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Oleksandr Bezdieniezhnykh
3665acef66
Foundational scaffolding for every concrete C2 backbone (UltraVPR, NetVLAD, MegaLoc, MixVPR, SelaVPR, EigenPlaces, SALAD — AZ-337..AZ-340) and the C2.5 ReRanker consumer side. No backbone is implemented here. * VprStrategy Protocol (embed_query / retrieve_topk / descriptor_dim) + BackbonePreprocessor C2-internal Protocol (NOT in Public API per description.md § 6). * DTOs in L1 _types/vpr.py — VprQuery, VprCandidate, VprResult; all frozen + slots; tuple-not-list for VprResult.candidates so the immutability invariant truly holds. * Error family: VprError + VprBackboneError + VprPreprocessError + IndexUnavailableError; same-named but namespace-distinct from c6_tile_cache.IndexUnavailableError (the c2 family is the closed envelope C5 / C2.5 consume; concrete strategies rewrap the C6 form). * C2VprConfig (strategy enum + backbone_weights_path + faiss_index_path) with strict validation at load; registered into Config.components on c2_vpr import. * build_vpr_strategy factory with 7-strategy resolution table, lazy import, BUILD_VPR_<variant> gating, ImportError→ StrategyNotAvailableError mapping, and pre-flight descriptor_dim match against DescriptorIndex.descriptor_dim() — mismatch fires ConfigError at startup, NOT at first frame. Contract change vs the v1.0.0 draft: factory takes descriptor_index: DescriptorIndex (not tile_store: TileStore) because descriptor_dim() lives on DescriptorIndex per C6's Public API. The contract markdown is updated to match. Architecture: VprCandidate.tile_id is a plain (zoom, lat, lon) tuple, keeping _types/ (L1) free of any c6_tile_cache (L3) import per module-layout.md. Consumers reconstruct TileId at the C6 boundary. Excluded per task spec: * Concrete backbones (AZ-337..AZ-340). * FAISS HNSW retrieve wiring (AZ-341). * DescriptorNormaliser helper (AZ-283, already shipped). * AC-9 single-thread binding — deferred per task spec Risk 4 until the generic compose_root thread-binding registry is in place (today each factory owns its own, e.g. fc_factory). Tests: 45 ACs + NFRs in tests/unit/c2_vpr/test_protocol_conformance.py covering AC-1..AC-8, the error family, the config validation, the factory NFR (p99 ≤ 50 ms). The legacy smoke test is removed. Full sweep 973 passed, 2 skipped (CI-only cmake / actionlint). Co-authored-by: Cursor <cursoragent@cursor.com>
gps-denied-onboard
Companion onboard system for GPS-denied UAV navigation. Detailed design and architecture documentation lives under _docs/.
Quick links
- Problem statement:
_docs/00_problem/problem.md - Architecture:
_docs/02_document/architecture.md - Module layout (file ownership):
_docs/02_document/module-layout.md - Component docs:
_docs/02_document/components/ - Test specs:
_docs/02_document/tests/ - Deployment:
_docs/02_document/deployment/
Local development
python -m venv .venv && source .venv/bin/activate
pip install -e ".[dev]"
pytest -q tests/unit/
For full Tier-1 integration via Docker, see _docs/02_document/deployment/containerization.md.
Build matrix
Four binaries built from this codebase: airborne, research, operator-tooling, replay-cli. CMake BUILD_* flags gate component inclusion per binary — see cmake/build_options.cmake and _docs/02_document/module-layout.md § Build-Time Exclusion Map.