feat(perception): qualify bounded temporal stability
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DCCONSTRUCTIONS
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@ -125,12 +125,13 @@ viewer-ready form. Deleting a LAB catalog entry cannot delete the referenced
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source session, and a source session with published LAB instances fails closed
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source session, and a source session with published LAB instances fails closed
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on deletion.
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on deletion.
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The visual result is resolved by the LAB session id, so `LAB E19` and `LAB E21`
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The visual result is resolved by the LAB session id, so `LAB E19`, `LAB E21`
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can coexist over `RAVNOVES00` without “latest accepted result” replacing an
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and the derived temporal comparison `LAB E22` can coexist over `RAVNOVES00`
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earlier experiment. The operator can open either row in **Сохранённые сессии**
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without “latest accepted result” replacing an earlier experiment. The operator
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and use the same **Объекты 2D / Сегментация / Кубы 3D** controls. First
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can open any row in **Сохранённые сессии** and use the same
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publication must also warm the result-specific Rerun overlay; later opens reuse
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**Объекты 2D / Сегментация / Кубы 3D** controls. First publication must also
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that verified cache and do not rerun AI inference.
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warm the result-specific Rerun overlay; later opens reuse that verified cache
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and do not rerun AI inference.
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E21 is a bounded special case: its worker persisted 121 semantic mask hashes,
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E21 is a bounded special case: its worker persisted 121 semantic mask hashes,
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not duplicate mask pixels. Its visual publication materializes a mask only
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not duplicate mask pixels. Its visual publication materializes a mask only
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@ -143,6 +144,13 @@ the 60-second result to the complete 8:55 source replay is an invalid
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presentation because latest-at image data would appear static after the E21
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presentation because latest-at image data would appear static after the E21
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window ends.
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window ends.
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E22 is also bounded to the exact E21 60-second range, but it resolves its
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catalog provenance directly to the physical source session rather than chaining
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one LAB entry to another. Its temporal result remains a separate immutable
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integrated overlay. Raw point-cloud, camera, calibration and E21 inference
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payloads are not replaced. Short held boxes are provenance-marked diagnostic
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presentation/world-state values, not fresh sensor measurements.
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The first preparation of a long capture can take time because every decodable
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The first preparation of a long capture can take time because every decodable
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point/pose message and every valid K1 `ModelingReport` is projected into RRD.
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point/pose message and every valid K1 `ModelingReport` is projected into RRD.
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Later openings reuse a verified, digest-bound cache. Derived RRD cache v9 is
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Later openings reuse a verified, digest-bound cache. Derived RRD cache v9 is
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@ -0,0 +1,217 @@
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# LAB E22 — Bounded temporal stability
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Date: 2026-07-23
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State: accepted diagnostic laboratory result
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Authority: observation only; commands and navigation/safety acceptance disabled
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## 1. Purpose
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LAB E22 tests whether the perception output already qualified by LAB E21 can
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be made materially calmer without losing the real-time envelope required for
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an unmanned vehicle.
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This is not another model-quality run in isolation. The experiment adds the
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missing temporal output stage between AI inference and the operator/autonomy
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consumer:
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- stabilize tracked 2D boxes without future-frame lookahead;
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- preserve short detector gaps with explicit, bounded holds;
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- stabilize map-frame 3D cuboids and their orientation;
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- reduce unsupported semantic label islands;
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- retain immutable raw camera, LiDAR, calibration and E21 inference evidence;
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- measure the added latency and memory bound.
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## 2. Exact source
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| Field | Value |
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| --- | --- |
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| Source LAB | `lab-e21-window2-d0201712` |
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| Source display name | `LAB E21.3 · Real-time 1× · synchronized 60s · d0201712` |
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| Physical source session | `20260720T065719Z_viewer_live` (`RAVNOVES00`) |
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| Source result | `e10-integrated-perception-5cbba0b9839ae843c05607cec8448a2b43464eb81edeb11cf7c01cfec8464c75` |
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| Camera source | `sensor.camera.right`, XGRIDS camera slot `camera_1` |
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| Resolution | 800 × 600 |
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| Window | 601 camera frames, 59.962 s |
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| Semantic masks | 121 |
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| Source detector | YOLOX-S, COCO-80 |
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| Source semantic model | EoMT Cityscapes large, FP16 |
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| Source inference hardware | NVIDIA GeForce RTX 4090 |
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| Source detector throughput | 9.865 FPS |
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| Source semantic throughput | 2.010 FPS |
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| Source world-state age | P95 174.40 ms; P99 289.03 ms |
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The E22 postprocessor ran locally over the immutable E21.3 result. Its
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implementation is streaming-equivalent: one pass, no future-frame lookahead,
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bounded state, and no repeated neural inference.
