mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:31:13 +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>
37 lines
2.3 KiB
CMake
37 lines
2.3 KiB
CMake
# Per-binary build-time exclusion (ADR-002).
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#
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# Single source of truth for the BUILD_* flag set referenced from
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# `.github/workflows/ci.yml` and the composition-root validator in
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# `src/gps_denied_onboard/runtime_root.py`.
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option(BUILD_OKVIS2 "Build C1 OKVIS2 VIO strategy" ON)
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option(BUILD_VINS_MONO "Build C1 VINS-Mono VIO strategy" OFF)
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option(BUILD_KLT_RANSAC "Build C1 KLT/RANSAC simple baseline" ON)
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option(BUILD_VPR_ULTRA "Build C2 UltraVPR (primary)" ON)
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option(BUILD_VPR_MEGALOC "Build C2 MegaLoc" OFF)
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option(BUILD_VPR_MIXVPR "Build C2 MixVPR" OFF)
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option(BUILD_VPR_SELAVPR "Build C2 SelaVPR" OFF)
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option(BUILD_VPR_EIGENPLACES "Build C2 EigenPlaces" OFF)
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option(BUILD_VPR_NETVLAD "Build C2 NetVLAD baseline" ON)
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option(BUILD_VPR_SALAD "Build C2 SALAD" OFF)
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option(BUILD_TENSORRT_RUNTIME "Build C7 TensorRT inference runtime" ON)
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option(BUILD_PYTORCH_RUNTIME "Build C7 PyTorch FP16 inference runtime" OFF)
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option(BUILD_C10_PROVISIONING "Build C10 (operator-only)" OFF)
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option(BUILD_C11_TILE_MANAGER "Build C11 (operator-only)" OFF)
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option(BUILD_C12_OPERATOR_TOOLING "Build C12 (operator-only)" OFF)
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option(BUILD_GTSAM_BINDINGS "Build cpp/gtsam_bindings (C4+C5)" ON)
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option(BUILD_FAISS_INDEX "Enable C6 FAISS descriptor index (faiss-cpu PyPI; runtime gate, no native target — AZ-306)" ON)
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option(BUILD_VIDEO_FILE_FRAME_SOURCE "Build replay video frame source (AZ-265)" OFF)
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option(BUILD_TLOG_REPLAY_ADAPTER "Build replay tlog FC adapter (AZ-265)" OFF)
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option(BUILD_REPLAY_SINK_JSONL "Build replay JSONL sink (AZ-265)" OFF)
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option(BUILD_REPLAY_CLI "Build replay CLI entrypoint (AZ-265)" OFF)
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option(BUILD_LIVE_CAMERA_FRAME_SOURCE "Build live camera frame source" ON)
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message(STATUS "BUILD_OKVIS2=${BUILD_OKVIS2} BUILD_VINS_MONO=${BUILD_VINS_MONO}")
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message(STATUS "BUILD_TENSORRT_RUNTIME=${BUILD_TENSORRT_RUNTIME} BUILD_GTSAM_BINDINGS=${BUILD_GTSAM_BINDINGS}")
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