Carryover from batch 35/36/37 report sections. The on-by-default value
in cmake/build_options.cmake never matched any actual pipeline: every
kind in .github/workflows/ci.yml (deployment + research) explicitly
passes -DBUILD_OKVIS2=OFF, and the wrapper at cpp/okvis2/CMakeLists.txt
documents that bundled OKVIS2 deps (DBoW2/brisk/ceres/opengv) are NOT
pulled into the clone — Linux CI installs them via apt instead. macOS
dev hosts have neither the nested submodules nor the apt-installed
Eigen/Ceres/Brisk and would fail at OpenGV's find_package(Eigen) step.
Flipping the default to OFF aligns with the documented intent in
cpp/okvis2/CMakeLists.txt (\"macOS dev builds default BUILD_OKVIS2=OFF;
unit tests use a fake pybind11 binding fixture\") and is no-op on every
CI matrix that already explicitly opted out. Tier-1/Tier-2 builds that
want the native compile must continue to opt in via -DBUILD_OKVIS2=ON
plus the apt-deps install step (which AZ-332's tier2 follow-up wires
end-to-end).
Verified: tests/unit/test_ac1_scaffold_layout.py::test_cmake_files_configure
now passes on a macOS dev host without any system C++ deps.
Co-authored-by: Cursor <cursoragent@cursor.com>
Production-default DescriptorIndex strategy backed by the faiss-cpu
PyPI wheel (>=1.7,<2.0). Implements the AZ-303 Protocol surface end
to end: HNSW32 + IndexIDMap2 search, atomic three-file rebuild
(.index + .sha256 sidecar + .meta.json), triple-consistency load
check, mmap-backed reads with IO_FLAG_MMAP|IO_FLAG_READ_ONLY, optional
warm-up query at construction, FAISS RuntimeError rewrap to
IndexUnavailableError / IndexBuildError, and FaissDescriptorIndex.from_config
classmethod wired into runtime_root.storage_factory.
The original spec required a custom pybind11 wrapper over a vendored
FAISS HEAD; the user opted for the upstream faiss-cpu wheel after
research fact #92 confirmed ARM64 wheel availability for Jetson and
the existing pyproject.toml already pinned faiss-cpu. cpp/faiss_index/
placeholder removed; BUILD_FAISS_INDEX flag retained as a
runtime/factory gate (no native target). Spec rewritten end-to-end and
archived to _docs/02_tasks/done/.
C6TileCacheConfig extended with faiss_index_path and
faiss_warmup_query_path fields. tests/conftest.py sets
KMP_DUPLICATE_LIB_OK=TRUE to remediate the macOS faiss/torch libomp
duplicate-load abort during pytest (no-op on CI Linux). 21 new tests
cover AC-1..12 + 2 NFRs + from_config smoke; AZ-303 protocol-conformance
fake updated with from_config classmethod.
Tests: 124/124 c6_tile_cache pass; 1334 project-wide pass; 1
pre-existing OKVIS2 submodule failure unrelated.
Doc sync: module-layout.md, components/08_c6_tile_cache/description.md
§5, batch_35_cycle1_report.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh