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perf(perception): require exact critical-range persistence

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DCCONSTRUCTIONS
2026-08-26 13:59:26 +03:00
parent 9561a068ab
commit 1496184167
5 changed files with 137 additions and 114 deletions
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config/perception/m48r3-additive-low-step-occupancy-v1.json
+2 -1
View File
@@ -22,7 +22,8 @@
"minimum_points": 5,
"sparse_persistence_minimum_points": 2,
"sparse_persistence_window_frames": 6,
"sparse_persistence_minimum_hits": 3,
"sparse_persistence_minimum_hits": 6,
"sparse_persistence_maximum_range_m": 8.0,
"minimum_voxels": 1,
"local_radius_m": 10.0,
"maximum_candidate_points_per_frame": 768,
config/perception/m48r3-native-low-step-reference-graph-shadow-v1.json
+1 -1
View File
@@ -22,7 +22,7 @@
"provider_id": "ravnoves00-additive-low-step-geometry/v1",
"version": "0.1.0",
"revision": "m48r3-ravnoves00-additive-low-step/v1",
"sha256": "9ecc71a1a769d79ac62c93bcd84883ffbe8afd3d6db07c67ba2a5a504d6d841f"
"sha256": "00fc197ee7200e2f0447b6bec7cc2f21b3c2970d7dd9414cc41e6787d712fee5"
},
{
"role": "temporal",
experiments/perception/worker/Invoke-M48NNativeReferenceGraph.ps1
+2 -2
View File
@@ -113,10 +113,10 @@ $expectedConfigs = [ordered]@{
if ($AdditiveLowStep) {
$expectedConfigs.Remove("m48n-rf-detr-native-reference-graph-shadow-v0.json")
$expectedConfigs["m48r3-native-low-step-reference-graph-shadow-v1.json"] = (
"c4fef7534a6c3b4305a1c068d68eb1e9be115e1310cddbda529269c7820c40ef"
"e2e307347265076908c4ec1b7da75028998490dfa74ba64f12939e233406d9d0"
)
$expectedConfigs["m48r3-additive-low-step-occupancy-v1.json"] = (
"9ecc71a1a769d79ac62c93bcd84883ffbe8afd3d6db07c67ba2a5a504d6d841f"
"00fc197ee7200e2f0447b6bec7cc2f21b3c2970d7dd9414cc41e6787d712fee5"
)
}
foreach ($entry in $expectedConfigs.GetEnumerator()) {
src/k1link/perception/m48_low_step_occupancy.py
+50 -81
View File
@@ -36,9 +36,7 @@ from .geometry import (
from .geometry_math import POINT_OCCUPIED
from .providers import SourcePacket
M48_LOW_STEP_PROFILE_SCHEMA: Final = (
"missioncore.m48-additive-low-step-occupancy-profile/v1"
)
M48_LOW_STEP_PROFILE_SCHEMA: Final = "missioncore.m48-additive-low-step-occupancy-profile/v1"
M48_LOW_STEP_PROVIDER_ID: Final = "ravnoves00-additive-low-step-geometry/v1"
IntArray = npt.NDArray[np.int64]
@@ -56,6 +54,7 @@ class LowStepComponentProfile:
sparse_persistence_minimum_points: int
sparse_persistence_window_frames: int
sparse_persistence_minimum_hits: int
sparse_persistence_maximum_range_m: float
minimum_voxels: int
local_radius_m: float
maximum_candidate_points_per_frame: int
@@ -73,6 +72,8 @@ class LowStepComponentProfile:
or not 2
<= self.sparse_persistence_minimum_hits
<= self.sparse_persistence_window_frames
or not math.isfinite(self.sparse_persistence_maximum_range_m)
or not 1.0 <= self.sparse_persistence_maximum_range_m <= self.local_radius_m
or not 1 <= self.minimum_voxels <= 128
or not math.isfinite(self.local_radius_m)
or not 1.0 <= self.local_radius_m <= 100.0
@@ -165,9 +166,9 @@ class M48AdditiveLowStepGeometryProvider:
self._peak_component_voxels = 0
self._additive_core_duration_ns = 0
self._sparse_lock = Lock()
self._sparse_history: deque[
tuple[int, tuple[frozenset[tuple[int, int, int]], ...]]
