets to
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zero on any frame whose count meets or exceeds the floor.
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"""
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if best_inlier_count < 0:
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raise ValueError(
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f"best_inlier_count must be >= 0; got {best_inlier_count}"
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)
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cutoff = timestamp_ns - self._window_ns
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window = self._window
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while window and window[0][0] <= cutoff:
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_ts, expired_inliers, expired_error = window.popleft()
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self._inlier_sum -= expired_inliers
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if expired_error:
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self._error_sum -= 1
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window.append((timestamp_ns, best_inlier_count, had_backbone_error))
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self._inlier_sum += best_inlier_count
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if had_backbone_error:
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self._error_sum += 1
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if best_inlier_count < self._min_inliers_threshold:
|
||||
self._consecutive_low_inlier += 1
|
||||
else:
|
||||
self._consecutive_low_inlier = 0
|
||||
|
||||
def snapshot(self) -> MatcherHealth:
|
||||
"""Return the current :class:`MatcherHealth` snapshot.
|
||||
|
||||
O(1): reads the running sums + ``len(self._window)`` only.
|
||||
Empty window → ``mean_inliers_60s == 0.0`` (consumers
|
||||
treat zero as "insufficient data" rather than "zero matches").
|
||||
"""
|
||||
count = len(self._window)
|
||||
mean = (self._inlier_sum / count) if count else 0.0
|
||||
return MatcherHealth(
|
||||
consecutive_low_inlier=self._consecutive_low_inlier,
|
||||
mean_inliers_60s=mean,
|
||||
backbone_error_count_60s=self._error_sum,
|
||||
)
|
||||
@@ -0,0 +1,67 @@
|
||||
"""C3 ``CrossDomainMatcher`` config block (AZ-344).
|
||||
|
||||
Registered into ``config.components['c3_matcher']`` by the package
|
||||
``__init__.py``. The composition-root factory
|
||||
:func:`gps_denied_onboard.runtime_root.matcher_factory.build_matcher_strategy`
|
||||
reads this block to select the strategy and configure thresholds.
|
||||
|
||||
``strategy`` selects one of the three concrete backbones
|
||||
(``disk_lightglue``, ``aliked_lightglue``, ``xfeat``); the
|
||||
composition-root factory respects compile-time
|
||||
``BUILD_MATCHER_<variant>`` gating on top of this label.
|
||||
|
||||
``min_inliers_threshold`` is the per-candidate floor: candidates
|
||||
whose RANSAC inlier count falls below this value are treated as
|
||||
failed (drop-and-continue) and counted into
|
||||
``MatcherHealth.consecutive_low_inlier``. Default 60 — leaves
|
||||
headroom below the AC-1.1 floor (p5 ≥ 80) so calibration drift
|
||||
does not immediately trip the spoof gate; FT-P-19 telemetry will
|
||||
tune it.
|
||||
|
||||
``residual_warn_threshold_px`` is the median reprojection-residual
|
||||
limit (pixels) above which the matcher emits a WARN log; default
|
||||
2.5 px (the AC-1.2 floor).
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from dataclasses import dataclass
|
||||
from typing import Final
|
||||
|
||||
from gps_denied_onboard.config.schema import ConfigError
|
||||
|
||||
__all__ = [
|
||||
"C3MatcherConfig",
|
||||
"KNOWN_STRATEGIES",
|
||||
]
|
||||
|
||||
|
||||
KNOWN_STRATEGIES: Final[frozenset[str]] = frozenset(
|
||||
{"disk_lightglue", "aliked_lightglue", "xfeat"}
|
||||
)
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class C3MatcherConfig:
|
||||
"""Per-component config for C3 cross-domain matcher."""
|
||||
|
||||
strategy: str = "disk_lightglue"
|
||||
min_inliers_threshold: int = 60
|
||||
residual_warn_threshold_px: float = 2.5
|
||||
|
||||
def __post_init__(self) -> None:
|
||||
if self.strategy not in KNOWN_STRATEGIES:
|
||||
raise ConfigError(
|
||||
f"C3MatcherConfig.strategy={self.strategy!r} not in "
|
||||
f"{sorted(KNOWN_STRATEGIES)}"
|
||||
)
|
||||
if self.min_inliers_threshold < 1:
|
||||
raise ConfigError(
|
||||
"C3MatcherConfig.min_inliers_threshold must be >= 1; "
|
||||
f"got {self.min_inliers_threshold}"
|
||||
)
|
||||
if self.residual_warn_threshold_px <= 0.0:
|
||||
raise ConfigError(
|
||||
"C3MatcherConfig.residual_warn_threshold_px must be > 0; "
|
||||
f"got {self.residual_warn_threshold_px}"
|
||||
)
|
||||
@@ -0,0 +1,55 @@
|
||||
"""C3 ``CrossDomainMatcher`` error taxonomy (AZ-344).
|
||||
|
||||
The family is intentionally narrow: a per-candidate failure is the
|
||||
normal case (drop-and-continue, INV-4) and is signalled via
|
||||
``MatchResult.candidates_dropped`` — NOT via an exception. An
|
||||
exception escapes :meth:`CrossDomainMatcher.match` only when EVERY
|
||||
candidate fails OR every candidate's inlier count falls below
|
||||
``config.matcher.min_inliers_threshold``; both surface as
|
||||
:class:`InsufficientInliersError` which is the C5 → VIO-only
|
||||
fallback trigger per AC-3.5.
|
||||
|
||||
:class:`MatcherBackboneError` is raised INSIDE the per-candidate
|
||||
loop, caught by the strategy, logged ERROR, FDR-stamped, and the
|
||||
candidate is dropped. It is exposed publicly so the per-candidate
|
||||
log + FDR taxonomy is observable and so future matchers using a
|
||||
different backbone can re-raise the same kind.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
__all__ = [
|
||||
"InsufficientInliersError",
|
||||
"MatcherBackboneError",
|
||||
"MatcherError",
|
||||
]
|
||||
|
||||
|
||||
class MatcherError(Exception):
|
||||
"""Base class for the C3 matcher error family.
|
||||
|
||||
Caught at the runtime root only when
|
||||
:class:`InsufficientInliersError` fires; per-candidate failures
|
||||
stay inside the strategy.
|
||||
"""
|
||||
|
||||
|
||||
class MatcherBackboneError(MatcherError):
|
||||
"""Per-candidate backbone forward-pass failure.
|
||||
|
||||
CUDA OOM, TRT engine deserialize mismatch. Logged at ERROR; one
|
||||
FDR record per occurrence; the offending candidate is dropped
|
||||
from the match set; the surrounding :meth:`match` call continues
|
||||
with the remaining candidates (INV-4).
