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Oleksandr Bezdieniezhnykh c5ffc14fe9 [AZ-389] C5 orthorectifier emits mid-flight tiles to C6

Adds an opt-in C5-internal orthorectifier (`_orthorectifier.py`) that
emits at most one tile-aligned JPEG candidate per nav frame to the
C6 `TileStore.write_tile` API.  Quality gates fire before any
OpenCV work: covariance Frobenius, inlier floor, source-label
(`SATELLITE_ANCHORED` only), and once-per-frame rate limit.

Cross-component import rule (AZ-507) is preserved: c5_state never
imports c6_tile_cache.  `runtime_root.state_factory` carries a new
`_C6MidFlightIngestAdapter` that builds the canonical
`TileMetadata` (`ONBOARD_INGEST` / `FRESH` / `PENDING`), hashes
the JPEG, and translates `FreshnessRejectionError` to a `None`
return so the orthorectifier silently swallows freshness
rejection per AC-NEW-3.

Wiring is opt-in via `C5StateConfig.orthorectifier.enabled`;
existing tests/binaries default to disabled and are unaffected.
Both `GtsamIsam2StateEstimator` and `EskfStateEstimator`
participate through new `attach_orthorectifier` /
`set_latest_nav_frame` extension methods (Protocol surface
unchanged).

Tests: 22 new unit tests cover AC-1..AC-9 plus inlier-floor
gate plus the composition-root adapter.  216/216 c5_state and
38/38 runtime-root + compose tests pass.

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

2026-05-16 09:02:33 +03:00

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flow: greenfield step: 7 name: Implement status: in_progress sub_step: phase: 11 name: commit detail: "Batch 65 (AZ-389) committed; awaiting tracker transition + completeness gate" retry_count: 0 cycle: 1 tracker: jira last_completed_batch: 65 last_cumulative_review: batches_61-63 current_batch: 65 current_batch_tasks: "AZ-389"

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369 B

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