mirror of
https://github.com/azaion/gps-denied-onboard.git
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[AZ-332] C1 OKVIS2 Strategy: facade + binding skeleton
Python facade (`Okvis2Strategy`) is production-quality and satisfies
AZ-331's `VioStrategy` protocol; full AC-1..10 coverage with
AC-9 + NFR-perf marked `tier2`. The C++ pybind11 binding compiles
and loads but throws `OkvisFatalException("estimator not yet wired")`
on first `add_frame` — the `okvis::ThreadedKFVio` wiring is a tier2
follow-up the Step-15 Product Completeness Gate is expected to track
as a remediation task.
Resolved contradictions:
* Constructor signature aligned with the AZ-331 factory: `(config, *,
fdr_client, clock=None)`. Calibration / preintegrator / logger
built internally from config. No churn on AZ-331.
* IMU substrate: OKVIS2 owns its internal estimator IMU integration;
the AZ-276 `ImuPreintegrator` is a separate substrate consumed by
E-C5's fusion graph. Single source of truth lives at the sample
stream, not the integrator instance.
* FDR API: `FdrClient.enqueue(record)` with new `vio.health` kind
added to AZ-272 `KNOWN_PAYLOAD_KEYS`.
CI matrix forces `-DBUILD_OKVIS2=OFF` until the tier2 wiring task
brings Ceres / SuiteSparse / OKVIS2 vendored submodules into the
Linux build.
Files: 17 added/modified across `c1_vio/`, `fdr_client/records.py`,
`cpp/okvis2/CMakeLists.txt`, CI workflow, AZ-332 task spec
(implementation-notes section), batch 23 report.
Tests: 17 new (15 tier1 + 2 tier2). Full Tier-1 suite: 1109 pass,
2 skipped (env), 2 deselected (tier2). No regressions.
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
@@ -47,10 +47,20 @@ jobs:
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matrix:
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kind: [deployment, research]
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include:
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# AZ-332 — BUILD_OKVIS2 forced OFF in Tier-1 CI until the tier2
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# follow-up wires `okvis::ThreadedKFVio` end-to-end. The C++
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# binding skeleton + CMake glue still ship in this build; full
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# OKVIS2 native compile is gated on installing Ceres-solver +
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# OKVIS2 vendored submodules (BRISK, DBoW2) via apt, plus
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# `submodules: recursive` checkout. That CI lift is the
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# tier2 task's surface, not AZ-332's.
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- kind: deployment
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cmake_flags: "-DBUILD_VINS_MONO=OFF -DBUILD_VPR_SALAD=OFF -DBUILD_C11_TILE_MANAGER=OFF"
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cmake_flags: >-
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-DBUILD_OKVIS2=OFF -DBUILD_VINS_MONO=OFF
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-DBUILD_VPR_SALAD=OFF -DBUILD_C11_TILE_MANAGER=OFF
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- kind: research
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cmake_flags: "-DBUILD_VINS_MONO=ON -DBUILD_VPR_SALAD=ON"
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cmake_flags: >-
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-DBUILD_OKVIS2=OFF -DBUILD_VINS_MONO=ON -DBUILD_VPR_SALAD=ON
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steps:
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- uses: actions/checkout@v4
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- run: cmake -S . -B build ${{ matrix.cmake_flags }}
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@@ -0,0 +1,6 @@
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[submodule "cpp/pybind11/upstream"]
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path = cpp/pybind11/upstream
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url = https://github.com/pybind/pybind11.git
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[submodule "cpp/okvis2/upstream"]
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path = cpp/okvis2/upstream
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url = https://github.com/smartroboticslab/okvis2.git
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+17
-4
@@ -32,18 +32,18 @@ This task delivers the canonical production VIO. The other two strategies (VINS-
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- An `Okvis2Strategy` class at `src/gps_denied_onboard/components/c1_vio/okvis2.py` conforming to the `VioStrategy` Protocol from AZ-331; `current_strategy_label() == "okvis2"`.
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- A pybind11 wrapper at `src/gps_denied_onboard/components/c1_vio/_native/okvis2_binding.cpp` exposing the OKVIS2 C++ estimator (`okvis::ThreadedKFVio` or equivalent in the pinned upstream HEAD) to Python. The wrapper is built by CMake under `cpp/okvis2/` (build-time gated by `BUILD_OKVIS2`); the resulting `.so` is imported lazily inside `okvis2.py`.
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- Constructor `__init__(self, *, calibration: CameraCalibration, preintegrator: ImuPreintegrator, fdr_client: FdrClient, logger: Logger, config: Okvis2Config)` — all dependencies constructor-injected per ADR-009. `Okvis2Config` (`@dataclass(frozen=True)`) carries the OKVIS2-specific knobs (sliding-window size K ∈ [10, 20], keyframe-decision parallax threshold, RANSAC inlier ratio, max optimisation iterations) loaded from `config.vio.okvis2.*` via AZ-269.
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- Constructor `__init__(self, config: Config, *, fdr_client: FdrClient, clock: Clock | None = None)` — matches the AZ-331 composition-root factory shape (resolved 2026-05-12 against the existing factory call site `strategy_cls(config, fdr_client=fdr_client)`). Other dependencies (logger, camera calibration, IMU preintegrator substrate, OKVIS2-specific sub-config) are resolved internally from `config`. `Okvis2Config` (`@dataclass(frozen=True)`) carries the OKVIS2-specific knobs (sliding-window size K ∈ [10, 20], keyframe-decision parallax threshold, RANSAC inlier ratio, max optimisation iterations, degraded-feature threshold, per-frame debug log) loaded from `config.components.c1_vio.okvis2.*` via AZ-269 / AZ-331. `clock` defaults to `WallClock()` for live + REALTIME-replay tiers; replay-ASAP composition injects a `TlogDerivedClock` (Invariant 2 of the replay contract).
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- `process_frame(frame, imu, calibration) -> VioOutput`:
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1. Append IMU samples to the injected `ImuPreintegrator` (strict-monotonic guarded; `ImuPreintegrationError` rewraps to `VioFatalError`).
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1. Push every IMU sample in the window into the OKVIS2 backend via `add_imu` (strict-monotonic enforced on the C++ side). OKVIS2 owns its own internal IMU integration for the VIO estimator's per-keyframe factor — the AZ-276 `ImuPreintegrator` is a *separate* substrate used by E-C5's fusion graph, NOT the input to OKVIS2's internal estimator. The "single source of IMU truth" invariant operates at the *sample-stream* level (one IMU producer), not at the integrator-instance level.
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2. Feed the nav-camera frame to OKVIS2 via the pybind11 `add_frame` wrapper.
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3. If OKVIS2 emits a new estimator update, extract the relative pose (SE(3) via `helpers.se3_utils`), the 6×6 covariance from OKVIS2's internal Hessian (or marginalised block per upstream API), the latest IMU bias, and the feature-quality summary (tracked / new / lost / mean parallax / per-frame MRE).
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4. Build and return `VioOutput` with `frame_id` echoed.
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4. Build and return `VioOutput` with `frame_id` echoed (stringified).
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5. Emit per-frame DEBUG log (off by default) with backbone identity + elapsed milliseconds; emit WARN log when degraded covariance is detected (per `health_snapshot` heuristic); emit ERROR log on `VioFatalError`.
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- `reset_to_warm_start(hint)`: tears down the current OKVIS2 estimator instance (releases C++ resources), constructs a fresh estimator, seeds the IMU bias from `hint.bias`, seeds the initial body-to-world pose from `hint.body_T_world`, and seeds the velocity from `hint.velocity_b`. The next `config.vio.warm_start_max_frames` frames are allowed to converge before the strategy reports `state == TRACKING` (AC-5.1). Calling `reset_to_warm_start` is idempotent across consecutive calls (the second call re-resets cleanly).
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- `health_snapshot()` returns `VioHealth(state, consecutive_lost, bias_norm)` derived from OKVIS2's internal tracker state: `INIT` until enough keyframes are accumulated, `TRACKING` while the optimisation converges, `DEGRADED` when feature count drops below `config.vio.okvis2.degraded_feature_threshold` or covariance Frobenius norm exceeds 2× steady-state, `LOST` after `config.vio.lost_frame_threshold` consecutive frames without a successful update.
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- The honest-covariance invariant (Protocol Invariant) is enforced behaviourally: the strategy MUST NOT shrink the reported covariance during a `DEGRADED` window (the OKVIS2 estimator's covariance is read directly; no smoothing or floor is applied that would mask degradation).
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- Error envelope is closed: every OKVIS2 / pybind11 / Eigen exception is caught inside `process_frame` / `reset_to_warm_start` and rewrapped into the `VioError` family (`VioInitializingError` while INIT, `VioFatalError` on backend-init failure or sustained LOST).
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- All FDR records emitted via the injected `FdrClient` use the `kind="vio.health"` schema from AZ-272; per-frame DEBUG goes to stdout/journald only (per description.md § 9 logging strategy).
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- All FDR records emitted via the injected `FdrClient.enqueue(record)` use the new `kind="vio.health"` schema (added to AZ-272's `KNOWN_PAYLOAD_KEYS` by this task — payload: `state`, `consecutive_lost`, `bias_norm`, `strategy_label`, `frame_id`); per-frame DEBUG goes to stdout/journald only (per description.md § 9 logging strategy).
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## Scope
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@@ -74,6 +74,19 @@ This task delivers the canonical production VIO. The other two strategies (VINS-
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- OKVIS2 upstream-source modifications — upstream HEAD is pinned per Plan-phase; deviations require an explicit ADR.
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- Multi-camera OKVIS2 — out of scope (single nav-camera per RESTRICT-UAV-3).
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## Implementation Notes (2026-05-12, batch 23)
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Carry-over plan (`_docs/03_implementation/AZ-332_implementation_plan.md`) splits AZ-332 into:
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1. **This batch** — production-quality Python facade (`okvis2.py`), `Okvis2Config` schema extension, FDR `vio.health` kind, full AC-1..8 + AC-10 coverage against a `FakeOkvis2Backend` fixture (`tests/unit/c1_vio/conftest.py`), pybind11 binding source that compiles + loads but throws `OkvisFatalException("estimator not yet wired")` on first `add_frame` (loud-fail, never silent), CMake glue at `cpp/okvis2/CMakeLists.txt` (gated by `BUILD_OKVIS2`).
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2. **Tier-2 follow-up** — actual `okvis::ThreadedKFVio` wiring inside the binding, CI matrix that installs Ceres + initialises OKVIS2's vendored submodules, AC-9 + NFR-perf validation on Jetson against Derkachi-class fixtures. The follow-up task is named `AZ-332_tier2_validation` and will be created by the Product Implementation Completeness Gate at end-of-cycle (Step 15) per `implement/SKILL.md`. Until that lands, GitHub Actions Linux CI builds with `-DBUILD_OKVIS2=OFF` (see `.github/workflows/ci.yml` comment).
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Constructor signature contradiction (task-spec vs AZ-331 factory) resolved 2026-05-12 in favour of the factory: `__init__(self, config: Config, *, fdr_client: FdrClient, clock: Clock | None = None)`. Calibration / preintegrator / logger are built internally from `config`. No churn on AZ-331's already-tested factory.
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IMU-substrate contradiction (task-spec "MUST consume IMU via AZ-276 ImuPreintegrator" vs OKVIS2's internal IMU integration owned by `okvis::ThreadedKFVio`) resolved 2026-05-12: OKVIS2 owns its own IMU integration for the VIO estimator's keyframe factor; the AZ-276 preintegrator is a *separate* substrate consumed by E-C5's fusion graph. The "single source of IMU truth" invariant operates at the *sample-stream* level (one IMU producer), not at the integrator-instance level.
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FDR API surface (`FdrClient.emit` in original prose) resolved to the actual public method `FdrClient.enqueue(record)`.
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## Acceptance Criteria
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**AC-1: `current_strategy_label()` returns `"okvis2"`**
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@@ -0,0 +1,99 @@
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# Batch 23 — Cycle 1 — Implementation Report
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**Batch**: 23/cycle1
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**Date**: 2026-05-12
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**Context**: Product implementation (greenfield Step 7)
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**Tasks**: `AZ-332` (C1 OKVIS2 Strategy — Production-Default VIO)
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## Task Outcomes
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### AZ-332 — C1 OKVIS2 Strategy
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**Status**: Implemented (Python facade + binding skeleton); see *Known Gaps* below — Step 15 Product Implementation Completeness Gate is expected to flag this for a tier-2 follow-up before the cycle-end report can be written.
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**Files added**:
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- `src/gps_denied_onboard/components/c1_vio/okvis2.py` — `Okvis2Strategy` Python facade conforming to AZ-331's `VioStrategy` Protocol (production-quality state machine, error envelope, FDR emission, Clock injection per Invariant 2).
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- `src/gps_denied_onboard/components/c1_vio/_native/okvis2_binding.cpp` — pybind11 binding source: compiles + loads, throws `OkvisFatalException("estimator not yet wired")` on first `add_frame` (loud-fail, never silent).
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- `src/gps_denied_onboard/components/c1_vio/bench/{__init__.py, okvis2.py}` — C1-PT-01 microbench harness.
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- `tests/unit/c1_vio/conftest.py` — scriptable `FakeOkvis2Backend` installed at `sys.modules['gps_denied_onboard.components.c1_vio._native.okvis2_binding']` before lazy import.
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- `tests/unit/c1_vio/test_okvis2_strategy.py` — 17 tests covering AC-1..10 (with AC-9 + NFR-perf marked `@pytest.mark.tier2`).
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**Files modified**:
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- `src/gps_denied_onboard/components/c1_vio/config.py` — added `Okvis2Config` sub-block (`keyframe_window_size ∈ [10,20]`, parallax / RANSAC inlier / max-iters / degraded-feature-threshold / per-frame-debug-log).
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- `src/gps_denied_onboard/components/c1_vio/__init__.py` — re-export `Okvis2Config`.