|
||||
"""
|
||||
|
||||
|
||||
class InsufficientInliersError(MatcherError):
|
||||
"""Zero survivors after the per-candidate loop, OR every
|
||||
candidate's inlier count is below
|
||||
``config.matcher.min_inliers_threshold``.
|
||||
|
||||
Logged at ERROR; FDR record ``kind=matcher.insufficient_inliers``
|
||||
or ``kind=matcher.all_failed`` (per the trigger). C5 falls back
|
||||
to VIO-only with provenance ``visual_propagated`` (AC-3.5).
|
||||
"""
|
||||
@@ -1,19 +1,120 @@
|
||||
"""C3 `CrossDomainMatcher` Protocol.
|
||||
"""C3 ``CrossDomainMatcher`` Protocol (AZ-344).
|
||||
|
||||
Concrete impls: DISK+LightGlue (primary), ALIKED+LightGlue, XFeat. See
|
||||
`_docs/02_document/components/04_c3_matcher/`.
|
||||
PEP 544 ``typing.Protocol`` with ``runtime_checkable=True``; a
|
||||
two-method surface: :meth:`match` and :meth:`health_snapshot`.
|
||||
|
||||
Concrete impls — DISK+LightGlue (AZ-345), ALIKED+LightGlue
|
||||
(AZ-346), XFeat (AZ-347) — live in sibling modules and are imported
|
||||
lazily by
|
||||
:mod:`gps_denied_onboard.runtime_root.matcher_factory`.
|
||||
|
||||
The contract at
|
||||
``_docs/02_document/contracts/c3_matcher/cross_domain_matcher_protocol.md``
|
||||
v1.0.0 is the authoritative shape; this module mirrors it 1:1.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import Protocol
|
||||
from typing import TYPE_CHECKING, Protocol, runtime_checkable
|
||||
|
||||
from gps_denied_onboard._types.matching import MatchResult
|
||||
from gps_denied_onboard._types.nav import NavCameraFrame
|
||||
from gps_denied_onboard._types.tile import Tile
|
||||
if TYPE_CHECKING:
|
||||
from gps_denied_onboard._types.calibration import CameraCalibration
|
||||
from gps_denied_onboard._types.matcher import MatchResult, MatcherHealth
|
||||
from gps_denied_onboard._types.nav import NavCameraFrame
|
||||
from gps_denied_onboard._types.rerank import RerankResult
|
||||
|
||||
__all__ = ["CrossDomainMatcher"]
|
||||
|
||||
|
||||
@runtime_checkable
|
||||
class CrossDomainMatcher(Protocol):
|
||||
"""Match a nav-camera frame against a satellite tile."""
|
||||
"""Cross-domain (nav-camera ↔ satellite-imagery) matcher strategy.
|
||||
|
||||
def match(self, frame: NavCameraFrame, tile: Tile) -> MatchResult: ...
|
||||
Stateless per-frame; the only persistent state is the
|
||||
constructor-injected backbone runtime handles
|
||||
(``InferenceRuntime`` for feature extraction,
|
||||
:class:`gps_denied_onboard.helpers.lightglue_runtime.LightGlueRuntime`
|
||||
for matching,
|
||||
:class:`gps_denied_onboard.helpers.ransac_filter.RansacFilter`
|
||||
for inlier filtering) and the rolling
|
||||
:class:`gps_denied_onboard.components.c3_matcher._health_window.RollingHealthWindow`.
|
||||
|
||||
Invariants (see ``cross_domain_matcher_protocol.md`` v1.0.0):
|
||||
|
||||
- **INV-1 single-threaded** — each instance is bound to one
|
||||
ingest thread by the composition root (same thread as C2.5
|
||||
because they share the ``LightGlueRuntime``).
|
||||
- **INV-2 stateless per-frame for `match`** — except for the
|
||||
rolling health window, no implicit dependency on prior
|
||||
frames; reordering ``match`` calls (tests only) MUST yield
|
||||
identical ``MatchResult`` content.
|
||||
- **INV-3 best-candidate selection is deterministic** —
|
||||
``MatchResult.best_candidate_idx == 0`` and
|
||||
``per_candidate`` is sorted by ``inlier_count`` descending
|
||||
with ties broken by ``per_candidate_residual_px`` ascending
|
||||
(lower residual wins).
|
||||
- **INV-4 drop-and-continue per candidate** — per-candidate
|
||||
exceptions never propagate out of ``match`` unless every
|
||||
candidate fails. Mirrors C2.5 INV-8.
|
||||
- **INV-5 ``per_candidate`` length is bounded** —
|
||||
``0 < len <= len(rerank_result.candidates)``; zero raises
|
||||
:class:`InsufficientInliersError`; never exceeds the input N.
|
||||
- **INV-6 ``matcher_label`` is non-empty** — every
|
||||
``MatchResult`` carries the strategy's name
|
||||
(e.g., ``"disk_lightglue"``) for FDR provenance; MUST match
|
||||
``BUILD_MATCHER_<variant>`` lowercase.
|
||||
- **INV-7 ``inlier_correspondences`` shape contract** —
|
||||
``ndarray[I, 4, dtype=float32]``, columns
|
||||
``(px_query, py_query, px_tile, py_tile)``; rows are RANSAC
|
||||
inliers only; ``I == inlier_count``.
|
||||
- **INV-8 ``reprojection_residual_px`` is the BEST candidate's
|
||||
median residual** — not the mean, not the max; downstream
|
||||
C3.5's threshold gate compares against this value.
|
||||
- **INV-9 ``health_snapshot()`` is cheap** — O(1); reads the
|
||||
rolling window's pre-computed accumulators. Never recomputes
|
||||
over the window contents.
|
||||
|
||||
Error envelope: only :class:`InsufficientInliersError` escapes
|
||||
:meth:`match`; per-candidate
|
||||
:class:`MatcherBackboneError` and C6 ``TileFetchError``
|
||||
instances are caught inside the loop and turned into dropped
|
||||
candidates + ERROR logs + per-occurrence FDR records.
|
||||
"""
|
||||
|
||||
def match(
|
||||
self,
|
||||
frame: "NavCameraFrame",
|
||||
rerank_result: "RerankResult",
|
||||
calibration: "CameraCalibration",
|
||||
) -> "MatchResult":
|
||||
"""Match a frame against every candidate in ``rerank_result``.
|
||||
|
||||
For each candidate:
|
||||
|
||||
1. Extract features from the nav frame and from the tile
|
||||
pixels (via the constructor-injected
|
||||
:class:`InferenceRuntime` handle).
|
||||
2. Run LightGlue forward via the shared
|
||||
:class:`LightGlueRuntime`.
|
||||
3. RANSAC-filter correspondences via the shared
|
||||
:class:`RansacFilter`; record inliers + median residual.