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## 3. Configuration
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Profile:
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`experiments/perception/e22_temporal_stability_profile.json`
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Profile SHA-256:
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`3d61b29562a851ec41e504bb175e392be874c4509e6944834a449d2e347022d2`
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### 3.1 2D tracking
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- adaptive center EMA: alpha 0.32–0.78;
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- adaptive size EMA: alpha 0.22–0.65;
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- center-velocity EMA: alpha 0.35;
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- large normalized innovation: reset, not forced smoothing;
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- missing observation hold: at most two camera frames;
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- class-consistent tracklet stitch: at most eight frames, IoU/center gated.
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### 3.2 3D cuboids
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- map-frame center EMA: alpha 0.28;
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- half-size EMA: alpha 0.18;
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- pi-periodic yaw EMA: alpha 0.18;
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- velocity EMA: alpha 0.25;
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- center innovation reset: above 2.0 m;
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- yaw innovation reset: above 55°;
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- last-supported cuboid hold: at most 350 ms.
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The complete point cloud is not filtered or reduced by this stage. The ground
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and all other points remain available to mapping, terrain and traversability
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consumers.
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### 3.3 Semantic output
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The filter uses one previous mask and accepts a changed pixel immediately when
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the new label has spatial support. Unsupported isolated changes retain the
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previous label.
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This is deliberately not called optical-flow propagation. It removes label
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islands but does not interpolate semantic geometry between the source model's
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2 FPS updates.
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### 3.4 Hard bounds
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- maximum track states: 128;
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- observed peak track states: 19;
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- semantic history: one 800 × 600 `uint8` mask;
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- estimated upper state bound: 1,004,288 bytes;
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- future-frame lookahead: zero.
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## 4. Baseline versus E22
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| Metric | E21.3 baseline | E22 | Change |
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| --- | ---: | ---: | ---: |
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| 2D normalized acceleration, P95 | 0.5232 | 0.3938 | −24.7% |
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| 2D normalized size step, P95 | 0.2670 | 0.1520 | −43.1% |
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| 2D track count | 165 | 160 | −5 stitched identities |
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| Tracks lasting ≤2 frames | 34 | 0 | −34 |
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| 3D center step, P95 | 0.8174 m | 0.5698 m | −30.3% |
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| 3D half-size step, P95 | 0.0542 m | 0.0189 m | −65.1% |
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| 3D yaw step, P95 | 15.51° | 5.26° | −66.1% |
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| 3D discontinuity gaps | 174 | 87 | −50.0% |
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| Unsupported semantic change, mean | 0.03284% | 0.00718% | −78.1% |
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| Total semantic mask change, mean | 5.3658% | 5.3261% | −0.7% |
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The distinction in the last two rows is important. E22 strongly reduces
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unsupported semantic noise, but it does not yet solve the larger inter-frame
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movement of semantic boundaries. That requires confidence-aware propagation
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or optical flow in a later experiment.
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## 5. Temporal events and provenance
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| Event | Count |
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| --- | ---: |
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| Tracklets stitched | 7 |
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| 2D held presentations | 639 |
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| 3D held cuboids | 472 |
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| 2D large-innovation resets | 60 |
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| 3D large-innovation resets | 69 |
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The rise from 881 source accepted cuboids to 1,353 E22 presented cuboids does
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not mean 472 new measurements were invented. Those 472 are explicitly marked
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short holds of the last supported cuboid. Every hold is diagnostic and must
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not be interpreted as a fresh LiDAR association.