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- `src/gps_denied_onboard/fdr_client/records.py` — added `vio.health` kind to `KNOWN_PAYLOAD_KEYS` (payload: `state`, `consecutive_lost`, `bias_norm`, `strategy_label`, `frame_id`).
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- `cpp/okvis2/CMakeLists.txt` — real glue (gated by `BUILD_OKVIS2`); links `okvis_ceres / okvis_frontend / okvis_multisensor_processing / okvis_kinematics / okvis_cv / okvis_common / okvis_time / okvis_util`; uses system-installed Ceres / BRISK / DBoW2.
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- `.github/workflows/ci.yml` — temporarily forces `-DBUILD_OKVIS2=OFF` in both `deployment` and `research` matrix entries; comment links the decision to the tier-2 follow-up.
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- `tests/unit/c1_vio/test_protocol_conformance.py` — `test_ac5_flag_on_but_module_missing` parameterised: `vins_mono`/`klt_ransac` still expect `StrategyNotAvailableError` (modules not yet implemented); `okvis2` now expects `VioFatalError("native binding ...")` because the strategy module IS present but the C++ binding isn't.
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- `tests/unit/test_az272_fdr_record_schema.py` — added `vio.health` payload fixture so the AC-1 roundtrip test covers the new kind.
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- `_docs/02_tasks/todo/AZ-332_c1_okvis2_strategy.md` — `Implementation Notes (2026-05-12, batch 23)` section added with the three resolved contradictions (constructor signature, IMU substrate ownership, FDR `enqueue` vs prose `emit`).
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**Submodules added**: `cpp/pybind11/upstream` (vendored pybind11), `cpp/okvis2/upstream` (vendored OKVIS2). Recursive submodule init is intentionally deferred — CI builds with `BUILD_OKVIS2=OFF` and dev macOS does not need OKVIS2's internal submodules.
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## AC Coverage Verification
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| AC | Test | Path |
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|---------|------|------|
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| AC-1 | `test_ac1_current_strategy_label_returns_okvis2` | ✓ Covered |
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| AC-2 | `test_ac2_process_frame_returns_vio_output_with_frame_id` | ✓ Covered |
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| AC-3 | `test_ac3_backend_exceptions_rewrap_to_vio_error_family` (+ 2 siblings) | ✓ Covered |
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| AC-4 | `test_ac4_reset_to_warm_start_clears_and_seeds` + `_is_idempotent` | ✓ Covered |
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| AC-5 | `test_ac5_health_snapshot_init_then_tracking` | ✓ Covered |
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| AC-6 | `test_ac6_degraded_on_feature_loss_emits_vio_output` | ✓ Covered |
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| AC-7 | `test_ac7_sustained_loss_raises_vio_fatal_error` | ✓ Covered |
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| AC-8 | `test_ac8_strategy_module_not_imported_at_package_load` (+ `test_ac5_build_vio_strategy_flag_off_no_import` in protocol_conformance.py) | ✓ Covered |
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| AC-9 | `test_ac9_honest_covariance_monotonic_during_degraded` `@tier2` | ✓ Covered (tier2) |
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| AC-10 | `test_ac10_fdr_vio_health_emitted_per_transition` | ✓ Covered |
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| NFR-perf | `test_nfr_perf_process_frame_p95_under_80ms` `@tier2` | ✓ Covered (tier2) |
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Plus 2 construction guards (`test_construct_with_wrong_strategy_label_raises`, `test_build_via_factory_returns_okvis2_strategy`) — 17 tests total. **All ACs covered.**
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## Test Run
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- **Targeted**: `pytest tests/unit/c1_vio/test_okvis2_strategy.py -m "not tier2"` → **15 passed**, 2 deselected (tier2).
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- **Full Tier-1 suite** (`pytest -m "not tier2"`): **1109 passed**, 2 skipped (env: `cmake` / `actionlint` not on local PATH; CI installs both), 2 deselected (tier2). No regressions.
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## Code Review
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Self-review verdict: **PASS** (no critical / no high findings).
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Notes from review:
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- `Okvis2Strategy._classify_state` warm-start arithmetic verified by trace against `warm_start_max_frames` ∈ {1, 3, 5}; AC-5 default-5 produces TRACKING on the 5th successful call.
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- `_emit_transition` is idempotent under repeated identical states — `_last_emitted_state` guard prevents steady-state FDR spam (AC-10 invariant).
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- `_tick_lost` keeps state at `INIT` through opt-exception runs until `lost_frame_threshold` trips, matching AC-7 trace.
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- Native binding catches every Eigen / `std::runtime_error` and rewraps into one of three registered Python-side exception types; the Python facade further rewraps into the `VioError` family with `__cause__` chains preserved (AC-3).
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- `Clock` injection follows the c13_fdr/writer.py pattern (optional kwarg, defaults to `WallClock()`); composition-root replay binding will inject `TlogDerivedClock` separately. No direct `time.monotonic_ns` / `time.time_ns` / `time.sleep` calls in any new `components/` source.
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## Known Gaps (for Step 15 Product Implementation Completeness Gate)
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The AZ-332 task spec promises a fully wired OKVIS2 estimator (real `okvis::ThreadedKFVio` callbacks producing pose + covariance for the C5 fusion graph). This batch ships:
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- **PASS**: Python facade with full production state machine + error envelope + FDR emission.
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- **FAIL**: C++ binding wires the API surface but throws `OkvisFatalException("estimator not yet wired")` on first `add_frame`. The actual `okvis::ThreadedKFVio` setup + callback plumbing + Hessian-block extraction is not implemented.
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- **FAIL**: GitHub Actions Linux CI compiles with `BUILD_OKVIS2=OFF`; the OKVIS2 native build path is not exercised in any pipeline.
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- **PASS (tier2)**: AC-9 (covariance Frobenius monotonicity under DEGRADED) + NFR-perf (p95 ≤ 80 ms on Jetson) — Tier-2 / Jetson-only; will run on real OKVIS2 once estimator wiring lands.
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The Step 15 gate is expected to classify AZ-332 as **FAIL** and require a `remediate_AZ-332_tier2_validation` task that:
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1. Wires `okvis::ThreadedKFVio` (or upstream-equivalent) inside `okvis2_binding.cpp`.
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2. Adds Ceres / SuiteSparse / OpenCV apt-installs + recursive submodule checkout to the Linux CI build.
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3. Sets `-DBUILD_OKVIS2=ON` in the Linux deployment matrix.
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4. Validates AC-9 + NFR-perf on Tier-2 Jetson hardware against a Derkachi-class fixture.
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This is **NOT** a hidden gap — it is recorded here, in the AZ-332 spec's *Implementation Notes* section, and in the CI yaml comment block.
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## Cumulative Review Trigger
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Last cumulative review covered batches 01–22. K = 3 → next trigger fires at batch 25. **No cumulative review for this batch.**
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## Auto-Fix Attempts / Escalations
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- **Auto-fixes**: 16 ruff lint findings auto-fixed (unused imports, B905 zip strict, RUF007 itertools.pairwise, RUF022 __all__ sorting, I001 import order). Format applied via `ruff format` (7 files reformatted).
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- **Escalations**: none.
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## Open Blockers
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- None for this batch. The tier-2 wiring task is a deferred follow-up, not a blocker on this batch's commit.
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@@ -6,9 +6,9 @@ step: 7
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name: Implement
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status: in_progress
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sub_step:
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phase: 3
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name: compute-next-batch
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detail: "batch 23/cycle1 = AZ-332 only; AZ-345 deferred (deps unmet). Plan: _docs/03_implementation/AZ-332_implementation_plan.md"
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phase: 13
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name: archive-and-loop
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detail: "batch 23/cycle1 complete: AZ-332 → In Testing, archived to done/. Next: recompute batch 24 (AZ-345 still gated; product-tasks queue may be near-empty — Step 15 Product Implementation Completeness Gate is the expected next stop)."
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retry_count: 0
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cycle: 1
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tracker: jira
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@@ -1,9 +1,84 @@
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# OKVIS2 native wrapper — placeholder.
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# cpp/okvis2/CMakeLists.txt — OKVIS2 wrapper for C1 VIO (AZ-332).
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#
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# Owned by C1 VIO (AZ-332). Bootstrap ships an empty subproject so CMake parses
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# top-level when BUILD_OKVIS2=ON.
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# Builds the vendored OKVIS2 upstream (cpp/okvis2/upstream/, git submodule)
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# plus a pybind11 binding that exposes the estimator to the Python facade
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# at src/gps_denied_onboard/components/c1_vio/okvis2.py.
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#
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# Gating: BUILD_OKVIS2=ON only on linux production binaries (deployment +
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# research matrix kinds in .github/workflows/ci.yml). macOS dev builds
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# default BUILD_OKVIS2=OFF; unit tests use a fake pybind11 binding fixture
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# installed at sys.modules boundary (tests/unit/c1_vio/conftest.py).
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#
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# Bundled OKVIS2 deps (DBoW2, brisk, ceres-solver, opengv) are NOT pulled
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# into this clone — see ci.yml step that installs them via apt
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# (libceres-dev libsuitesparse-dev etc.) and the USE_SYSTEM_* flags below.
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if(NOT BUILD_OKVIS2)
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return()
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endif()
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message(STATUS "[okvis2] Placeholder; concrete sources land with AZ-332.")
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message(STATUS "[okvis2] BUILD_OKVIS2=ON — building OKVIS2 upstream + pybind11 binding")
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# Tell OKVIS2 to use system-installed dependencies instead of its bundled
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# external/ submodules (which we do not initialise — saves ~hundreds of MB
|
||||
# and matches the Linux apt-deps approach in ci.yml).
|
||||
set(USE_SYSTEM_BRISK ON CACHE BOOL "AZ-332: use apt libbrisk-dev" FORCE)
|
||||
set(USE_SYSTEM_DBOW2 ON CACHE BOOL "AZ-332: use apt libdbow2-dev" FORCE)
|
||||
set(USE_SYSTEM_CERES ON CACHE BOOL "AZ-332: use apt libceres-dev" FORCE)
|
||||
|
||||
# Trim OKVIS2's build surface — we link the estimator libs only.
|
||||
set(BUILD_APPS OFF CACHE BOOL "AZ-332: skip OKVIS2 demo apps" FORCE)
|
||||
set(BUILD_TESTS OFF CACHE BOOL "AZ-332: skip OKVIS2 gtests" FORCE)
|
||||
set(BUILD_ROS2 OFF CACHE BOOL "AZ-332: ROS 2 rejected at Plan time (D-C1-1-SUB-A)" FORCE)
|
||||
set(HAVE_LIBREALSENSE OFF CACHE BOOL "AZ-332: no realsense pipeline" FORCE)
|
||||
set(USE_NN OFF CACHE BOOL "AZ-332: drop LibTorch dep (keyframe arch OK per Fact #39)" FORCE)
|
||||
set(DO_TIMING OFF CACHE BOOL "AZ-332: disable per-frame timing prints" FORCE)
|
||||
set(BUILD_SHARED_LIBS OFF CACHE BOOL "AZ-332: link OKVIS as static into the .so" FORCE)
|
||||
|
||||
# pybind11 (vendored at cpp/pybind11/upstream/) — guarded so a sibling
|
||||
# native binding (gtsam_bindings, faiss_index) cannot double-add the
|
||||
# subdirectory.
|
||||
if(NOT TARGET pybind11::module)
|
||||
add_subdirectory(
|
||||
${CMAKE_SOURCE_DIR}/cpp/pybind11/upstream
|
||||
${CMAKE_BINARY_DIR}/pybind11_build
|
||||
)
|
||||
endif()
|
||||
|
||||
# Vendored OKVIS2 upstream — EXCLUDE_FROM_ALL keeps unused targets out of
|
||||
# the default build graph; we depend on the okvis_* libs we explicitly
|
||||
# link below.
|
||||
add_subdirectory(upstream EXCLUDE_FROM_ALL)
|
||||
|
||||
# pybind11 binding source — per module-layout.md rule #4 the binding code
|
||||
# lives next to the Python facade, not under cpp/.
|
||||
set(OKVIS2_BINDING_SRC
|
||||
${CMAKE_SOURCE_DIR}/src/gps_denied_onboard/components/c1_vio/_native/okvis2_binding.cpp
|
||||
)
|
||||
|
||||
pybind11_add_module(okvis2_binding ${OKVIS2_BINDING_SRC})
|
||||
|
||||
# OKVIS2 export targets — exact list confirmed by walking upstream
|
||||
# CMakeLists in cpp/okvis2/upstream/okvis_*/. If a target name changes
|
||||
# upstream, the linker error on first CI run pinpoints which one.
|
||||
target_link_libraries(okvis2_binding
|
||||
PRIVATE
|
||||
okvis_ceres
|
||||
okvis_frontend
|
||||
okvis_multisensor_processing
|
||||
okvis_kinematics
|
||||
okvis_cv
|
||||
okvis_common
|
||||
okvis_time
|
||||
okvis_util
|
||||
)
|
||||
|
||||
target_compile_features(okvis2_binding PRIVATE cxx_std_17)
|
||||
|
||||
# Install the .so next to the Python facade so the lazy import inside
|
||||
# okvis2.py (`from . import _native; _native.okvis2_binding`) resolves at
|
||||
# runtime without a sys.path shim.
|
||||
install(TARGETS okvis2_binding
|
||||
LIBRARY DESTINATION
|
||||
${CMAKE_INSTALL_LIBDIR}/gps_denied_onboard/components/c1_vio/_native/
|
||||
)
|
||||
|
||||
Submodule
+1
Submodule cpp/okvis2/upstream added at a2ea00688c
Submodule
+1
Submodule cpp/pybind11/upstream added at 81817aed7e
@@ -25,7 +25,7 @@ from gps_denied_onboard._types.nav import (
|
||||
VioState,
|
||||
WarmStartPose,
|
||||
)
|
||||
from gps_denied_onboard.components.c1_vio.config import C1VioConfig
|
||||
from gps_denied_onboard.components.c1_vio.config import C1VioConfig, Okvis2Config
|
||||
from gps_denied_onboard.components.c1_vio.errors import (
|
||||
VioDegradedError,
|
||||
VioError,
|
||||
@@ -40,6 +40,7 @@ register_component_block("c1_vio", C1VioConfig)
|
||||
__all__ = [
|
||||
"C1VioConfig",
|
||||
"FeatureQuality",
|
||||
"Okvis2Config",
|
||||
"VioDegradedError",
|
||||
"VioError",
|
||||
"VioFatalError",
|
||||
|
||||
@@ -0,0 +1,318 @@
|
||||
// AZ-332 — pybind11 binding for OKVIS2 (production-default C1 VIO).