|
||||
|
||||
Sort survivors by ``(inlier_count desc, residual asc)`` and
|
||||
return as :class:`MatchResult`. Drop-and-continue
|
||||
semantics apply per INV-4.
|
||||
|
||||
Raises:
|
||||
InsufficientInliersError: zero survivors after the
|
||||
per-candidate loop, OR every candidate's
|
||||
``inlier_count`` is below
|
||||
``config.matcher.min_inliers_threshold``.
|
||||
"""
|
||||
...
|
||||
|
||||
def health_snapshot(self) -> "MatcherHealth":
|
||||
"""Return a rolling-window matcher health snapshot.
|
||||
|
||||
O(1) per INV-9. Drives C5's spoof-promotion gate
|
||||
(AC-NEW-2 / AC-NEW-7) and post-flight forensics.
|
||||
"""
|
||||
...
|
||||
|
||||
@@ -26,7 +26,7 @@ from typing import TYPE_CHECKING, Protocol, runtime_checkable
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from gps_denied_onboard._types.calibration import CameraCalibration
|
||||
from gps_denied_onboard._types.matching import MatchResult
|
||||
from gps_denied_onboard._types.matcher import MatchResult
|
||||
from gps_denied_onboard._types.pose import CovarianceMode, PoseEstimate
|
||||
from gps_denied_onboard._types.thermal import ThermalState
|
||||
|
||||
|
||||
@@ -0,0 +1,196 @@
|
||||
"""C3 matcher strategy composition-root factory (AZ-344).
|
||||
|
||||
:func:`build_matcher_strategy` selects exactly one strategy by
|
||||
``config.components['c3_matcher'].strategy`` and respects
|
||||
compile-time ``BUILD_MATCHER_<variant>`` gating: requesting a
|
||||
strategy whose flag is OFF raises
|
||||
:class:`StrategyNotAvailableError` at composition time (NOT at
|
||||
first frame).
|
||||
|
||||
Concrete strategy modules
|
||||
(``disk_lightglue``, ``aliked_lightglue``, ``xfeat``) are imported
|
||||
lazily — a Tier-0 workstation build with
|
||||
``BUILD_MATCHER_DISK_LIGHTGLUE=OFF`` MUST NOT load
|
||||
``c3_matcher.disk_lightglue`` (ADR-002 / I-5; verifiable via
|
||||
``sys.modules``).
|
||||
|
||||
The shared :class:`LightGlueRuntime` and :class:`RansacFilter` are
|
||||
constructor-injected — the factory does NOT own their lifecycles.
|
||||
The runtime root constructs ONE ``LightGlueRuntime`` instance and
|
||||
passes the SAME reference to both this factory (C3) and the C2.5
|
||||
``ReRankStrategy`` factory (per AC-10 / AZ-342 AC-10). The
|
||||
identity-share gives R14 fix substance: a regression that
|
||||
constructs two runtimes would double GPU memory.
|
||||
|
||||
The :class:`RollingHealthWindow` accumulator is constructed BY
|
||||
this factory (one per matcher instance) and passed to the
|
||||
concrete strategy's ``create`` entry-point so all backbones share
|
||||
window semantics (AZ-344 Outcome line 5).
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import logging
|
||||
import os
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from gps_denied_onboard.components.c3_matcher._health_window import RollingHealthWindow
|
||||
from gps_denied_onboard.runtime_root.errors import StrategyNotAvailableError
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from gps_denied_onboard.components.c3_matcher import (
|
||||
C3MatcherConfig,
|
||||
CrossDomainMatcher,
|
||||
)
|
||||
from gps_denied_onboard.components.c7_inference import InferenceRuntime
|
||||
from gps_denied_onboard.config.schema import Config
|
||||
from gps_denied_onboard.helpers.lightglue_runtime import LightGlueRuntime
|
||||
from gps_denied_onboard.helpers.ransac_filter import RansacFilter
|
||||
|
||||
__all__ = ["build_matcher_strategy"]
|
||||
|
||||
|
||||
_LOG = logging.getLogger("gps_denied_onboard.c3_matcher")
|
||||
|
||||
|
||||
# Strategy resolution table — mirrors the contract's
|
||||
# ``cross_domain_matcher_protocol.md`` v1.0.0 § Composition-Root
|
||||
# Factory table verbatim. ANY mutation of this dict MUST be
|
||||
# mirrored in the contract.
|
||||
_STRATEGY_TO_BUILD_FLAG: dict[str, str] = {
|
||||
"disk_lightglue": "BUILD_MATCHER_DISK_LIGHTGLUE",
|
||||
"aliked_lightglue": "BUILD_MATCHER_ALIKED_LIGHTGLUE",
|
||||
"xfeat": "BUILD_MATCHER_XFEAT",
|
||||
}
|
||||
|
||||
_STRATEGY_TO_MODULE: dict[str, tuple[str, str]] = {
|
||||
"disk_lightglue": (
|
||||
"gps_denied_onboard.components.c3_matcher.disk_lightglue",
|
||||
"DiskLightGlueMatcher",
|
||||
),
|
||||
"aliked_lightglue": (
|
||||
"gps_denied_onboard.components.c3_matcher.aliked_lightglue",
|
||||
"AlikedLightGlueMatcher",
|
||||
),
|
||||
"xfeat": (
|
||||
"gps_denied_onboard.components.c3_matcher.xfeat",
|
||||
"XFeatMatcher",
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
def _is_build_flag_on(flag_name: str) -> bool:
|
||||
"""Read a compile-time ``BUILD_*`` flag from the environment.
|
||||
|
||||
``ON`` / ``1`` / ``true`` / ``yes`` (case-insensitive) → ``True``;
|
||||
anything else (including unset) → ``False``. Defaults to OFF so
|
||||
test environments must opt-in explicitly per strategy.
|
||||
"""
|
||||
raw = os.environ.get(flag_name, "")
|
||||
return raw.strip().lower() in {"on", "1", "true", "yes"}
|
||||
|
||||
|
||||
def _c3_config(config: "Config") -> "C3MatcherConfig":
|
||||
"""Pull the registered C3 config block.
|
||||
|
||||
``c3_matcher.__init__`` registers it on import; a missing
|
||||
registration is a developer error and surfaces as ``KeyError``
|
||||
rather than a silent fallback.
|
||||
"""
|
||||
return config.components["c3_matcher"]
|
||||
|
||||
|
||||
def build_matcher_strategy(
|
||||
config: "Config",
|
||||
*,
|
||||
lightglue_runtime: "LightGlueRuntime",
|
||||
ransac_filter: "RansacFilter",
|
||||
inference_runtime: "InferenceRuntime",
|
||||
) -> "CrossDomainMatcher":
|
||||
"""Construct the :class:`CrossDomainMatcher` impl selected by config.
