mirror of
https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
ceb24b5a62
Implement KltRansacStrategy, the ADR-002 engine-rule mandatory simple-baseline VioStrategy for E-C1. Pure-Python facade over OpenCV's cv2.goodFeaturesToTrack / calcOpticalFlowPyrLK / findEssentialMat / recoverPose pipeline — no C++/pybind11 binding by design so a Tier-0 workstation runs the strategy with `pip install opencv-python` and the BUILD_KLT_RANSAC=ON gate alone. Constructor + state machine + FDR transition spine mirror Okvis2Strategy + VinsMonoStrategy so the AZ-331 factory + IT-12 comparative harness treat all three as drop-in substitutable; the duplication is the consolidation target now formally in scope for the next cumulative review (batches 52-54). AC coverage: AC-1..AC-11 + NFR-perf mapped to passing tests (25 tests, 23 pass + 2 tier-2 skipped on dev/CI runners; all 25 pass under GPS_DENIED_TIER=2). Honest-covariance invariant (AC-9) implemented as residual-scatter / (N_inliers - 5) with an inlier- count penalty — no client-side floor or smoother; cov Frobenius grows monotonically across DEGRADED. Camera-agnostic source (AC-11) enforced by CI-grep gate that excludes docstring text. Test-Run Cadence: focused suite tests/unit/c1_vio/ green (95 passed, 6 skipped); config-loader + compose-root suites green; full-suite gate deferred to Step 16 per implement skill. Co-authored-by: Cursor <cursoragent@cursor.com>
17 lines
860 B
CMake
17 lines
860 B
CMake
if(NOT BUILD_KLT_RANSAC)
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return()
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endif()
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# AZ-334 — KLT/RANSAC strategy is PURE PYTHON over OpenCV's Python
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# bindings (cv2.calcOpticalFlowPyrLK / goodFeaturesToTrack /
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# findEssentialMat / recoverPose). There is no native binding under
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# this strategy by design — the simple-baseline path must remain
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# dependency-light (Tier-0 workstation can run KLT/RANSAC with only
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# `pip install opencv-python`; no OKVIS2 / VINS-Mono native libs
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# required). This directory + CMake target is preserved for build-
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# graph symmetry with cpp/okvis2/ and cpp/vins_mono/; the BUILD_KLT_RANSAC
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# flag still gates the Python module import at the AZ-331 composition
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# root factory (`runtime_root/vio_factory.py`).
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message(STATUS "[klt_ransac] AZ-334 — pure-Python strategy; no native target. "
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"BUILD_KLT_RANSAC=ON gates the Python module import only.")
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