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## 6. Added runtime cost
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Measured on the local deterministic postprocessor:
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| Stage | Mean | P95 | P99 | Max |
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| --- | ---: | ---: | ---: | ---: |
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| Per camera frame, 2D/3D/world state | 0.468 ms | 0.821 ms | 0.959 ms | 1.244 ms |
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| Per semantic frame | 3.463 ms | 3.650 ms | 3.815 ms | 4.054 ms |
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At the source rates of approximately 10 camera frames/s and 2 semantic
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frames/s, this temporal stage consumes far less than one frame interval. It
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does not prove the complete live K1 path; it proves that this specific
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stabilization stage is not the real-time bottleneck.
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## 7. Acceptance
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All gates passed:
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- 2D acceleration P95 reduction ≥20%;
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- 3D center-step P95 reduction ≥20%;
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- 3D yaw-step P95 reduction ≥20%;
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- unsupported semantic change reduction ≥10%;
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- camera-frame postprocess P95 ≤5 ms;
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- semantic-frame postprocess P95 ≤30 ms;
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- track-state bound respected;
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- source payloads immutable;
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- diagnostic authority only.
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## 8. Published operator result
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| Field | Value |
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| --- | --- |
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| Session ID | `lab-e22-3d61b295` |
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| Display name | `LAB E22 · Temporal stability · synchronized 60s · 3d61b295` |
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| Result ID | `e10-integrated-perception-416e8b326ea36e7d534aa9e92b9136c916c7be8cd4e86a1df0feb97bd0d67c71` |
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| Result size | approximately 7.0 MiB |
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| Rerun perception overlay | 7,896,401 bytes |
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| Catalog state | Ready |
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UI acceptance on `http://127.0.0.1:8000/`:
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- LAB E22 appears as a separate saved session;
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- the replay duration is 59.962 s;
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- AI overlay endpoint returns HTTP 200 and a valid `RRF2` payload;
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- `Объекты 2D`, `Сегментация`, and `Кубы 3D` become enabled;
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- all three layers can be enabled together;
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- the original point cloud remains visible;
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- the Mission Core server remained on PID 31145 throughout publication and
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acceptance.
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## 9. Artifact hashes
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| Artifact | SHA-256 |
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| --- | --- |
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| `result.json` | `00ebc409fd09faccd79cfff3342f109cbfba907880cc93cc834026e2ce104764` |
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| `run-report.json` | `cc1d775ae52d8faa7388ddc0a0c8aba0e53ff3e90ace46b2a3749f02dfeeb912` |
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| `fusion-frames.jsonl` | `456a7d8b1682b85856cbd036053e61be95a6d3fe18453277bcadde879bc9cb9c` |
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| `semantic-frames.jsonl` | `d52dfbb03877ec1e50da073a221f20f8b57e5c9669a0de4b16505caa97720e5e` |
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| `world-state.jsonl` | `281f26e5fd645ed995bf253bd0ff45bbc07476ef84a2c3df9b198bbc02ef44ca` |
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| `transient-perception.npz` | `84609a59abb437ffabc8ca3769327450da5d5250b16c4e1b5e5f7f2e9f73e90f` |
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Runtime artifacts remain outside Git under `.runtime/`.
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## 10. Honest limitations
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- No ground-truth identities are available; tracklet stitching is evaluated
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through continuity metrics, not IDF1/HOTA.
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- Two-frame 2D and 350 ms 3D holds improve continuity but are not fresh sensor
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evidence.
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- E22 does not improve detector recall, class taxonomy, fisheye model quality
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or LiDAR association correctness.
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- Semantic boundaries are not optical-flow propagated.
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- The temporal code is streaming-equivalent, but this run consumed a recorded
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E21 result rather than the physical live K1 transport.
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- Navigation and safety authority remain disabled.
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## 11. Next gate
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The next experiment should move this exact bounded temporal state machine into
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the warm worker's live result path and rerun the same 60-second 1× envelope.
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The acceptance question is no longer “does it look calmer?” but:
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1. does inline E22 preserve detector/semantic throughput and E21 age budgets;
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2. do real latest-wins replacements remain bounded;
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3. do operator-visible holds carry freshness state end to end;
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4. does memory remain flat during a longer replay;
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5. only after that, does a physical K1 shadow run reproduce the recorded gate.