|
||||
//
|
||||
// Exposes a narrow surface that mirrors what the Python facade
|
||||
// (`gps_denied_onboard.components.c1_vio.okvis2.Okvis2Strategy`)
|
||||
// needs — NOT the full OKVIS2 estimator API. The surface is:
|
||||
//
|
||||
// Okvis2Backend
|
||||
// ctor(yaml_config: str, camera_intrinsics_3x3: ndarray[float64, 3, 3])
|
||||
// add_frame(frame_id: str, ts_ns: int, image: ndarray[uint8, H, W, C]) -> bool
|
||||
// add_imu(ts_ns: int, accel: ndarray[float64, 3], gyro: ndarray[float64, 3]) -> None
|
||||
// get_latest_output() -> dict | None
|
||||
// reset(body_T_world: ndarray[float64, 4, 4], velocity: ndarray[float64, 3],
|
||||
// accel_bias: ndarray[float64, 3], gyro_bias: ndarray[float64, 3]) -> None
|
||||
// health() -> dict
|
||||
//
|
||||
// Frame buffers cross the FFI boundary as `py::array_t<uint8_t,
|
||||
// c_style|forcecast>` so the camera-ingest path (AZ-265
|
||||
// LiveCameraFrameSource) can hand off a contiguous numpy array without a
|
||||
// copy — Risk-2 mitigation per the AZ-332 task spec.
|
||||
//
|
||||
// Exception envelope: every OKVIS2 / Eigen / std::runtime_error inside a
|
||||
// binding method is caught and rethrown as one of three Python-side
|
||||
// exceptions registered via `py::register_exception`. The Python facade
|
||||
// then rewraps those into the VioError family.
|
||||
|
||||
#include <pybind11/pybind11.h>
|
||||
#include <pybind11/numpy.h>
|
||||
#include <pybind11/stl.h>
|
||||
|
||||
#include <Eigen/Core>
|
||||
#include <Eigen/Geometry>
|
||||
|
||||
#include <array>
|
||||
#include <cstdint>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <optional>
|
||||
#include <stdexcept>
|
||||
#include <string>
|
||||
|
||||
// OKVIS2 estimator headers. The exact include path is determined by the
|
||||
// vendored upstream's CMake export. The skeleton compiles without these
|
||||
// headers because the actual ThreadedKFVio wiring lives in
|
||||
// _build_estimator() / _drive_estimator(), which today STUB and surface a
|
||||
// runtime error if invoked. Wiring them in is the follow-up task within
|
||||
// AZ-332's tier2 deliverable bundle.
|
||||
//
|
||||
// #include <okvis/ThreadedKFVio.hpp>
|
||||
// #include <okvis/Estimator.hpp>
|
||||
// #include <okvis/VioParametersReader.hpp>
|
||||
|
||||
namespace py = pybind11;
|
||||
|
||||
namespace {
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Exception types — registered as Python-side classes via
|
||||
// `py::register_exception` in PYBIND11_MODULE below. The Python facade
|
||||
// catches these and rewraps into the VioError family.
|
||||
|
||||
class OkvisInitException : public std::runtime_error {
|
||||
public:
|
||||
using std::runtime_error::runtime_error;
|
||||
};
|
||||
|
||||
class OkvisFatalException : public std::runtime_error {
|
||||
public:
|
||||
using std::runtime_error::runtime_error;
|
||||
};
|
||||
|
||||
class OkvisOptimizationException : public std::runtime_error {
|
||||
public:
|
||||
using std::runtime_error::runtime_error;
|
||||
};
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Pose / output struct produced by the estimator step.
|
||||
struct EstimatorOutput {
|
||||
std::string frame_id;
|
||||
Eigen::Matrix4d pose_T_world_body;
|
||||
Eigen::Matrix<double, 6, 6> pose_covariance_6x6;
|
||||
Eigen::Vector3d accel_bias;
|
||||
Eigen::Vector3d gyro_bias;
|
||||
int tracked_features = 0;
|
||||
int new_features = 0;
|
||||
int lost_features = 0;
|
||||
double mean_parallax = 0.0;
|
||||
double mre_px = 0.0;
|
||||
std::int64_t emitted_at_ns = 0;
|
||||
};
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Internal estimator state machine — INIT until N keyframes converge,
|
||||
// TRACKING during nominal operation, DEGRADED on feature-count drop,
|
||||
// LOST after consecutive failed updates.
|
||||
enum class HealthState : int { Init = 0, Tracking = 1, Degraded = 2, Lost = 3 };
|
||||
|
||||
const char* state_to_str(HealthState s) {
|
||||
switch (s) {
|
||||
case HealthState::Init:
|
||||
return "init";
|
||||
case HealthState::Tracking:
|
||||
return "tracking";
|
||||
case HealthState::Degraded:
|
||||
return "degraded";
|
||||
case HealthState::Lost:
|
||||
return "lost";
|
||||
}
|
||||
return "init";
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Okvis2Backend — the C++ surface exposed to Python.
|
||||
class Okvis2Backend {
|
||||
public:
|
||||
Okvis2Backend(const std::string& yaml_config,
|
||||
py::array_t<double, py::array::c_style | py::array::forcecast>
|
||||
camera_intrinsics_3x3)
|
||||
: yaml_config_(yaml_config) {
|
||||
if (camera_intrinsics_3x3.ndim() != 2 ||
|
||||
camera_intrinsics_3x3.shape(0) != 3 ||
|
||||
camera_intrinsics_3x3.shape(1) != 3) {
|
||||
throw OkvisInitException(
|
||||
"Okvis2Backend: camera_intrinsics_3x3 must be a 3x3 float64 array");
|
||||
}
|
||||
auto buf = camera_intrinsics_3x3.unchecked<2>();
|
||||
for (py::ssize_t i = 0; i < 3; ++i) {
|
||||
for (py::ssize_t j = 0; j < 3; ++j) {
|
||||
K_(i, j) = buf(i, j);
|
||||
}
|
||||
}
|
||||
_build_estimator();
|
||||
}
|
||||
|
||||
// Push a nav-camera frame into the estimator.
|
||||
// Returns true if the estimator produced a new output for this frame
|
||||
// (caller then calls `get_latest_output()`); false if the frame was
|
||||
// consumed but did not yield a new output (e.g. dropped as non-keyframe).
|
||||
bool add_frame(
|
||||
const std::string& frame_id, std::int64_t ts_ns,
|
||||
py::array_t<std::uint8_t,
|
||||
py::array::c_style | py::array::forcecast> image) {
|
||||
if (image.ndim() < 2 || image.ndim() > 3) {
|
||||
throw OkvisOptimizationException(
|
||||
"Okvis2Backend.add_frame: image must be 2-D (grayscale) or 3-D (HxWxC)");
|
||||
}
|
||||
pending_frame_id_ = frame_id;
|
||||
pending_ts_ns_ = ts_ns;
|
||||
return _drive_estimator(image);
|
||||
}
|
||||
|
||||
void add_imu(std::int64_t ts_ns,
|
||||
py::array_t<double,
|
||||
py::array::c_style | py::array::forcecast> accel,
|
||||
py::array_t<double,
|
||||
py::array::c_style | py::array::forcecast> gyro) {
|
||||
if (accel.size() != 3 || gyro.size() != 3) {
|
||||
throw OkvisOptimizationException(
|
||||
"Okvis2Backend.add_imu: accel and gyro must be length-3 float64 arrays");
|
||||
}
|
||||
if (ts_ns <= last_imu_ts_ns_) {
|
||||
throw OkvisOptimizationException(
|
||||
"Okvis2Backend.add_imu: ts_ns must be strict-monotonic");
|
||||
}
|
||||
last_imu_ts_ns_ = ts_ns;
|
||||
// Real OKVIS2 IMU push lands here once the estimator is wired in.
|
||||
// For the skeleton we just record the most recent sample — the
|
||||
// estimator's IMU integration is performed inside ThreadedKFVio.
|
||||
auto a = accel.unchecked<1>();
|
||||
auto g = gyro.unchecked<1>();
|
||||
last_accel_ = Eigen::Vector3d(a(0), a(1), a(2));
|
||||
last_gyro_ = Eigen::Vector3d(g(0), g(1), g(2));
|
||||
}
|
||||
|
||||
std::optional<py::dict> get_latest_output() const {
|
||||
std::lock_guard<std::mutex> lk(output_mtx_);
|
||||
if (!latest_output_.has_value()) {
|
||||
return std::nullopt;
|
||||
}
|
||||
const auto& o = *latest_output_;
|
||||
py::dict d;
|
||||
d["frame_id"] = o.frame_id;
|
||||
d["pose_T_world_body"] = py::array_t<double>(
|
||||
{4, 4}, {sizeof(double) * 4, sizeof(double)},
|
||||
o.pose_T_world_body.data());
|
||||
d["pose_covariance_6x6"] = py::array_t<double>(
|
||||
{6, 6}, {sizeof(double) * 6, sizeof(double)},
|
||||
o.pose_covariance_6x6.data());
|
||||
d["accel_bias"] = py::array_t<double>(
|
||||
{3}, {sizeof(double)}, o.accel_bias.data());
|
||||
d["gyro_bias"] = py::array_t<double>(
|
||||
{3}, {sizeof(double)}, o.gyro_bias.data());
|
||||
d["tracked_features"] = o.tracked_features;
|
||||
d["new_features"] = o.new_features;
|
||||
d["lost_features"] = o.lost_features;
|
||||
d["mean_parallax"] = o.mean_parallax;
|
||||
d["mre_px"] = o.mre_px;
|
||||
d["emitted_at_ns"] = o.emitted_at_ns;
|
||||
return d;
|
||||
}
|
||||
|
||||
void reset(py::array_t<double,
|
||||
py::array::c_style | py::array::forcecast> body_T_world,
|
||||
py::array_t<double,
|
||||
py::array::c_style | py::array::forcecast> velocity,
|
||||
py::array_t<double,
|
||||
py::array::c_style | py::array::forcecast> accel_bias,
|
||||
py::array_t<double,
|
||||
py::array::c_style | py::array::forcecast> gyro_bias) {
|
||||
if (body_T_world.ndim() != 2 || body_T_world.shape(0) != 4 ||
|
||||
body_T_world.shape(1) != 4) {
|
||||
throw OkvisInitException(
|
||||
"Okvis2Backend.reset: body_T_world must be a 4x4 float64 array");
|
||||
}
|
||||
if (velocity.size() != 3 || accel_bias.size() != 3 || gyro_bias.size() != 3) {
|
||||
throw OkvisInitException(
|
||||
"Okvis2Backend.reset: velocity / *_bias must be length-3 float64 arrays");
|
||||
}
|
||||
auto T = body_T_world.unchecked<2>();
|
||||
for (py::ssize_t i = 0; i < 4; ++i) {
|
||||
for (py::ssize_t j = 0; j < 4; ++j) {
|
||||
seed_body_T_world_(i, j) = T(i, j);
|
||||
}
|
||||
}
|
||||
auto v = velocity.unchecked<1>();
|
||||
auto ab = accel_bias.unchecked<1>();
|
||||
auto gb = gyro_bias.unchecked<1>();
|
||||
seed_velocity_ = Eigen::Vector3d(v(0), v(1), v(2));
|
||||
seed_accel_bias_ = Eigen::Vector3d(ab(0), ab(1), ab(2));
|
||||
seed_gyro_bias_ = Eigen::Vector3d(gb(0), gb(1), gb(2));
|
||||
|
||||
state_ = HealthState::Init;
|
||||
consecutive_lost_ = 0;
|
||||
{
|
||||
std::lock_guard<std::mutex> lk(output_mtx_);
|
||||
latest_output_.reset();
|
||||
}
|
||||
_build_estimator();
|
||||
}
|
||||
|
||||
py::dict health() const {
|
||||
py::dict d;
|
||||
d["state"] = std::string(state_to_str(state_));
|
||||
d["consecutive_lost"] = consecutive_lost_;
|
||||
d["bias_norm"] = std::sqrt(
|
||||
seed_accel_bias_.squaredNorm() + seed_gyro_bias_.squaredNorm());
|
||||
return d;
|
||||
}
|
||||
|
||||
private:
|
||||
void _build_estimator() {
|
||||
// Real wiring: instantiate okvis::ThreadedKFVio from yaml_config_,
|
||||
// attach output callback that fills latest_output_ under output_mtx_.
|
||||
//
|
||||
// The skeleton intentionally throws on any actual frame ingest so a
|
||||
// production binary that loads this binding before AZ-332's
|
||||
// estimator wiring lands cannot silently report misleading poses.
|
||||
estimator_built_ = false;
|
||||
}
|
||||
|
||||
bool _drive_estimator(
|
||||
py::array_t<std::uint8_t,
|
||||
py::array::c_style | py::array::forcecast> /*image*/) {
|
||||
if (!estimator_built_) {
|
||||
// Skeleton path — pybind11 binding compiles and loads but the
|
||||
// OKVIS2 estimator is not yet wired. Tier-2 follow-up wires it up.
|
||||
throw OkvisFatalException(
|
||||
"Okvis2Backend: OKVIS2 estimator not yet wired — this binding "
|
||||
"is the AZ-332 skeleton; tier2 follow-up wires okvis::ThreadedKFVio");
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string yaml_config_;
|
||||
Eigen::Matrix3d K_ = Eigen::Matrix3d::Identity();
|
||||
Eigen::Matrix4d seed_body_T_world_ = Eigen::Matrix4d::Identity();
|
||||
Eigen::Vector3d seed_velocity_ = Eigen::Vector3d::Zero();
|
||||
Eigen::Vector3d seed_accel_bias_ = Eigen::Vector3d::Zero();
|
||||
Eigen::Vector3d seed_gyro_bias_ = Eigen::Vector3d::Zero();
|
||||
Eigen::Vector3d last_accel_ = Eigen::Vector3d::Zero();
|
||||
Eigen::Vector3d last_gyro_ = Eigen::Vector3d::Zero();
|
||||
|
||||
HealthState state_ = HealthState::Init;
|
||||
int consecutive_lost_ = 0;
|
||||
std::int64_t last_imu_ts_ns_ = -1;
|
||||
std::string pending_frame_id_;
|
||||
std::int64_t pending_ts_ns_ = 0;
|
||||
bool estimator_built_ = false;
|
||||
|
||||
mutable std::mutex output_mtx_;
|
||||
std::optional<EstimatorOutput> latest_output_;
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
PYBIND11_MODULE(okvis2_binding, m) {
|
||||
m.doc() =
|
||||
"OKVIS2 pybind11 binding (AZ-332). Wraps okvis::ThreadedKFVio for the "
|
||||
"Python Okvis2Strategy facade. Tier2 follow-up wires the real estimator.";
|
||||
|
||||
py::register_exception<OkvisInitException>(m, "OkvisInitException");
|
||||
py::register_exception<OkvisFatalException>(m, "OkvisFatalException");
|
||||
py::register_exception<OkvisOptimizationException>(
|
||||
m, "OkvisOptimizationException");
|
||||
|
||||
py::class_<Okvis2Backend>(m, "Okvis2Backend")
|
||||
.def(py::init<const std::string&,
|
||||
py::array_t<double, py::array::c_style | py::array::forcecast>>(),
|
||||
py::arg("yaml_config"), py::arg("camera_intrinsics_3x3"))
|
||||
.def("add_frame", &Okvis2Backend::add_frame, py::arg("frame_id"),
|
||||
py::arg("ts_ns"), py::arg("image"))
|
||||
.def("add_imu", &Okvis2Backend::add_imu, py::arg("ts_ns"),
|
||||
py::arg("accel"), py::arg("gyro"))
|
||||
.def("get_latest_output", &Okvis2Backend::get_latest_output)
|
||||
.def("reset", &Okvis2Backend::reset, py::arg("body_T_world"),
|
||||
py::arg("velocity"), py::arg("accel_bias"), py::arg("gyro_bias"))
|
||||
.def("health", &Okvis2Backend::health);
|
||||
}
|
||||
@@ -0,0 +1,6 @@
|
||||
"""C1 VIO microbench harness (AZ-332).
|
||||
|
||||
The bench scripts are tier2 / Jetson-only — they exercise the real OKVIS2
|
||||
binding (or fake binding for cross-platform smoke) and report per-frame
|
||||
latency percentiles for C1-PT-01 / NFT-PERF-01.
|
||||
"""
|
||||
@@ -0,0 +1,196 @@
|
||||
"""``python -m gps_denied_onboard.components.c1_vio.bench.okvis2`` (AZ-332).
|
||||
|
||||
Microbench for :class:`Okvis2Strategy` — reads a fixture directory of
|
||||
nav-camera frames + IMU samples and reports per-frame latency
|
||||
percentiles for C1-PT-01 (p50 <= 25 ms, p95 <= 80 ms, threshold 120 ms).
|
||||
|
||||
The bench produces production behaviour: it constructs the real
|
||||
strategy via the AZ-331 factory (so ``BUILD_OKVIS2=ON`` is required),
|
||||
feeds real frames through, and measures wall-clock per call. On Tier-2
|
||||
this measures OKVIS2's actual estimator latency; on a workstation with
|
||||
``BUILD_OKVIS2=OFF`` it refuses to start (Risk-2 — never silently
|
||||
benchmark a stub).
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import sys
|
||||
import time
|
||||
from datetime import datetime, timezone
|
||||
from pathlib import Path
|
||||
from typing import Any
|
||||
|
||||
import numpy as np
|
||||
|
||||
from gps_denied_onboard._types.nav import (
|
||||
ImuSample,
|
||||
ImuWindow,
|
||||
NavCameraFrame,
|
||||
)
|
||||
from gps_denied_onboard.components.c1_vio.config import (
|
||||
C1VioConfig,
|
||||
Okvis2Config,
|
||||
)
|
||||
from gps_denied_onboard.config.schema import Config, RuntimeConfig
|
||||
from gps_denied_onboard.fdr_client.client import make_fdr_client
|
||||
from gps_denied_onboard.runtime_root.vio_factory import build_vio_strategy
|
||||
|
||||
|
||||
def _percentile(samples_ms: list[float], pct: float) -> float:
|
||||
if not samples_ms:
|
||||
return float("nan")
|
||||
sorted_samples = sorted(samples_ms)
|
||||
idx = min(len(sorted_samples) - 1, int(pct * len(sorted_samples)))
|
||||
return sorted_samples[idx]
|
||||
|
||||
|
||||
def _load_fixture(fixture_dir: Path) -> tuple[Any, list[NavCameraFrame], list[ImuWindow]]:
|
||||
"""Fixture format (minimal, deterministic):
|
||||
|
||||
.. code::
|
||||
|
||||
fixture_dir/
|
||||
manifest.json { "frame_count": N, "camera_calibration_path": "..." }
|
||||
frames/0000.npy uint8 image
|
||||
...
|
||||
imu/0000.json {"samples": [{"ts_ns": N, "accel": [..], "gyro": [..]}, ...]}
|
||||
...
|
||||
"""
|
||||
manifest_path = fixture_dir / "manifest.json"
|
||||
if not manifest_path.is_file():
|
||||
raise FileNotFoundError(f"missing manifest.json under {fixture_dir!r}")
|
||||
manifest = json.loads(manifest_path.read_text(encoding="utf-8"))
|
||||
|
||||
frames: list[NavCameraFrame] = []
|
||||
imu_windows: list[ImuWindow] = []
|
||||
frame_count = int(manifest["frame_count"])
|
||||
for i in range(frame_count):
|
||||
img_path = fixture_dir / "frames" / f"{i:04d}.npy"
|
||||
imu_path = fixture_dir / "imu" / f"{i:04d}.json"
|
||||
img = np.load(img_path)
|
||||
imu_blob = json.loads(imu_path.read_text(encoding="utf-8"))
|
||||
samples = tuple(
|
||||
ImuSample(
|
||||
ts_ns=int(s["ts_ns"]),
|
||||
accel_xyz=tuple(s["accel"]),
|
||||
gyro_xyz=tuple(s["gyro"]),
|
||||
)
|
||||
for s in imu_blob["samples"]
|
||||
)
|
||||
if not samples:
|
||||
raise ValueError(
|
||||
f"bench.okvis2: fixture frame {i} ({imu_path}) has no IMU "
|
||||
"samples — bench requires a real IMU window per frame"
|
||||
)
|
||||
ts_start = samples[0].ts_ns
|
||||
ts_end = samples[-1].ts_ns
|
||||
imu_windows.append(ImuWindow(samples=samples, ts_start_ns=ts_start, ts_end_ns=ts_end))
|
||||
frames.append(
|
||||
NavCameraFrame(
|
||||
frame_id=i,
|
||||
timestamp=datetime.fromtimestamp(ts_start * 1e-9, tz=timezone.utc),
|
||||
image=img,
|
||||
camera_calibration_id=str(manifest.get("camera_calibration_id", "bench")),
|
||||
)
|
||||
)
|
||||
return manifest, frames, imu_windows
|
||||
|
||||
|
||||
def _make_calibration(intrinsics_path: str | None) -> Any:
|
||||
"""Build a CameraCalibration with no body-to-camera (identity)
|
||||
using the bench's calibration JSON if supplied; otherwise raise.
|
||||
"""
|
||||
from gps_denied_onboard._types.calibration import CameraCalibration
|
||||
|
||||
if intrinsics_path is None:
|
||||
raise ValueError("bench.okvis2: --camera-calibration is required (real intrinsics)")
|
||||
blob = json.loads(Path(intrinsics_path).read_text(encoding="utf-8"))
|
||||
return CameraCalibration(
|
||||
camera_id=blob.get("camera_id", "bench"),
|
||||
intrinsics_3x3=np.asarray(blob["intrinsics_3x3"], dtype=np.float64),
|
||||
distortion=np.asarray(blob.get("distortion", [0, 0, 0, 0]), dtype=np.float64),
|
||||
body_to_camera_se3=np.eye(4, dtype=np.float64),
|
||||
acquisition_method=blob.get("acquisition_method", "bench-static"),
|
||||
metadata=dict(blob.get("metadata", {})),
|
||||
)
|
||||
|
||||
|
||||
def main(argv: list[str] | None = None) -> int:
|
||||
parser = argparse.ArgumentParser(
|
||||
prog="python -m gps_denied_onboard.components.c1_vio.bench.okvis2",
|
||||
description="Microbench for Okvis2Strategy.process_frame (AZ-332 / C1-PT-01).",
|
||||
)
|
||||
parser.add_argument("fixture_dir", type=Path, help="Path to fixture directory")
|
||||
parser.add_argument(
|
||||
"--camera-calibration",
|
||||
type=str,
|
||||
required=True,
|
||||
help="Path to camera calibration JSON",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--warmup",
|
||||
type=int,
|
||||
default=10,
|
||||
help="Number of warmup frames (not counted in percentiles)",
|
||||
)
|
||||
args = parser.parse_args(argv)
|
||||
|
||||
manifest, frames, imu_windows = _load_fixture(args.fixture_dir)
|
||||
calibration = _make_calibration(args.camera_calibration)
|
||||
|
||||
config = Config.with_blocks(
|
||||
c1_vio=C1VioConfig(strategy="okvis2", okvis2=Okvis2Config()),
|
||||
runtime=RuntimeConfig(
|
||||
camera_calibration_path=args.camera_calibration,
|
||||
inference_backend="tensorrt",
|
||||
tier=2,
|
||||
),
|
||||
)
|
||||
fdr_client = make_fdr_client("c1_vio.okvis2.bench", config)
|
||||
strategy = build_vio_strategy(config, fdr_client=fdr_client)
|
||||
|
||||
durations_ms: list[float] = []
|
||||
for i, (frame, imu) in enumerate(zip(frames, imu_windows, strict=True)):
|
||||
t0 = time.perf_counter()
|
||||
try:
|
||||
strategy.process_frame(frame, imu, calibration)
|
||||
except Exception as exc:
|
||||
print(
|
||||
f"frame {i}: exception {type(exc).__name__}: {exc}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
continue
|
||||
dt_ms = (time.perf_counter() - t0) * 1000.0
|
||||
if i >= args.warmup:
|
||||
durations_ms.append(dt_ms)
|
||||
|
||||
if not durations_ms:
|
||||
print("bench: no successful frames after warmup", file=sys.stderr)
|
||||
return 2
|
||||
|
||||
p50 = _percentile(durations_ms, 0.50)
|
||||
p95 = _percentile(durations_ms, 0.95)
|
||||
p99 = _percentile(durations_ms, 0.99)
|
||||
print(
|
||||
json.dumps(
|
||||
{
|
||||
"fixture_dir": str(args.fixture_dir),
|
||||
"frame_count": manifest.get("frame_count"),
|
||||
"measured": len(durations_ms),
|
||||
"p50_ms": round(p50, 3),
|
||||
"p95_ms": round(p95, 3),
|
||||
"p99_ms": round(p99, 3),
|
||||
"c1_pt_01_target_p50_ms": 25.0,
|
||||
"c1_pt_01_target_p95_ms": 80.0,
|
||||
"c1_pt_01_failure_p95_ms": 120.0,
|
||||
},
|
||||
indent=2,
|
||||
)
|
||||
)
|
||||
return 0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
raise SystemExit(main())
|
||||
@@ -1,26 +1,90 @@
|
||||
"""C1 VIO strategy config block (AZ-331).
|
||||
"""C1 VIO strategy config block (AZ-331 + AZ-332).
|
||||
|
||||
Registered into ``config.components['c1_vio']`` by the package
|
||||
``__init__.py``. The composition-root factory
|
||||
:func:`gps_denied_onboard.runtime_root.vio_factory.build_vio_strategy`
|
||||
reads this block to select the strategy and configure the LOST→FATAL
|
||||
reads this block to select the strategy and configure the LOST->FATAL
|
||||
transition + warm-start convergence budget.
|
||||
|
||||
AZ-332 extends this with a nested :class:`Okvis2Config` sub-block
|
||||
carrying OKVIS2-specific knobs (sliding-window size, parallax-driven
|
||||
keyframe threshold, RANSAC inlier ratio, max optimisation iterations,
|
||||
degraded-feature threshold, per-frame debug log). Only consulted when
|
||||
``strategy == "okvis2"``.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from dataclasses import dataclass
|
||||
from dataclasses import dataclass, field
|
||||
from typing import Final
|
||||
|
||||
from gps_denied_onboard.config.schema import ConfigError
|
||||
|
||||
__all__ = [
|
||||
"C1VioConfig",
|
||||
"KNOWN_STRATEGIES",
|
||||
"C1VioConfig",
|
||||
"Okvis2Config",
|
||||
]
|
||||
|
||||
KNOWN_STRATEGIES: Final[frozenset[str]] = frozenset(
|
||||
{"okvis2", "vins_mono", "klt_ransac"}
|
||||
KNOWN_STRATEGIES: Final[frozenset[str]] = frozenset({"okvis2", "vins_mono", "klt_ransac"})
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class Okvis2Config:
|
||||
"""OKVIS2-specific knobs (AZ-332).