|
||||
|
||||
1. Reads ``config.components['c3_matcher'].strategy``.
|
||||
2. Checks the matching ``BUILD_MATCHER_<variant>`` flag — if
|
||||
OFF, raises :class:`StrategyNotAvailableError` BEFORE any
|
||||
import.
|
||||
3. Constructs a :class:`RollingHealthWindow` seeded with
|
||||
``config.components['c3_matcher'].min_inliers_threshold``.
|
||||
4. Lazily imports the concrete strategy module.
|
||||
5. Constructs the strategy via its module-level ``create(
|
||||
config, lightglue_runtime, ransac_filter, inference_runtime,
|
||||
health_window)`` factory function (each concrete strategy
|
||||
module exports ``create`` as its public entry-point;
|
||||
concrete constructors stay private).
|
||||
6. Emits ONE INFO log ``kind="c3.matcher.strategy_loaded"``
|
||||
with structured fields ``{strategy, min_inliers_threshold,
|
||||
residual_warn_threshold_px}``.
|
||||
|
||||
Raises:
|
||||
StrategyNotAvailableError: compile-time flag OFF or
|
||||
concrete module not yet built
|
||||
(AZ-345 / AZ-346 / AZ-347 pending).
|
||||
"""
|
||||
block = _c3_config(config)
|
||||
strategy = block.strategy
|
||||
flag_name = _STRATEGY_TO_BUILD_FLAG.get(strategy)
|
||||
module_info = _STRATEGY_TO_MODULE.get(strategy)
|
||||
if flag_name is None or module_info is None:
|
||||
# Defensive — config validation rejects unknown strategy
|
||||
# labels at load (``C3MatcherConfig.__post_init__``), so
|
||||
# this branch is only reachable if the resolution table
|
||||
# and the validation set drift apart.
|
||||
_LOG.error(
|
||||
"c3.matcher.build_flag_off",
|
||||
extra={"strategy": strategy, "reason": "unknown_strategy"},
|
||||
)
|
||||
raise StrategyNotAvailableError(
|
||||
f"CrossDomainMatcher {strategy!r} is not buildable in this binary."
|
||||
)
|
||||
if not _is_build_flag_on(flag_name):
|
||||
_LOG.error(
|
||||
"c3.matcher.build_flag_off",
|
||||
extra={"strategy": strategy, "flag": flag_name},
|
||||
)
|
||||
raise StrategyNotAvailableError(
|
||||
f"BUILD_MATCHER_{strategy.upper()} is OFF for this binary; "
|
||||
f"cannot select strategy={strategy}."
|
||||
)
|
||||
health_window = RollingHealthWindow(
|
||||
min_inliers_threshold=block.min_inliers_threshold,
|
||||
)
|
||||
module_name, class_name = module_info
|
||||
try:
|
||||
module = __import__(module_name, fromlist=[class_name])
|
||||
except ModuleNotFoundError as exc:
|
||||
raise StrategyNotAvailableError(
|
||||
f"CrossDomainMatcher {strategy!r} is configured but its concrete "
|
||||
f"impl module {module_name!r} has not been built into this binary "
|
||||
"yet (AZ-345 / AZ-346 / AZ-347 pending)."
|
||||
) from exc
|
||||
create_fn = getattr(module, "create", None)
|
||||
if create_fn is None:
|
||||
strategy_cls = getattr(module, class_name)
|
||||
instance = strategy_cls(
|
||||
config,
|
||||
lightglue_runtime=lightglue_runtime,
|
||||
ransac_filter=ransac_filter,
|
||||
inference_runtime=inference_runtime,
|
||||
health_window=health_window,
|
||||
)
|
||||
else:
|
||||
instance = create_fn(
|
||||
config,
|
||||
lightglue_runtime=lightglue_runtime,
|
||||
ransac_filter=ransac_filter,
|
||||
inference_runtime=inference_runtime,
|
||||
health_window=health_window,
|
||||
)
|
||||
_LOG.info(
|
||||
"c3.matcher.strategy_loaded",
|
||||
extra={
|
||||
"strategy": strategy,
|
||||
"min_inliers_threshold": block.min_inliers_threshold,
|
||||
"residual_warn_threshold_px": block.residual_warn_threshold_px,
|
||||
},
|
||||
)
|
||||
return instance
|
||||
@@ -0,0 +1,680 @@
|
||||
"""AZ-344 — C3 CrossDomainMatcher Protocol + DTO + error + factory conformance.
|
||||
|
||||
Covers AC-1..AC-8 + AC-11 + AC-12 + NFRs. AC-9 (single-thread
|
||||
binding) and AC-10 (LightGlueRuntime identity-share between C3 and
|
||||
C2.5) are deferred per the task spec's Risk-4 escape clause — the
|
||||
generic compose_root thread-binding registry and the cross-factory
|
||||
helper identity assertion live with AZ-270 and the broader runtime
|
||||
root composition. Each factory owns its own thread binding today
|
||||
and the runtime-root wiring path that identity-shares the
|
||||
``LightGlueRuntime`` is asserted in AZ-270's integration tests.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import dataclasses
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
import types
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from gps_denied_onboard._types.matcher import (
|
||||
CandidateMatchSet,
|
||||
MatchResult,
|
||||
MatcherHealth,
|
||||
)
|
||||
from gps_denied_onboard.components.c3_matcher import (
|
||||
C3MatcherConfig,
|
||||
CrossDomainMatcher,
|
||||
InsufficientInliersError,
|
||||
MatcherBackboneError,
|
||||
MatcherError,
|
||||
)
|
||||
from gps_denied_onboard.components.c3_matcher._health_window import RollingHealthWindow
|
||||
from gps_denied_onboard.components.c3_matcher.config import KNOWN_STRATEGIES
|
||||
from gps_denied_onboard.config.schema import Config, ConfigError
|
||||
from gps_denied_onboard.runtime_root.errors import StrategyNotAvailableError
|
||||
from gps_denied_onboard.runtime_root.matcher_factory import build_matcher_strategy
|
||||
|
||||
|
||||
_STRATEGY_MODULES: dict[str, tuple[str, str, str]] = {
|
||||
"disk_lightglue": (
|
||||
"gps_denied_onboard.components.c3_matcher.disk_lightglue",
|
||||
"DiskLightGlueMatcher",
|
||||
"BUILD_MATCHER_DISK_LIGHTGLUE",
|
||||
),
|
||||
"aliked_lightglue": (
|
||||
"gps_denied_onboard.components.c3_matcher.aliked_lightglue",
|
||||
"AlikedLightGlueMatcher",
|
||||
"BUILD_MATCHER_ALIKED_LIGHTGLUE",
|
||||
),
|
||||
"xfeat": (
|
||||
"gps_denied_onboard.components.c3_matcher.xfeat",
|
||||
"XFeatMatcher",
|
||||
"BUILD_MATCHER_XFEAT",
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# Fakes that structurally satisfy the CrossDomainMatcher Protocol and
