fix(perception): reconstruct rolling occupancy from K1 increments
This commit is contained in:
DCCONSTRUCTIONS
@@ -8,7 +8,7 @@ from k1link.perception.threat_replay import read_threat_replay_result
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from k1link.web.m4_threat_replay_api import build_m4_threat_replay_router
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REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
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RESULT_ID = "m4-threat-replay-78a06d96c4db5263dc63fc4e6e067c07fc81370d3f5085ff43361af89cec1e9e"
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RESULT_ID = "m4-threat-replay-ef521b23eee704dee99856b6e93d5047a9b358e21ffda3ea9cacc2ef768164d9"
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RESULTS_ROOT = REPOSITORY_ROOT / ".runtime/compute-experiments/m4/replay-threat"
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@@ -29,18 +29,19 @@ def test_full_source_threat_result_closes_m4_6_contract() -> None:
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assert result.metrics["evidence"] == {
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"camera-only": 10158,
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"current-metric": 27299,
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"rolling-map-retained": 69855,
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"stale-or-held": 37995,
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}
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assert result.metrics["decisions"] == {
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"not-threat": 10700,
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"threat": 2716,
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"unknown": 62036,
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"threat": 6626,
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"unknown": 127981,
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}
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assert result.metrics["fixtures"] == {
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"critical": 4,
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"critical": 5,
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"critical_false_not_threat": 0,
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"passed": 9,
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"total": 9,
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"passed": 10,
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"total": 10,
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}
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@@ -50,10 +51,10 @@ def test_threat_result_is_content_bound_and_visual_evidence_is_complete() -> Non
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assert isinstance(identity, dict)
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assert identity["frames_sha256"] == (
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"d55e7651f0b16a62c6b61c5cb2358dd8dff87dbfa57a59e9ec350bc38b156bc1"
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"57219acd7dfe1cf04b12d4a415d1819e0a4947bc3173333bb56eea8fd2bd47b9"
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)
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assert identity["visuals_sha256"] == (
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"957c35d46ae30143beb6b2f26f8f722853ef2a1e91a41d5dc1a03fbf723a54e0"
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"bda54e144a1b4c878ba645a8dafedcdc0332e16a1489b62b7100670e8eae6f25"
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)
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visual = result.metrics["visual_evidence"]
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assert isinstance(visual, dict)
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@@ -69,7 +70,44 @@ def test_threat_result_is_content_bound_and_visual_evidence_is_complete() -> Non
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"qualified_base_footprint_available",
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)
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)
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assert visual["geometry_regression_sequences"] == [138, 274]
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assert visual["geometry_regression_sequences"] == [138, 274, 1880]
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assert visual["frame_1880_regression"] == {
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"camera_visible_hemispheres_independent_truth": False,
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"engineering_anchors": [
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{
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"anchor_id": "near-concrete-hemisphere",
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"bounds_body_xyz_m": [[0.3, 1.2], [-0.8, 0.2], [-0.1, 0.9]],
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"centroid_body_xyz_m": [
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0.7594228459267565,
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-0.2681278641873485,
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0.3753253937774115,
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],
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"component_id": "rolling-5329b5d2ef498e6250c931ff",
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"decision": "threat",
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"matched": True,
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"must_assert_threat": True,
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},
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{
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"anchor_id": "far-concrete-hemisphere",
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"bounds_body_xyz_m": [[1.5, 2.7], [0.6, 1.7], [-0.1, 0.9]],
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"centroid_body_xyz_m": [
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2.058019871618555,
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1.1276051922616088,
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0.2553253937774115,
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],
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"component_id": "rolling-7ba116b07683abeca7c8005b",
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"decision": "threat",
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"matched": True,
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"must_assert_threat": False,
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},
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],
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"gate": "two-visible-hemisphere-regression",
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"matched_anchor_count": 2,
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"required_threats_passed": True,
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"retained_components": 10,
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"retained_threat_components": 2,
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"sequence": 1880,
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}
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body_frame = result.metrics["body_frame"]
