mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 12:11:13 +00:00
Oleksandr Bezdieniezhnykh
1ebab29a4f
Python facade (`Okvis2Strategy`) is production-quality and satisfies
AZ-331's `VioStrategy` protocol; full AC-1..10 coverage with
AC-9 + NFR-perf marked `tier2`. The C++ pybind11 binding compiles
and loads but throws `OkvisFatalException("estimator not yet wired")`
on first `add_frame` — the `okvis::ThreadedKFVio` wiring is a tier2
follow-up the Step-15 Product Completeness Gate is expected to track
as a remediation task.
Resolved contradictions:
* Constructor signature aligned with the AZ-331 factory: `(config, *,
fdr_client, clock=None)`. Calibration / preintegrator / logger
built internally from config. No churn on AZ-331.
* IMU substrate: OKVIS2 owns its internal estimator IMU integration;
the AZ-276 `ImuPreintegrator` is a separate substrate consumed by
E-C5's fusion graph. Single source of truth lives at the sample
stream, not the integrator instance.
* FDR API: `FdrClient.enqueue(record)` with new `vio.health` kind
added to AZ-272 `KNOWN_PAYLOAD_KEYS`.
CI matrix forces `-DBUILD_OKVIS2=OFF` until the tier2 wiring task
brings Ceres / SuiteSparse / OKVIS2 vendored submodules into the
Linux build.
Files: 17 added/modified across `c1_vio/`, `fdr_client/records.py`,
`cpp/okvis2/CMakeLists.txt`, CI workflow, AZ-332 task spec
(implementation-notes section), batch 23 report.
Tests: 17 new (15 tier1 + 2 tier2). Full Tier-1 suite: 1109 pass,
2 skipped (env), 2 deselected (tier2). No regressions.
Co-authored-by: Cursor <cursoragent@cursor.com>
85 lines
3.5 KiB
CMake
85 lines
3.5 KiB
CMake
# cpp/okvis2/CMakeLists.txt — OKVIS2 wrapper for C1 VIO (AZ-332).
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#
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# Builds the vendored OKVIS2 upstream (cpp/okvis2/upstream/, git submodule)
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# plus a pybind11 binding that exposes the estimator to the Python facade
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# at src/gps_denied_onboard/components/c1_vio/okvis2.py.
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#
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# Gating: BUILD_OKVIS2=ON only on linux production binaries (deployment +
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# research matrix kinds in .github/workflows/ci.yml). macOS dev builds
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# default BUILD_OKVIS2=OFF; unit tests use a fake pybind11 binding fixture
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# installed at sys.modules boundary (tests/unit/c1_vio/conftest.py).
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#
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# Bundled OKVIS2 deps (DBoW2, brisk, ceres-solver, opengv) are NOT pulled
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# into this clone — see ci.yml step that installs them via apt
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# (libceres-dev libsuitesparse-dev etc.) and the USE_SYSTEM_* flags below.
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if(NOT BUILD_OKVIS2)
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return()
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endif()
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message(STATUS "[okvis2] BUILD_OKVIS2=ON — building OKVIS2 upstream + pybind11 binding")
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# Tell OKVIS2 to use system-installed dependencies instead of its bundled
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# external/ submodules (which we do not initialise — saves ~hundreds of MB
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# and matches the Linux apt-deps approach in ci.yml).
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set(USE_SYSTEM_BRISK ON CACHE BOOL "AZ-332: use apt libbrisk-dev" FORCE)
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set(USE_SYSTEM_DBOW2 ON CACHE BOOL "AZ-332: use apt libdbow2-dev" FORCE)
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set(USE_SYSTEM_CERES ON CACHE BOOL "AZ-332: use apt libceres-dev" FORCE)
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# Trim OKVIS2's build surface — we link the estimator libs only.
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set(BUILD_APPS OFF CACHE BOOL "AZ-332: skip OKVIS2 demo apps" FORCE)
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set(BUILD_TESTS OFF CACHE BOOL "AZ-332: skip OKVIS2 gtests" FORCE)
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set(BUILD_ROS2 OFF CACHE BOOL "AZ-332: ROS 2 rejected at Plan time (D-C1-1-SUB-A)" FORCE)
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set(HAVE_LIBREALSENSE OFF CACHE BOOL "AZ-332: no realsense pipeline" FORCE)
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set(USE_NN OFF CACHE BOOL "AZ-332: drop LibTorch dep (keyframe arch OK per Fact #39)" FORCE)
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set(DO_TIMING OFF CACHE BOOL "AZ-332: disable per-frame timing prints" FORCE)
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set(BUILD_SHARED_LIBS OFF CACHE BOOL "AZ-332: link OKVIS as static into the .so" FORCE)
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# pybind11 (vendored at cpp/pybind11/upstream/) — guarded so a sibling
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# native binding (gtsam_bindings, faiss_index) cannot double-add the
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# subdirectory.
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if(NOT TARGET pybind11::module)
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add_subdirectory(
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${CMAKE_SOURCE_DIR}/cpp/pybind11/upstream
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${CMAKE_BINARY_DIR}/pybind11_build
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)
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endif()
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# Vendored OKVIS2 upstream — EXCLUDE_FROM_ALL keeps unused targets out of
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# the default build graph; we depend on the okvis_* libs we explicitly
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# link below.
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add_subdirectory(upstream EXCLUDE_FROM_ALL)
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# pybind11 binding source — per module-layout.md rule #4 the binding code
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# lives next to the Python facade, not under cpp/.
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set(OKVIS2_BINDING_SRC
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${CMAKE_SOURCE_DIR}/src/gps_denied_onboard/components/c1_vio/_native/okvis2_binding.cpp
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)
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pybind11_add_module(okvis2_binding ${OKVIS2_BINDING_SRC})
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# OKVIS2 export targets — exact list confirmed by walking upstream
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# CMakeLists in cpp/okvis2/upstream/okvis_*/. If a target name changes
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# upstream, the linker error on first CI run pinpoints which one.
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target_link_libraries(okvis2_binding
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PRIVATE
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okvis_ceres
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okvis_frontend
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okvis_multisensor_processing
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okvis_kinematics
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okvis_cv
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okvis_common
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okvis_time
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okvis_util
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)
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target_compile_features(okvis2_binding PRIVATE cxx_std_17)
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# Install the .so next to the Python facade so the lazy import inside
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# okvis2.py (`from . import _native; _native.okvis2_binding`) resolves at
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# runtime without a sys.path shim.
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install(TARGETS okvis2_binding
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LIBRARY DESTINATION
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${CMAKE_INSTALL_LIBDIR}/gps_denied_onboard/components/c1_vio/_native/
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)
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