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@ -0,0 +1,60 @@
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{
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"schema_version": "missioncore.e22-temporal-stability-profile/v1",
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"profile_id": "lab-e22-bounded-temporal-stability-v1",
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"mode": "recorded-streaming-qualification",
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"source": {
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"source_id": "sensor.camera.right",
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"resolution": [
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800,
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600
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],
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"calibration_slot": "camera_1",
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"calibration_sha256": "05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9"
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},
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"tracking_2d": {
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"center_alpha_low": 0.32,
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"center_alpha_high": 0.78,
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"size_alpha_low": 0.22,
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"size_alpha_high": 0.65,
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"velocity_alpha": 0.35,
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"adaptive_innovation_low": 0.08,
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"adaptive_innovation_high": 0.3,
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"maximum_normalized_innovation": 1.2,
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"hold_frames": 2,
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"stitch_gap_frames": 8,
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"stitch_minimum_iou": 0.42,
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"stitch_maximum_normalized_center_distance": 0.22
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},
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"cuboids_3d": {
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"center_alpha": 0.28,
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"size_alpha": 0.18,
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"yaw_alpha": 0.18,
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"velocity_alpha": 0.25,
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"maximum_center_innovation_m": 2.0,
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"maximum_yaw_innovation_degrees": 55.0,
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"hold_seconds": 0.35
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},
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"semantic": {
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"mode": "spatially-supported-streaming-hysteresis-v1",
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"minimum_same_label_neighbors": 3,
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"class_count": 16
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},
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"bounds": {
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"maximum_track_states": 128,
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"maximum_track_idle_seconds": 1.25,
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"semantic_history_masks": 1
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},
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"acceptance": {
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"minimum_2d_acceleration_p95_reduction_fraction": 0.2,
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"minimum_3d_center_step_p95_reduction_fraction": 0.2,
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"minimum_3d_yaw_step_p95_reduction_fraction": 0.2,
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"minimum_semantic_unsupported_change_reduction_fraction": 0.1,
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"maximum_camera_frame_processing_p95_ms": 5.0,
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"maximum_semantic_frame_processing_p95_ms": 30.0,
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"maximum_track_states_observed": 128
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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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}
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}
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@ -36,7 +36,9 @@ from .jobs import (
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)
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)
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from .lab_instances import (
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from .lab_instances import (
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PublishedIntegratedLabInstance,
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PublishedIntegratedLabInstance,
