# Batch 57 — Cycle 1 Report

**Date**: 2026-05-14
**Tasks**: AZ-345 (DISK+LightGlue), AZ-346 (ALIKED+LightGlue), AZ-347 (XFeat), AZ-349 (AdHoP refiner)
**Verdict**: COMPLETE — PASS_WITH_WARNINGS

## Summary

Implemented the three concrete C3 `CrossDomainMatcher` strategies plus
the C3.5 production-default `AdHoPRefiner`. All four wire into the
existing AZ-344 / AZ-348 factories via module-level `create(...)`
entry points and consume the shared `LightGlueRuntime` (AZ-285) /
`RansacFilter` (AZ-282) / `RollingHealthWindow` helpers — no helper
forks. The DISK + ALIKED strategies share a single
`_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. XFeat owns its own per-candidate loop because its
backbone fuses extraction + matching into one forward pass — but it
re-uses the shared FDR emission helpers verbatim so all four strategies
produce byte-identical telemetry shapes.

The AdHoP refiner implements the conditional gate at exact `<=`
semantics (Invariant 3), runs the OrthoLoC AdHoP TRT engine over the
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
is preserved: any `RefinerBackboneError` (TRT failure, OOM, NaN, bad
shape) is caught, logged at ERROR, FDR-emitted with `error: true`, and
converted to a passthrough that still counts against the rolling
invocation-rate window. `MemoryError` and other non-listed exception
types propagate by design (AC-5 closed-set semantics).

Closes the AZ-345/346/347/349 dependency block. The next downstream
consumer in cycle 1 is the e2e pipeline wiring (C3 + C3.5 →
pose-estimator) which now has all four strategies available at runtime.

## Files added / modified

### Added (9)

- `src/gps_denied_onboard/components/c3_matcher/disk_lightglue.py` —
  `DiskLightGlueMatcher` + module-level `create`. Hard-coded
  preprocessor (NCHW float32 RGB 480×480 ImageNet-normalised).
- `src/gps_denied_onboard/components/c3_matcher/aliked_lightglue.py` —
  `AlikedLightGlueMatcher` + `create`. Same preprocessor footprint as
  DISK; adds the create-time engine output-schema probe (AZ-346
  AC-special-1).
- `src/gps_denied_onboard/components/c3_matcher/xfeat.py` —
  `XFeatMatcher` + `create`. Hard-coded grayscale 384×384 preprocessor;
  per-candidate loop owns its own orchestration (does not call
  `_pipeline.run_lightglue_pipeline`). `lightglue_runtime` parameter
  accepted in factory signature but discarded — AC-special-1.
- `src/gps_denied_onboard/components/c3_matcher/_pipeline.py` —
  shared per-frame orchestration used by DISK + ALIKED. Owns the
  drop-and-continue loop, RANSAC sort, residual warn, health-window
  update, and the four FDR record kinds (`matcher.frame_done`,
  `matcher.backbone_error`, `matcher.insufficient_inliers`,
  `matcher.all_failed`).
- `src/gps_denied_onboard/components/c3_matcher/inference_runtime_cut.py`
  — consumer-side `InferenceRuntimeCut` Protocol over C7 (AZ-507).
  Includes `TilePixelHandle` duck-typing note.
- `src/gps_denied_onboard/components/c3_matcher/_engine_output_assertion.py`
  — `assert_keypoint_engine_output_schema` helper. Single home for
  the AZ-346 create-time probe so future keypoint-backbone strategies
  reuse the same error envelope.
- `src/gps_denied_onboard/components/c3_5_adhop/adhop_refiner.py` —
  `AdHoPRefiner` + `create`. Owns the conditional gate, the rolling
  60-s invocation-rate window, the rate-limited WARN log, and the
  passthrough fall-through on `RefinerBackboneError`.
- `src/gps_denied_onboard/components/c3_5_adhop/inference_runtime_cut.py`
  — consumer-side `InferenceRuntimeCut` Protocol over C7 (AZ-507).
- `tests/unit/c3_matcher/test_az345_346_347_concrete_matchers.py` —
  43 parametrised tests covering AC-1..AC-12 for all three
  strategies plus AZ-346 AC-special-1 (engine schema mismatch ×2) and
  AZ-347 AC-special-1 (no LightGlue call).
- `tests/unit/c3_5_adhop/test_az349_adhop_refiner.py` — 23 tests
  covering AZ-349 AC-1..AC-11.

### Modified (5)

- `src/gps_denied_onboard/components/c3_matcher/config.py` — added
  `ransac_threshold_px`, `disk_weights_path`, `aliked_weights_path`,
  `xfeat_weights_path`. Each new field validated in `__post_init__`.
- `src/gps_denied_onboard/components/c3_5_adhop/config.py` — added
  `adhop_weights_path`, `ransac_threshold_px`,
  `ratelimited_warn_window_ns`.
- `src/gps_denied_onboard/runtime_root/matcher_factory.py` — extended
  `build_matcher_strategy` to optionally forward `clock` + `fdr_client`
  to the strategy's `create`; older strategies that don't accept them
  remain unbroken.
- `src/gps_denied_onboard/runtime_root/refiner_factory.py` — same
  extension for AdHoP / passthrough.
- `src/gps_denied_onboard/fdr_client/records.py` — registered four
  new C3 matcher record kinds (`matcher.frame_done`,
  `matcher.backbone_error`, `matcher.insufficient_inliers`,
  `matcher.all_failed`) and one C3.5 refiner kind
  (`refiner.frame_done`).
- `tests/unit/c3_5_adhop/test_protocol_conformance.py` — updated the
  AZ-348 AC-7 "AdHoP module not yet built" stop-gap to assert the
  module now imports AND that the factory raises `RefinerConfigError`
  when the weights path is missing (the AZ-349 cold-fail-fast
  behaviour).
- `tests/unit/test_az272_fdr_record_schema.py` — added round-trip
  fixture payloads for all five new kinds.

## Task Results

| Task    | Status | Files Modified            | Focused tests | AC Coverage  | Issues |
|---------|--------|---------------------------|---------------|--------------|--------|
| AZ-345  | Done   | 5 added / 2 modified      | 39/39 pass    | 12/12 covered | None  |
| AZ-346  | Done   | 4 added / 2 modified      | 41/41 pass    | 14/14 covered | None  |
| AZ-347  | Done   | 2 added / 2 modified      | 27/27 pass    | 13/13 covered (AC-special-2 informational) | None |
| AZ-349  | Done   | 2 added / 2 modified      | 23/23 pass    | 11/11 covered | None  |

## AC Test Coverage: 47/47 covered

(AZ-347 AC-special-2 latency benchmark is informational per spec and
deferred to C3-PT-01 / E-BBT.)

## Code Review Verdict: PASS_WITH_WARNINGS

See `_docs/03_implementation/reviews/batch_57_review.md`. Three Low
findings recorded; no Critical / High / Architecture findings. Auto-fix
not required.

## Auto-Fix Attempts: 0

## Stuck Agents: None

## Next Batch

This concludes the C3 matcher + C3.5 refiner concrete-strategy track
for cycle 1. The cumulative-review window (batches 55–57) is now due
under the K=3 cadence.