feat(perception): freeze blind detector gates

2026-07-29 14:20:31 +03:00
parent 8b1f109b09
commit 82a44478fb
14 changed files with 3087 additions and 0 deletions
@@ -0,0 +1,116 @@
+from __future__ import annotations
+
+import math
+
+import pytest
+
+from k1link.compute.e45_binding_sensitivity import (
+    E45_ROW_SCHEMA,
+    E45BindingSensitivityError,
+    E45BindingSensitivityProfile,
+    analyze_binding_sensitivity,
+)
+
+
+def _row(
+    item_id: str,
+    *,
+    radius: float,
+    speed: float,
+    angular: float,
+    lidar_age: float,
+    pose_age: float,
+    residual: float,
+    points: int,
+) -> dict[str, object]:
+    age_seconds = (lidar_age + pose_age) / 1000.0
+    return {
+        "schema_version": E45_ROW_SCHEMA,
+        "item_id": item_id,
+        "image_radius_normalized": radius,
+        "translation_speed_mps": speed,
+        "angular_speed_deg_s": angular,
+        "lidar_camera_age_ms": lidar_age,
+        "pose_point_age_ms": pose_age,
+        "motion_exposure_translation_m": speed * age_seconds,
+        "motion_exposure_rotation_deg": angular * age_seconds,
+        "centroid_residual_bbox_diagonal": residual,
+        "occupied_points_in_bbox": points,
+        "supported": points >= 2,
+    }
+
+
+def test_e45_stratifies_existing_diagnostic_residual_without_target_claim() -> None:
+    rows = [
+        _row(
+            "one",
+            radius=0.2,
+            speed=0.0,
+            angular=0.0,
+            lidar_age=5.0,
+            pose_age=2.0,
+            residual=0.1,
+            points=5,
+        ),
+        _row(
+            "two",
+            radius=0.7,
+            speed=0.5,
+            angular=6.0,
+            lidar_age=40.0,
+            pose_age=15.0,
+            residual=0.2,
+            points=8,
+        ),
+        _row(
+            "three",
+            radius=1.0,
+            speed=2.0,
+            angular=20.0,
+            lidar_age=80.0,
+            pose_age=35.0,
+            residual=0.4,
+            points=12,
+        ),
+    ]
+
+    analysis = analyze_binding_sensitivity(rows)
+
+    assert analysis["correspondence_count"] == 3
+    assert analysis["supported_fraction"] == 1.0
+    assert [
+        item["count"] for item in analysis["strata"]["image_radius"]
+    ] == [1, 1, 1]
+    assert math.isclose(
+        analysis["spearman_residual_correlation"][
+            "image_radius_normalized"
+        ],
+        1.0,
+    )
+    assert (
+        analysis["measured_calibration_target_residual_available"] is False
+    )
+    assert analysis["physical_mount_inferred"] is False
+
+
+def test_e45_rejects_missing_support_in_accepted_correspondence() -> None:
+    rows = [
+        _row(
+            "one",
+            radius=0.2,
+            speed=0.0,
+            angular=0.0,
+            lidar_age=5.0,
+            pose_age=2.0,
+            residual=0.1,
+            points=1,
+        )
+    ]
+
+    with pytest.raises(E45BindingSensitivityError, match="supported"):
+        analyze_binding_sensitivity(rows)
+
+
+def test_e45_profile_rejects_overlapping_or_reversed_edges() -> None:
+    with pytest.raises(E45BindingSensitivityError):
+        E45BindingSensitivityProfile(image_radius_edges=(0.8, 0.4))