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Oleksandr Bezdieniezhnykh a1185d0a28 [AZ-345] [AZ-346] [AZ-347] [AZ-349] C3 matchers + C3.5 AdHoP refiner

Implement the three concrete C3 CrossDomainMatcher strategies plus the
C3.5 production-default AdHoPRefiner.

C3 (AZ-345/346/347):
- DiskLightGlueMatcher + AlikedLightGlueMatcher share a single shared
  _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. ALIKED adds a create-time engine output-schema
  probe (AC-special-1).
- XFeatMatcher owns its own per-candidate loop (single forward fuses
  extraction + matching); it re-uses the shared FDR emission helpers
  to keep telemetry byte-identical across strategies. lightglue_runtime
  parameter accepted by factory but discarded (AC-special-1).
- All three consume the shared LightGlueRuntime / RansacFilter /
  RollingHealthWindow helpers; no helper forks. InferenceRuntimeCut
  consumer-side Protocol added per AZ-507.

C3.5 (AZ-349):
- AdHoPRefiner implements the <= conditional gate, runs the OrthoLoC
  AdHoP TRT engine over 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: any RefinerBackboneError (TRT
  failure, OOM, NaN, bad shape) is caught, logged ERROR, FDR-emitted
  with error: true, and converted to passthrough that still counts
  against the rolling invocation-rate window. MemoryError and other
  non-listed exceptions propagate by design (AC-5 closed-set
  semantics).
- Rolling 60-s invocation-rate window + rate-limited WARN log
  (configurable via ratelimited_warn_window_ns; default 60 s).

Shared changes:
- C3MatcherConfig + C3_5RefinerConfig extended with the new
  weights/threshold/window fields.
- matcher_factory + refiner_factory optionally forward clock +
  fdr_client to the strategy's create(); backward-compatible.
- fdr_client.records registers five new kinds: matcher.frame_done,
  matcher.backbone_error, matcher.insufficient_inliers,
  matcher.all_failed, refiner.frame_done.

Tests: 66 new (43 C3 parametrised + 23 AdHoP) covering 47/47 ACs;
focused suite green; full project test suite green except for one
pre-existing flaky CLI cold-start timing test unrelated to this batch.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-14 04:09:22 +03:00

5.6 KiB

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Code Review Report — Batch 57

Batch: 57 Tasks: AZ-345 (C3 DISK+LightGlue), AZ-346 (C3 ALIKED+LightGlue), AZ-347 (C3 XFeat), AZ-349 (C3.5 AdHoP refiner) Date: 2026-05-14 Verdict: PASS_WITH_WARNINGS Mode: Full (per-batch)

Phase Summary

Phase	Result
1. Context Loading	OK
2. Spec Compliance	OK (47/47 ACs implemented + tested — see breakdown)
3. Code Quality	OK (one Low: cross-module underscore-prefixed imports)
4. Security Quick-Scan	OK
5. Performance Scan	OK (real-hardware budgets deferred to C3-PT-01 / C3.5-PT-01)
6. Cross-Task Consistency	OK (4 strategies share `RansacFilter`, `RollingHealthWindow`, `LightGlueRuntime`, `FdrClient`)
7. Architecture Compliance	OK (consumer-side `InferenceRuntimeCut` Protocols added per AZ-507)

AC Coverage Breakdown

Task	AC count	Covered
AZ-345	12 (AC-1..AC-12)	12/12
AZ-346	14 (AC-1..AC-12 + AC-special-1/2)	14/14
AZ-347	13 (AC-1..AC-12 + AC-special-1)	13/13 (AC-special-2 informational; not gated per spec)
AZ-349	11 (AC-1..AC-11)	11/11
Total	47	47/47

Test files added:

tests/unit/c3_matcher/test_az345_346_347_concrete_matchers.py — 43 tests, parametrised across the three strategies for AC-1..AC-12 plus three strategy-specific tests (AZ-346 AC-special-1 ×2, AZ-347 AC-special-1).
tests/unit/c3_5_adhop/test_az349_adhop_refiner.py — 23 tests covering AC-1..AC-11 + extra-safety checks for bad threshold, bad refined shape, and non-finite outputs.