|
||||
|
||||
``keyframe_window_size`` is the sliding-window keyframe count K
|
||||
per D-C5-3 — must be in [10, 20]. Lower values lose accuracy;
|
||||
higher values exceed the C1-PT-01 per-frame budget on Tier-2.
|
||||
|
||||
``keyframe_parallax_threshold_px`` is the parallax-driven keyframe
|
||||
decision; default 3.0 px (OKVIS2 upstream default).
|
||||
|
||||
``ransac_inlier_ratio`` is the RANSAC inlier-ratio threshold below
|
||||
which the frontend declares the frame untrackable; default 0.5.
|
||||
|
||||
``max_optimization_iters`` caps the per-frame Levenberg-Marquardt
|
||||
iterations to bound worst-case latency; default 4 (OKVIS2 default).
|
||||
|
||||
``degraded_feature_threshold`` is the per-frame tracked-feature
|
||||
count below which ``health_snapshot`` reports DEGRADED; default 30.
|
||||
|
||||
``per_frame_debug_log`` enables a DEBUG log line per ``process_frame``
|
||||
— OFF by default (would flood at 3 Hz steady-state).
|
||||
"""
|
||||
|
||||
keyframe_window_size: int = 15
|
||||
keyframe_parallax_threshold_px: float = 3.0
|
||||
ransac_inlier_ratio: float = 0.5
|
||||
max_optimization_iters: int = 4
|
||||
degraded_feature_threshold: int = 30
|
||||
per_frame_debug_log: bool = False
|
||||
|
||||
def __post_init__(self) -> None:
|
||||
if not (10 <= self.keyframe_window_size <= 20):
|
||||
raise ConfigError(
|
||||
"Okvis2Config.keyframe_window_size must be in [10, 20] "
|
||||
f"(D-C5-3 budget); got {self.keyframe_window_size}"
|
||||
)
|
||||
if self.keyframe_parallax_threshold_px <= 0.0:
|
||||
raise ConfigError(
|
||||
"Okvis2Config.keyframe_parallax_threshold_px must be > 0; "
|
||||
f"got {self.keyframe_parallax_threshold_px}"
|
||||
)
|
||||
if not (0.0 < self.ransac_inlier_ratio <= 1.0):
|
||||
raise ConfigError(
|
||||
"Okvis2Config.ransac_inlier_ratio must be in (0.0, 1.0]; "
|
||||
f"got {self.ransac_inlier_ratio}"
|
||||
)
|
||||
if self.max_optimization_iters < 1:
|
||||
raise ConfigError(
|
||||
"Okvis2Config.max_optimization_iters must be >= 1; "
|
||||
f"got {self.max_optimization_iters}"
|
||||
)
|
||||
if self.degraded_feature_threshold < 1:
|
||||
raise ConfigError(
|
||||
"Okvis2Config.degraded_feature_threshold must be >= 1; "
|
||||
f"got {self.degraded_feature_threshold}"
|
||||
)
|
||||
|
||||
|
||||
@@ -39,25 +103,26 @@ class C1VioConfig:
|
||||
|
||||
``warm_start_max_frames`` is the convergence budget after
|
||||
:meth:`VioStrategy.reset_to_warm_start`; default 5.
|
||||
|
||||
``okvis2`` carries OKVIS2-specific knobs (AZ-332); consulted only
|
||||
when ``strategy == "okvis2"``.
|
||||
"""
|
||||
|
||||
strategy: str = "klt_ransac"
|
||||
lost_frame_threshold: int = 9
|
||||
warm_start_max_frames: int = 5
|
||||
okvis2: Okvis2Config = field(default_factory=Okvis2Config)
|
||||
|
||||
def __post_init__(self) -> None:
|
||||
if self.strategy not in KNOWN_STRATEGIES:
|
||||
raise ConfigError(
|
||||
f"C1VioConfig.strategy={self.strategy!r} not in "
|
||||
f"{sorted(KNOWN_STRATEGIES)}"
|
||||
f"C1VioConfig.strategy={self.strategy!r} not in {sorted(KNOWN_STRATEGIES)}"
|
||||
)
|
||||
if self.lost_frame_threshold < 1:
|
||||
raise ConfigError(
|
||||
f"C1VioConfig.lost_frame_threshold must be >= 1; "
|
||||
f"got {self.lost_frame_threshold}"
|
||||
f"C1VioConfig.lost_frame_threshold must be >= 1; got {self.lost_frame_threshold}"
|
||||
)
|
||||
if self.warm_start_max_frames < 1:
|
||||
raise ConfigError(
|
||||
f"C1VioConfig.warm_start_max_frames must be >= 1; "
|
||||
f"got {self.warm_start_max_frames}"
|
||||
f"C1VioConfig.warm_start_max_frames must be >= 1; got {self.warm_start_max_frames}"
|
||||
)
|
||||
|
||||
@@ -0,0 +1,488 @@
|
||||
"""`Okvis2Strategy` — production-default C1 VIO (AZ-332).
|
||||
|
||||
Python facade over the OKVIS2 C++ tightly-coupled keyframe-based VIO
|
||||
core, accessed via the pybind11 binding at
|
||||
``_native.okvis2_binding.Okvis2Backend`` (compiled by
|
||||
``cpp/okvis2/CMakeLists.txt``, gated by ``BUILD_OKVIS2=ON``).
|
||||
|
||||
Conforms to the AZ-331 :class:`VioStrategy` Protocol; consumes the
|
||||
runtime ``Config`` + an :class:`FdrClient`; constructs its other
|
||||
dependencies (logger, camera calibration, preintegrator) internally
|
||||
from ``config`` so the strategy class matches the composition-root
|
||||
factory shape::
|
||||
|
||||
strategy_cls(config: Config, *, fdr_client: FdrClient)
|
||||
|
||||
Risk-2 mitigation: the native binding is imported **lazily inside the
|
||||
constructor**, not at module top level. Importing this module with
|
||||
``BUILD_OKVIS2=OFF`` (no compiled ``.so``) is safe — the factory's
|
||||
build-flag gate catches that path before the constructor runs.
|
||||
|
||||
AC mapping (see ``_docs/02_tasks/todo/AZ-332_c1_okvis2_strategy.md``):
|
||||
|
||||
- AC-1 : :meth:`current_strategy_label` returns ``"okvis2"``.
|
||||
- AC-2 : :meth:`process_frame` returns :class:`VioOutput` with
|
||||
``frame_id`` echoed; covariance SPD; ``imu_bias`` non-None.
|
||||
- AC-3 : all backend / Eigen / std::runtime_error rewrap into
|
||||
:class:`VioError` family with ``__cause__`` chain.
|
||||
- AC-4 : :meth:`reset_to_warm_start` clears state + seeds hint; second
|
||||
consecutive call does not raise.
|
||||
- AC-5 : :meth:`health_snapshot` returns INIT initially, TRACKING after
|
||||
``warm_start_max_frames`` (default 5) successful frames.
|
||||
- AC-6 : DEGRADED on feature loss; covariance Frobenius norm strictly
|
||||
increases; ``process_frame`` still returns :class:`VioOutput` (not raise).
|
||||
- AC-7 : after ``lost_frame_threshold`` (default 9) consecutive failed
|
||||
frames, raises :class:`VioFatalError`; state == LOST.
|
||||
- AC-8 : ``BUILD_OKVIS2=OFF`` does not load this module (enforced by
|
||||
AZ-331 factory; covered in
|
||||
``tests/unit/c1_vio/test_protocol_conformance.py``).
|
||||
- AC-9 / NFR-perf : tier2 — Jetson + Derkachi-class fixture; tests
|
||||
marked ``@pytest.mark.tier2``.
|
||||
- AC-10 : exactly one ``vio.health`` FDR record per state transition;
|
||||
no spam on steady-state.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import math
|
||||
from datetime import datetime, timezone
|
||||
from typing import TYPE_CHECKING, Any, Final, Literal
|
||||
|
||||
import numpy as np
|
||||
|
||||
from gps_denied_onboard._types.nav import (
|
||||
FeatureQuality,
|
||||
ImuBias,
|
||||
VioHealth,
|
||||
VioOutput,
|
||||
VioState,
|
||||
)
|
||||
from gps_denied_onboard.clock.wall_clock import WallClock
|
||||
from gps_denied_onboard.components.c1_vio.errors import (
|
||||
VioFatalError,
|
||||
VioInitializingError,
|
||||
)
|
||||
from gps_denied_onboard.fdr_client.records import CURRENT_SCHEMA_VERSION, FdrRecord
|
||||
from gps_denied_onboard.logging import get_logger
|
||||
|
||||
if TYPE_CHECKING:
|
||||
import numpy.typing as npt
|
||||
|
||||
from gps_denied_onboard._types.calibration import CameraCalibration
|
||||
from gps_denied_onboard._types.nav import (
|
||||
ImuWindow,
|
||||
NavCameraFrame,
|
||||
WarmStartPose,
|
||||
)
|
||||
from gps_denied_onboard.clock import Clock
|
||||
from gps_denied_onboard.components.c1_vio.config import Okvis2Config
|
||||
from gps_denied_onboard.config import Config
|
||||
from gps_denied_onboard.fdr_client.client import FdrClient
|
||||
|
||||
__all__ = ["Okvis2Strategy"]
|
||||
|
||||
|
||||
_STRATEGY_LABEL: Final[Literal["okvis2"]] = "okvis2"
|
||||
_PRODUCER_ID: Final[str] = "c1_vio.okvis2"
|
||||
_LOGGER_COMPONENT: Final[str] = "c1_vio.okvis2"
|
||||
_BIAS_NORM_FLOOR: Final[float] = 0.0
|
||||
|
||||
|
||||
def _now_iso() -> str:
|
||||
return datetime.now(timezone.utc).isoformat()
|
||||
|
||||
|
||||
def _bias_norm(bias: ImuBias) -> float:
|
||||
"""L2 norm of the concatenated 6-vector ``(accel || gyro)``."""
|
||||
accel = np.asarray(bias.accel_bias, dtype=np.float64)
|
||||
gyro = np.asarray(bias.gyro_bias, dtype=np.float64)
|
||||
return float(math.sqrt(float(np.dot(accel, accel) + np.dot(gyro, gyro))))
|
||||
|
||||
|
||||
def _se3_from_4x4(matrix: npt.NDArray[Any]) -> Any:
|
||||
"""Build a ``gtsam.Pose3`` from a 4x4 row-major matrix.
|
||||
|
||||
Imported lazily so this module can be imported without gtsam in
|
||||
headless tooling paths (tests + facade-only smoke).
|
||||
"""
|
||||
import gtsam
|
||||
|
||||
return gtsam.Pose3(np.asarray(matrix, dtype=np.float64))
|
||||
|
||||
|
||||
class Okvis2Strategy:
|
||||
"""Production-default :class:`VioStrategy` for E-C1 (AZ-332).
|
||||
|
||||
Constructor matches the AZ-331 composition-root factory shape::
|
||||
|
||||
Okvis2Strategy(config: Config, *, fdr_client: FdrClient)
|
||||
|
||||
Other dependencies (calibration, preintegrator-substrate, logger,
|
||||
OKVIS2 sub-config) are resolved internally from ``config``.
|
||||
|
||||
Concurrency: single-threaded by Protocol invariant. One instance
|
||||
per camera-ingest writer thread; concurrent ``process_frame`` calls
|
||||
are undefined behaviour.
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
config: Config,
|
||||
*,
|
||||
fdr_client: FdrClient,
|
||||
clock: Clock | None = None,
|
||||
) -> None:
|
||||
c1_block = config.components["c1_vio"]
|
||||
if c1_block.strategy != _STRATEGY_LABEL:
|
||||
raise VioFatalError(
|
||||
f"Okvis2Strategy constructed with config.strategy="
|
||||
f"{c1_block.strategy!r}; expected {_STRATEGY_LABEL!r}. "
|
||||
"The AZ-331 factory is the only sanctioned constructor."
|
||||
)
|
||||
|
||||
self._config = config
|
||||
self._fdr = fdr_client
|
||||
self._clock: Clock = clock if clock is not None else WallClock()
|
||||
self._logger = get_logger(_LOGGER_COMPONENT)
|
||||
self._lost_frame_threshold: int = c1_block.lost_frame_threshold
|
||||
self._warm_start_max_frames: int = c1_block.warm_start_max_frames
|
||||
self._okvis2_cfg: Okvis2Config = c1_block.okvis2
|
||||
self._calibration: CameraCalibration | None = None
|
||||
self._frames_since_warmup: int = 0
|
||||
self._consecutive_lost: int = 0
|
||||
self._latest_bias: ImuBias = ImuBias(accel_bias=(0.0, 0.0, 0.0), gyro_bias=(0.0, 0.0, 0.0))
|
||||
self._reported_state: VioState = VioState.INIT
|
||||
self._last_emitted_state: VioState | None = None
|
||||
|
||||
# Lazy import of the native binding — Risk-2 mitigation (I-5).
|
||||
# Failure here is the BUILD_OKVIS2=OFF path the AZ-331 factory's
|
||||
# `StrategyNotAvailableError` is meant to prevent; if a caller
|
||||
# bypasses the factory and reaches this constructor with the
|
||||
# native lib absent, we surface a fatal init error.
|
||||
try:
|
||||
from gps_denied_onboard.components.c1_vio._native import (
|
||||
okvis2_binding,
|
||||
)
|
||||
except ImportError as exc:
|
||||
raise VioFatalError(
|
||||
"Okvis2Strategy: native binding "
|
||||
"(gps_denied_onboard.components.c1_vio._native.okvis2_binding) "
|
||||
"is not importable. Production binary must be built with "
|
||||
"BUILD_OKVIS2=ON."
|
||||
) from exc
|
||||
|
||||
self._binding_module = okvis2_binding
|
||||
self._backend = self._construct_backend()
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Public Protocol surface.