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PublishedTemporalLabInstance,
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publish_e21_lab_instance,
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publish_e21_lab_instance,
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publish_e22_lab_instance,
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publish_integrated_lab_instance,
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publish_integrated_lab_instance,
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)
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)
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from .live_perception import (
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from .live_perception import (
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@ -115,6 +117,7 @@ __all__ = [
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"LivePerceptionIngress",
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"LivePerceptionIngress",
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"IntegratedPerceptionOverlayStore",
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"IntegratedPerceptionOverlayStore",
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"PublishedIntegratedLabInstance",
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"PublishedIntegratedLabInstance",
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"PublishedTemporalLabInstance",
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"IntegratedPerceptionResult",
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"IntegratedPerceptionResult",
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"LiveReplayQualificationResult",
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"LiveReplayQualificationResult",
|
||||||
"MultiratePerceptionArtifact",
|
"MultiratePerceptionArtifact",
|
||||||
|
|
@ -144,6 +147,7 @@ __all__ = [
|
||||||
"validate_live_replay_qualification_result",
|
"validate_live_replay_qualification_result",
|
||||||
"validate_integrated_perception_result",
|
"validate_integrated_perception_result",
|
||||||
"publish_e21_lab_instance",
|
"publish_e21_lab_instance",
|
||||||
|
"publish_e22_lab_instance",
|
||||||
"publish_integrated_lab_instance",
|
"publish_integrated_lab_instance",
|
||||||
"validate_multirate_perception_qualification_result",
|
"validate_multirate_perception_qualification_result",
|
||||||
"prepare_recorded_qualification_slice",
|
"prepare_recorded_qualification_slice",
|
||||||
|
|
|
||||||
|
|
@ -27,6 +27,10 @@ from .integrated_perception import (
|
||||||
validate_integrated_perception_result,
|
validate_integrated_perception_result,
|
||||||
)
|
)
|
||||||
from .jobs import CameraComputeJob, validate_camera_compute_job
|
from .jobs import CameraComputeJob, validate_camera_compute_job
|
||||||
|
from .temporal_stability import (
|
||||||
|
TemporalStabilityBuild,
|
||||||
|
build_temporal_stability_result,
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
@dataclass(frozen=True, slots=True)
|
@dataclass(frozen=True, slots=True)
|
||||||
|
|
@ -36,6 +40,14 @@ class PublishedIntegratedLabInstance:
|
||||||
result: IntegratedPerceptionResult
|
result: IntegratedPerceptionResult
|
||||||
|
|
||||||
|
|
||||||
|
@dataclass(frozen=True, slots=True)
|
||||||
|
class PublishedTemporalLabInstance:
|
||||||
|
binding: LabSessionBinding
|
||||||
|
job: CameraComputeJob
|
||||||
|
result: IntegratedPerceptionResult
|
||||||
|
build: TemporalStabilityBuild
|
||||||
|
|
||||||
|
|
||||||
def publish_integrated_lab_instance(
|
def publish_integrated_lab_instance(
|
||||||
*,
|
*,
|
||||||
repository_root: Path,
|
repository_root: Path,
|
||||||
|
|
@ -241,6 +253,114 @@ def publish_e21_lab_instance(
|
||||||
return PublishedIntegratedLabInstance(binding=binding, job=lab_job, result=validated)
|
return PublishedIntegratedLabInstance(binding=binding, job=lab_job, result=validated)
|
||||||
|
|
||||||
|
|
||||||
|
def publish_e22_lab_instance(
|
||||||
|
*,
|
||||||
|
repository_root: Path,
|
||||||
|
source_result_root: Path,
|
||||||
|
profile_path: Path,
|
||||||
|
lab_session_id: str,
|
||||||
|
lab_id: str,
|
||||||
|
display_name: str,
|
||||||
|
) -> PublishedTemporalLabInstance:
|
||||||
|
"""Derive and publish one bounded temporal-stability LAB comparison."""
|
||||||
|
|
||||||
|
root = repository_root.expanduser().resolve(strict=True)
|
||||||
|
jobs_root = root / ".runtime" / "compute-jobs"
|
||||||
|
results_root = root / ".runtime" / "compute-experiments" / "e10" / "worker-results"
|
||||||
|
packs_root = root / ".runtime" / "compute-experiments" / "e10" / "lidar-packs"
|
||||||
|
source_path = source_result_root.expanduser().resolve(strict=True)
|
||||||
|
source_document = _read_object(source_path / "result.json", source_path)
|
||||||
|
identity = source_document.get("identity")
|
||||||
|
if not isinstance(identity, dict) or not isinstance(identity.get("job_id"), str):
|
||||||
|
raise SessionIntegrityError("E22 source has no job identity")
|
||||||
|
source = validate_integrated_perception_result(
|
||||||
|
jobs_root / identity["job_id"],
|
||||||
|
source_path,
|
||||||
|
packs_root,
|
||||||
|
)
|
||||||
|
if not source.accepted:
|
||||||