Findings

#	Severity	Category	File:Line	Title
1	Low	Style	`components/c3_matcher/xfeat.py:33-40`	XFeat imports underscore-prefixed helpers (`_emit_backbone_error`, `_emit_frame_done`, `_emit_insufficient_inliers`, `_fail_all`) from sibling `_pipeline.py`
2	Low	Maintainability	`components/c3_matcher/_engine_output_assertion.py:60`	Probe tensor is FP32; if a future ALIKED engine is compiled FP16-only, the probe input dtype must follow
3	Low	Scope	AZ-347 AC-special-2	Latency comparison (XFeat < DISK+LightGlue p95) is informational per spec — no test exists; flagged for traceability

Finding Details

F1: XFeat imports underscore-prefixed helpers from _pipeline.py (Low / Style)

Location: src/gps_denied_onboard/components/c3_matcher/xfeat.py:33-40
Description: _pipeline.py is the shared per-frame orchestration for DISK+LightGlue and ALIKED+LightGlue (AZ-345/346). XFeat (AZ-347) uses a different per-candidate loop because its backbone fuses extraction + matching into one pass, but it still re-uses four error/emission helpers (_emit_backbone_error, _emit_frame_done, _emit_insufficient_inliers, _fail_all) for FDR-byte-identical telemetry. The underscore prefix on these helpers means "internal to c3_matcher" — sibling files importing them is permitted by Python convention, but readers may assume _pipeline is private to its __all__ exports.
Suggestion: (a) Add a docstring note in _pipeline.py that lists the in-component consumers of the underscore helpers, OR (b) drop the leading underscore from the four helpers (they are component-internal but cross-file public). Option (a) preferred — keeps the surface unchanged.
Task: AZ-347

F2: Probe tensor dtype is FP32; production ALIKED engines may be FP16 (Low / Maintainability)

Location: src/gps_denied_onboard/components/c3_matcher/_engine_output_assertion.py:60
Description: assert_keypoint_engine_output_schema allocates a zero-init probe with dtype=np.float32. Production ALIKED engines compiled by C10 (AZ-321) use PrecisionMode.FP16 per _build_aliked_build_config(). If a TRT engine's input binding rejects an FP32 tensor (TRT 10.x is strict about binding dtype), the probe will fail at startup with a confusing error rather than the intended schema check.
Suggestion: Follow the C2 pattern (assert_engine_output_dim uses np.float16 for FP16 backbones); thread the engine's input dtype through assert_keypoint_engine_output_schema and synthesise the probe in the matching dtype. Alternative: probe with FP16 by default and document the assumption. No fix required this cycle — the existing tests cover the schema-mismatch path with a fake runtime that accepts any dtype.
Task: AZ-346

F3: AZ-347 AC-special-2 is informational, not tested (Low / Scope)

Location: _docs/02_tasks/todo/AZ-347_c3_xfeat.md:91-94
Description: The task spec explicitly marks AC-special-2 as "informational metric; if XFeat is NOT faster, that's a backbone misconfiguration, not a contract violation. Documented in the test report; does NOT block this AC." No test exists today. Flagged for traceability so the omission is visible in the next cumulative review.
Suggestion: No action. Latency benchmarks belong to C3-PT-01 (E-BBT, deferred). Documented here to keep the AC coverage matrix honest.
Task: AZ-347

Verdict

PASS_WITH_WARNINGS — every AC has a covering test; the three Low findings are observability / future-proofing concerns, not contract violations or runtime bugs. No Critical / High / Architecture findings.

Auto-fix would not improve any of the Low findings without expanding scope. Proceed to commit.

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