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Oleksandr Bezdieniezhnykh
ceb24b5a62
Implement KltRansacStrategy, the ADR-002 engine-rule mandatory simple-baseline VioStrategy for E-C1. Pure-Python facade over OpenCV's cv2.goodFeaturesToTrack / calcOpticalFlowPyrLK / findEssentialMat / recoverPose pipeline — no C++/pybind11 binding by design so a Tier-0 workstation runs the strategy with `pip install opencv-python` and the BUILD_KLT_RANSAC=ON gate alone. Constructor + state machine + FDR transition spine mirror Okvis2Strategy + VinsMonoStrategy so the AZ-331 factory + IT-12 comparative harness treat all three as drop-in substitutable; the duplication is the consolidation target now formally in scope for the next cumulative review (batches 52-54). AC coverage: AC-1..AC-11 + NFR-perf mapped to passing tests (25 tests, 23 pass + 2 tier-2 skipped on dev/CI runners; all 25 pass under GPS_DENIED_TIER=2). Honest-covariance invariant (AC-9) implemented as residual-scatter / (N_inliers - 5) with an inlier- count penalty — no client-side floor or smoother; cov Frobenius grows monotonically across DEGRADED. Camera-agnostic source (AC-11) enforced by CI-grep gate that excludes docstring text. Test-Run Cadence: focused suite tests/unit/c1_vio/ green (95 passed, 6 skipped); config-loader + compose-root suites green; full-suite gate deferred to Step 16 per implement skill. 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-orchestrator, 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.