Oleksandr Bezdieniezhnykh 02208c577e [AZ-623] [AZ-625] Phase E: c282_ransac + c5 helpers; split handle work ...

Wire 4 stateless / cached helpers into airborne_bootstrap.build_pre_constructed:
c282_ransac_filter, c5_imu_preintegrator (cached on calibration path),
c5_se3_utils (helpers.se3_utils module as namespace handle), c5_wgs_converter.

The original AZ-623 5th deliverable (c5_isam2_graph_handle) hit an
unresolvable construction-order conflict between c4_pose (consumes the handle)
and c5_state (creates it inside build_state_estimator's tuple return) under
the umbrella's "MUST NOT touch any per-component factory signature" constraint.
Per AZ-623 spec's escalation gate, scope was split: AZ-625 captures the handle
ordering work; AZ-624 dependency edge updated to require both.

Tests: tests/unit/runtime_root/test_az623_pre_constructed_phase_e.py adds 7
tests covering AC-623.1..3 (4 new keys + correct types, IMU preintegrator
caching, operator-actionable error messages for empty / unreadable / malformed
calibration paths). Autouse stubs added to test_az619/620/621/622 so prior
phase tests remain isolated from new builders.

Quality gates: ruff format clean, ruff lint clean, 24/24 phase tests pass,
247/247 runtime_root + c5_state regression suite passes. Code review verdict
PASS_WITH_WARNINGS (3 Low findings; full report in
_docs/03_implementation/reviews/batch_94_review.md).

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

2026-05-19 09:20:28 +03:00

..

batch_01_review.md

[AZ-263] Bootstrap: repo skeleton + Docker + CI + Alembic + Tier-1 tests

2026-05-11 01:00:28 +03:00

batch_02_review.md

[AZ-266] [AZ-269] [AZ-277] [AZ-280] Cross-cutting log/config + SE3/SHA256 helpers

2026-05-11 01:33:42 +03:00

batch_03_review.md

[AZ-270] [AZ-272] [AZ-279] [AZ-281] [AZ-283] Compose root + FDR schema + 3 Layer-1 helpers

2026-05-11 02:03:36 +03:00

batch_04_review.md

[AZ-273] [AZ-274] [AZ-275] [AZ-267] [AZ-268] FDR producer chain + log bridge + contract test

2026-05-11 03:00:49 +03:00

batch_05_review.md

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

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

batch_06_review.md

[AZ-291] [AZ-292] [AZ-293] C13 FDR writer chain (batch 6)

2026-05-11 03:38:58 +03:00

batch_07_review.md

[AZ-294] [AZ-295] [AZ-296] Finish C13: tile snapshot + record-kind policy + takeoff abort

2026-05-11 03:52:07 +03:00

batch_08_review.md

[AZ-390] [AZ-392] C8 FC/GCS adapter foundation + covariance projector

2026-05-11 04:17:59 +03:00

batch_09_review.md

[AZ-391] C8 inbound: MAVLink + MSP2 decoders + rings + bus + warm-start

2026-05-11 04:28:14 +03:00

batch_10_review.md

[AZ-393] [AZ-394] [AZ-395] C8 outbound chain + AP MAVLink2 signing

2026-05-11 04:47:44 +03:00

batch_11_review.md

[AZ-396] [AZ-397] Batch 11: C8 source-set switch + QGC telemetry adapter

2026-05-11 05:06:56 +03:00

batch_31_review.md

[AZ-298] C7 TensorrtRuntime: TRT 10.3 + INT8 calib trust + GPU budget

2026-05-12 23:11:49 +03:00

batch_32_review.md

[AZ-299] C7 OnnxTrtEpRuntime: ORT + TRT EP fallback strategy

2026-05-12 23:55:50 +03:00

batch_33_review.md

[AZ-321] C10 EngineCompiler: hardware-tied TRT compile + cache reuse

2026-05-13 00:09:53 +03:00

batch_37_review.md

[AZ-325] C10 CacheProvisioner orchestrator

2026-05-13 05:00:16 +03:00

batch_38_review.md

[AZ-317] [AZ-318] C11 upload-side: flight-state gate + per-flight key

2026-05-13 05:48:52 +03:00

batch_39_review.md

[AZ-319] C11 HttpTileUploader (post-landing upload path)