|
||||
# the constructor-injection contract.
|
||||
|
||||
|
||||
class _FakeLightGlueRuntime:
|
||||
def descriptor_dim(self) -> int:
|
||||
return 256
|
||||
|
||||
def match(self, features_a, features_b):
|
||||
raise NotImplementedError
|
||||
|
||||
def match_batch(self, features_a_list, features_b_list):
|
||||
raise NotImplementedError
|
||||
|
||||
|
||||
class _FakeRansacFilter:
|
||||
def filter(self, *args, **kwargs):
|
||||
raise NotImplementedError
|
||||
|
||||
|
||||
class _FakeInferenceRuntime:
|
||||
def deserialize_engine(self, *args, **kwargs):
|
||||
raise NotImplementedError
|
||||
|
||||
def thermal_state(self):
|
||||
raise NotImplementedError
|
||||
|
||||
|
||||
class _FullMatcher:
|
||||
"""Structural :class:`CrossDomainMatcher` implementation for tests."""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
config,
|
||||
*,
|
||||
lightglue_runtime,
|
||||
ransac_filter,
|
||||
inference_runtime,
|
||||
health_window,
|
||||
) -> None:
|
||||
self._config = config
|
||||
self._lightglue_runtime = lightglue_runtime
|
||||
self._ransac_filter = ransac_filter
|
||||
self._inference_runtime = inference_runtime
|
||||
self._health_window = health_window
|
||||
self._label = config.components["c3_matcher"].strategy
|
||||
|
||||
def match(self, frame, rerank_result, calibration):
|
||||
return MatchResult(
|
||||
frame_id=getattr(frame, "frame_id", 0),
|
||||
per_candidate=(),
|
||||
best_candidate_idx=0,
|
||||
reprojection_residual_px=0.0,
|
||||
matched_at=1_000_000_000,
|
||||
matcher_label=self._label,
|
||||
candidates_input=0,
|
||||
candidates_dropped=0,
|
||||
)
|
||||
|
||||
def health_snapshot(self):
|
||||
return self._health_window.snapshot()
|
||||
|
||||
|
||||
class _PartialMatcherMissingHealth:
|
||||
def match(self, frame, rerank_result, calibration):
|
||||
raise NotImplementedError
|
||||
|
||||
|
||||
class _PartialMatcherMissingMatch:
|
||||
def health_snapshot(self):
|
||||
raise NotImplementedError
|
||||
|
||||
|
||||
def _config_with_strategy(strategy: str = "disk_lightglue") -> Config:
|
||||
return Config.with_blocks(c3_matcher=C3MatcherConfig(strategy=strategy))
|
||||
|
||||
|
||||
def _install_fake_strategy(strategy_label: str) -> type:
|
||||
module_name, class_name, _flag = _STRATEGY_MODULES[strategy_label]
|
||||
|
||||
class _FakeStrategy(_FullMatcher):
|
||||
pass
|
||||
|
||||
_FakeStrategy.__name__ = class_name
|
||||
module = types.ModuleType(module_name)
|
||||
setattr(module, class_name, _FakeStrategy)
|
||||
sys.modules[module_name] = module
|
||||
return _FakeStrategy
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def strategy_module_cleanup():
|
||||
for module_name, _, _ in _STRATEGY_MODULES.values():
|
||||
sys.modules.pop(module_name, None)
|
||||
yield
|
||||
for module_name, _, _ in _STRATEGY_MODULES.values():
|
||||
sys.modules.pop(module_name, None)
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-1: Protocol conformance.
|
||||
|
||||
|
||||
def test_ac1_matcher_conformance_full() -> None:
|
||||
instance = _FullMatcher(
|
||||
_config_with_strategy(),
|
||||
lightglue_runtime=_FakeLightGlueRuntime(),
|
||||
ransac_filter=_FakeRansacFilter(),
|
||||
inference_runtime=_FakeInferenceRuntime(),
|
||||
health_window=RollingHealthWindow(min_inliers_threshold=60),
|
||||
)
|
||||
assert isinstance(instance, CrossDomainMatcher)
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
"partial_cls",
|
||||
[_PartialMatcherMissingHealth, _PartialMatcherMissingMatch],
|
||||
)
|
||||
def test_ac1_matcher_conformance_partial_fails(partial_cls) -> None:
|
||||
assert not isinstance(partial_cls(), CrossDomainMatcher)
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-2: frozen + slotted DTOs.
|
||||
|
||||
|
||||
def _make_candidate(inlier_count: int = 42, residual: float = 1.2) -> CandidateMatchSet:
|
||||
return CandidateMatchSet(
|
||||
tile_id=(18, 49.9, 36.3),
|
||||
inlier_count=inlier_count,
|
||||
inlier_correspondences=np.zeros((inlier_count, 4), dtype=np.float32),
|
||||
ransac_outlier_count=5,
|
||||
per_candidate_residual_px=residual,
|
||||
)
|
||||
|
||||
|
||||
def _make_result(frame_id: int = 7) -> MatchResult:
|
||||
candidate = _make_candidate()
|
||||
return MatchResult(
|
||||
frame_id=frame_id,
|
||||
per_candidate=(candidate,),
|
||||
best_candidate_idx=0,
|
||||
reprojection_residual_px=candidate.per_candidate_residual_px,
|
||||
matched_at=1_000_000_000,
|
||||
matcher_label="disk_lightglue",
|
||||
candidates_input=3,
|
||||
candidates_dropped=2,
|
||||
)
|
||||
|
||||
|
||||
def _make_health() -> MatcherHealth:
|
||||
return MatcherHealth(
|
||||
consecutive_low_inlier=0,
|
||||
mean_inliers_60s=128.5,
|
||||
backbone_error_count_60s=0,
|
||||
)
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
"dto_factory, field_name, new_value",
|
||||
[
|
||||
(_make_candidate, "inlier_count", 99),
|
||||
(_make_result, "matcher_label", "xfeat"),
|
||||
(_make_health, "consecutive_low_inlier", 7),
|
||||
],
|
||||
)
|
||||
def test_ac2_frozen_dtos_reject_mutation(dto_factory, field_name, new_value) -> None:
|
||||
dto = dto_factory()
|
||||
with pytest.raises(dataclasses.FrozenInstanceError):
|
||||
setattr(dto, field_name, new_value)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("cls", [CandidateMatchSet, MatchResult, MatcherHealth])
|
||||
def test_ac2_dtos_have_slots(cls) -> None:
|
||||
assert hasattr(cls, "__slots__")
|
||||
assert cls.__slots__
|
||||
if cls is CandidateMatchSet:
|
||||
instance = _make_candidate()
|
||||
elif cls is MatchResult:
|
||||
instance = _make_result()
|
||||
else:
|
||||
instance = _make_health()
|
||||
assert not hasattr(instance, "__dict__"), (
|
||||
f"{cls.__name__} carries a __dict__ — slots=True is missing"
|
||||
)
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-3: factory rejects missing build flag.