] = deque()
self._sparse_history: deque[tuple[int, tuple[frozenset[tuple[int, int, int]], ...]]] = (
deque()
)
self._last_sparse_sequence: int | None = None
def associate(
@@ -188,9 +189,7 @@ class M48AdditiveLowStepGeometryProvider:
except Exception:
with self._lock:
self._failed_frames += 1
self._additive_core_duration_ns += max(
0, time.perf_counter_ns() - started
)
self._additive_core_duration_ns += max(0, time.perf_counter_ns() - started)
raise
with self._lock:
self._completed_frames += 1
@@ -198,18 +197,10 @@ class M48AdditiveLowStepGeometryProvider:
self._candidate_points += candidate_points
self._additive_observation_count += len(additive)
self._additive_voxels += voxel_count
self._peak_candidate_points = max(
self._peak_candidate_points, candidate_points
)
self._peak_additive_observations = max(
self._peak_additive_observations, len(additive)
)
self._peak_component_voxels = max(
self._peak_component_voxels, peak_component_voxels
)
self._additive_core_duration_ns += max(
0, time.perf_counter_ns() - started
)
self._peak_candidate_points = max(self._peak_candidate_points, candidate_points)
self._peak_additive_observations = max(self._peak_additive_observations, len(additive))
self._peak_component_voxels = max(self._peak_component_voxels, peak_component_voxels)
self._additive_core_duration_ns += max(0, time.perf_counter_ns() - started)
return tuple(result)
def _build_additive_observations(
@@ -226,9 +217,9 @@ class M48AdditiveLowStepGeometryProvider:
claimed = {
point_id for observation in baseline for point_id in observation.source_point_ids
}
candidate = np.flatnonzero(
(step > 0) & (frame.point_class != POINT_OCCUPIED)
).astype(np.int64)
candidate = np.flatnonzero((step > 0) & (frame.point_class != POINT_OCCUPIED)).astype(
np.int64
)
if claimed and candidate.size:
candidate = candidate[
np.fromiter(
@@ -263,6 +254,7 @@ class M48AdditiveLowStepGeometryProvider:
sequence=packet.envelope.sequence,
components=components,
points_map=frame.points_map,
sensor_position_map=frame.sensor_position_map,
)
qualified = (*strong, *persistent_sparse)
qualified = tuple(
@@ -272,8 +264,7 @@ class M48AdditiveLowStepGeometryProvider:
float(
np.min(
np.linalg.norm(
frame.points_map[item[0]]
- frame.sensor_position_map,
frame.points_map[item[0]] - frame.sensor_position_map,
axis=1,
)
)
@@ -298,17 +289,11 @@ class M48AdditiveLowStepGeometryProvider:
points = frame.points_map[indices]
centroid = np.median(points, axis=0)
covariance = points.var(axis=0)
nearest = float(
np.min(np.linalg.norm(points - frame.sensor_position_map, axis=1))
)
nearest = float(np.min(np.linalg.norm(points - frame.sensor_position_map, axis=1)))
observations.append(
ObstacleObservation(
observation_id=(
f"{packet.envelope.frame_id}:low-step:{component_index}"
),
occupancy_key=(
f"{packet.envelope.frame_id}:low-step:{component_index}"
),
observation_id=(f"{packet.envelope.frame_id}:low-step:{component_index}"),
occupancy_key=(f"{packet.envelope.frame_id}:low-step:{component_index}"),
source_id=packet.envelope.source_id,
frame_id=packet.envelope.frame_id,
evidence_time_ns=packet.envelope.timestamps.source_ns,
@@ -348,6 +333,7 @@ class M48AdditiveLowStepGeometryProvider:
sequence: int,
components: tuple[tuple[IntArray, int], ...],
points_map: npt.NDArray[np.float64],
sensor_position_map: npt.NDArray[np.float64],
) -> tuple[tuple[IntArray, int], ...]:
"""Promote only weak geometry repeated in a bounded causal window."""
