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feat(perception): project recorded results into Rerun

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DCCONSTRUCTIONS
2026-07-19 17:39:13 +03:00
parent 31fc4f6567
commit 2b53168149
13 changed files with 1328 additions and 8 deletions
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tests/test_compute_results.py
+212
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@@ -0,0 +1,212 @@
from __future__ import annotations
import hashlib
import json
from pathlib import Path
from typing import Any
import pytest
import k1link.compute.results as result_module
from k1link.compute import (
RecordedPerceptionOverlayStore,
prepare_camera_compute_job,
validate_recorded_perception_result,
)
from k1link.sessions import SessionIntegrityError
from k1link.web.camera_archive import CameraArchiveWriter
def _canonical_json(value: object) -> bytes:
return json.dumps(
value,
ensure_ascii=False,
sort_keys=True,
separators=(",", ":"),
allow_nan=False,
).encode("utf-8")
def _job(tmp_path: Path) -> Any:
origin_epoch_ns = 1_000_000_000
origin_monotonic_ns = 2_000_000_000
session = tmp_path / "session-1"
session.mkdir()
def box(box_type: bytes, payload: bytes = b"") -> bytes:
return (8 + len(payload)).to_bytes(4, "big") + box_type + payload
def full_box(box_type: bytes, payload: bytes = b"", *, flags: int = 0) -> bytes:
return box(box_type, bytes([0]) + flags.to_bytes(3, "big") + payload)
track_id = 1
tkhd = full_box(b"tkhd", b"\x00" * 8 + track_id.to_bytes(4, "big") + b"\x00" * 4)
mdhd = full_box(
b"mdhd",
b"\x00" * 8 + (1_000).to_bytes(4, "big") + b"\x00" * 4,
)
hdlr = full_box(b"hdlr", b"\x00" * 4 + b"vide")
trak = box(b"trak", tkhd + box(b"mdia", mdhd + hdlr))
trex = full_box(
b"trex",
track_id.to_bytes(4, "big")
+ (1).to_bytes(4, "big")
+ (500).to_bytes(4, "big")
+ b"\x00" * 8,
)
init = box(b"ftyp", b"isom") + box(
b"moov",
trak + box(b"mvex", trex) + box(b"avcC", b"\x01\x64\x00\x28"),
)
tfhd = full_box(b"tfhd", track_id.to_bytes(4, "big"), flags=0x020000)
tfdt = full_box(b"tfdt", (0).to_bytes(4, "big"))
trun = full_box(b"trun", (1).to_bytes(4, "big"))
fragment = box(b"moof", box(b"traf", tfhd + tfdt + trun)) + box(b"mdat", b"frame")
writer = CameraArchiveWriter(session, "sensor.camera.left", 1)
writer.append(
"init",
init,
host_epoch_ns=origin_epoch_ns + 100_000_000,
host_monotonic_ns=origin_monotonic_ns + 100_000_000,
)
writer.append(
"media",
fragment,
host_epoch_ns=origin_epoch_ns + 200_000_000,
host_monotonic_ns=origin_monotonic_ns + 200_000_000,
)
writer.close()
return prepare_camera_compute_job(
session_root=session,
source_id="sensor.camera.left",
codec_epoch=1,
origin_epoch_ns=origin_epoch_ns,
origin_monotonic_ns=origin_monotonic_ns,
output_root=tmp_path / "jobs",
)
def _result(tmp_path: Path, job: Any) -> Path:
parameters = {
"score_threshold": 0.25,
"nms_threshold": 0.45,
"input_shape": [1, 3, 640, 640],
}
pipeline = {"id": "recorded-camera-coco-detection", "version": 1}
model = {
"id": "synthetic",
"version": 1,
"sha256": "a" * 64,
"source_url": "https://example.invalid/model.onnx",
"license": "test-only",
"classes": "synthetic",
}
identity = {
"schema_version": "missioncore.compute-result-identity/v1",
"job_id": job.job_id,
"input_sha256": job.input_sha256,
"pipeline": pipeline,
"model": {key: model[key] for key in ("id", "version", "sha256")},
"parameters": parameters,
}
identity_sha256 = hashlib.sha256(_canonical_json(identity)).hexdigest()
result_id = f"result-{identity_sha256}"
root = tmp_path / "results" / job.job_id / result_id