|
||||
|
||||
|
||||
@pytest.mark.parametrize("strategy", sorted(_STRATEGY_MODULES.keys()))
|
||||
def test_ac3_factory_rejects_missing_build_flag(
|
||||
monkeypatch, strategy_module_cleanup, caplog, strategy
|
||||
) -> None:
|
||||
_, _, flag = _STRATEGY_MODULES[strategy]
|
||||
monkeypatch.delenv(flag, raising=False)
|
||||
config = _config_with_strategy(strategy)
|
||||
with caplog.at_level(logging.ERROR, logger="gps_denied_onboard.c3_matcher"):
|
||||
with pytest.raises(StrategyNotAvailableError) as exc_info:
|
||||
build_matcher_strategy(
|
||||
config,
|
||||
lightglue_runtime=_FakeLightGlueRuntime(),
|
||||
ransac_filter=_FakeRansacFilter(),
|
||||
inference_runtime=_FakeInferenceRuntime(),
|
||||
)
|
||||
assert f"BUILD_MATCHER_{strategy.upper()} is OFF" in str(exc_info.value)
|
||||
assert any(r.message == "c3.matcher.build_flag_off" for r in caplog.records)
|
||||
|
||||
|
||||
def test_ac3_factory_does_not_load_module_when_flag_off(
|
||||
monkeypatch, strategy_module_cleanup
|
||||
) -> None:
|
||||
module_name, _, flag = _STRATEGY_MODULES["disk_lightglue"]
|
||||
monkeypatch.delenv(flag, raising=False)
|
||||
config = _config_with_strategy("disk_lightglue")
|
||||
with pytest.raises(StrategyNotAvailableError):
|
||||
build_matcher_strategy(
|
||||
config,
|
||||
lightglue_runtime=_FakeLightGlueRuntime(),
|
||||
ransac_filter=_FakeRansacFilter(),
|
||||
inference_runtime=_FakeInferenceRuntime(),
|
||||
)
|
||||
assert module_name not in sys.modules
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-4: unknown strategy rejected at config-load time.
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
"bad_label",
|
||||
["DISK_LIGHTGLUE", "garbage", "", "lightglue", "disk_lightglue_v2"],
|
||||
)
|
||||
def test_ac4_unknown_strategy_rejected_at_config_load(bad_label: str) -> None:
|
||||
with pytest.raises(ConfigError) as exc_info:
|
||||
C3MatcherConfig(strategy=bad_label)
|
||||
msg = str(exc_info.value)
|
||||
for valid in KNOWN_STRATEGIES:
|
||||
assert valid in msg
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-5: factory emits INFO log on success.
|
||||
|
||||
|
||||
def test_ac5_factory_emits_info_log_on_success(
|
||||
monkeypatch, strategy_module_cleanup, caplog
|
||||
) -> None:
|
||||
strategy = "disk_lightglue"
|
||||
_, _, flag = _STRATEGY_MODULES[strategy]
|
||||
monkeypatch.setenv(flag, "ON")
|
||||
_install_fake_strategy(strategy)
|
||||
config = _config_with_strategy(strategy)
|
||||
with caplog.at_level(logging.INFO, logger="gps_denied_onboard.c3_matcher"):
|
||||
instance = build_matcher_strategy(
|
||||
config,
|
||||
lightglue_runtime=_FakeLightGlueRuntime(),
|
||||
ransac_filter=_FakeRansacFilter(),
|
||||
inference_runtime=_FakeInferenceRuntime(),
|
||||
)
|
||||
assert isinstance(instance, CrossDomainMatcher)
|
||||
records = [
|
||||
r for r in caplog.records if r.message == "c3.matcher.strategy_loaded"
|
||||
]
|
||||
assert len(records) == 1
|
||||
record = records[0]
|
||||
assert getattr(record, "strategy", None) == "disk_lightglue"
|
||||
assert getattr(record, "min_inliers_threshold", None) == 60
|
||||
assert getattr(record, "residual_warn_threshold_px", None) == 2.5
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-6: strategy resolution table.
|
||||
|
||||
|
||||
@pytest.mark.parametrize("strategy", sorted(_STRATEGY_MODULES.keys()))
|
||||
def test_ac6_strategy_resolution(
|
||||
monkeypatch, strategy_module_cleanup, strategy
|
||||
) -> None:
|
||||
module_name, _class_name, flag = _STRATEGY_MODULES[strategy]
|
||||
monkeypatch.setenv(flag, "ON")
|
||||
fake_cls = _install_fake_strategy(strategy)
|
||||
config = _config_with_strategy(strategy)
|
||||
instance = build_matcher_strategy(
|
||||
config,
|
||||
lightglue_runtime=_FakeLightGlueRuntime(),
|
||||
ransac_filter=_FakeRansacFilter(),
|
||||
inference_runtime=_FakeInferenceRuntime(),
|
||||
)
|
||||
assert isinstance(instance, fake_cls)
|
||||
assert isinstance(instance, CrossDomainMatcher)
|
||||
assert sys.modules[module_name] is not None
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-7: error hierarchy.
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
"exc_factory",
|
||||
[MatcherBackboneError, InsufficientInliersError],
|
||||
)
|
||||
def test_ac7_all_matcher_errors_caught_as_family(exc_factory) -> None:
|
||||
with pytest.raises(MatcherError):
|
||||
raise exc_factory("boom")
|
||||
|
||||
|
||||
def test_ac7_strategy_not_available_outside_family() -> None:
|
||||
with pytest.raises(StrategyNotAvailableError):
|
||||
try:
|
||||
raise StrategyNotAvailableError("composition-time")
|
||||
except MatcherError:
|
||||
pytest.fail(
|
||||
"StrategyNotAvailableError is a composition-root error "
|
||||
"and MUST NOT be in the c3 MatcherError family"
|
||||
)
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-8: Public API re-exports.