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assert body_frame["qualified"] == 3861
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assert body_frame["rejected"] == 67
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@@ -88,7 +126,8 @@ def test_m4_6_lab_api_projects_report_and_exact_visual_frame() -> None:
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assert len(visuals["items"]) == 32
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assert [item["sequence"] for item in visuals["items"][:3]] == [62, 138, 274]
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frame = get_visual(RESULT_ID, 1)
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assert frame["schema_version"] == "missioncore.perception-threat-visual-frame/v1"
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assert frame["schema_version"] == "missioncore.perception-threat-visual-frame/v2"
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assert frame["point_cloud_layer"] == "current-increment"
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assert frame["point_cloud_sample_count"] > 0
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assert frame["rig"] == {
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"length_m": 1.0,
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@@ -83,6 +83,10 @@ def test_worker_shadow_artifact_is_deterministic_narrow_and_self_contained(
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"name": BUILDER.RUNNER_NAME,
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"sha256": _sha256(BUILDER.RUNNER.read_bytes()),
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}
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assert descriptor["release"]["wheel"] == {
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"name": BUILDER.WHEEL_NAME,
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"sha256": BUILDER.EXPECTED_WHEEL_SHA256,
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}
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assert descriptor["container"]["public_ports"] is False
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assert descriptor["rollback"] == {
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"durable_worker_action": "none",
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@@ -48,6 +48,7 @@ TEMPORAL_RUNTIME_MODULES = (
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"motion.py",
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"providers.py",
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"recorded_source.py",
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"rolling_map.py",
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"temporal.py",
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"temporal_replay.py",
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"temporal_replay_cli.py",
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@@ -61,6 +62,7 @@ THREAT_RUNTIME_MODULES = (
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"geometry_replay.py",
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"providers.py",
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"recorded_source.py",
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"rolling_map.py",
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"temporal_replay.py",
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"threat.py",
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"threat_replay.py",
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@@ -28,6 +28,7 @@ from k1link.perception.threat import (
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REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
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PROFILE_PATH = REPOSITORY_ROOT / "config/perception/m4-replay-threat-v2.json"
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ROLLING_PROFILE_PATH = REPOSITORY_ROOT / "config/perception/m4-replay-threat-v3.json"
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class _BodyFrames:
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@@ -61,7 +62,7 @@ def _obstacle(
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component_id=component_id,
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identity_scope="ephemeral",
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state=state,
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ttl_ns=750_000_000,
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ttl_ns=(3_000_000_000 if state is TemporalState.RETAINED else 750_000_000),
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last_hit_ns=current.evidence_time_ns,
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age_ns=0 if state is TemporalState.CURRENT else 100_000_000,
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association_basis="test-spatial-support",
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@@ -307,3 +308,32 @@ def test_semantic_hint_and_ephemeral_component_name_do_not_change_threat_geometr
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assert values[0].relative_speed_mps == values[1].relative_speed_mps
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assert values[0].closest_approach_m == values[1].closest_approach_m
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assert values[0].ttc_seconds == values[1].ttc_seconds
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def test_retained_map_can_block_but_cannot_claim_clear_or_motion() -> None:
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provider = DualEvidenceReplayThreatProvider(
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body_frame_resolver=_BodyFrames(),
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profile=load_replay_threat_profile(ROLLING_PROFILE_PATH),
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)
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retained_in = _obstacle(
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"retained-in",
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GridCell(6, 0, 0),
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motion=MotionState.UNKNOWN,
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history=(("frame-000002", 300_000_000, (2.925, 0.225, 0.225)),),
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state=TemporalState.RETAINED,
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)
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retained_out = _obstacle(
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"retained-out",
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GridCell(6, 7, 0),
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motion=MotionState.UNKNOWN,
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history=(("frame-000002", 300_000_000, (2.925, 3.375, 0.225)),),
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state=TemporalState.RETAINED,
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)
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values = provider.assess(_map(occupied=(retained_in, retained_out)))
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by_id = {item.component_id: item for item in values}
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assert by_id["retained-in"].decision is ThreatDecision.THREAT
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assert by_id["retained-in"].relative_speed_mps is None
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assert by_id["retained-out"].decision is ThreatDecision.UNKNOWN
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assert by_id["retained-out"].corridor_intersection is CorridorIntersection.UNKNOWN
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@@ -0,0 +1,137 @@
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from __future__ import annotations
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from dataclasses import replace
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from pathlib import Path
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from k1link.perception.contracts import (
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ClockBasis,
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GridCell,
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HistorySample,
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ModalityOutcome,
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ModalityStatus,
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MotionState,
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SourceEnvelope,
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TemporalObstacle,
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TemporalState,
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TimestampBundle,
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)
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from k1link.perception.providers import SourcePacket
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from k1link.perception.rolling_map import (
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RollingLocalObstacleMapProvider,
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load_rolling_map_profile,
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)
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REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
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PROFILE_PATH = REPOSITORY_ROOT / "config/perception/m4-rolling-local-map-v1.json"
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class _Pose:
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def pose_values_for_frame(
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self,
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frame_id: str,
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) -> tuple[tuple[float, float, float], tuple[float, float, float, float]]:
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return (0.0, 0.0, 1.25), (0.0, 0.0, 0.0, 1.0)
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def _status() -> ModalityStatus:
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return ModalityStatus(True, ModalityOutcome.AVAILABLE, "test-available")
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def _packet(sequence: int, seconds: float) -> SourcePacket:
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return SourcePacket(
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envelope=SourceEnvelope(
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source_id="RAVNOVES00",
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session_id="20260720T065719Z_viewer_live",
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frame_id=f"frame-{sequence:06d}",
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sequence=sequence,
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timestamps=TimestampBundle(
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utc_ns=round(seconds * 1_000_000_000),
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monotonic_ns=round(seconds * 1_000_000_000),
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source_ns=round(seconds * 1_000_000_000),
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clock_basis=ClockBasis.RECORDED_HOST,
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),
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source_age_ns=0,
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binding_reason="test-source",
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calibration_id="test-calibration",
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representation_id="registered-map-increment-v1",
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image=_status(),
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registered_point_increment=_status(),
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pose=_status(),
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),
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image_payload="image",
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registered_point_increment_payload="points",
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pose_payload="pose",
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)
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def _current(packet: SourcePacket) -> TemporalObstacle:
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return TemporalObstacle(
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component_id=f"temporal-{packet.envelope.sequence:08d}",
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identity_scope="ephemeral",
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state=TemporalState.CURRENT,
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ttl_ns=750_000_000,
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last_hit_ns=packet.envelope.timestamps.source_ns,
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age_ns=0,
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association_basis="new-spatial-hit",
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history=(
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HistorySample(
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frame_id=packet.envelope.frame_id,
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evidence_time_ns=packet.envelope.timestamps.source_ns,
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centroid_xyz_m=(0.675, 0.225, 0.225),
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),
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),
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cells=(GridCell(1, 0, 0), GridCell(2, 0, 0)),
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coordinate_frame="map",
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last_centroid_xyz_m=(0.675, 0.225, 0.225),
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motion=MotionState.UNKNOWN,
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motion_confidence=0.0,
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motion_reason="motion-not-estimated",
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)
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def test_registered_increment_is_retained_without_claiming_current_motion() -> None:
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provider = RollingLocalObstacleMapProvider(
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pose_resolver=_Pose(),
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profile=load_rolling_map_profile(PROFILE_PATH),
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)
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first = _packet(0, 0.0)
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assert provider.update(first, (_current(first),)) == ()
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second = _packet(1, 1.0)