root.mkdir(parents=True)
detections = {
"schema_version": "missioncore.object-detections/v1",
"result_id": result_id,
"job_id": job.job_id,
"input_sha256": job.input_sha256,
"timestamp_basis": "session-time-seconds",
"frames": [
{
"frame_index": 0,
"epoch_seconds": 0.0,
"session_seconds": job.timeline_start_seconds,
"detections": [
{
"class_id": 0,
"class_name": "person",
"score": 0.75,
"bbox_xyxy": [10.0, 20.0, 30.0, 60.0],
}
],
}
],
}
detection_payload = json.dumps(detections, indent=2).encode() + b"\n"
(root / "detections.json").write_bytes(detection_payload)
result = {
"schema_version": "missioncore.compute-result/v1",
"result_id": result_id,
"identity_sha256": identity_sha256,
"job_id": job.job_id,
"input_sha256": job.input_sha256,
"created_at_utc": "2026-07-19T00:00:00.000Z",
"pipeline": pipeline,
"runtime": {"kind": "synthetic"},
"model": model,
"parameters": parameters,
"metrics": {"frames_processed": 1, "detections": 1},
"artifacts": [
{
"kind": "object-detections",
"path": "detections.json",
"byte_length": len(detection_payload),
"sha256": hashlib.sha256(detection_payload).hexdigest(),
"schema_version": "missioncore.object-detections/v1",
}
],
"warnings": [],
}
(root / "result.json").write_text(json.dumps(result, indent=2) + "\n", encoding="utf-8")
return root
def test_result_is_bound_to_job_and_cache_reuses_complete_overlay(
tmp_path: Path,
monkeypatch: pytest.MonkeyPatch,
) -> None:
job = _job(tmp_path)
result_root = _result(tmp_path, job)
result = validate_recorded_perception_result(job.job_root, result_root)
assert result.job.session_id == "session-1"
assert result.frames[0].detections[0].class_name == "person"
calls = 0
def render(*_: object, **__: object) -> bytes:
nonlocal calls
calls += 1
return b"RRF2synthetic-overlay"
monkeypatch.setattr(result_module, "_render_overlay", render)
store = RecordedPerceptionOverlayStore(
jobs_root=tmp_path / "jobs",
results_root=tmp_path / "results",
cache_root=tmp_path / "cache",
ffmpeg_path=Path(__file__),
ffprobe_path=Path(__file__),
)
first = store.render(
"session-1",
application_id="nodedc_mission_core_recorded",
recording_id="recording-1",
)
second = store.render(
"session-1",
application_id="nodedc_mission_core_recorded",
recording_id="recording-1",
)
assert first == second == b"RRF2synthetic-overlay"
assert calls == 1
def test_result_rejects_changed_detection_payload(tmp_path: Path) -> None:
job = _job(tmp_path)
result_root = _result(tmp_path, job)
detection_path = result_root / "detections.json"
detection_path.write_bytes(detection_path.read_bytes().replace(b"0.75", b"0.76"))
with pytest.raises(SessionIntegrityError, match="artifact identity changed"):
validate_recorded_perception_result(job.job_root, result_root)
tests/test_rrd_export.py
+5 -2
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@@ -17,6 +17,7 @@ from k1link.device_plugins.xgrids_k1.mqtt.capture import (
RAW_MAGIC,
)
from k1link.device_plugins.xgrids_k1.rrd_export import (
RECORDED_CAMERA_VIEW_ID,
RECORDED_METRICS_VIEW_ID,
RECORDED_POINTS_VISUALIZER_ID,
RECORDED_ROOT_CONTAINER_ID,
@@ -232,8 +233,10 @@ def test_dynamic_blueprint_reuses_scene_ids_without_playback_mutation() -> None:
first_view = first.root_container.contents[0]
second_view = second.root_container.contents[0]
assert first_view.id == second_view.id == RECORDED_SPATIAL_VIEW_ID
assert first.root_container.contents[1].id == RECORDED_METRICS_VIEW_ID
assert second.root_container.contents[1].id == RECORDED_METRICS_VIEW_ID
assert first.root_container.contents[1].id == RECORDED_CAMERA_VIEW_ID