2026-05-13 06:13:36 +03:00

batch_40_review.md

[AZ-316] Implement C11 HttpTileDownloader (batch 40)

2026-05-13 07:01:14 +03:00

batch_41_review.md

[AZ-320] Add C11 IdempotentRetryTileUploader decorator

2026-05-13 08:48:53 +03:00

batch_45_review.md

[AZ-341] C2 FAISS HNSW retrieve wiring (FaissBridge + AZ-507 cut)

2026-05-13 21:45:40 +03:00

batch_46_review.md

[AZ-338] [AZ-283] C2 NetVLAD mandatory simple-baseline VprStrategy

2026-05-13 22:30:29 +03:00

batch_47_review.md

[AZ-337] C2 UltraVPR primary backbone VprStrategy

2026-05-13 22:43:17 +03:00

batch_48_review.md

[AZ-508] Consolidate _iso_ts_now into helpers/iso_timestamps

2026-05-13 23:23:22 +03:00

batch_49_review.md

[AZ-526] Consolidate _iso_ts_from_clock into helpers/iso_timestamps

2026-05-13 23:37:04 +03:00

batch_50_review.md

[AZ-339] C2 MegaLoc + MixVPR secondary VPR backbones

2026-05-13 23:52:54 +03:00

batch_51_review.md

[AZ-340] C2 SelaVPR + EigenPlaces + SALAD secondary VPR backbones

2026-05-14 00:32:38 +03:00

batch_52_review.md

[AZ-527] Consolidate _assert_engine_output_dim into c2-internal helper

2026-05-14 00:50:17 +03:00

batch_53_review.md

[AZ-333] C1 VINS-Mono strategy — research-only comparative VIO

2026-05-14 01:11:09 +03:00

batch_54_review.md

[AZ-334] C1 KLT/RANSAC strategy — engine-rule simple-baseline VIO

2026-05-14 02:40:01 +03:00

batch_55_review.md

[AZ-528] Consolidate c1_vio strategy facade orchestration spine

2026-05-14 03:03:16 +03:00

batch_56_review.md

[AZ-335] C1 warm-start hint persistence + F8 reboot recovery wiring

2026-05-14 03:30:46 +03:00

batch_57_review.md

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

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

batch_58_review.md

[AZ-358] [AZ-361] C4 OpenCVGtsamPoseEstimator + Jacobian thermal hybrid

2026-05-14 05:01:14 +03:00

batch_59_review.md

[AZ-399] [AZ-400] C8 TlogReplayFcAdapter + ReplaySink + JsonlReplaySink

2026-05-14 05:33:20 +03:00

batch_60_review.md

[AZ-405] Replay — replay_input/ coordinator + IMU take-off auto-sync

2026-05-14 09:50:51 +03:00

batch_61_review.md

[AZ-401] [AZ-400] Replay — compose_root replay-mode branch + transport seam

2026-05-14 11:55:33 +03:00

batch_62_review.md

[AZ-402] Replay — gps-denied-replay console-script + shared main(config)

2026-05-14 20:04:37 +03:00

batch_63_review.md

[AZ-404] [AZ-389] [AZ-559] E2E replay test (Derkachi 60s) + AZ-389 cleanup

2026-05-14 21:41:39 +03:00

batch_64_review.md

[AZ-558] Route C8 outbound encoder bytes through MavlinkTransport seam

2026-05-16 05:33:56 +03:00

batch_69_review.md

[AZ-408] [AZ-410] [AZ-411] Batch 69: synth injectors + FT-P-02/03/14

2026-05-16 17:54:00 +03:00

batch_70_review.md

[AZ-409] [AZ-412] [AZ-413] Batch 70: FT-P-01/04/05/06 scenarios

2026-05-16 18:10:46 +03:00

batch_71_review.md

[AZ-414] [AZ-415] [AZ-418] Test batch 71: sharp turn + multi-segment + smoothing

2026-05-17 07:12:24 +03:00

batch_72_review.md

[AZ-416] [AZ-417] [AZ-419] Test batch 72: FT-P-09 AP/iNav + FT-P-11 cold start

2026-05-17 07:49:17 +03:00

batch_73_review.md

[AZ-424] [AZ-425] [AZ-426] Implement negatives set (FT-N-01/03/04)