|
||||
|
||||
def process_frame(
|
||||
self,
|
||||
frame: NavCameraFrame,
|
||||
imu: ImuWindow,
|
||||
calibration: CameraCalibration,
|
||||
) -> VioOutput:
|
||||
"""Hot-path call — one per nav-camera frame.
|
||||
|
||||
Steps:
|
||||
|
||||
1. Push every IMU sample in the window into the backend; the
|
||||
strict-monotonic guard lives on the C++ side.
|
||||
2. Submit the frame.
|
||||
3. If the backend produced an output, classify health and
|
||||
build the :class:`VioOutput` DTO.
|
||||
4. If no output: tick the lost-frame counter; emit a state
|
||||
transition record if needed.
|
||||
"""
|
||||
self._calibration = calibration
|
||||
frame_id_str = str(frame.frame_id)
|
||||
emitted_at_ns = self._clock.monotonic_ns()
|
||||
|
||||
try:
|
||||
self._push_imu_window(imu)
|
||||
produced = self._backend.add_frame(
|
||||
frame_id_str, _frame_ts_ns(frame), _frame_image(frame)
|
||||
)
|
||||
except self._binding_module.OkvisInitException as exc:
|
||||
self._emit_transition(VioState.INIT, frame_id_str)
|
||||
raise VioInitializingError(
|
||||
f"OKVIS2 backend reports INIT while processing frame {frame_id_str!r}: {exc}"
|
||||
) from exc
|
||||
except self._binding_module.OkvisOptimizationException as exc:
|
||||
# Treat as a degraded frame: emit no VioOutput from this
|
||||
# path — callers expect either a VioOutput or a VioError;
|
||||
# we choose error here so C5 can fall back, matching AC-3.
|
||||
self._tick_lost(frame_id_str)
|
||||
if self._reported_state == VioState.LOST:
|
||||
self._emit_transition(VioState.LOST, frame_id_str)
|
||||
raise VioFatalError(
|
||||
f"OKVIS2 backend exhausted lost-frame budget at {frame_id_str!r}: {exc}"
|
||||
) from exc
|
||||
self._emit_transition(self._reported_state, frame_id_str)
|
||||
raise VioInitializingError(
|
||||
f"OKVIS2 backend optimisation failure at {frame_id_str!r}: {exc}"
|
||||
) from exc
|
||||
except self._binding_module.OkvisFatalException as exc:
|
||||
self._emit_transition(VioState.LOST, frame_id_str)
|
||||
raise VioFatalError(
|
||||
f"OKVIS2 backend fatal exception at {frame_id_str!r}: {exc}"
|
||||
) from exc
|
||||
except (RuntimeError, ValueError) as exc:
|
||||
# Catch-all for unmapped backend exceptions. Re-classify as
|
||||
# fatal — we explicitly forbid raw library exceptions across
|
||||
# the public boundary.
|
||||
raise VioFatalError(
|
||||
f"OKVIS2 backend raised an unmapped exception at {frame_id_str!r}: {exc}"
|
||||
) from exc
|
||||
|
||||
if not produced:
|
||||
# Frame consumed but no estimator update yet — INIT path
|
||||
# while OKVIS2 warms up its keyframe window.
|
||||
self._emit_transition(VioState.INIT, frame_id_str)
|
||||
raise VioInitializingError(
|
||||
f"Okvis2Strategy: backend has not yet emitted an "
|
||||
f"estimator update at {frame_id_str!r}"
|
||||
)
|
||||
|
||||
raw = self._backend.get_latest_output()
|
||||
if raw is None:
|
||||
raise VioFatalError(
|
||||
f"Okvis2Strategy: backend reported a new output for "
|
||||
f"{frame_id_str!r} but get_latest_output() returned None"
|
||||
)
|
||||
|
||||
vio_output = self._build_vio_output(raw, emitted_at_ns)
|
||||
self._consecutive_lost = 0
|
||||
new_state = self._classify_state(vio_output.feature_quality)
|
||||
if new_state != self._reported_state:
|
||||
self._reported_state = new_state
|
||||
self._emit_transition(new_state, frame_id_str)
|
||||
|
||||
if new_state in (VioState.INIT, VioState.TRACKING):
|
||||
self._frames_since_warmup += 1
|
||||
|
||||
if self._okvis2_cfg.per_frame_debug_log:
|
||||
self._logger.debug(
|
||||
"okvis2.process_frame",
|
||||
extra={
|
||||
"component": _LOGGER_COMPONENT,
|
||||
"kind": "vio.tick",
|
||||
"frame_id": frame_id_str,
|
||||
"kv": {
|
||||
"state": self._reported_state.value,
|
||||
"tracked": vio_output.feature_quality.tracked,
|
||||
"mre_px": vio_output.feature_quality.mre_px,
|
||||
"emitted_at_ns": vio_output.emitted_at_ns,
|
||||
},
|
||||
},
|
||||
)
|
||||
|
||||
return vio_output
|
||||
|
||||
def reset_to_warm_start(self, hint: WarmStartPose) -> None:
|
||||
"""Destructive re-init from an F8-reboot warm-start hint.
|
||||
|
||||
Idempotent across consecutive calls (AC-4) — a second call
|
||||
without an intervening ``process_frame`` reseats the backend
|
||||
again without raising.
|
||||
"""
|
||||
try:
|
||||
body_T_world = np.asarray(hint.body_T_world.matrix(), dtype=np.float64)
|
||||
except AttributeError as exc:
|
||||
raise VioFatalError(
|
||||
"Okvis2Strategy.reset_to_warm_start: hint.body_T_world is "
|
||||
"not a gtsam.Pose3 (missing .matrix())"
|
||||
) from exc
|
||||
|
||||
velocity = np.asarray(hint.velocity_b, dtype=np.float64)
|
||||
accel_bias = np.asarray(hint.bias.accel_bias, dtype=np.float64)
|
||||
gyro_bias = np.asarray(hint.bias.gyro_bias, dtype=np.float64)
|
||||
|
||||
try:
|
||||
self._backend.reset(body_T_world, velocity, accel_bias, gyro_bias)
|
||||
except self._binding_module.OkvisInitException as exc:
|
||||
raise VioFatalError(f"OKVIS2 backend rejected warm-start reset: {exc}") from exc
|
||||
except (RuntimeError, ValueError) as exc:
|
||||
raise VioFatalError(
|
||||
f"OKVIS2 backend raised an unmapped exception during reset: {exc}"
|
||||
) from exc
|
||||
|
||||
self._latest_bias = hint.bias
|
||||
self._frames_since_warmup = 0
|
||||
self._consecutive_lost = 0
|
||||
self._reported_state = VioState.INIT
|
||||
self._emit_transition(VioState.INIT, frame_id="")
|
||||
|
||||
def health_snapshot(self) -> VioHealth:
|
||||
"""Most-recent health state — no backend call (cheap)."""
|
||||
return VioHealth(
|
||||
state=self._reported_state,
|
||||
consecutive_lost=self._consecutive_lost,
|
||||
bias_norm=_bias_norm(self._latest_bias),
|
||||
)
|
||||
|
||||
def current_strategy_label(self) -> Literal["okvis2", "vins_mono", "klt_ransac"]:
|
||||
return _STRATEGY_LABEL
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Internal helpers.
|
||||
|
||||
def _construct_backend(self) -> Any:
|
||||
"""Build the backend from config — calibration path is optional
|
||||
because the unit-test fake-binding path skips real intrinsics.
|
||||
|
||||
Tests inject a fake module at ``sys.modules`` before construction
|
||||
(see ``tests/unit/c1_vio/conftest.py``); the fake's
|
||||
``Okvis2Backend`` accepts whatever this method passes.
|
||||
"""
|
||||
K = self._load_camera_intrinsics()
|
||||
yaml_config = self._render_yaml_config()
|
||||
try:
|
||||
return self._binding_module.Okvis2Backend(yaml_config, K)
|
||||
except self._binding_module.OkvisInitException as exc:
|
||||
raise VioFatalError(f"Okvis2Strategy: backend init failed: {exc}") from exc
|
||||
|
||||
def _load_camera_intrinsics(self) -> np.ndarray:
|
||||
"""Load 3x3 camera intrinsics from the calibration path.
|
||||
|
||||
Returns the identity matrix when the runtime block has no
|
||||
path configured — the unit-test path overrides this via the
|
||||
fake binding's ctor anyway, and a production binary refusing
|
||||
to start on a missing calibration is preferable to silently
|
||||
emitting wrong poses (handled by the YAML loader downstream).
|
||||
"""
|
||||
path = self._config.runtime.camera_calibration_path
|
||||
if not path:
|
||||
return np.eye(3, dtype=np.float64)
|
||||
try:
|
||||
import json
|
||||
|
||||
with open(path, encoding="utf-8") as fh:
|
||||
blob = json.load(fh)
|
||||
except (OSError, ValueError) as exc:
|
||||
raise VioFatalError(
|
||||
f"Okvis2Strategy: failed to load camera calibration from {path!r}: {exc}"
|
||||
) from exc
|
||||
K_raw = blob.get("intrinsics_3x3")
|
||||
if K_raw is None:
|
||||
raise VioFatalError(
|
||||
f"Okvis2Strategy: calibration file {path!r} is missing the 'intrinsics_3x3' field"
|
||||
)
|
||||
K = np.asarray(K_raw, dtype=np.float64)
|
||||
if K.shape != (3, 3):
|
||||
raise VioFatalError(f"Okvis2Strategy: intrinsics_3x3 must be 3x3; got shape {K.shape}")
|
||||
return K
|
||||
|
||||
def _render_yaml_config(self) -> str:
|
||||
"""Render the Okvis2Config sub-block into an OKVIS2 YAML snippet.
|
||||
|
||||
OKVIS2 reads a YAML config string at construction. Only the knobs
|
||||
AZ-332 exposes are rendered; OKVIS2-internal defaults cover the
|
||||
rest.
|
||||
"""
|
||||
cfg = self._okvis2_cfg
|
||||
return (
|
||||
"# AZ-332 — generated OKVIS2 config (see Okvis2Config in c1_vio/config.py)\n"
|
||||
f"keyframe_window_size: {cfg.keyframe_window_size}\n"
|
||||
f"keyframe_parallax_threshold_px: {cfg.keyframe_parallax_threshold_px}\n"
|
||||
f"ransac_inlier_ratio: {cfg.ransac_inlier_ratio}\n"
|
||||
f"max_optimization_iters: {cfg.max_optimization_iters}\n"
|
||||
)
|
||||
|
||||
def _push_imu_window(self, imu: ImuWindow) -> None:
|
||||
for sample in imu.samples:
|
||||
self._backend.add_imu(
|
||||
sample.ts_ns,
|
||||
np.asarray(sample.accel_xyz, dtype=np.float64),
|
||||
np.asarray(sample.gyro_xyz, dtype=np.float64),
|
||||
)
|
||||
|
||||
def _build_vio_output(self, raw: dict[str, Any], emitted_at_ns: int) -> VioOutput:
|
||||
try:
|
||||
pose = _se3_from_4x4(raw["pose_T_world_body"])
|
||||
cov = np.asarray(raw["pose_covariance_6x6"], dtype=np.float64)
|
||||
bias = ImuBias(
|
||||
accel_bias=tuple(float(x) for x in raw["accel_bias"]), # type: ignore[arg-type]
|
||||
gyro_bias=tuple(float(x) for x in raw["gyro_bias"]), # type: ignore[arg-type]
|
||||
)
|
||||
feature_quality = FeatureQuality(
|
||||
tracked=int(raw["tracked_features"]),
|
||||
new=int(raw["new_features"]),
|
||||
lost=int(raw["lost_features"]),
|
||||
mean_parallax=float(raw["mean_parallax"]),
|
||||
mre_px=float(raw["mre_px"]),
|
||||
)
|
||||
backend_ts = int(raw.get("emitted_at_ns") or emitted_at_ns)
|
||||
except (KeyError, TypeError, ValueError) as exc:
|
||||
raise VioFatalError(f"Okvis2Strategy: backend output is malformed: {exc}") from exc
|
||||
|
||||
if cov.shape != (6, 6):
|
||||
raise VioFatalError(
|
||||
f"Okvis2Strategy: pose_covariance_6x6 has shape {cov.shape}; expected (6, 6)"
|
||||
)
|
||||
|
||||
self._latest_bias = bias
|
||||
return VioOutput(
|
||||
frame_id=raw["frame_id"],
|
||||
relative_pose_T=pose,
|
||||
pose_covariance_6x6=cov,
|
||||
imu_bias=bias,
|
||||
feature_quality=feature_quality,
|
||||
emitted_at_ns=backend_ts,
|
||||
)
|
||||
|
||||
def _classify_state(self, fq: FeatureQuality) -> VioState:
|
||||
if self._reported_state == VioState.INIT and (
|
||||
self._frames_since_warmup + 1 < self._warm_start_max_frames
|
||||
):
|
||||
return VioState.INIT
|
||||
if fq.tracked < self._okvis2_cfg.degraded_feature_threshold:
|
||||
return VioState.DEGRADED
|
||||
return VioState.TRACKING
|
||||
|
||||
def _tick_lost(self, frame_id: str) -> None:
|
||||
self._consecutive_lost += 1
|
||||
if self._consecutive_lost >= self._lost_frame_threshold:
|
||||
self._reported_state = VioState.LOST
|
||||
elif self._reported_state == VioState.TRACKING:
|
||||
self._reported_state = VioState.DEGRADED
|
||||
|
||||
def _emit_transition(self, new_state: VioState, frame_id: str) -> None:
|
||||
if self._last_emitted_state == new_state:
|
||||
return
|
||||
self._last_emitted_state = new_state
|
||||
record = FdrRecord(
|
||||
schema_version=CURRENT_SCHEMA_VERSION,
|
||||
ts=_now_iso(),
|
||||
producer_id=_PRODUCER_ID,
|
||||
kind="vio.health",
|
||||
payload={
|
||||
"state": new_state.value,
|
||||
"consecutive_lost": self._consecutive_lost,
|
||||
"bias_norm": _bias_norm(self._latest_bias),
|
||||
"strategy_label": _STRATEGY_LABEL,
|
||||
"frame_id": frame_id,
|
||||
},
|
||||
)
|
||||
self._fdr.enqueue(record)
|
||||
|
||||
|
||||
def _frame_ts_ns(frame: NavCameraFrame) -> int:
|
||||
"""Convert ``NavCameraFrame.timestamp`` to monotonic-ns.
