[AZ-345] [AZ-346] [AZ-347] [AZ-349] C3 matchers + C3.5 AdHoP refiner

Implement the three concrete C3 CrossDomainMatcher strategies plus the
C3.5 production-default AdHoPRefiner.

C3 (AZ-345/346/347):
- DiskLightGlueMatcher + AlikedLightGlueMatcher share a single shared
  _pipeline.run_lightglue_pipeline orchestrator (decode -> query
  extract -> per-candidate loop -> RANSAC sort -> health update ->
  FDR emit) so the only per-backbone delta is the keypoint+descriptor
  extractor closure. ALIKED adds a create-time engine output-schema
  probe (AC-special-1).
- XFeatMatcher owns its own per-candidate loop (single forward fuses
  extraction + matching); it re-uses the shared FDR emission helpers
  to keep telemetry byte-identical across strategies. lightglue_runtime
  parameter accepted by factory but discarded (AC-special-1).
- All three consume the shared LightGlueRuntime / RansacFilter /
  RollingHealthWindow helpers; no helper forks. InferenceRuntimeCut
  consumer-side Protocol added per AZ-507.

C3.5 (AZ-349):
- AdHoPRefiner implements the <= conditional gate, runs the OrthoLoC
  AdHoP TRT engine over best-candidate correspondences, re-runs RANSAC
  on the perspective-preconditioned set, and emits an enriched
  MatchResult with refinement_label="adhop".
- Invariant 4 passthrough fall-through: any RefinerBackboneError (TRT
  failure, OOM, NaN, bad shape) is caught, logged ERROR, FDR-emitted
  with error: true, and converted to passthrough that still counts
  against the rolling invocation-rate window. MemoryError and other
  non-listed exceptions propagate by design (AC-5 closed-set
  semantics).
- Rolling 60-s invocation-rate window + rate-limited WARN log
  (configurable via ratelimited_warn_window_ns; default 60 s).

Shared changes:
- C3MatcherConfig + C3_5RefinerConfig extended with the new
  weights/threshold/window fields.
- matcher_factory + refiner_factory optionally forward clock +
  fdr_client to the strategy's create(); backward-compatible.
- fdr_client.records registers five new kinds: matcher.frame_done,
  matcher.backbone_error, matcher.insufficient_inliers,
  matcher.all_failed, refiner.frame_done.

Tests: 66 new (43 C3 parametrised + 23 AdHoP) covering 47/47 ACs;
focused suite green; full project test suite green except for one
pre-existing flaky CLI cold-start timing test unrelated to this batch.

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

tests/unit/c3_5_adhop/test_protocol_conformance.py

@@ -281,18 +281,26 @@ def test_ac7_passthrough_resolution() -> None:
     )
 
 
-def test_ac7_adhop_resolution_stops_at_module_lookup() -> None:
-    """Task spec: the full-success path for "adhop" belongs to the
-    AdHoP task (AZ-349); this assertion verifies the factory reaches
-    the import step but the module does not exist yet.
+def test_ac7_adhop_resolution_loads_module_and_rejects_missing_weights() -> None:
+    """AZ-348 wrote this test as a "module not yet built" stop-gap.
+    AZ-349 landed the concrete :class:`AdHoPRefiner`; the resolution
+    now reaches the strategy's ``create`` factory.  With no weights
+    path configured, that factory raises :class:`RefinerConfigError`
+    — which is the desired "engine load fails fast at composition"
+    behaviour the AdHoP task documents.
     """
+    from gps_denied_onboard.components.c3_5_adhop.errors import RefinerConfigError
+
     config = _config_with_strategy("adhop")
-    with pytest.raises(ModuleNotFoundError):
+    with pytest.raises(RefinerConfigError):
         build_refiner_strategy(
             config,
             ransac_filter=_FakeRansacFilter(),
             inference_runtime=_FakeInferenceRuntime(),
         )
+    assert (
+        "gps_denied_onboard.components.c3_5_adhop.adhop_refiner" in sys.modules
+    )
 
 
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