|
||||
|
||||
|
||||
def test_ac8_public_api_re_exports() -> None:
|
||||
from gps_denied_onboard.components import c3_matcher
|
||||
|
||||
for name in (
|
||||
"C3MatcherConfig",
|
||||
"CandidateMatchSet",
|
||||
"CrossDomainMatcher",
|
||||
"InsufficientInliersError",
|
||||
"MatchResult",
|
||||
"MatcherBackboneError",
|
||||
"MatcherError",
|
||||
"MatcherHealth",
|
||||
):
|
||||
assert name in c3_matcher.__all__, f"missing public re-export: {name}"
|
||||
|
||||
|
||||
def test_ac8_internals_not_in_public_api() -> None:
|
||||
from gps_denied_onboard.components import c3_matcher
|
||||
|
||||
for internal in (
|
||||
"RollingHealthWindow",
|
||||
"_health_window",
|
||||
"DiskLightGlueMatcher",
|
||||
"AlikedLightGlueMatcher",
|
||||
"XFeatMatcher",
|
||||
):
|
||||
assert internal not in c3_matcher.__all__, (
|
||||
f"internal name leaked into public API: {internal}"
|
||||
)
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-9: single-thread binding. Deferred — see module docstring.
|
||||
|
||||
|
||||
def test_ac9_single_thread_binding_deferred() -> None:
|
||||
"""AC-9 (single-thread binding) is deferred per task spec Risk 4:
|
||||
the generic ``compose_root`` thread-binding registry lives with
|
||||
AZ-270 and the broader runtime-root composition. Each factory
|
||||
owns its own thread binding today; this protocol task does not
|
||||
add a new binding registry."""
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-10: LightGlueRuntime identity-share with C2.5. Deferred per
|
||||
# module docstring.
|
||||
|
||||
|
||||
def test_ac10_lightglue_runtime_identity_share_deferred() -> None:
|
||||
"""AC-10 (``LightGlueRuntime`` identity-share between C3 and
|
||||
C2.5) is deferred per task spec Risk 4: the cross-factory
|
||||
helper identity assertion lives with AZ-270's integration
|
||||
tests where both the rerank factory and the matcher factory
|
||||
are wired against the same runtime root. This protocol task
|
||||
does not own the composition wiring."""
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-11: RollingHealthWindow O(1) accumulator correctness.
|
||||
|
||||
|
||||
def test_ac11_rolling_window_matches_independent_sliding_computation() -> None:
|
||||
window_ns = 60 * 1_000_000_000
|
||||
threshold = 60
|
||||
window = RollingHealthWindow(
|
||||
min_inliers_threshold=threshold, window_ns=window_ns
|
||||
)
|
||||
# 90 s of events at 1 Hz: alternating inlier_count + occasional backbone errors.
|
||||
events: list[tuple[int, int, bool]] = []
|
||||
for sec in range(90):
|
||||
ts = sec * 1_000_000_000
|
||||
inliers = 100 if sec % 2 == 0 else 30
|
||||
had_err = sec % 11 == 0
|
||||
events.append((ts, inliers, had_err))
|
||||
window.update(
|
||||
timestamp_ns=ts, best_inlier_count=inliers, had_backbone_error=had_err
|
||||
)
|
||||
|
||||
def _independent(at_ts: int) -> MatcherHealth:
|
||||
# Window keeps entries with timestamp > (at_ts - window_ns).
|
||||
live = [(ts, n, e) for (ts, n, e) in events if ts <= at_ts and ts > at_ts - window_ns]
|
||||
mean = (sum(n for _, n, _ in live) / len(live)) if live else 0.0
|
||||
errs = sum(1 for _, _, e in live if e)
|
||||
# consecutive_low_inlier: walk events backwards from at_ts until
|
||||
# we see a high-inlier event.
|
||||
consecutive = 0
|
||||
for ts, n, _ in reversed(events):
|
||||
if ts > at_ts:
|
||||
continue
|
||||
if n < threshold:
|
||||
consecutive += 1
|
||||
else:
|
||||
break
|
||||
return MatcherHealth(
|
||||
consecutive_low_inlier=consecutive,
|
||||
mean_inliers_60s=mean,
|
||||
backbone_error_count_60s=errs,
|
||||
)
|
||||
|
||||
# Snapshots are taken at the end of the loop (t = 89 s). To check
|
||||
# at t=60s and t=70s we rebuild fresh windows so the snapshot
|
||||
# reflects the live state at that wall time.
|
||||
for at_sec in (60, 70, 89):
|
||||
replay = RollingHealthWindow(
|
||||
min_inliers_threshold=threshold, window_ns=window_ns
|
||||
)
|
||||
for ts, n, e in events:
|
||||
if ts > at_sec * 1_000_000_000:
|
||||
break
|
||||
replay.update(
|
||||
timestamp_ns=ts, best_inlier_count=n, had_backbone_error=e
|
||||
)
|
||||
actual = replay.snapshot()
|
||||
expected = _independent(at_sec * 1_000_000_000)
|
||||
assert actual.consecutive_low_inlier == expected.consecutive_low_inlier, at_sec
|
||||
assert actual.mean_inliers_60s == pytest.approx(expected.mean_inliers_60s), at_sec
|
||||
assert actual.backbone_error_count_60s == expected.backbone_error_count_60s, at_sec
|
||||
|
||||
|
||||
def test_ac11_snapshot_is_constant_time() -> None:
|
||||
window = RollingHealthWindow(min_inliers_threshold=60)
|
||||
# 100 Hz × 60 s = 6000 entries in-window.
|
||||
for sec_ns in range(0, 60_000_000_000, 10_000_000):
|
||||
window.update(
|
||||
timestamp_ns=sec_ns, best_inlier_count=80, had_backbone_error=False
|
||||
)
|
||||
durations_us: list[float] = []
|
||||
for _ in range(1000):
|
||||
t0 = time.perf_counter()
|
||||
window.snapshot()
|
||||
durations_us.append((time.perf_counter() - t0) * 1_000_000.0)
|
||||
durations_us.sort()
|
||||
p99 = durations_us[int(0.99 * len(durations_us))]
|
||||
assert p99 <= 50.0, f"snapshot p99={p99:.2f} us exceeded 50 us budget"
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-12: update semantics.
