mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-21 12:11:13 +00:00

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T

Oleksandr Bezdieniezhnykh 33486588de [AZ-271] [AZ-276] [AZ-278] [AZ-282] Finish cross-cutting helpers + relax opencv pin

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>

2026-05-11 03:23:33 +03:00

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Batch 05 — Cycle 1 Implementation Report

Date: 2026-05-11 Batch shape: finish cross-cutting (config precedence tests + 3 Layer-1 helpers) Tasks: AZ-271, AZ-282, AZ-276, AZ-278 (10 complexity points) Verdict: PASS_WITH_WARNINGS (see reviews/batch_05_review.md)

What landed

AZ-271 — Config precedence unit tests

tests/unit/shared/config/test_precedence.py — 6 tests verifying env > YAML > defaults precedence for ≥3 keys per layer plus multi-file YAML merge order. The _layer_msg helper standardises AC-5 assertion messages so failures name the offending layer.

AZ-282 — RansacFilter helper

src/gps_denied_onboard/helpers/ransac_filter.py — static-only RansacFilter, frozen RansacResult, RansacFilterError. Determinism enforced by cv2.setRNGSeed(0) immediately before every findHomography(..., RANSAC) call.
tests/unit/test_az282_ransac_filter.py — 16 tests (10 ACs + parametrised distortion shape contract + frozen dataclass + SE3 alias).

AZ-276 — ImuPreintegrator helper

src/gps_denied_onboard/helpers/imu_preintegrator.py — ImuPreintegrator wraps GTSAM PreintegratedCombinedMeasurements; factory make_imu_preintegrator(calibration) reads optional IMU noise model from CameraCalibration.metadata["imu_noise_model"], defaulting to documented BMI088-class densities.
src/gps_denied_onboard/_types/nav.py — adjacent hygiene: ImuSample(ts_ns: int, ...) and ImuWindow(ts_start_ns, ts_end_ns) brought into line with the contract; new ImuBias dataclass.
tests/unit/test_az276_imu_preintegrator.py — 11 tests covering all 7 ACs plus integrate_window, post-rebias guard, factory return type, and the GTSAM CombinedImuFactor re-export.

AZ-278 — LightGlueRuntime helper (R14 structural fix)

src/gps_denied_onboard/helpers/lightglue_runtime.py — LightGlueRuntime(engine_handle) with descriptor-dim validation + non-blocking concurrent-access guard (Lock(blocking=False) → LightGlueConcurrentAccessError on contention).
src/gps_denied_onboard/_types/manifests.py — adjacent hygiene (spec-approved): new EngineHandle Protocol with descriptor_dim property + forward(features_a, features_b) -> CorrespondenceSet.
src/gps_denied_onboard/_types/matching.py — adjacent hygiene: new KeypointSet and CorrespondenceSet dataclasses.
tests/unit/test_az278_lightglue_runtime.py — 10 tests covering all 7 ACs plus negative paths (descriptor_dim < 1, mismatched batch lengths, accessor parity).

Dependency-pin change (Finding 1)

pyproject.toml — opencv-python pin relaxed from >=4.12.0 to >=4.11.0.86,<4.12 because gtsam-4.2 (PyPI) is only numpy-1.x-ABI-compatible and opencv-python>=4.12 requires numpy-2 at runtime.
ci/opencv_pin_gate.py — MIN_VERSION ratchet held at (4, 11, 0).
tests/unit/test_ac10_ci_gates.py — test message updated to reference the leftover.
_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md — full replay procedure + CVE exposure note + owner placeholder.

Test results

Full suite: 294 passed, 2 skipped (cmake, actionlint env-skip — pre-existing).
New in batch 5: 43 tests (6 + 16 + 11 + 10).
ruff check + ruff format clean across all touched files.

AC coverage

Task	ACs	Tests	Status
AZ-271	5	6	All PASS
AZ-282	10	16	All PASS
AZ-276	7	11	All PASS
AZ-278	7	10	All PASS

Schema / dependency changes

FdrConfig — unchanged (batch 4).
CameraCalibration — unchanged; the IMU noise model is read from the existing metadata field with documented defaults so this is additive.
_types/nav.py — schema change to ImuSample and ImuWindow (datetime → ts_ns: int) plus new ImuBias. No production consumers depend on the old fields; downstream C1/C5 spec work will pick up the new shape via the contracts.
_types/manifests.py — new EngineHandle Protocol (additive).
_types/matching.py — new KeypointSet/CorrespondenceSet dataclasses (additive).
pyproject.toml — opencv-python pin relaxed (see Finding 1 in the review). All other pins unchanged.

Follow-ups

D-CROSS-CVE-1 replay — pending a numpy-2-compatible gtsam wheel. Tracked in _docs/_process_leftovers/.
NFR-perf budgets — Tier-2 microbenches deferred to AZ-444 (Jetson harness). Functional gates are green in this batch.

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