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feat(perception): confirm persistent sparse low steps

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DCCONSTRUCTIONS
2026-08-26 13:39:01 +03:00
parent 0b01bb7775
commit 90bdc27785
3 changed files with 138 additions and 1 deletions
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config/perception/m48r3-additive-low-step-occupancy-v1.json
+3
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@@ -20,6 +20,9 @@
"voxel_size_m": 0.45,
"neighbor_radius_cells": 1,
"minimum_points": 5,
"sparse_persistence_minimum_points": 2,
"sparse_persistence_window_frames": 6,
"sparse_persistence_minimum_hits": 3,
"minimum_voxels": 1,
"local_radius_m": 10.0,
"maximum_candidate_points_per_frame": 768,
src/k1link/perception/m48_low_step_occupancy.py
+113 -1
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@@ -53,6 +53,9 @@ class LowStepComponentProfile:
voxel_size_m: float
neighbor_radius_cells: int
minimum_points: int
sparse_persistence_minimum_points: int
sparse_persistence_window_frames: int
sparse_persistence_minimum_hits: int
minimum_voxels: int
local_radius_m: float
maximum_candidate_points_per_frame: int
@@ -65,6 +68,11 @@ class LowStepComponentProfile:
or not 0.05 <= self.voxel_size_m <= 2.0
or self.neighbor_radius_cells != 1
or not 1 <= self.minimum_points <= 256
or not 1 <= self.sparse_persistence_minimum_points < self.minimum_points
or not 2 <= self.sparse_persistence_window_frames <= 32
or not 2
<= self.sparse_persistence_minimum_hits
<= self.sparse_persistence_window_frames
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
@@ -156,6 +164,11 @@ class M48AdditiveLowStepGeometryProvider:
self._peak_additive_observations = 0
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._last_sparse_sequence: int | None = None
def associate(
self,
@@ -240,12 +253,18 @@ class M48AdditiveLowStepGeometryProvider:
candidate,
self.profile.component,
)
qualified = tuple(
strong = tuple(
item
for item in components
if item[0].size >= self.profile.component.minimum_points
and item[1] >= self.profile.component.minimum_voxels
)
persistent_sparse = self._persistent_sparse_components(
sequence=packet.envelope.sequence,
components=components,
points_map=frame.points_map,
)
qualified = (*strong, *persistent_sparse)
qualified = tuple(
sorted(
qualified,
@@ -323,6 +342,61 @@ class M48AdditiveLowStepGeometryProvider:
peak_voxels = max(peak_voxels, cells)
return tuple(observations), candidate_count, voxel_count, peak_voxels
def _persistent_sparse_components(
self,
*,
sequence: int,
components: tuple[tuple[IntArray, int], ...],
points_map: npt.NDArray[np.float64],
) -> tuple[tuple[IntArray, int], ...]:
"""Promote only weak geometry repeated in a bounded causal window."""
component_profile = self.profile.component
current = tuple(
(
item,
_component_cells(
points_map,
item[0],
voxel_size_m=component_profile.voxel_size_m,
),
)
for item in components
if item[0].size >= component_profile.sparse_persistence_minimum_points
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
)
):
self._sparse_history.clear()
first_allowed = sequence - component_profile.sparse_persistence_window_frames + 1
while self._sparse_history and self._sparse_history[0][0] < first_allowed:
self._sparse_history.popleft()
promoted: list[tuple[IntArray, int]] = []
for item, cells in current:
if item[0].size >= component_profile.minimum_points:
continue
hit_count = 1 + sum(
any(
_cells_touch(cells, previous)
for previous in previous_components
)
for _, previous_components in self._sparse_history
)
if hit_count >= component_profile.sparse_persistence_minimum_hits:
promoted.append(item)
self._sparse_history.append(
(sequence, tuple(cells for _, cells in current))
)
self._last_sparse_sequence = sequence
return tuple(promoted)
def snapshot(self) -> M48LowStepOccupancySnapshot:
with self._lock:
return M48LowStepOccupancySnapshot(
@@ -401,6 +475,9 @@ def load_m48_low_step_occupancy_profile(
"voxel_size_m",
"neighbor_radius_cells",
"minimum_points",
"sparse_persistence_minimum_points",
"sparse_persistence_window_frames",
"sparse_persistence_minimum_hits",
"minimum_voxels",
"local_radius_m",
"maximum_candidate_points_per_frame",
@@ -523,6 +600,18 @@ def load_m48_low_step_occupancy_profile(
component, "neighbor_radius_cells"
),
minimum_points=_positive_integer(component, "minimum_points"),
sparse_persistence_minimum_points=_positive_integer(
component,
"sparse_persistence_minimum_points",
),
sparse_persistence_window_frames=_positive_integer(
component,
"sparse_persistence_window_frames",
),
sparse_persistence_minimum_hits=_positive_integer(
component,
"sparse_persistence_minimum_hits",
),
minimum_voxels=_positive_integer(component, "minimum_voxels"),
local_radius_m=_number(component, "local_radius_m"),
maximum_candidate_points_per_frame=_positive_integer(
@@ -591,6 +680,29 @@ def _voxel_components(
return tuple(components)
def _component_cells(
points_map: npt.NDArray[np.float64],
source_indices: IntArray,
*,
voxel_size_m: float,
) -> frozenset[tuple[int, int, int]]:
rows = np.floor(points_map[source_indices] / voxel_size_m).astype(np.int64)
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
+22
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@@ -144,6 +144,28 @@ def test_wide_operator_region_cannot_bridge_two_spatial_components() -> None:
assert snapshot.failed_frames == 0
def test_sparse_component_requires_bounded_causal_persistence() -> None:
points = np.asarray(
((0.00, 0.0, 5.00), (0.04, 0.0, 5.00)),
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),
)
first = provider.associate(_packet(0), ())
second = provider.associate(_packet(1), ())
third = provider.associate(_packet(2), ())
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
def test_frame_1856_preserves_baseline_posts_and_splits_low_hemisphere_support() -> None:
store = RecordedGeometryStore.from_repository(REPOSITORY_ROOT)
provider = M48AdditiveLowStepGeometryProvider(