mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 09:31:12 +00:00
Oleksandr Bezdieniezhnykh
3b7265757b
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>
22 lines
803 B
CMake
22 lines
803 B
CMake
cmake_minimum_required(VERSION 3.22)
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# Aggregator: per-library subdirs are added conditionally on their BUILD_* flag.
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# Bootstrap (AZ-263) ships placeholders so this directory parses cleanly even
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# when no native source has been written yet.
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if(BUILD_OKVIS2 OR BUILD_VINS_MONO OR BUILD_KLT_RANSAC)
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add_subdirectory(okvis2)
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add_subdirectory(vins_mono)
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add_subdirectory(klt_ransac)
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endif()
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if(BUILD_GTSAM_BINDINGS)
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add_subdirectory(gtsam_bindings)
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endif()
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# BUILD_FAISS_INDEX no longer adds a CMake target — AZ-306 chose the
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# `faiss-cpu` PyPI wheel over a custom pybind11 wrapper. The flag is
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# preserved in cmake/build_options.cmake because it's still consumed
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# at runtime by `gps_denied_onboard.runtime_root.build_flags` to gate
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# the FaissDescriptorIndex import in the storage factory.
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