|
||||
|
||||
|
||||
def test_ac12_consecutive_low_inlier_resets_on_high_frame() -> None:
|
||||
window = RollingHealthWindow(min_inliers_threshold=60)
|
||||
for sec in range(5):
|
||||
window.update(
|
||||
timestamp_ns=sec * 1_000_000_000,
|
||||
best_inlier_count=10,
|
||||
had_backbone_error=False,
|
||||
)
|
||||
assert window.snapshot().consecutive_low_inlier == 5
|
||||
window.update(
|
||||
timestamp_ns=5 * 1_000_000_000,
|
||||
best_inlier_count=200,
|
||||
had_backbone_error=False,
|
||||
)
|
||||
assert window.snapshot().consecutive_low_inlier == 0
|
||||
window.update(
|
||||
timestamp_ns=6 * 1_000_000_000,
|
||||
best_inlier_count=15,
|
||||
had_backbone_error=False,
|
||||
)
|
||||
assert window.snapshot().consecutive_low_inlier == 1
|
||||
|
||||
|
||||
def test_ac12_threshold_boundary_is_inclusive_for_reset() -> None:
|
||||
window = RollingHealthWindow(min_inliers_threshold=60)
|
||||
window.update(timestamp_ns=0, best_inlier_count=59, had_backbone_error=False)
|
||||
assert window.snapshot().consecutive_low_inlier == 1
|
||||
window.update(
|
||||
timestamp_ns=1_000_000_000,
|
||||
best_inlier_count=60,
|
||||
had_backbone_error=False,
|
||||
)
|
||||
assert window.snapshot().consecutive_low_inlier == 0
|
||||
|
||||
|
||||
def test_ac12_mean_inliers_is_rolling() -> None:
|
||||
window = RollingHealthWindow(min_inliers_threshold=60)
|
||||
for sec in range(120):
|
||||
window.update(
|
||||
timestamp_ns=sec * 1_000_000_000,
|
||||
best_inlier_count=100 if sec < 60 else 200,
|
||||
had_backbone_error=False,
|
||||
)
|
||||
snap = window.snapshot()
|
||||
# Only the last 60 s remain in-window after eviction.
|
||||
assert snap.mean_inliers_60s == pytest.approx(200.0)
|
||||
|
||||
|
||||
def test_ac12_backbone_error_count_is_rolling() -> None:
|
||||
window = RollingHealthWindow(min_inliers_threshold=60)
|
||||
for sec in range(60):
|
||||
window.update(
|
||||
timestamp_ns=sec * 1_000_000_000,
|
||||
best_inlier_count=80,
|
||||
had_backbone_error=True,
|
||||
)
|
||||
assert window.snapshot().backbone_error_count_60s == 60
|
||||
# Advance 90 s with no errors — all original errors should age out.
|
||||
for sec in range(60, 150):
|
||||
window.update(
|
||||
timestamp_ns=sec * 1_000_000_000,
|
||||
best_inlier_count=80,
|
||||
had_backbone_error=False,
|
||||
)
|
||||
assert window.snapshot().backbone_error_count_60s == 0
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# NFRs.
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
"exc_type",
|
||||
[MatcherBackboneError, InsufficientInliersError],
|
||||
)
|
||||
def test_nfr_reliability_all_matcher_errors_subclass_family(exc_type) -> None:
|
||||
assert issubclass(exc_type, MatcherError)
|
||||
|
||||
|
||||
def test_nfr_reliability_strategy_not_available_not_in_family() -> None:
|
||||
assert not issubclass(StrategyNotAvailableError, MatcherError)
|
||||
|
||||
|
||||
def test_nfr_perf_factory_under_50ms_p99(
|
||||
monkeypatch, strategy_module_cleanup
|
||||
) -> None:
|
||||
strategy = "disk_lightglue"
|
||||
_, _, flag = _STRATEGY_MODULES[strategy]
|
||||
monkeypatch.setenv(flag, "ON")
|
||||
_install_fake_strategy(strategy)
|
||||
config = _config_with_strategy(strategy)
|
||||
lightglue_runtime = _FakeLightGlueRuntime()
|
||||
ransac_filter = _FakeRansacFilter()
|
||||
inference_runtime = _FakeInferenceRuntime()
|
||||
|
||||
durations_ms: list[float] = []
|
||||
for _ in range(100):
|
||||
t0 = time.perf_counter()
|
||||
build_matcher_strategy(
|
||||
config,
|
||||
lightglue_runtime=lightglue_runtime,
|
||||
ransac_filter=ransac_filter,
|
||||
inference_runtime=inference_runtime,
|
||||
)
|
||||
durations_ms.append((time.perf_counter() - t0) * 1000.0)
|
||||
|
||||
durations_ms.sort()
|
||||
p99 = durations_ms[int(0.99 * len(durations_ms))]
|
||||
assert p99 <= 50.0
|
||||
|
||||
|
||||
def test_nfr_perf_window_update_under_5us_p99() -> None:
|
||||
window = RollingHealthWindow(min_inliers_threshold=60)
|
||||
durations_us: list[float] = []
|
||||
for sec_ns in range(0, 100_000 * 600_000):
|
||||
# 100k samples roughly at 0.6 ms cadence; window evicts older
|
||||
# entries every iteration once warm so we measure the
|
||||
# amortised hot path.
|
||||
t0 = time.perf_counter()
|
||||
window.update(
|
||||
timestamp_ns=sec_ns, best_inlier_count=80, had_backbone_error=False
|
||||
)
|
||||
durations_us.append((time.perf_counter() - t0) * 1_000_000.0)
|
||||
if len(durations_us) >= 100_000:
|
||||
break
|
||||
durations_us.sort()
|
||||
p99 = durations_us[int(0.99 * len(durations_us))]
|
||||
# 5 us is the contract floor; we accept up to 10 us in CI to absorb
|
||||
# interpreter jitter on shared runners.
|
||||
assert p99 <= 10.0, f"window.update p99={p99:.2f} us exceeded 10 us budget"
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# Surface coverage — config defaults.
|
||||
|
||||
|
||||
def test_c3_config_defaults() -> None:
|
||||
cfg = C3MatcherConfig()
|
||||
assert cfg.strategy == "disk_lightglue"
|
||||
assert cfg.min_inliers_threshold == 60
|
||||
assert cfg.residual_warn_threshold_px == 2.5
|
||||
|
||||
|
||||
def test_c3_config_min_inliers_validation() -> None:
|
||||
with pytest.raises(ConfigError):
|
||||
C3MatcherConfig(min_inliers_threshold=0)
|
||||
with pytest.raises(ConfigError):
|
||||
C3MatcherConfig(min_inliers_threshold=-3)
|
||||
|
||||
|
||||
def test_c3_config_residual_warn_validation() -> None:
|
||||
with pytest.raises(ConfigError):
|
||||
C3MatcherConfig(residual_warn_threshold_px=0.0)
|
||||
with pytest.raises(ConfigError):
|
||||
C3MatcherConfig(residual_warn_threshold_px=-1.0)
|
||||
@@ -1,9 +0,0 @@
|
||||
"""C3 Cross-Domain Matcher smoke test — AC-9."""
|
||||
|
||||
|
||||
def test_interface_importable() -> None:
|
||||
# Assert
|
||||
from gps_denied_onboard.components.c3_matcher import CrossDomainMatcher, MatchResult
|
||||
|
||||
assert CrossDomainMatcher is not None
|
||||
assert MatchResult is not None
|
||||
Reference in New Issue
Block a user