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retained = provider.update(second, ())
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assert len(retained) == 1
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assert retained[0].state is TemporalState.RETAINED
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assert retained[0].age_ns == 1_000_000_000
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assert retained[0].cells == (GridCell(1, 0, 0), GridCell(2, 0, 0))
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assert retained[0].motion is MotionState.UNKNOWN
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assert retained[0].association_basis == "registered-map-increment-retention"
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def test_current_republication_is_not_duplicated_as_retained_occupancy() -> None:
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provider = RollingLocalObstacleMapProvider(
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pose_resolver=_Pose(),
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profile=load_rolling_map_profile(PROFILE_PATH),
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)
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first = _packet(0, 0.0)
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provider.update(first, (_current(first),))
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second = _packet(1, 1.0)
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assert provider.update(
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second,
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(replace(_current(second), component_id="temporal-00000099"),),
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) == ()
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def test_retained_occupancy_expires_only_at_explicit_time_bound() -> None:
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provider = RollingLocalObstacleMapProvider(
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pose_resolver=_Pose(),
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profile=load_rolling_map_profile(PROFILE_PATH),
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)
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first = _packet(0, 0.0)
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provider.update(first, (_current(first),))
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assert provider.update(_packet(1, 3.0), ())
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assert provider.update(_packet(2, 3.1), ()) == ()
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snapshot = provider.snapshot()
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assert snapshot.time_evicted_cells == 2
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assert snapshot.capacity_evicted_cells == 0
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@@ -1,5 +1,6 @@
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from __future__ import annotations
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import json
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from pathlib import Path
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import pytest
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@@ -15,6 +16,11 @@ RESULT_ROOT = (
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/ ".runtime/perception-m4/temporal-results"
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/ "m4-temporal-replay-9ed5dcd249ed3bcb81661dd18e2b854a7ffedf3fd2b92b9c994c3c70c34533f2"
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)
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ROLLING_RESULT_ROOT = (
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REPOSITORY_ROOT
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/ ".runtime/perception-m4/temporal-results"
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/ "m4-temporal-replay-b8611526dfcd2b9be9049560d751bbd23a9ad54b7dda8e9dc48a17374d46266e"
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)
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@pytest.fixture(scope="module")
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@@ -82,3 +88,37 @@ def test_temporal_result_is_digest_bound_to_m4_4_e34_e51_and_e46b(
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assert set(references) == {"e34", "e46b", "e51"}
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assert references["e46b"]["independent_truth"] is False
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assert len(identity["clip_checks"]) == 16
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def test_rolling_temporal_result_separates_increment_from_retained_map() -> None:
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result = read_temporal_replay_result(ROLLING_RESULT_ROOT)
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assert result.accepted is True
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assert result.metrics["rolling_map"] == {
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"active_cells_at_end": 587,
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"capacity_evicted_cells": 0,
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"current_increment_cells": 848868,
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"input_frames": 4489,
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"local_radius_m": 12.0,
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"maximum_cells": 65536,
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"maximum_retained_age_ns": 3000000000,
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"peak_active_cells": 907,
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"peak_retained_components": 35,
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"radius_evicted_cells": 6512,
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"retained_cell_publications": 1776145,
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"retained_component_publications": 69855,
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"retention_ns": 3000000000,
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"time_evicted_cells": 29620,
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"voxel_size_m": 0.45,
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}
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frames = result.result_root / "frames.jsonl"
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with frames.open("rb") as handle:
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for sequence, line in enumerate(handle):
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if sequence == 1880:
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frame = json.loads(line)
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break
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else: # pragma: no cover - immutable artifact guarantees this branch is unreachable
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raise AssertionError("frame 1880 missing")
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assert frame["schema_version"] == "missioncore.perception-temporal-replay-frame/v2"
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assert len(frame["rolling_retained"]) == 10
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assert all(item["state"] == "retained" for item in frame["rolling_retained"])
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