|
||||
|
||||
Uses the datetime's UTC epoch nanoseconds so the value is
|
||||
monotonically increasing across frames (frame source guarantees
|
||||
strictly increasing timestamps per the FrameSource contract).
|
||||
"""
|
||||
return int(frame.timestamp.timestamp() * 1e9)
|
||||
|
||||
|
||||
def _frame_image(frame: NavCameraFrame) -> np.ndarray:
|
||||
"""Coerce the frame's image into a contiguous uint8 ndarray."""
|
||||
arr = np.ascontiguousarray(frame.image, dtype=np.uint8)
|
||||
if arr.ndim < 2 or arr.ndim > 3:
|
||||
raise VioFatalError(
|
||||
f"Okvis2Strategy: NavCameraFrame.image must be 2-D or 3-D; got {arr.ndim}-D"
|
||||
)
|
||||
return arr
|
||||
@@ -40,6 +40,13 @@ KNOWN_PAYLOAD_KEYS: Final[dict[str, frozenset[str]]] = {
|
||||
"vio.tick": frozenset(
|
||||
{"frame_id", "R", "t", "P", "last_anchor_age_ms", "mre_px", "imu_bias_norm"}
|
||||
),
|
||||
# AZ-332 / E-C1: emitted on every VioStrategy state transition
|
||||
# (INIT->TRACKING->DEGRADED->LOST etc.). One record per transition;
|
||||
# steady-state frames emit nothing on this kind. `frame_id` is the
|
||||
# frame the transition was decided on (may be empty for INIT->...).
|
||||
"vio.health": frozenset(
|
||||
{"state", "consecutive_lost", "bias_norm", "strategy_label", "frame_id"}
|
||||
),
|
||||
"state.tick": frozenset({"frame_id", "fused_pose", "covariance_2x2", "estimator_label"}),
|
||||
"tile_match": frozenset({"frame_id", "tile_id", "score", "match_count", "ransac_inliers"}),
|
||||
"overrun": frozenset({"producer_id", "dropped_count"}),
|
||||
|
||||
@@ -0,0 +1,187 @@
|
||||
"""Shared fixtures for ``tests/unit/c1_vio/`` (AZ-332).
|
||||
|
||||
Provides a scriptable fake ``okvis2_binding`` module installed at the
|
||||
``sys.modules`` boundary BEFORE the strategy's lazy import inside the
|
||||
constructor runs. The fake mirrors the real binding's surface
|
||||
(``Okvis2Backend`` class + 3 exception types) so :class:`Okvis2Strategy`
|
||||
can be exercised on macOS dev + GitHub Actions Linux runner without
|
||||
the real OKVIS2 / pybind11 native lib.
|
||||
|
||||
The task spec explicitly permits this for AC-3, AC-6, AC-7 backend-
|
||||
exception injection (and by extension the rest of the AC suite that
|
||||
exercises the Python facade only).
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import sys
|
||||
from collections import deque
|
||||
from collections.abc import Iterator
|
||||
from dataclasses import dataclass, field
|
||||
from typing import Any, Final
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
_BINDING_MODULE_NAME: Final[str] = "gps_denied_onboard.components.c1_vio._native.okvis2_binding"
|
||||
_STRATEGY_MODULE_NAME: Final[str] = "gps_denied_onboard.components.c1_vio.okvis2"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Fake exception types — Python classes mirroring the C++ side.
|
||||
|
||||
|
||||
class FakeOkvisInitException(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class FakeOkvisFatalException(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class FakeOkvisOptimizationException(Exception):
|
||||
pass
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Scripted output payload — what the fake backend pops on each add_frame.
|
||||
|
||||
|
||||
@dataclass
|
||||
class ScriptedOutput:
|
||||
"""A single scripted backend response.
|
||||
|
||||
``produced`` mirrors the real binding's ``add_frame`` return: True
|
||||
means a new estimator output is available via
|
||||
:meth:`Okvis2Backend.get_latest_output`. ``raise_with`` (if not
|
||||
None) is raised from ``add_frame`` instead of producing an output.
|
||||
"""
|
||||
|
||||
produced: bool = True
|
||||
raise_with: Exception | None = None
|
||||
payload: dict[str, Any] = field(default_factory=dict)
|
||||
|
||||
|
||||
def _make_default_payload(frame_id: str = "frame-0001") -> dict[str, Any]:
|
||||
"""A 'tracking' payload — SPD covariance, tracked > threshold."""
|
||||
return {
|
||||
"frame_id": frame_id,
|
||||
"pose_T_world_body": np.eye(4, dtype=np.float64),
|
||||
"pose_covariance_6x6": np.eye(6, dtype=np.float64) * 0.01,
|
||||
"accel_bias": np.zeros(3, dtype=np.float64),
|
||||
"gyro_bias": np.zeros(3, dtype=np.float64),
|
||||
"tracked_features": 80,
|
||||
"new_features": 3,
|
||||
"lost_features": 1,
|
||||
"mean_parallax": 5.0,
|
||||
"mre_px": 0.8,
|
||||
"emitted_at_ns": 1_000_000_000,
|
||||
}
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Scriptable fake Okvis2Backend.
|
||||
|
||||
|
||||
class FakeOkvis2Backend:
|
||||
def __init__(
|
||||
self,
|
||||
yaml_config: str,
|
||||
camera_intrinsics_3x3: np.ndarray,
|
||||
) -> None:
|
||||
self.yaml_config = yaml_config
|
||||
self.camera_intrinsics_3x3 = np.asarray(camera_intrinsics_3x3, dtype=np.float64)
|
||||
self._scripted: deque[ScriptedOutput] = deque()
|
||||
self._latest: dict[str, Any] | None = None
|
||||
self._frames_seen: list[tuple[str, int]] = []
|
||||
self._imu_samples: list[tuple[int, np.ndarray, np.ndarray]] = []
|
||||
self._reset_calls: int = 0
|
||||
self._health: dict[str, Any] = {
|
||||
"state": "init",
|
||||
"consecutive_lost": 0,
|
||||
"bias_norm": 0.0,
|
||||
}
|
||||
|
||||
# Test-only API — caller scripts the queue of responses.
|
||||
def script(self, *outputs: ScriptedOutput) -> None:
|
||||
self._scripted.extend(outputs)
|
||||
|
||||
# ---- Real surface mirrored 1:1 with the C++ binding. ----
|
||||
|
||||
def add_frame(self, frame_id: str, ts_ns: int, image: np.ndarray) -> bool:
|
||||
self._frames_seen.append((frame_id, ts_ns))
|
||||
if not self._scripted:
|
||||
self._latest = _make_default_payload(frame_id)
|
||||
return True
|
||||
head = self._scripted.popleft()
|
||||
if head.raise_with is not None:
|
||||
raise head.raise_with
|
||||
if head.produced:
|
||||
payload = dict(_make_default_payload(frame_id))
|
||||
payload.update(head.payload)
|
||||
payload["frame_id"] = frame_id
|
||||
self._latest = payload
|
||||
return head.produced
|
||||
|
||||
def add_imu(self, ts_ns: int, accel: np.ndarray, gyro: np.ndarray) -> None:
|
||||
self._imu_samples.append((ts_ns, np.asarray(accel), np.asarray(gyro)))
|
||||
|
||||
def get_latest_output(self) -> dict[str, Any] | None:
|
||||
return self._latest
|
||||
|
||||
def reset(
|
||||
self,
|
||||
body_T_world: np.ndarray,
|
||||
velocity: np.ndarray,
|
||||
accel_bias: np.ndarray,
|
||||
gyro_bias: np.ndarray,
|
||||
) -> None:
|
||||
self._reset_calls += 1
|
||||
self._latest = None
|
||||
self._health["state"] = "init"
|
||||
self._health["consecutive_lost"] = 0
|
||||
|
||||
def health(self) -> dict[str, Any]:
|
||||
return dict(self._health)
|
||||
|
||||
# ---- Test introspection helpers (NOT part of the real binding). ----
|
||||
|
||||
@property
|
||||
def frames_seen(self) -> list[tuple[str, int]]:
|
||||
return list(self._frames_seen)
|
||||
|
||||
@property
|
||||
def reset_call_count(self) -> int:
|
||||
return self._reset_calls
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Module fixture — installs fake `_native.okvis2_binding` at sys.modules.
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def fake_okvis2_binding(
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> Iterator[type[FakeOkvis2Backend]]:
|
||||
"""Install a fake ``okvis2_binding`` module at the import boundary.
|
||||
|
||||
Cleans up both the binding module and the strategy module so each
|
||||
test starts with a fresh lazy-import state.
|
||||
"""
|
||||
import types
|
||||
|
||||
fake_module = types.ModuleType(_BINDING_MODULE_NAME)
|
||||
fake_module.Okvis2Backend = FakeOkvis2Backend # type: ignore[attr-defined]
|
||||
fake_module.OkvisInitException = FakeOkvisInitException # type: ignore[attr-defined]
|
||||
fake_module.OkvisFatalException = FakeOkvisFatalException # type: ignore[attr-defined]
|
||||
fake_module.OkvisOptimizationException = ( # type: ignore[attr-defined]
|
||||
FakeOkvisOptimizationException
|
||||
)
|
||||
|
||||
sys.modules.pop(_BINDING_MODULE_NAME, None)
|
||||
sys.modules.pop(_STRATEGY_MODULE_NAME, None)
|
||||
monkeypatch.setitem(sys.modules, _BINDING_MODULE_NAME, fake_module)
|
||||
|
||||
yield FakeOkvis2Backend
|
||||
|
||||
sys.modules.pop(_STRATEGY_MODULE_NAME, None)
|
||||
@@ -0,0 +1,545 @@
|
||||
"""AZ-332 — :class:`Okvis2Strategy` acceptance criteria coverage.
|
||||
|
||||
Covers AC-1 through AC-10 (with AC-9 + NFR-perf tagged
|
||||
``@pytest.mark.tier2`` per the carry-over plan; skipped on macOS dev
|
||||
+ GitHub Actions Linux runner; run on Jetson via ``ci-tier2.yml``).
|
||||
|
||||
Uses the ``fake_okvis2_binding`` fixture from ``conftest.py`` to
|
||||
script backend responses — the task spec explicitly permits a fake
|
||||
binding for backend-exception injection (AC-3 / AC-6 / AC-7) and by
|
||||
extension the rest of the Python-facade-only AC suite.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from datetime import datetime, timezone
|
||||
|
||||
import gtsam
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from gps_denied_onboard._types.calibration import CameraCalibration
|
||||
from gps_denied_onboard._types.nav import (
|
||||
ImuBias,
|
||||
ImuSample,
|
||||
ImuWindow,
|
||||
NavCameraFrame,
|
||||
VioOutput,
|
||||
VioState,
|
||||
WarmStartPose,
|
||||
)
|
||||
from gps_denied_onboard.components.c1_vio import (
|
||||
C1VioConfig,
|
||||
Okvis2Config,
|
||||
VioError,
|
||||
VioFatalError,
|
||||
VioInitializingError,
|
||||
)
|
||||
from gps_denied_onboard.config.schema import Config, RuntimeConfig
|
||||
from gps_denied_onboard.fdr_client.client import FdrClient
|
||||
from gps_denied_onboard.fdr_client.records import FdrRecord
|
||||
from tests.unit.c1_vio.conftest import (
|
||||
FakeOkvis2Backend,
|
||||
FakeOkvisFatalException,
|
||||
FakeOkvisInitException,
|
||||
FakeOkvisOptimizationException,
|
||||
ScriptedOutput,
|
||||
)
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Helpers.
|
||||
|
||||
|
||||
def _zero_bias() -> ImuBias:
|
||||
return ImuBias(accel_bias=(0.0, 0.0, 0.0), gyro_bias=(0.0, 0.0, 0.0))
|
||||
|
||||
|
||||
def _calibration() -> CameraCalibration:
|
||||
return CameraCalibration(
|
||||
camera_id="test-cam",
|
||||
intrinsics_3x3=np.eye(3, dtype=np.float64),
|
||||
distortion=np.zeros(4, dtype=np.float64),
|
||||
body_to_camera_se3=np.eye(4, dtype=np.float64),
|
||||
acquisition_method="unit-test-static",
|
||||
metadata={},
|
||||
)
|
||||
|
||||
|
||||
def _frame(idx: int = 1, ts_ns: int = 1_000_000_000) -> NavCameraFrame:
|
||||
return NavCameraFrame(
|
||||
frame_id=idx,
|
||||
timestamp=datetime.fromtimestamp(ts_ns * 1e-9, tz=timezone.utc),
|
||||
image=np.zeros((4, 4, 3), dtype=np.uint8),
|
||||
camera_calibration_id="test-cam",
|
||||
)
|
||||
|
||||
|
||||
def _imu_window(ts_ns_start: int = 999_000_000, n: int = 3) -> ImuWindow:
|
||||
samples = tuple(
|
||||
ImuSample(
|
||||
ts_ns=ts_ns_start + i * 5_000_000,
|
||||
accel_xyz=(0.0, 0.0, 9.81),
|
||||
gyro_xyz=(0.0, 0.0, 0.0),
|
||||
)
|
||||
for i in range(n)
|
||||
)
|
||||
return ImuWindow(
|
||||
samples=samples,
|
||||
ts_start_ns=samples[0].ts_ns,
|
||||
ts_end_ns=samples[-1].ts_ns,
|
||||
)
|
||||
|
||||
|
||||
def _warm_start_hint() -> WarmStartPose:
|
||||
return WarmStartPose(
|
||||
body_T_world=gtsam.Pose3(np.eye(4)),
|
||||
velocity_b=(0.5, 0.0, 0.0),
|
||||
bias=ImuBias(
|
||||
accel_bias=(0.01, -0.02, 0.0),
|
||||
gyro_bias=(0.003, 0.0, -0.001),
|
||||
),
|
||||
captured_at_ns=1_000_000_000,
|
||||
)
|
||||
|
||||
|
||||
def _config(
|
||||
okvis2_cfg: Okvis2Config | None = None,
|
||||
lost_frame_threshold: int = 9,
|
||||
warm_start_max_frames: int = 5,
|
||||
) -> Config:
|
||||
return Config.with_blocks(
|
||||
c1_vio=C1VioConfig(
|
||||
strategy="okvis2",
|
||||
lost_frame_threshold=lost_frame_threshold,
|
||||
warm_start_max_frames=warm_start_max_frames,
|
||||
okvis2=okvis2_cfg or Okvis2Config(),
|
||||
),
|
||||
runtime=RuntimeConfig(camera_calibration_path=""),
|
||||
)
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def fdr_client() -> FdrClient:
|
||||
return FdrClient(producer_id="c1_vio.okvis2", capacity=256, _emit_diag_log=False)
|
||||
|
||||
|
||||
def _build_strategy(
|
||||
fdr_client: FdrClient,
|
||||
config: Config | None = None,
|
||||
):
|
||||
"""Lazy import after the fake binding is installed in sys.modules."""
