feat(perception): add mixed-route vegetation review
This commit is contained in:
DCCONSTRUCTIONS
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"""Seal RAVNOVES004TREE mixed-route review into the existing vegetation LAB."""
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from __future__ import annotations
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import argparse
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import hashlib
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import json
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import os
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import shutil
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import tempfile
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from datetime import UTC, datetime
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from pathlib import Path
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from typing import Any
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import numpy as np
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from PIL import Image, ImageDraw
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from k1link.laboratory.vegetation_shadow_lab import (
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LAB_SCHEMA,
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RESULT_PREFIX,
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VegetationShadowLabError,
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canonical_json,
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sha256_path,
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)
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REVIEW_SCHEMA = "missioncore.mixed-route-review-pack/v1"
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DDRNET_SCHEMA = "missioncore.mixed-route-ddrnet-islands/v1"
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TGS_SCHEMA = "missioncore.mixed-route-tgs-result/v1"
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FRAME_COUNT = 10
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PHASES = (
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"rural",
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"rural",
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"rural",
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"rural",
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"rural",
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"transition",
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"urban",
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"urban",
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"urban",
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"urban",
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)
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TGS_COLORS = {
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0: (5, 7, 9),
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1: (132, 188, 86),
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2: (235, 112, 122),
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3: (150, 154, 163),
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}
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def _read_json(path: Path, label: str) -> dict[str, Any]:
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try:
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value = json.loads(path.read_text(encoding="utf-8"))
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except (OSError, json.JSONDecodeError) as exc:
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raise VegetationShadowLabError(f"{label} is invalid") from exc
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if not isinstance(value, dict):
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raise VegetationShadowLabError(f"{label} must be an object")
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return value
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def _artifact(
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source: Path,
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staging: Path,
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relative: str,
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artifacts: list[dict[str, object]],
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*,
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role: str,
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media_type: str,
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) -> dict[str, object]:
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if source.is_symlink() or not source.is_file():
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raise VegetationShadowLabError(f"mixed-route artifact is unavailable: {relative}")
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target = staging / relative
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target.parent.mkdir(mode=0o700, parents=True, exist_ok=True)
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shutil.copyfile(source, target)
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descriptor = {
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"role": role,
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"path": relative,
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"byte_length": target.stat().st_size,
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"sha256": sha256_path(target),
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"media_type": media_type,
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}
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artifacts.append(descriptor)
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return descriptor
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def _image_proof(descriptor: dict[str, object]) -> dict[str, object]:
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return {"path": descriptor["path"], "sha256": descriptor["sha256"]}
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def _render_tgs_costmaps(tgs_root: Path, destination: Path) -> list[Path]:
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result = _read_json(tgs_root / "result.json", "mixed-route TGS result")
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evidence = result.get("evidence")
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costmap = result.get("costmap")
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if (
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result.get("schema_version") != TGS_SCHEMA
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or result.get("status") != "passed-review-only"
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or not isinstance(evidence, dict)
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or not isinstance(costmap, dict)
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or result.get("summary", {}).get("frame_count") != FRAME_COUNT
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or result.get("authority", {}).get("actuation_allowed") is not False
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):
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raise VegetationShadowLabError("mixed-route TGS contract changed")
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evidence_path = tgs_root / str(evidence.get("path"))
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if (
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not evidence_path.is_file()
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or evidence.get("bytes") != evidence_path.stat().st_size
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or evidence.get("sha256") != sha256_path(evidence_path)
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):
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raise VegetationShadowLabError("mixed-route TGS evidence changed")
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with np.load(evidence_path, allow_pickle=False) as archive:
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centers = archive["costmap_cell_centers_xy_m"]
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states = archive["causal_rolling_1s_costmap_states"]
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if centers.shape != (2244, 2) or states.shape != (FRAME_COUNT, 2244):
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raise VegetationShadowLabError("mixed-route TGS costmap shape changed")
