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Oleksandr Bezdieniezhnykh
4eac24f37a
Implement the single production-default C4 PoseEstimator strategy. AZ-358 — Marginals path: OpenCV solvePnPRansac (SOLVEPNP_IPPE) on best-candidate inliers, PriorFactorPose3 with Jacobian-derived initial covariance, flushed into C5's iSAM2 graph via the widened ISam2GraphHandle.update(graph, values, None) (Option B). Posterior covariance from compute_marginals().marginalCovariance(pose_key) with SPD-defensive Cholesky check. Tile pixel -> ENU world conversion via the shared WgsConverter + a configurable tile_size_px. Two spec deviations now documented in the AZ-358 task file: PriorFactorPose3 over GenericProjectionFactorCal3DS2 (avoids unbounded landmark variables; same Fisher information on the pose marginal) and explicit (graph, values, timestamps) update args (aligns with C5's impl). AZ-361 — Jacobian + thermal hybrid: per-frame dispatch on thermal_state.thermal_throttle_active selects the cv2.projectPoints- derived 6x6 information matrix (with ridge regularisation) as the emitted covariance. Skips the iSAM2 factor add under throttle (Invariant 12). Emits CovarianceDegradedWarning via warnings.warn (never raised); paired WARN log + FDR record rate-limited per covariance_degraded_warn_window_ns (default 60 s) via an injected monotonic Clock. Supersedes the AZ-358 NotImplementedError stub. Widens ISam2GraphHandle from get_pose_key only to all five C4-facing methods (add_factor, update, compute_marginals, last_anchor_age_ms); C5's existing ISam2GraphHandleImpl already satisfies the superset, so no C5 source change this batch. Threads fdr_client + clock through pose_factory composition. Registers two new FDR payload kinds: pose.frame_done (per-call telemetry; both success and PnpFailureError paths) and pose.covariance_degraded (per-window throttle exposure). Tests: 21 new (AZ-358 AC-1..11 + AZ-361 AC-1..10/12/13; AZ-361 AC-11 RMSE-ratio informational per spec, not asserted). Updates 2 existing test files for Protocol widening and the FDR-schema round trip. Code review verdict: PASS_WITH_WARNINGS (5 findings: Medium x2, Low x3; none blocking). Full suite: 1958 passed, 1 unrelated host-dependent perf failure (c12 CLI cold-start, pre-existing). Co-authored-by: Cursor <cursoragent@cursor.com>