2026-05-17 08:26:16 +03:00

batch_74_review.md

[AZ-594] Implement core-three harness stubs (fdr_reader, frame_source_replay, imu_replay)

2026-05-17 08:42:12 +03:00

batch_75_review.md

[AZ-595] Batch 75: sitl_observer FDR-replay + scenario probe cleanup

2026-05-17 09:00:55 +03:00

batch_76_review.md

[AZ-596] Batch 76: fc_proxy_runtime driver (FDR-replay mode)

2026-05-17 09:08:48 +03:00

batch_77_review.md

[AZ-597] Batch 77: replay_mode helpers + 13 scenario stub rewires

2026-05-17 09:52:05 +03:00

batch_78_review.md

[AZ-598] Batch 78: sitl_observer.wait_for_outbound + FT-P-01 fixture builder

2026-05-17 12:08:02 +03:00

batch_79_review.md

[AZ-599] Batch 79: FT-P-02 Derkachi builder + _common.py extraction

2026-05-17 13:40:07 +03:00

batch_80_review.md

[AZ-600] Batch 80: refactor sitl_replay_builder to strategy pattern

2026-05-17 14:19:08 +03:00

batch_81_review.md

[AZ-420] Batch 81: FT-P-12 + FT-P-13 GCS scenarios

2026-05-17 14:46:08 +03:00

batch_82_review.md

[AZ-421] Batch 82: FT-P-15 + FT-P-16 + FT-P-18 cache / offline / no-raw-retention

2026-05-17 15:09:58 +03:00

batch_83_review.md

[AZ-422] Add FT-P-17 + FT-N-06 mid-flight tile blackbox tests

2026-05-17 15:28:39 +03:00

batch_84_review.md

[AZ-423] [AZ-427] Add FT-P-19 + FT-N-05 blackbox tests

2026-05-17 15:43:06 +03:00

batch_85_review.md

[AZ-428] [AZ-429] [AZ-430] [AZ-431] Add NFT-PERF-01..04 perf scenarios

2026-05-17 16:46:49 +03:00

batch_86_review.md

[AZ-432] [AZ-433] [AZ-434] [AZ-435] Add NFT-RES-01..04 resilience scenarios

2026-05-17 17:09:04 +03:00

batch_87_review.md

[AZ-436] [AZ-437] [AZ-438] [AZ-439] Add NFT-SEC-01..05 security scenarios

2026-05-17 17:33:22 +03:00

batch_88_review.md

[AZ-440] [AZ-441] [AZ-442] [AZ-443] NFT-LIM-01/02/03+05/04 blackbox scenarios

2026-05-17 18:01:55 +03:00

batch_89_review.md

[AZ-446] CSV reporter: band + ci95 annotations + report.csv emitter

2026-05-17 18:14:00 +03:00

batch_92_review.md

[AZ-621] Phase C: build_pre_constructed seeds c7_inference

2026-05-19 06:47:05 +03:00

batch_93_review.md

[AZ-622] Phase D: build_pre_constructed seeds c3 GPU runtimes

2026-05-19 08:56:04 +03:00

batch_94_review.md

[AZ-623] [AZ-625] Phase E: c282_ransac + c5 helpers; split handle work

2026-05-19 09:20:28 +03:00

cumulative_73_75_review.md

[AZ-595] Batch 75: sitl_observer FDR-replay + scenario probe cleanup

2026-05-17 09:00:55 +03:00

cumulative_76_78_review.md

[AZ-598] Batch 78: sitl_observer.wait_for_outbound + FT-P-01 fixture builder

2026-05-17 12:08:02 +03:00

cumulative_79_81_review.md

[AZ-420] Batch 81 housekeeping + cumulative 79-81 review

2026-05-17 14:48:45 +03:00