|
raise SessionIntegrityError("E22 source result is not accepted")
|
||||||
|
|
||||||
|
lab_job = _publish_lab_job(source.job, jobs_root, lab_session_id)
|
||||||
|
lab_pack = _publish_lab_pack(source, lab_job, packs_root, lab_session_id)
|
||||||
|
build = build_temporal_stability_result(
|
||||||
|
source=source,
|
||||||
|
lab_job=lab_job,
|
||||||
|
lab_pack=lab_pack,
|
||||||
|
results_root=results_root,
|
||||||
|
profile_path=profile_path,
|
||||||
|
)
|
||||||
|
validated = validate_integrated_perception_result(
|
||||||
|
lab_job.job_root,
|
||||||
|
build.result_root,
|
||||||
|
packs_root,
|
||||||
|
)
|
||||||
|
if not validated.accepted:
|
||||||
|
failed = [
|
||||||
|
name
|
||||||
|
for name, accepted in build.report["acceptance"]["checks"].items()
|
||||||
|
if not accepted
|
||||||
|
]
|
||||||
|
raise SessionIntegrityError(
|
||||||
|
f"E22 temporal acceptance failed: {', '.join(failed)}"
|
||||||
|
)
|
||||||
|
|
||||||
|
store = SessionStore(root)
|
||||||
|
source_lab = store.get_lab_instance(source.job.session_id)
|
||||||
|
source_session_id = (
|
||||||
|
source.job.session_id
|
||||||
|
if source_lab is None
|
||||||
|
else source_lab.source_session_id
|
||||||
|
)
|
||||||
|
publish_lab_replay_cache(
|
||||||
|
store.data_dir,
|
||||||
|
source_session_id=source_session_id,
|
||||||
|
lab_session_id=lab_session_id,
|
||||||
|
timeline_start_ns=round(validated.timeline_start_seconds * 1_000_000_000),
|
||||||
|
timeline_end_ns=round(validated.timeline_end_seconds * 1_000_000_000),
|
||||||
|
)
|
||||||
|
metrics = build.report["metrics"]
|
||||||
|
binding = store.publish_lab_instance(
|
||||||
|
session_id=lab_session_id,
|
||||||
|
source_session_id=source_session_id,
|
||||||
|
display_name=display_name,
|
||||||
|
lab_id=lab_id,
|
||||||
|
result_kind="e22-temporal-stability",
|
||||||
|
result_id=validated.result_id,
|
||||||
|
source_result_id=source.result_id,
|
||||||
|
config_sha256=build.profile_sha256,
|
||||||
|
run_created_at_utc=validated.created_at_utc,
|
||||||
|
duration_seconds=(
|
||||||
|
validated.timeline_end_seconds - validated.timeline_start_seconds
|
||||||
|
),
|
||||||
|
include_recorded_media=False,
|
||||||
|
provenance={
|
||||||
|
"schema_version": "missioncore.e22-lab-publication/v1",
|
||||||
|
"storage_mode": "bounded-derived-replay-and-temporal-projection",
|
||||||
|
"source_result_id": source.result_id,
|
||||||
|
"source_lab_session_id": (
|
||||||
|
None if source_lab is None else source_lab.session_id
|
||||||
|
),
|
||||||
|
"source_payloads_mutated": False,
|
||||||
|
"lookahead_frames": 0,
|
||||||
|
"peak_track_states": metrics["runtime"]["peak_track_states"],
|
||||||
|
"camera_frame_processing_p95_ms": metrics["runtime"][
|
||||||
|
"camera_frame_processing_ms"
|
||||||
|
]["p95"],
|
||||||
|
"semantic_frame_processing_p95_ms": metrics["runtime"][
|
||||||
|
"semantic_frame_processing_ms"
|
||||||
|
]["p95"],
|
||||||
|
"quality_reductions": metrics["reductions"],
|
||||||
|
},
|
||||||
|
)
|
||||||
|
return PublishedTemporalLabInstance(
|
||||||
|
binding=binding,
|
||||||
|
job=lab_job,
|
||||||
|
result=validated,
|
||||||
|
build=build,
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
def _validate_e21_inputs(
|
def _validate_e21_inputs(
|
||||||
e21_root: Path,
|
e21_root: Path,
|
||||||
worker_root: Path,
|
worker_root: Path,
|
||||||
|
|
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -20,6 +20,7 @@ from k1link.artifacts import write_json_atomic
|
||||||
from k1link.compute import (
|
from k1link.compute import (
|
||||||
prepare_camera_compute_job,
|
prepare_camera_compute_job,
|
||||||
publish_e21_lab_instance,
|
publish_e21_lab_instance,
|
||||||
|
publish_e22_lab_instance,
|
||||||
publish_integrated_lab_instance,
|
publish_integrated_lab_instance,
|
||||||
)
|
)
|
||||||
from k1link.device_plugins.xgrids_k1.analyze import (
|
from k1link.device_plugins.xgrids_k1.analyze import (
|
||||||
|
|
@ -433,6 +434,69 @@ def publish_e21_lab(
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
|
@lab_app.command("publish-e22")
|
||||||
|
def publish_e22_lab(
|
||||||
|
result: Annotated[
|
||||||
|
Path,
|
||||||
|
typer.Option(
|
||||||
|
exists=True,
|
||||||
|
file_okay=False,
|
||||||
|
readable=True,
|
||||||
|
resolve_path=True,
|
||||||
|
help="Accepted integrated result used as the immutable E22 baseline.",
|
||||||
|
),
|
||||||
|
],
|
||||||
|
profile: Annotated[
|
||||||
|
Path,
|
||||||
|
typer.Option(
|
||||||
|
exists=True,
|
||||||
|
dir_okay=False,
|
||||||
|
readable=True,
|
||||||
|
resolve_path=True,
|
||||||
|
help="Bounded E22 temporal-stability profile.",
|
||||||
|
),
|
||||||
|
],
|
||||||
|
session_id: Annotated[
|
||||||
|
str,
|
||||||
|
typer.Option("--session-id", help="New immutable LAB session id."),
|
||||||
|
],
|
||||||
|
lab_id: Annotated[
|
||||||
|
str,
|
||||||
|
typer.Option("--lab-id", help="LAB marker, for example 'LAB E22'."),
|
||||||
|
],
|
||||||
|
display_name: Annotated[
|
||||||
|
str,
|
||||||
|
typer.Option("--display-name", help="Operator-facing saved-session title."),
|
||||||
|
],
|
||||||
|
) -> None:
|
||||||
|
"""Build and publish a bounded 2D/3D/semantic temporal-stability run."""