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radius = float(costmap["radius_m"])
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cell_size = float(costmap["cell_size_m"])
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size = 600
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scale = size / (radius * 2.0)
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outputs: list[Path] = []
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destination.mkdir(mode=0o700, parents=True, exist_ok=True)
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for slot in range(FRAME_COUNT):
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image = Image.new("RGB", (size, size), TGS_COLORS[0])
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draw = ImageDraw.Draw(image)
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half = cell_size * scale / 2.0
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for center, state in zip(centers, states[slot], strict=True):
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x = (float(center[0]) + radius) * scale
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y = (radius - float(center[1])) * scale
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draw.rectangle((x - half, y - half, x + half, y + half), fill=TGS_COLORS[int(state)])
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rover_w = 0.8 * scale
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rover_l = 1.0 * scale
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cx = size / 2.0
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cy = size / 2.0
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draw.rectangle(
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(cx - rover_w / 2, cy - rover_l / 2, cx + rover_w / 2, cy + rover_l / 2),
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outline=(255, 255, 255),
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width=3,
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)
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path = destination / f"frame-{slot + 1:06d}.png"
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image.save(path, format="PNG", optimize=True)
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outputs.append(path)
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return outputs
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def seal_mixed_route_vegetation_review(
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*,
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base_lab_root: Path,
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review_pack_root: Path,
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eomt_root: Path,
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ddrnet_root: Path,
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tgs_root: Path,
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output_root: Path,
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) -> Path:
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base_root = base_lab_root.resolve(strict=True)
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base = _read_json(base_root / "result.json", "base vegetation LAB")
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base_identity = base.get("identity")
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if (
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base.get("schema_version") != LAB_SCHEMA
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or not isinstance(base_identity, dict)
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or hashlib.sha256(canonical_json(base_identity)).hexdigest()
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!= base.get("identity_sha256")
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or base.get("result_id") != base_root.name
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or not base_root.name.startswith(RESULT_PREFIX)
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or base.get("authority", {}).get("commands_enabled") is not False
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):
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raise VegetationShadowLabError("base vegetation LAB proof changed")
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pack_root = review_pack_root.resolve(strict=True)
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pack = _read_json(pack_root / "manifest.json", "mixed-route review pack")
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timeline_path = pack_root / str(pack.get("timeline", {}).get("path"))
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if (
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pack.get("schema_version") != REVIEW_SCHEMA
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or pack.get("frame_count") != FRAME_COUNT
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or pack.get("identity", {}).get("session_id") != "20260828T130511Z_viewer_live"
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or pack.get("identity", {}).get("ground_truth") is not False
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or not timeline_path.is_file()
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or pack.get("timeline", {}).get("sha256") != sha256_path(timeline_path)
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):
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raise VegetationShadowLabError("mixed-route review pack changed")
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timeline = [json.loads(line) for line in timeline_path.read_text(encoding="utf-8").splitlines()]
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if len(timeline) != FRAME_COUNT:
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raise VegetationShadowLabError("mixed-route timeline is incomplete")
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eomt = _read_json(eomt_root / "run-report.partial.json", "mixed-route EoMT result")
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ddrnet = _read_json(ddrnet_root / "result.json", "mixed-route DDRNet result")
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tgs = _read_json(tgs_root / "result.json", "mixed-route TGS result")
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if (
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eomt.get("input", {}).get("frames_admitted") != FRAME_COUNT
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or eomt.get("metrics", {}).get("frames_processed") != FRAME_COUNT
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or eomt.get("ground_truth") is not False
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or ddrnet.get("schema_version") != DDRNET_SCHEMA
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or ddrnet.get("source", {}).get("pack_id") != pack["pack_id"]
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or len(ddrnet.get("frames", [])) != FRAME_COUNT
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or ddrnet.get("authority", {}).get("candidate_accepted") is not False
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or tgs.get("schema_version") != TGS_SCHEMA
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or tgs.get("source", {}).get("review_pack_id") != pack["pack_id"]
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or tgs.get("summary", {}).get("frame_count") != FRAME_COUNT
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):
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raise VegetationShadowLabError("mixed-route model identities differ")
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output_root.mkdir(mode=0o700, parents=True, exist_ok=True)
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temporary = Path(tempfile.mkdtemp(prefix=".mixed-route-vegetation-", dir=output_root))
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artifacts: list[dict[str, object]] = []
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try:
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tgs_images = _render_tgs_costmaps(tgs_root, temporary / ".tgs-render")
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cases: list[dict[str, object]] = []
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tgs_anchors = {
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int(row["slot"]): row
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for row in tgs["anchors"]
