[AZ-263] Bootstrap: repo skeleton + Docker + CI + Alembic + Tier-1 tests

Implements the AZ-263 / E-BOOT initial structure task:

- Python src/-layout package `gps_denied_onboard/` with per-component
  interface stubs (14 components), type-only DTOs under `_types/`,
  shared helpers under `helpers/` (R14 LightGlue ownership), structured
  JSON logging, runtime composition root with env-var fail-fast gate,
  healthcheck module shared by Docker and CI smoke.
- CMake top-level + `cmake/{build_options,dependencies,strategies}.cmake`
  with the BUILD_* per-binary flags (ADR-002) and pinned external git
  refs for OKVIS2 / VINS-Mono / GTSAM / FAISS / OpenCV >=4.12.0.
- Three Dockerfiles (companion-tier1, operator-tooling,
  mock-suite-sat-service) + two compose files (dev + Tier-1 test).
- Four GitHub Actions workflows: ci.yml (lint/unit/integration/dual
  binary build/SBOM diff/security), ci-tier2.yml (self-hosted Jetson
  AC-bound NFTs), release.yml, cve-rescan.yml.
- Two CI gate scripts: `ci/sbom_diff.py` (deployment SBOM subset +
  R02 exclusion), `ci/opencv_pin_gate.py` (>=4.12.0 enforcement,
  D-CROSS-CVE-1).
- Alembic-driven Postgres 16 initial migration `0001_initial.py`
  mirroring satellite-provider tiles + flights + sector_classifications
  + manifests + engine_cache_entries (data_model.md s 2).
- Tier-1 test scaffolding: 95 passing unit tests covering every AC,
  per-component smoke tests, structured logging JSON output check,
  env-var gate check, healthcheck import check. Two CI-gated tests
  (cmake configure, actionlint) skip locally with explicit reasons.
- Batch report + code review report under `_docs/03_implementation/`.

Verdict: PASS_WITH_WARNINGS (two Low findings, both informational).
Co-authored-by: Cursor <cursoragent@cursor.com>

cpp/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.22)
+
+# Aggregator: per-library subdirs are added conditionally on their BUILD_* flag.
+# Bootstrap (AZ-263) ships placeholders so this directory parses cleanly even
+# when no native source has been written yet.
+
+if(BUILD_OKVIS2 OR BUILD_VINS_MONO OR BUILD_KLT_RANSAC)
+  add_subdirectory(okvis2)
+  add_subdirectory(vins_mono)
+  add_subdirectory(klt_ransac)
+endif()
+
+if(BUILD_GTSAM_BINDINGS)
+  add_subdirectory(gtsam_bindings)
+endif()
+
+if(BUILD_FAISS_INDEX)
+  add_subdirectory(faiss_index)
+endif()

cpp/faiss_index/CMakeLists.txt

@@ -0,0 +1,4 @@
+if(NOT BUILD_FAISS_INDEX)
+  return()
+endif()
+message(STATUS "[faiss_index] Placeholder; owned by C6 (AZ-306).")

cpp/gtsam_bindings/CMakeLists.txt

@@ -0,0 +1,4 @@
+if(NOT BUILD_GTSAM_BINDINGS)
+  return()
+endif()
+message(STATUS "[gtsam_bindings] Placeholder; primary owner C5 (AZ-382).")

cpp/klt_ransac/CMakeLists.txt

@@ -0,0 +1,4 @@
+if(NOT BUILD_KLT_RANSAC)
+  return()
+endif()
+message(STATUS "[klt_ransac] Placeholder; concrete sources land with AZ-334.")

cpp/okvis2/CMakeLists.txt

@@ -0,0 +1,9 @@
+# OKVIS2 native wrapper — placeholder.
+#
+# Owned by C1 VIO (AZ-332). Bootstrap ships an empty subproject so CMake parses
+# top-level when BUILD_OKVIS2=ON.
+
+if(NOT BUILD_OKVIS2)
+  return()
+endif()
+message(STATUS "[okvis2] Placeholder; concrete sources land with AZ-332.")

cpp/pybind11/README.md

@@ -0,0 +1,5 @@
+# pybind11 (vendored)
+
+Bootstrap placeholder. The actual `pybind11` library is a git submodule added by
+the first concrete native task that needs it (AZ-298 / AZ-332 / AZ-382). Keep
+this directory in place so `CMakeLists.txt` discovery does not break.

cpp/vins_mono/CMakeLists.txt

@@ -0,0 +1,4 @@
+if(NOT BUILD_VINS_MONO)
+  return()
+endif()
+message(STATUS "[vins_mono] Placeholder; concrete sources land with AZ-333.")