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Oleksandr Bezdieniezhnykh
64542d32fc
Transitioned the autodev state to phase 21, reflecting the completion of Step 5 and the drafting of Step 6 epics. Revised the architecture documentation to clarify the roles of the Tile Manager and its components, ensuring accurate representation of the system's operational flow. Updated glossary entries for Flight State and Operator to incorporate recent changes and enhance clarity on component interactions and responsibilities.
1.3 KiB
1.3 KiB
Common Helper — LightGlueRuntime
Purpose
Shared LightGlue inference handle. C2.5 (Re-rank) does single-pair LightGlue matching for inlier counting on K=10 candidates per frame; C3 (CrossDomainMatcher) does the heavier matching pass on the surviving N=3 candidates. Both use the same LightGlue engine; sharing the engine avoids paying the engine-build / GPU-memory cost twice.
Used By
- C2.5 — Inlier-based Re-rank.
- C3 — Cross-domain Matcher.
Interface (sketch)
class LightGlueRuntime:
def __init__(engine_handle: EngineHandle): ...
def match(features_a: KeypointSet, features_b: KeypointSet) -> CorrespondenceSet
def match_batch(features_a_list, features_b_list) -> list[CorrespondenceSet]
def descriptor_dim() -> int
Implementation Notes
- Owned by the composition root; the same instance is constructor-injected into both C2.5 and C3.
- Backed by C7's
InferenceRuntime.deserialize_engine(LIGHTGLUE_ENGINE_CACHE_ENTRY)at takeoff. - Single CUDA stream; concurrent calls forbidden — composition root binds the runtime to the single F3 hot-path thread.
Caveats
- The features fed in MUST come from the same backbone as the LightGlue engine was trained for (DISK in production-default; ALIKED / XFeat in alternates). Mixing backbones is a runtime error caught by the matcher's input shape check.