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if row.get("profile_id") == "causal_rolling_1s"
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}
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for slot, row in enumerate(timeline):
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case_id = f"route-{slot + 1:02d}"
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relative_root = f"route-review/{case_id}"
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source_descriptor = _artifact(
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pack_root / "frames" / f"frame-{slot + 1:06d}.png",
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temporary,
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f"{relative_root}/source.png",
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artifacts,
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role="mixed-route-source-frame",
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media_type="image/png",
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)
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city_descriptor = _artifact(
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eomt_root / "overlay-frames" / f"frame-{slot + 1:06d}.png",
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temporary,
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f"{relative_root}/city.png",
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artifacts,
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role="mixed-route-eomt-overlay",
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media_type="image/png",
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)
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vegetation_descriptor = _artifact(
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ddrnet_root / "overlay-frames" / f"frame-{slot + 1:06d}.png",
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temporary,
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f"{relative_root}/vegetation.png",
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artifacts,
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role="mixed-route-ddrnet-overlay",
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media_type="image/png",
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)
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tgs_descriptor = _artifact(
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tgs_images[slot],
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temporary,
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f"{relative_root}/tgs.png",
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artifacts,
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role="mixed-route-tgs-costmap",
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media_type="image/png",
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)
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anchor = tgs_anchors[slot]
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cases.append(
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{
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"case_id": case_id,
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"phase": PHASES[slot],
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"source_sequence": int(row["source_sequence"]),
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"session_seconds": float(row["session_seconds"]),
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"assets": {
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"source": _image_proof(source_descriptor),
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"city": _image_proof(city_descriptor),
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"vegetation": _image_proof(vegetation_descriptor),
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"tgs": _image_proof(tgs_descriptor),
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},
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"tgs": {
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"ground_cells": int(anchor["ground_cell_count"]),
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"occupied_cells": int(anchor["nonground_cell_count"]),
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"rejected_cells": int(anchor["rejected_cell_count"]),
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"unobserved_cells": int(anchor["unobserved_cell_count"]),
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},
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}
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)
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shutil.rmtree(temporary / ".tgs-render")
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proofs = {}
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for key, path in (
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("base", base_root / "result.json"),
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("eomt", eomt_root / "run-report.partial.json"),
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("ddrnet", ddrnet_root / "result.json"),
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("tgs", tgs_root / "result.json"),
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):
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descriptor = _artifact(
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path,
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temporary,
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f"proofs/{key}.json",
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artifacts,
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role="mixed-route-proof",
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media_type="application/json",
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)
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proofs[key] = _image_proof(descriptor)
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_artifact(
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tgs_root / str(tgs["evidence"]["path"]),
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temporary,
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"proofs/tgs-evidence.npz",
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artifacts,
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role="mixed-route-tgs-evidence",
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media_type="application/x-npz",
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)
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route_review = {
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"source_id": "RAVNOVES004TREE",
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"session_id": "20260828T130511Z_viewer_live",
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"pack_id": pack["pack_id"],
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"frame_count": FRAME_COUNT,
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"ground_truth": False,
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"selection_policy": "same-scene-camera-lidar-aligned-review-islands/v1",
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"models": {
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"city": {
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"name": "EoMT Cityscapes",
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"frames": FRAME_COUNT,
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"inference_fps": eomt["metrics"]["inference_frames_per_second"],
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"end_to_end_p95_ms": eomt["metrics"]["latency_ms"]["end_to_end_ms"]["p95"],
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},
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"vegetation": {
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"name": ddrnet["candidate"]["loaded_model_name"],
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"result_id": ddrnet["result_id"],
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"frames": FRAME_COUNT,
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"latency_p95_ms": ddrnet["timing"]["latency_ms_p95"],
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},
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"tgs": {
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"name": "TRAVEL/TGS causal rolling 1 s",
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"frames": FRAME_COUNT,
