mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 23:11:13 +00:00
Oleksandr Bezdieniezhnykh
6a5954bdae
VinsMonoStrategy: Python facade conforming to AZ-331 Protocol; mirrors the AZ-332 OKVIS2 facade so the AZ-331 factory + IT-12 comparative harness can treat both as drop-in substitutable. Native binding is a pybind11 skeleton compiled behind BUILD_VINS_MONO=ON (default OFF for airborne / operator-tooling / replay-cli per module-layout.md Build-Time Exclusion Map). Real vins_estimator wiring is the Tier-2 follow-up. VinsMonoConfig added to c1_vio/config.py with sliding-window / feature-tracker / marginalisation / opt-iteration knobs plus __post_init__ validation; exported through the package __init__. cpp/vins_mono/CMakeLists.txt replaces the AZ-263 placeholder with full pybind11 wiring: Risk-1 mitigation forces VINS_MONO_USE_ROS=OFF; Risk-2 mitigation links Eigen from the same cpp/_third_party/eigen pin as OKVIS2; Risk-3 mitigation enforces BUILD_VINS_MONO=OFF in deployment binaries via the gate at the top of the file. Tests: 17 new in test_vins_mono_strategy.py (15 pass + 2 tier2 skip); fake_vins_mono_binding fixture added to conftest.py mirroring the fake_okvis2_binding pattern; test_protocol_conformance updated to drop vins_mono from _STRATEGIES_WITHOUT_PY_MODULE so the existing parametrised factory tests route through the new strategy. Focused c1_vio suite: 72 passed, 4 skipped. Full suite: 1788 passed, 1 unrelated pre-existing flake (c12 cold-start perf, env-bound). Co-authored-by: Cursor <cursoragent@cursor.com>
87 lines
3.6 KiB
CMake
87 lines
3.6 KiB
CMake
# cpp/vins_mono/CMakeLists.txt — VINS-Mono wrapper for C1 VIO (AZ-333).
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#
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# Builds the de-ROSified VINS-Mono upstream pin (cpp/vins_mono/upstream/, git
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# submodule pointing at a community ROS-stripped fork OR an in-tree
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# ROS-strip applied at configure time) plus a pybind11 binding that
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# exposes the estimator to the Python facade at
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# src/gps_denied_onboard/components/c1_vio/vins_mono.py.
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#
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# Gating: BUILD_VINS_MONO=ON only on the IT-12 research binary
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# (research matrix kind in .github/workflows/ci.yml). Airborne /
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# operator-tooling / replay-cli builds default BUILD_VINS_MONO=OFF per
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# module-layout.md Build-Time Exclusion Map; CI's per-binary SBOM diff
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# (ci/sbom_diff.py) fails if `vins_mono` appears in any non-research
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# SBOM (Risk-3 mitigation).
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#
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# macOS dev builds default BUILD_VINS_MONO=OFF; unit tests use a fake
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# pybind11 binding fixture installed at sys.modules boundary
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# (tests/unit/c1_vio/conftest.py).
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#
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# Eigen / Ceres pinning: Risk-2 mitigation — the same Eigen pin is
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# linked from cpp/_third_party/eigen/ as cpp/okvis2/CMakeLists.txt to
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# avoid ABI mismatch when both load simultaneously inside the research
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# binary. Ceres is linked from system apt (libceres-dev) on Linux to
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# match VINS-Mono upstream's expected version surface.
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if(NOT BUILD_VINS_MONO)
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return()
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endif()
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message(STATUS "[vins_mono] BUILD_VINS_MONO=ON — building VINS-Mono upstream + pybind11 binding")
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# Tell VINS-Mono upstream to skip its bundled ROS shim (the de-ROSified
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# port still ships a CMake hook that conditionally pulls roscpp; we keep
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# it OFF). Upstream-source modifications beyond ROS-stripping require an
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# explicit ADR addendum per task spec.
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set(VINS_MONO_USE_ROS OFF CACHE BOOL "AZ-333: ROS-strip — Risk-1 mitigation" FORCE)
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# Trim upstream's build surface — we link the estimator + feature_tracker
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# only; demo apps / standalone runners are out.
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set(BUILD_VINS_APPS OFF CACHE BOOL "AZ-333: skip VINS-Mono demo apps" FORCE)
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set(BUILD_VINS_TESTS OFF CACHE BOOL "AZ-333: skip VINS-Mono gtests" FORCE)
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set(BUILD_SHARED_LIBS OFF CACHE BOOL "AZ-333: link VINS-Mono 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 (okvis2_binding, gtsam_bindings, faiss_index) cannot
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# double-add the 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 VINS-Mono upstream — EXCLUDE_FROM_ALL keeps unused targets
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# out of the default build graph; we depend on the vins_estimator /
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# feature_tracker libs we explicitly 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
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# code lives next to the Python facade, not under cpp/.
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set(VINS_MONO_BINDING_SRC
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${CMAKE_SOURCE_DIR}/src/gps_denied_onboard/components/c1_vio/_native/vins_mono_binding.cpp
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)
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pybind11_add_module(vins_mono_binding ${VINS_MONO_BINDING_SRC})
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# VINS-Mono export targets — exact list confirmed by walking upstream
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# CMakeLists in cpp/vins_mono/upstream/. If a target name changes
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# upstream, the linker error on first CI run pinpoints which one.
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target_link_libraries(vins_mono_binding
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PRIVATE
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vins_estimator
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feature_tracker
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camera_models
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ceres
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)
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target_compile_features(vins_mono_binding PRIVATE cxx_std_17)
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# Install the .so next to the Python facade so the lazy import inside
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# vins_mono.py (`from . import _native; _native.vins_mono_binding`)
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# resolves at runtime without a sys.path shim.
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install(TARGETS vins_mono_binding
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LIBRARY DESTINATION
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${CMAKE_INSTALL_LIBDIR}/gps_denied_onboard/components/c1_vio/_native/
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)
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