assert second.root_container.contents[1].id == RECORDED_CAMERA_VIEW_ID
assert first.root_container.contents[2].id == RECORDED_METRICS_VIEW_ID
assert second.root_container.contents[2].id == RECORDED_METRICS_VIEW_ID
first_point_behavior, first_point_visualizer = first_view.visualizer_overrides["/world/points"]
second_point_behavior, second_point_visualizer = second_view.visualizer_overrides[
tests/test_session_api.py
+66
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@@ -35,6 +35,7 @@ from k1link.web.camera_archive import CameraArchiveWriter
from k1link.web.session_api import (
LayoutPutRequest,
RecordedBlueprintRequest,
RecordedPerceptionRequest,
ReplayRequest,
build_session_router,
)
@@ -1036,9 +1037,11 @@ def test_recorded_blueprint_endpoint_is_small_strict_and_session_scoped(
store = SessionStore(repository, data_dir=tmp_path / "data")
store.reconcile_archive(xgrids_k1_archive_source(sessions))
observed_settings: list[RerunSceneSettings] = []
observed_kwargs: list[dict[str, Any]] = []
def capture_settings(settings: RerunSceneSettings, **kwargs: Any) -> bytes:
observed_settings.append(settings)
observed_kwargs.append(kwargs)
return recorded_blueprint_rrd(settings, **kwargs)
monkeypatch.setattr(
@@ -1065,6 +1068,7 @@ def test_recorded_blueprint_endpoint_is_small_strict_and_session_scoped(
point_size=6.25,
palette="custom",
custom_color="#112233",
active_view="perception",
),
)
)
@@ -1078,6 +1082,7 @@ def test_recorded_blueprint_endpoint_is_small_strict_and_session_scoped(
assert len(observed_settings) == 1
assert observed_settings[0].show_points is False
assert observed_settings[0].show_trajectory is True
assert observed_kwargs[0]["active_view"] == "perception"
with pytest.raises(ValueError):
RecordedBlueprintRequest.model_validate(
@@ -1106,6 +1111,67 @@ def test_recorded_blueprint_endpoint_is_small_strict_and_session_scoped(
assert missing.value.status_code == 404
def test_recorded_perception_endpoint_returns_one_complete_optional_overlay(
tmp_path: Path,
) -> None:
repository = tmp_path / "repo"
sessions = repository / "sessions"
session = make_legacy_session(sessions, "20260716T205632Z_viewer_live")
store = SessionStore(repository, data_dir=tmp_path / "data")
store.reconcile_archive(xgrids_k1_archive_source(sessions))
calls: list[tuple[str, str, str]] = []
class Provider:
def render(
self,
session_id: str,
*,
application_id: str,
recording_id: str,
) -> bytes:
calls.append((session_id, application_id, recording_id))
return b"RRF2perception"
router = build_session_router(store, perception_overlay_provider=Provider())
perception_route = endpoint(
router,
"/api/v1/observation-sessions/{session_id}/perception.rrd",
"POST",
)
response = asyncio.run(
perception_route(
session_id=session.name,
request=RecordedPerceptionRequest(
application_id="nodedc_mission_core_recorded",
recording_id="recording-001",
),
)
)
assert response.body == b"RRF2perception"
assert response.media_type == "application/vnd.rerun.rrd"
assert response.headers["content-length"] == str(len(response.body))
assert calls == [
(session.name, "nodedc_mission_core_recorded", "recording-001")
]
empty_router = build_session_router(store)
empty_route = endpoint(
empty_router,
"/api/v1/observation-sessions/{session_id}/perception.rrd",
"POST",
)
empty = asyncio.run(
empty_route(
session_id=session.name,
request=RecordedPerceptionRequest(
application_id="nodedc_mission_core_recorded",
recording_id="recording-001",
),
)
)
assert empty.status_code == 204
def test_session_router_exposes_opaque_recorded_media_manifest_and_ranges(
tmp_path: Path,
) -> None: