mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-21 21:31:13 +00:00

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T

Oleksandr Bezdieniezhnykh 70f786f2d1 [AZ-240] [AZ-241] [AZ-242] Add native retrieval remediation

Implement the product remediation paths required before greenfield
code testability revision: native VIO backend selection, local
VPR descriptor index retrieval, and computed anchor matching gates.

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

2026-05-05 06:05:10 +03:00

1.7 KiB

Raw Blame History

Code Review Report

Batch: AZ-240_native_vio_backend_integration, AZ-241_real_satellite_vpr_descriptor_retrieval, AZ-242_real_anchor_feature_matching_ransac Date: 2026-05-05 Verdict: PASS

Findings

#	Severity	Category	File:Line	Title
-	-	-	-	No findings

Review Notes

AZ-240: NativeVioBackend keeps engine-specific setup behind the VioBackend protocol, maps initialization/runtime errors to explicit VioHealthReport failures, and preserves timestamp mismatch, tracking-quality degradation, and no-WGS84-authority behavior.
AZ-241: LocalVprRetriever now loads local descriptor/index packages from cache files, builds a CPU FAISS-compatible descriptor index, reports readiness with loaded record counts, and returns degraded/no-candidate results for missing or invalid packages without network access.
AZ-242: GeometryGatedAnchorVerifier now has a computed matcher path from frame/tile keypoints through KeypointRansacMatcher, while the existing safety gates still reject stale provenance, low inliers, high MRE, and geometry failures.

AC Coverage

Task	AC Coverage
AZ-240	3/3 covered by `tests/unit/test_vio_adapter.py`
AZ-241	3/3 covered by `tests/unit/test_satellite_service_vpr.py`
AZ-242	3/3 covered by `tests/unit/test_anchor_verification.py`

Verification

python3 -m pytest tests/unit/test_vio_adapter.py tests/unit/test_satellite_service_vpr.py tests/unit/test_anchor_verification.py passed: 19 tests.
python3 -m pytest passed: 58 tests.
python3 -m black ... and python3 -m ruff ... could not run because those optional dev tools are not installed in the current interpreter.

1.7 KiB Raw Blame History