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"latency_p95_ms": tgs["timing"]["wall_seconds_p95"] * 1000.0,
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"cell_size_m": tgs["costmap"]["cell_size_m"],
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"radius_m": tgs["costmap"]["radius_m"],
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},
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},
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"cases": cases,
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"proofs": proofs,
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"limitations": [
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"Ten aligned review islands are not a complete route timeline.",
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"RAVNOVES004TREE has no manual truth.",
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"DDRNet vegetation subtypes remain visually noisy and are not planner authority.",
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"TGS does not prove ditch or negative-obstacle detection.",
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"People and vehicles require an independent fail-safe detector and STOP path.",
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],
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}
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authority = {
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"commands_enabled": False,
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"navigation_or_safety_accepted": False,
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"actuation_accepted": False,
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"camera_semantics_can_clear_rigid_geometry": False,
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}
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identity = {
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"lab_id": "lab-v1-vegetation-mission-policy",
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"base_result_id": base["result_id"],
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"selected_candidate": base_identity["selected_candidate"],
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"candidate_metrics": base_identity["candidate_metrics"],
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"source": {
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"shadow_session": "RAVNOVES004TREE",
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"shadow_camera": "sensor.camera.right",
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"shadow_frame_count": FRAME_COUNT,
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"video_shadow_frame_count": 0,
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},
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"route_review": route_review,
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"authority": authority,
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}
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identity_sha256 = hashlib.sha256(canonical_json(identity)).hexdigest()
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result_id = f"{RESULT_PREFIX}{identity_sha256}"
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manifest = {
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"schema_version": LAB_SCHEMA,
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"result_id": result_id,
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"identity_sha256": identity_sha256,
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"created_at_utc": datetime.now(UTC).isoformat(),
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"ground_truth": False,
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"status": "visual-shadow-ready-policy-not-authorized",
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"identity": identity,
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"source": identity["source"],
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"route_video": None,
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"route_review": route_review,
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"method": {
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"completeness": "bounded-review-islands",
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"execution_class": "ai-inference",
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"pipeline_id": "ravnoves004tree-eomt-ddrnet-causal-tgs-review/v1",
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},
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"metrics": {"candidates": base["metrics"]["candidates"]},
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"decision": {
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"selected_candidate": base_identity["selected_candidate"],
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"visual_shadow_ready": True,
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"full_video_shadow_ready": False,
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"mission_policy_ready_for_configuration": True,
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"multilayer_policy_review_ready": True,
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"navigation_accepted": False,
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"production_accepted": False,
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},
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"limitations": route_review["limitations"],
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"authority": authority,
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"catalogs": {"goose": [], "ravnoves": []},
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"artifacts": artifacts,
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}
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(temporary / "result.json").write_bytes(canonical_json(manifest) + b"\n")
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destination = output_root / result_id
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if destination.exists():
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raise VegetationShadowLabError("immutable mixed-route LAB result already exists")
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os.replace(temporary, destination)
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return destination
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except Exception:
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shutil.rmtree(temporary, ignore_errors=True)
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raise
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def main() -> None:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--base-lab-root", type=Path, required=True)
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parser.add_argument("--review-pack-root", type=Path, required=True)
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parser.add_argument("--eomt-root", type=Path, required=True)
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parser.add_argument("--ddrnet-root", type=Path, required=True)
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parser.add_argument("--tgs-root", type=Path, required=True)
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parser.add_argument("--output-root", type=Path, required=True)
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args = parser.parse_args()
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print(
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seal_mixed_route_vegetation_review(
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base_lab_root=args.base_lab_root,
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review_pack_root=args.review_pack_root,
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eomt_root=args.eomt_root,
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ddrnet_root=args.ddrnet_root,
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tgs_root=args.tgs_root,
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output_root=args.output_root,
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)
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)
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if __name__ == "__main__":
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main()
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Reference in New Issue
Block a user