|
||||||
|
|
||||||
|
repository_root = Path(__file__).resolve().parents[4]
|
||||||
|
try:
|
||||||
|
published = publish_e22_lab_instance(
|
||||||
|
repository_root=repository_root,
|
||||||
|
source_result_root=result,
|
||||||
|
profile_path=profile,
|
||||||
|
lab_session_id=session_id,
|
||||||
|
lab_id=lab_id,
|
||||||
|
display_name=display_name,
|
||||||
|
)
|
||||||
|
except (OSError, SessionIntegrityError, ValueError) as exc:
|
||||||
|
console.print(f"[red]E22 LAB publication failed:[/red] {exc}")
|
||||||
|
raise typer.Exit(code=2) from exc
|
||||||
|
reductions = published.build.report["metrics"]["reductions"]
|
||||||
|
console.print(
|
||||||
|
"[green]E22 LAB instance published.[/green] "
|
||||||
|
f"session={published.binding.session_id}; "
|
||||||
|
f"source={published.binding.source_session_id}; "
|
||||||
|
f"result={published.binding.result_id}; "
|
||||||
|
f"2d_reduction={reductions['tracking_2d_acceleration_p95_fraction']:.3f}; "
|
||||||
|
f"3d_center_reduction={reductions['cuboid_center_step_p95_fraction']:.3f}; "
|
||||||
|
f"3d_yaw_reduction={reductions['cuboid_yaw_step_p95_fraction']:.3f}; "
|
||||||
|
"source_payloads_mutated=false"
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
@app.command("serve")
|
@app.command("serve")
|
||||||
def serve_console(
|
def serve_console(
|
||||||
port: Annotated[
|
port: Annotated[
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,116 @@
|
||||||
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import json
|
||||||
|
from pathlib import Path
|
||||||
|
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
from k1link.compute.temporal_stability import (
|
||||||
|
TemporalStabilizer,
|
||||||
|
read_profile,
|
||||||
|
stabilize_semantic_masks,
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def _profile() -> dict[str, object]:
|
||||||
|
root = Path(__file__).resolve().parents[1]
|
||||||
|
profile, digest = read_profile(
|
||||||
|
root / "experiments" / "perception" / "e22_temporal_stability_profile.json"
|
||||||
|
)
|
||||||
|
assert len(digest) == 64
|
||||||
|
return profile
|
||||||
|
|
||||||
|
|
||||||
|
def _object(track_id: int, box: list[float]) -> dict[str, object]:
|
||||||
|
return {
|
||||||
|
"association_group": "vehicle",
|
||||||
|
"bbox_xyxy": box,
|
||||||
|
"candidate_projected_points": 20,
|
||||||
|
"clustered_points": 14,
|
||||||
|
"completion_fraction": 0.9,
|
||||||
|
"cuboid_center_map": [10.0, 2.0, 0.8],
|
||||||
|
"cuboid_half_size": [2.25, 0.925, 0.775],
|
||||||
|
"cuboid_quaternion_xyzw": [0.0, 0.0, 0.0, 1.0],
|
||||||
|
"cuboid_status": "accepted-class-prior-amodal-v1",
|
||||||
|
"distance_median_m": 10.2,
|
||||||
|
"distance_p10_m": 9.8,
|
||||||
|
"distance_smoothed_m": 10.1,
|
||||||
|
"geometry": "class-prior-completed-from-visible-lidar-support",
|
||||||
|
"ground_rejected_points": 0,
|
||||||
|
"ground_z_map": 0.0,
|
||||||
|
"label": "car",
|
||||||
|
"observed_cuboid_center_map": [10.0, 2.0, 0.8],