@@ -366,13 +352,10 @@ class M48AdditiveLowStepGeometryProvider:
and item[1] >= component_profile.minimum_voxels
)
with self._sparse_lock:
if (
self._last_sparse_sequence is not None
and (
sequence <= self._last_sparse_sequence
or sequence - self._last_sparse_sequence
> component_profile.sparse_persistence_window_frames
)
if self._last_sparse_sequence is not None and (
sequence <= self._last_sparse_sequence
or sequence - self._last_sparse_sequence
> component_profile.sparse_persistence_window_frames
):
self._sparse_history.clear()
first_allowed = sequence - component_profile.sparse_persistence_window_frames + 1
@@ -383,17 +366,23 @@ class M48AdditiveLowStepGeometryProvider:
if item[0].size >= component_profile.minimum_points:
continue
hit_count = 1 + sum(
any(
_cells_touch(cells, previous)
for previous in previous_components
)
any(not cells.isdisjoint(previous) for previous in previous_components)
for _, previous_components in self._sparse_history
)
if hit_count >= component_profile.sparse_persistence_minimum_hits:
if (
hit_count >= component_profile.sparse_persistence_minimum_hits
and float(
np.min(
np.linalg.norm(
points_map[item[0]] - sensor_position_map,
axis=1,
)
)
)
<= component_profile.sparse_persistence_maximum_range_m
):
promoted.append(item)
self._sparse_history.append(
(sequence, tuple(cells for _, cells in current))
)
self._sparse_history.append((sequence, tuple(cells for _, cells in current)))
self._last_sparse_sequence = sequence
return tuple(promoted)
@@ -409,9 +398,7 @@ class M48AdditiveLowStepGeometryProvider:
additive_observation_count=self._additive_observation_count,
additive_voxel_count=self._additive_voxels,
peak_candidate_points_per_frame=self._peak_candidate_points,
peak_additive_observations_per_frame=(
self._peak_additive_observations
),
peak_additive_observations_per_frame=(self._peak_additive_observations),
peak_voxels_per_component=self._peak_component_voxels,
additive_core_duration_ns=self._additive_core_duration_ns,
)
@@ -478,6 +465,7 @@ def load_m48_low_step_occupancy_profile(
"sparse_persistence_minimum_points",
"sparse_persistence_window_frames",
"sparse_persistence_minimum_hits",
"sparse_persistence_maximum_range_m",
"minimum_voxels",
"local_radius_m",
"maximum_candidate_points_per_frame",
@@ -537,9 +525,7 @@ def load_m48_low_step_occupancy_profile(
if _number(acceptance, key) < 0.0:
raise M48LowStepOccupancyError("low-step acceptance bounds are invalid")
if (
not _string(source, "m48r2_result_id").startswith(
"m48-static-occupancy-qualification-"
)
not _string(source, "m48r2_result_id").startswith("m48-static-occupancy-qualification-")
or len(_string(source, "m48r2_result_id"))
!= len("m48-static-occupancy-qualification-") + 64
):
@@ -577,9 +563,7 @@ def load_m48_low_step_occupancy_profile(
LowStepSeparationExpectation(
anchor_id=_string(item, "anchor_id"),
sequence=_positive_integer(item, "sequence"),
expected_minimum_components=_positive_integer(
item, "expected_minimum_components"
),
expected_minimum_components=_positive_integer(item, "expected_minimum_components"),
interpretation=_string(item, "interpretation"),
)
)
@@ -596,9 +580,7 @@ def load_m48_low_step_occupancy_profile(
base_geometry_profile_sha256=_digest(base, "sha256"),
component=LowStepComponentProfile(
voxel_size_m=_number(component, "voxel_size_m"),
neighbor_radius_cells=_positive_integer(
component, "neighbor_radius_cells"
),
