mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:21:13 +00:00
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>
18 lines
266 B
Markdown
18 lines
266 B
Markdown
# Autodev State
|
|
|
|
## Current Step
|
|
flow: greenfield
|
|
step: 7
|
|
name: Implement
|
|
status: in_progress
|
|
sub_step:
|
|
phase: 7
|
|
name: batch-loop
|
|
detail: ""
|
|
retry_count: 0
|
|
cycle: 1
|
|
tracker: jira
|
|
last_completed_batch: 54
|
|
last_cumulative_review: batches_49-51
|
|
current_batch: 55
|