fix(perception): reconstruct rolling occupancy from K1 increments

2026-08-05 21:12:47 +03:00
parent c70ad345ea
commit 7aa3ce55c0
16 changed files with 1489 additions and 141 deletions
@@ -139,7 +139,7 @@
    },
    "wheel": {
      "name": "nodedc_mission_core-0.1.0-py3-none-any.whl",
-      "sha256": "19d8caf9a522747c461fb3ca30aafe54169959d8bd8e671fa6fc8c0ac107875d"
+      "sha256": "__WHEEL_SHA256__"
    }
  },
  "rollback": {
@@ -0,0 +1,67 @@
+{
+  "schema_version": "missioncore.replay-threat-profile/v3",
+  "profile_id": "m4-ravnoves00-virtual-corridor/v3",
+  "provider_id": "dual-evidence-replay-threat/v3",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "temporal_result_id": "m4-temporal-replay-b8611526dfcd2b9be9049560d751bbd23a9ad54b7dda8e9dc48a17374d46266e",
+    "temporal_frames_sha256": "08a03669d3487ecf7bd62b047ae5b8d1ff586a27e7435e5f235907a4d709dd25",
+    "geometry_result_id": "m4-geometry-replay-8daf3109e3cf30b960b4b376032ff3b5ec58ca42a1e5899b841cf29fbcf14ad8",
+    "geometry_frames_sha256": "b4db5d0ebaba4d6268a1006707dc313c229f3dbdfd73b1d863cad5d853be8ac4",
+    "detector_result_id": "m4-detector-replay-11f83f2e0b81758ac2a5a5fc54e9d293b501678df5f6ef97b5c6069ba08605c5",
+    "detector_frames_sha256": "9bf5ae17938cd57c112278781b38d54a7187cf2dabc7bb0332acdb1efad721f5",
+    "source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944"
+  },
+  "calibration": {
+    "calibration_id": "camera-1-kb4-05f3ad9b",
+    "content_identity_sha256": "05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9",
+    "usage": "projection-and-forward-axis-binding"
+  },
+  "body_frame": {
+    "schema_version": "missioncore.replay-body-frame-profile/v1",
+    "origin": "local-surface-vertical-projection",
+    "up": "vendor-slam-map-gravity-axis",
+    "forward": "smoothed-slam-trajectory-validated-by-camera-axis",
+    "trajectory_half_window_frames": 20,
+    "minimum_trajectory_displacement_m": 0.2,
+    "maximum_camera_route_misalignment_deg": 25.0,
+    "maximum_sensor_height_deviation_m": 0.45,
+    "maximum_surface_slope_deg": 10.0
+  },
+  "virtual_rig": {
+    "profile_id": "virtual-base-footprint-1000x600/v3",
+    "body_length_m": 1.0,
+    "body_width_m": 0.6,
+    "lidar_reference": "virtual-body-center",
+    "nominal_sensor_height_m": 1.25,
+    "physical_mount_claimed": false
+  },
+  "corridor": {
+    "profile_id": "ravnoves00-forward-corridor-8m/v3",
+    "forward_length_m": 8.0,
+    "rear_margin_m": 0.5,
+    "lateral_clearance_m": 0.2,
+    "prediction_horizon_seconds": 5.0,
+    "occupied_voxel_size_m": 0.45,
+    "minimum_motion_span_seconds": 0.2
+  },
+  "policy": {
+    "camera_only_decision": "unknown",
+    "held_or_stale_decision": "unknown",
+    "semantic_class_used": false,
+    "detector_identity_used": false,
+    "absence_of_points_means_free": false,
+    "geometry_only_is_eligible": true,
+    "retained_map_intersection_decision": "threat"
+  },
+  "authority": {
+    "mode": "replay-simulated",
+    "physical_live": false,
+    "physical_collision_accepted": false,
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false
+  }
+}
@@ -0,0 +1,38 @@
+{
+  "schema_version": "missioncore.rolling-local-map-profile/v1",
+  "profile_id": "ravnoves00-rolling-local-obstacle-map/v1",
+  "provider_id": "rolling-local-obstacle-map/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "representation_id": "registered-map-increment-v1"
+  },
+  "bounds": {
+    "coordinate_frame": "map",
+    "voxel_size_m": 0.45,
+    "retention_seconds": 3.0,
+    "local_radius_m": 12.0,
+    "maximum_cells": 65536,
+    "maximum_cells_per_component": 4096,
+    "maximum_components": 1024,
+    "neighbor_radius_cells": 1
+  },
+  "policy": {
+    "input_is_complete_scan": false,
+    "input_is_registered_map_increment": true,
+    "absence_of_republication_means_free": false,
+    "clearing_from_missing_points": false,
+    "retained_occupancy_can_assert_threat": true,
+    "retained_motion_claimed": false,
+    "local_radius_eviction": true,
+    "time_bound_eviction": true,
+    "capacity_eviction_allowed": false
+  },
+  "authority": {
+    "ground_truth": false,
+    "physical_live": false,
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false
+  }
+}