neighbor_radius_cells=_positive_integer(component, "neighbor_radius_cells"),
minimum_points=_positive_integer(component, "minimum_points"),
sparse_persistence_minimum_points=_positive_integer(
component,
@@ -612,14 +594,16 @@ def load_m48_low_step_occupancy_profile(
component,
"sparse_persistence_minimum_hits",
),
sparse_persistence_maximum_range_m=_number(
component,
"sparse_persistence_maximum_range_m",
),
minimum_voxels=_positive_integer(component, "minimum_voxels"),
local_radius_m=_number(component, "local_radius_m"),
maximum_candidate_points_per_frame=_positive_integer(
component, "maximum_candidate_points_per_frame"
),
maximum_cells_per_component=_positive_integer(
component, "maximum_cells_per_component"
),
maximum_cells_per_component=_positive_integer(component, "maximum_cells_per_component"),
maximum_components_per_frame=_positive_integer(
component, "maximum_components_per_frame"
),
@@ -636,9 +620,7 @@ def _voxel_components(
) -> tuple[tuple[IntArray, int], ...]:
if source_indices.size == 0:
return ()
cells = np.floor(
points_map[source_indices] / profile.voxel_size_m
).astype(np.int64)
cells = np.floor(points_map[source_indices] / profile.voxel_size_m).astype(np.int64)
cell_points: dict[tuple[int, int, int], list[int]] = {}
for local_index, row in enumerate(cells):
key = (int(row[0]), int(row[1]), int(row[2]))
@@ -690,19 +672,6 @@ def _component_cells(
return frozenset((int(row[0]), int(row[1]), int(row[2])) for row in rows)
def _cells_touch(
current: frozenset[tuple[int, int, int]],
previous: frozenset[tuple[int, int, int]],
) -> bool:
return any(
abs(left[0] - right[0]) <= 1
and abs(left[1] - right[1]) <= 1
and abs(left[2] - right[2]) <= 1
for left in current
for right in previous
)
def _object(value: object, label: str) -> dict[str, object]:
if not isinstance(value, dict) or not all(isinstance(key, str) for key in value):
raise M48LowStepOccupancyError(f"{label} must be an object")
tests/test_m48_low_step_occupancy.py
+82 -29
View File
@@ -23,10 +23,7 @@ from k1link.perception.providers import SourcePacket
from k1link.perception.recorded_source import RecordedFrameReference
REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
PROFILE_PATH = (
REPOSITORY_ROOT
/ "config/perception/m48r3-additive-low-step-occupancy-v1.json"
)
PROFILE_PATH = REPOSITORY_ROOT / "config/perception/m48r3-additive-low-step-occupancy-v1.json"
R2_CASES_PATH = (
REPOSITORY_ROOT
/ ".runtime/compute-experiments/m48/static-occupancy-qualification-results"
@@ -126,9 +123,7 @@ def test_wide_operator_region_cannot_bridge_two_spatial_components() -> None:
observations = provider.associate(_packet(), ())
additive = tuple(
item
for item in observations
if "additive-low-step-current-component" in item.reason_codes
item for item in observations if "additive-low-step-current-component" in item.reason_codes
)
assert len(additive) == 2
@@ -155,15 +150,29 @@ def test_sparse_component_requires_bounded_causal_persistence() -> None:
profile=load_m48_low_step_occupancy_profile(PROFILE_PATH),
)
first = provider.associate(_packet(0), ())
second = provider.associate(_packet(1), ())
third = provider.associate(_packet(2), ())
first_five = tuple(provider.associate(_packet(sequence), ()) for sequence in range(5))
sixth = provider.associate(_packet(5), ())
assert first == ()
assert second == ()
assert len(third) == 1
assert third[0].source_point_ids == (0, 1)
assert "additive-low-step-current-component" in third[0].reason_codes
assert first_five == ((), (), (), (), ())
assert len(sixth) == 1
assert sixth[0].source_point_ids == (0, 1)
assert "additive-low-step-current-component" in sixth[0].reason_codes
def test_persistent_sparse_component_is_bounded_to_critical_range() -> None:
points = np.asarray(
((0.00, 0.0, 8.20), (0.04, 0.0, 8.20)),
dtype=np.float64,
)
store = _Store(_frame(points), np.ones(2, dtype=np.uint8))
provider = M48AdditiveLowStepGeometryProvider( # type: ignore[arg-type]
store=store,
profile=load_m48_low_step_occupancy_profile(PROFILE_PATH),
)
observations = tuple(provider.associate(_packet(sequence), ()) for sequence in range(6))
assert observations == ((), (), (), (), (), ())
def test_frame_1856_preserves_baseline_posts_and_splits_low_hemisphere_support() -> None:
@@ -185,8 +194,7 @@ def test_frame_1856_preserves_baseline_posts_and_splits_low_hemisphere_support()
profile=frame.projection,
)
source_rows = {
int(source_index): row
for row, source_index in enumerate(projected.source_indices)
int(source_index): row for row, source_index in enumerate(projected.source_indices)
}
cases = [
json.loads(line)
@@ -198,14 +206,62 @@ def test_frame_1856_preserves_baseline_posts_and_splits_low_hemisphere_support()
hemispheres = by_anchor["anchor-924a4623077fe5df18816b47"]
assert posts["accepted_graph"]["component_count"] >= 2
assert _component_hits(
observations,
hemispheres["extent_xyxy"],
projected.pixels_xy,
source_rows,
width=frame.projection.width,
height=frame.projection.height,
) >= 2
assert (
_component_hits(
observations,
hemispheres["extent_xyxy"],
projected.pixels_xy,
source_rows,
width=frame.projection.width,
height=frame.projection.height,
)
>= 2
)
def test_exact_six_frame_persistence_recovers_critical_near_anchor() -> None:
store = RecordedGeometryStore.from_repository(REPOSITORY_ROOT)
provider = M48AdditiveLowStepGeometryProvider(
store=store,
profile=load_m48_low_step_occupancy_profile(PROFILE_PATH),
)
observations: tuple[ObstacleObservation, ...] = ()
for source_sequence in range(1084, 1093):
observations = provider.associate(_packet(source_sequence), ())
evidence_frame = store.frame_for_index(1092)
target_frame = store.frame_for_index(1093)
assert evidence_frame is not None
assert target_frame is not None
projected = project_map_points_kb4(
evidence_frame.points_map,
position_map_xyz=target_frame.sensor_position_map,
orientation_map_from_lidar_xyzw=target_frame.sensor_orientation_xyzw,
profile=target_frame.projection,
)
source_rows = {
int(source_index): row for row, source_index in enumerate(projected.source_indices)
}
critical = next(
json.loads(line)
for line in R2_CASES_PATH.read_text("utf-8").splitlines()
if "anchor-0df056d9c565b74a25d3cca3" in line
)
additive = tuple(
item for item in observations if "additive-low-step-current-component" in item.reason_codes
)
assert (
_component_hits(
additive,
critical["extent_xyxy"],
projected.pixels_xy,
source_rows,
width=target_frame.projection.width,
height=target_frame.projection.height,
)
>= 1
)
def _component_hits(
@@ -229,9 +285,6 @@ def _component_hits(
if not indices:
continue
rows = [source_rows[index] for index in indices if index in source_rows]
if any(
x1 <= pixels[row, 0] <= x2 and y1 <= pixels[row, 1] <= y2
for row in rows
):
if any(x1 <= pixels[row, 0] <= x2 and y1 <= pixels[row, 1] <= y2 for row in rows):
count += 1
return count