E-CC-HELPERS closes with the three remaining Layer-1 helpers and
E-CC-CONF closes with the env > YAML > defaults precedence test
gate. All four tickets ship with frozen public surfaces, hermetic
unit tests, and no upward (components.*) imports.
* AZ-271 — tests/unit/shared/config/test_precedence.py (5 ACs + smoke
test + helper that names the layer in failure messages).
* AZ-282 — helpers/ransac_filter.py: static RansacFilter +
RansacResult; cv2.setRNGSeed(0) for byte-equal determinism;
median residual semantics pinned by contract.
* AZ-276 — helpers/imu_preintegrator.py + make_imu_preintegrator;
GTSAM PreintegratedCombinedMeasurements; strict-monotonic ts_ns
guard runs before any state mutation. Adjacent hygiene:
_types/nav.py ImuSample/ImuWindow now use ts_ns:int and the
spec-mandated ImuBias dataclass.
* AZ-278 — helpers/lightglue_runtime.py: structural R14 fix.
LightGlueRuntime + non-blocking concurrent-access guard that
raises rather than serialising. EngineHandle Protocol in
_types/manifests.py + KeypointSet/CorrespondenceSet in
_types/matching.py (Protocol surface adds approved by spec).
Dependency conflict (Finding 1, user-approved): gtsam 4.2 (PyPI) is
numpy-1.x-ABI only; opencv-python>=4.12 needs numpy>=2 at runtime.
Resolution: opencv-python pin relaxed to >=4.11.0.86,<4.12. The
D-CROSS-CVE-1 ratchet at ci/opencv_pin_gate.py is held at 4.11.0
with the original 4.12.0 floor restored once a numpy-2-compatible
gtsam wheel ships. Full replay procedure in
_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md.
Tests: 294 passed, 2 skipped (cmake/actionlint env-skips,
pre-existing). 43 new tests added for batch 5. Ruff check + format
clean.
Co-authored-by: Cursor <cursoragent@cursor.com>
Enhanced the SKILL.md file to enforce conciseness rules for the state file, specifying acceptable content and file size limits. Updated the autodev state to reflect the transition to the planning phase, including changes to the current step and sub-step details. Revised acceptance criteria to clarify validation requirements and external dependencies, ensuring alignment with the latest research findings. Added a new overlay for Mode B revisions to track changes and decisions made during the assessment process.
Oleksandr Bezdieniezhnykh