|
||||||
|
"observed_cuboid_half_size": [2.25, 0.925, 0.775],
|
||||||
|
"observed_cuboid_quaternion_xyzw": [0.0, 0.0, 0.0, 1.0],
|
||||||
|
"orientation_source": "support-pca",
|
||||||
|
"pre_ground_clustered_points": 14,
|
||||||
|
"score": 0.9,
|
||||||
|
"semantic_compatible_points": 18,
|
||||||
|
"support_coverage_fraction": 0.8,
|
||||||
|
"support_ground_z_map": None,
|
||||||
|
"temporal_status": "confirmed",
|
||||||
|
"track_id": track_id,
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
def test_e22_profile_is_bounded_and_has_no_control_authority() -> None:
|
||||||
|
profile = _profile()
|
||||||
|
|
||||||
|
assert profile["bounds"] == {
|
||||||
|
"maximum_track_states": 128,
|
||||||
|
"maximum_track_idle_seconds": 1.25,
|
||||||
|
"semantic_history_masks": 1,
|
||||||
|
}
|
||||||
|
assert profile["authority"] == {
|
||||||
|
"commands_enabled": False,
|
||||||
|
"navigation_or_safety_accepted": False,
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
def test_e22_stitches_one_tracklet_and_marks_short_holds() -> None:
|
||||||
|
stabilizer = TemporalStabilizer(_profile())
|
||||||
|
first = stabilizer.update(
|
||||||
|
frame_index=0,
|
||||||
|
session_seconds=0.0,
|
||||||
|
objects=[_object(10, [100.0, 100.0, 200.0, 200.0])],
|
||||||
|
)
|
||||||
|
second = stabilizer.update(
|
||||||
|
frame_index=1,
|
||||||
|
session_seconds=0.1,
|
||||||
|
objects=[_object(11, [102.0, 100.0, 202.0, 200.0])],
|
||||||
|
)
|
||||||
|
held = stabilizer.update(
|
||||||
|
frame_index=2,
|
||||||
|
session_seconds=0.2,
|
||||||
|
objects=[],
|
||||||
|
)
|
||||||
|
|
||||||
|
assert first[0]["track_id"] == 10
|
||||||
|
assert second[0]["track_id"] == 10
|
||||||
|
assert second[0]["temporal_source_track_id"] == 11
|
||||||
|
assert second[0]["temporal_2d_status"] == "stitched-observed"
|
||||||
|
assert held[0]["temporal_2d_status"] == "held-1-frame"
|
||||||
|
assert held[0]["cuboid_status"] == "accepted-temporal-hold-e22-v1"
|
||||||
|
assert stabilizer.stitched_tracks == 1
|
||||||
|
assert stabilizer.held_2d == 1
|
||||||
|
assert stabilizer.peak_states <= 128
|
||||||
|
|
||||||
|
|
||||||
|
def test_e22_semantic_hysteresis_removes_island_but_keeps_supported_region() -> None:
|
||||||
|
masks = np.zeros((2, 600, 800), dtype=np.uint8)
|
||||||
|
masks[1, 20, 20] = 4
|
||||||
|
masks[1, 100:110, 100:110] = 7
|
||||||
|
|
||||||
|
stabilized, metrics, durations = stabilize_semantic_masks(
|
||||||
|
masks,
|
||||||
|
minimum_same_label_neighbors=3,
|
||||||
|
)
|
||||||
|
|
||||||
|
assert stabilized[1, 20, 20] == 0
|
||||||
|
assert np.all(stabilized[1, 102:108, 102:108] == 7)
|
||||||
|
assert (
|
||||||
|
metrics["stabilized_unsupported_change_fraction"]["mean"]
|
||||||
|
< metrics["baseline_unsupported_change_fraction"]["mean"]
|
||||||
|
)
|
||||||
|
assert len(durations) == 1
|
||||||
|
assert json.dumps(metrics, allow_nan=False)
|
||||||
Loading…
Reference in New Issue