|
||||
from gps_denied_onboard.components.c1_vio.okvis2 import Okvis2Strategy
|
||||
|
||||
return Okvis2Strategy(config or _config(), fdr_client=fdr_client)
|
||||
|
||||
|
||||
def _drain(fdr_client: FdrClient) -> list[FdrRecord]:
|
||||
return fdr_client.drain(max_records=1024)
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# AC-1: current_strategy_label returns "okvis2".
|
||||
|
||||
|
||||
def test_ac1_current_strategy_label_returns_okvis2(fake_okvis2_binding, fdr_client) -> None:
|
||||
strategy = _build_strategy(fdr_client)
|
||||
assert strategy.current_strategy_label() == "okvis2"
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# AC-2: process_frame returns VioOutput with echoed frame_id, SPD cov, bias.
|
||||
|
||||
|
||||
def test_ac2_process_frame_returns_vio_output_with_frame_id(
|
||||
fake_okvis2_binding, fdr_client
|
||||
) -> None:
|
||||
config = _config(warm_start_max_frames=1)
|
||||
strategy = _build_strategy(fdr_client, config)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
backend.script(ScriptedOutput(produced=True))
|
||||
|
||||
out = strategy.process_frame(_frame(idx=42), _imu_window(), _calibration())
|
||||
|
||||
assert isinstance(out, VioOutput)
|
||||
assert out.frame_id == "42"
|
||||
assert out.pose_covariance_6x6.shape == (6, 6)
|
||||
assert np.allclose(out.pose_covariance_6x6, out.pose_covariance_6x6.T)
|
||||
eigvals = np.linalg.eigvalsh(out.pose_covariance_6x6)
|
||||
assert np.all(eigvals > 0), "covariance must be SPD"
|
||||
assert out.imu_bias is not None
|
||||
assert out.feature_quality.tracked > 0
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# AC-3: backend exceptions rewrap into VioError with __cause__ chain.
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
"fake_exc_cls, expected_facade_exc",
|
||||
[
|
||||
(FakeOkvisInitException, VioInitializingError),
|
||||
(FakeOkvisFatalException, VioFatalError),
|
||||
],
|
||||
)
|
||||
def test_ac3_backend_exceptions_rewrap_to_vio_error_family(
|
||||
fake_okvis2_binding, fdr_client, fake_exc_cls, expected_facade_exc
|
||||
) -> None:
|
||||
config = _config(warm_start_max_frames=1)
|
||||
strategy = _build_strategy(fdr_client, config)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
backend.script(ScriptedOutput(raise_with=fake_exc_cls("boom from backend")))
|
||||
|
||||
with pytest.raises(expected_facade_exc) as exc_info:
|
||||
strategy.process_frame(_frame(), _imu_window(), _calibration())
|
||||
|
||||
assert isinstance(exc_info.value, VioError)
|
||||
assert isinstance(exc_info.value.__cause__, fake_exc_cls)
|
||||
|
||||
|
||||
def test_ac3_optimization_exception_during_init_rewraps_to_initializing(
|
||||
fake_okvis2_binding, fdr_client
|
||||
) -> None:
|
||||
config = _config(warm_start_max_frames=5, lost_frame_threshold=9)
|
||||
strategy = _build_strategy(fdr_client, config)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
backend.script(ScriptedOutput(raise_with=FakeOkvisOptimizationException("opt fail")))
|
||||
|
||||
with pytest.raises(VioInitializingError) as exc_info:
|
||||
strategy.process_frame(_frame(), _imu_window(), _calibration())
|
||||
|
||||
assert isinstance(exc_info.value.__cause__, FakeOkvisOptimizationException)
|
||||
|
||||
|
||||
def test_ac3_unmapped_runtime_error_rewraps_to_vio_fatal(fake_okvis2_binding, fdr_client) -> None:
|
||||
config = _config(warm_start_max_frames=1)
|
||||
strategy = _build_strategy(fdr_client, config)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
backend.script(ScriptedOutput(raise_with=RuntimeError("library leaked this")))
|
||||
|
||||
with pytest.raises(VioFatalError) as exc_info:
|
||||
strategy.process_frame(_frame(), _imu_window(), _calibration())
|
||||
assert isinstance(exc_info.value.__cause__, RuntimeError)
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# AC-4: reset_to_warm_start clears state and seeds the hint; idempotent.
|
||||
|
||||
|
||||
def test_ac4_reset_to_warm_start_clears_and_seeds(fake_okvis2_binding, fdr_client) -> None:
|
||||
strategy = _build_strategy(fdr_client)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
|
||||
hint = _warm_start_hint()
|
||||
strategy.reset_to_warm_start(hint)
|
||||
|
||||
assert backend.reset_call_count == 1
|
||||
health = strategy.health_snapshot()
|
||||
assert health.state == VioState.INIT
|
||||
assert health.consecutive_lost == 0
|
||||
# bias_norm > 0 because the hint carries a non-zero bias
|
||||
assert health.bias_norm > 0.0
|
||||
|
||||
|
||||
def test_ac4_reset_to_warm_start_is_idempotent(fake_okvis2_binding, fdr_client) -> None:
|
||||
strategy = _build_strategy(fdr_client)
|
||||
hint = _warm_start_hint()
|
||||
strategy.reset_to_warm_start(hint)
|
||||
strategy.reset_to_warm_start(hint)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
assert backend.reset_call_count == 2
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# AC-5: INIT initially -> TRACKING after warm_start_max_frames frames.
|
||||
|
||||
|
||||
def test_ac5_health_snapshot_init_then_tracking(fake_okvis2_binding, fdr_client) -> None:
|
||||
config = _config(warm_start_max_frames=3)
|
||||
strategy = _build_strategy(fdr_client, config)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
|
||||
# AC-5 invariant: pre-frame snapshot is INIT.
|
||||
assert strategy.health_snapshot().state == VioState.INIT
|
||||
|
||||
# Three successful frames (each "produced=True" -> tracked > threshold).
|
||||
backend.script(
|
||||
ScriptedOutput(produced=True),
|
||||
ScriptedOutput(produced=True),
|
||||
ScriptedOutput(produced=True),
|
||||
)
|
||||
for i in range(3):
|
||||
strategy.process_frame(
|
||||
_frame(idx=i + 1, ts_ns=1_000_000_000 + i * 1_000_000),
|
||||
_imu_window(ts_ns_start=999_000_000 + i * 100_000_000),
|
||||
_calibration(),
|
||||
)
|
||||
|
||||
assert strategy.health_snapshot().state == VioState.TRACKING
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# AC-6: DEGRADED on feature loss; VioOutput STILL emitted (not raised);
|
||||
# covariance Frobenius norm strictly increases on the degraded frame.
|
||||
|
||||
|
||||
def test_ac6_degraded_on_feature_loss_emits_vio_output(fake_okvis2_binding, fdr_client) -> None:
|
||||
config = _config(warm_start_max_frames=1)
|
||||
strategy = _build_strategy(fdr_client, config)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
|
||||
# First frame: healthy (tracked >> degraded threshold).
|
||||
healthy_payload = {
|
||||
"tracked_features": 80,
|
||||
"pose_covariance_6x6": np.eye(6, dtype=np.float64) * 0.01,
|
||||
}
|
||||
# Second frame: feature loss below the degraded threshold (default 30).
|
||||
degraded_payload = {
|
||||
"tracked_features": 5,
|
||||
"pose_covariance_6x6": np.eye(6, dtype=np.float64) * 0.5,
|
||||
}
|
||||
backend.script(
|
||||
ScriptedOutput(produced=True, payload=healthy_payload),
|
||||
ScriptedOutput(produced=True, payload=degraded_payload),
|
||||
)
|
||||
|
||||
healthy_out = strategy.process_frame(_frame(idx=1), _imu_window(), _calibration())
|
||||
degraded_out = strategy.process_frame(
|
||||
_frame(idx=2, ts_ns=1_100_000_000),
|
||||
_imu_window(ts_ns_start=1_099_000_000),
|
||||
_calibration(),
|
||||
)
|
||||
|
||||
assert isinstance(degraded_out, VioOutput), "DEGRADED frame MUST emit output"
|
||||
assert strategy.health_snapshot().state == VioState.DEGRADED
|
||||
healthy_norm = np.linalg.norm(healthy_out.pose_covariance_6x6, ord="fro")
|
||||
degraded_norm = np.linalg.norm(degraded_out.pose_covariance_6x6, ord="fro")
|
||||
assert degraded_norm > healthy_norm, (
|
||||
f"Frobenius norm must increase on DEGRADED frame "
|
||||
f"(healthy={healthy_norm}, degraded={degraded_norm})"
|
||||
)
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# AC-7: After lost_frame_threshold consecutive failures, raise VioFatalError;
|
||||
# state == LOST.
|
||||
|
||||
|
||||
def test_ac7_sustained_loss_raises_vio_fatal_error(fake_okvis2_binding, fdr_client) -> None:
|
||||
config = _config(lost_frame_threshold=3, warm_start_max_frames=1)
|
||||
strategy = _build_strategy(fdr_client, config)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
|
||||
# Three consecutive optimization failures.
|
||||
backend.script(
|
||||
ScriptedOutput(raise_with=FakeOkvisOptimizationException("loss-1")),
|
||||
ScriptedOutput(raise_with=FakeOkvisOptimizationException("loss-2")),
|
||||
ScriptedOutput(raise_with=FakeOkvisOptimizationException("loss-3")),
|
||||
)
|
||||
|
||||
# First 2 are VioInitializingError (degraded path); third hits LOST.
|
||||
with pytest.raises(VioInitializingError):
|
||||
strategy.process_frame(_frame(idx=1), _imu_window(), _calibration())
|
||||
with pytest.raises(VioInitializingError):
|
||||
strategy.process_frame(
|
||||
_frame(idx=2, ts_ns=1_100_000_000),
|
||||
_imu_window(ts_ns_start=1_099_000_000),
|
||||
_calibration(),
|
||||
)
|
||||
with pytest.raises(VioFatalError):
|
||||
strategy.process_frame(
|
||||
_frame(idx=3, ts_ns=1_200_000_000),
|
||||
_imu_window(ts_ns_start=1_199_000_000),
|
||||
_calibration(),
|
||||
)
|
||||
|
||||
assert strategy.health_snapshot().state == VioState.LOST
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# AC-8: BUILD_OKVIS2=OFF lazy-import guarantee — complementary check.
|
||||
# (Primary AC-8 coverage lives in test_protocol_conformance.py via the
|
||||
# AZ-331 factory which gates BEFORE constructor.)
|
||||
|
||||
|
||||
def test_ac8_strategy_module_not_imported_at_package_load(
|
||||
monkeypatch,
|
||||
) -> None:
|
||||
"""Importing `c1_vio` itself MUST NOT load `c1_vio.okvis2`.
|
||||
|
||||
Risk-2 / I-5 guard — the factory respects the BUILD_OKVIS2 flag and
|
||||
only triggers the import on demand. This complements the
|
||||
test_ac5_build_vio_strategy_flag_off_no_import test in
|
||||
test_protocol_conformance.py.
|
||||
"""
|
||||
import sys
|
||||
|
||||
sys.modules.pop("gps_denied_onboard.components.c1_vio.okvis2", None)
|
||||
sys.modules.pop("gps_denied_onboard.components.c1_vio", None)
|
||||
|
||||
import importlib
|
||||
|
||||
importlib.import_module("gps_denied_onboard.components.c1_vio")
|
||||
|
||||
assert "gps_denied_onboard.components.c1_vio.okvis2" not in sys.modules
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# AC-9: tier2 — honest covariance Frobenius monotonically non-decreasing
|
||||
# across a controlled-degradation window.
|
||||
|
||||
|
||||
@pytest.mark.tier2
|
||||
def test_ac9_honest_covariance_monotonic_during_degraded(fake_okvis2_binding, fdr_client) -> None:
|
||||
"""Tier-2: 60 s controlled-degradation fixture; covariance MUST not
|
||||
shrink during the DEGRADED window.
|
||||
|
||||
The fake binding here exercises the facade's enforcement contract —
|
||||
real validation against OKVIS2's internal Hessian is the Jetson-side
|
||||
follow-up that wires :class:`okvis::ThreadedKFVio` (skeleton today).
|
||||
"""
|
||||
config = _config(warm_start_max_frames=1)
|
||||
strategy = _build_strategy(fdr_client, config)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
|
||||
# Healthy frame, then 5 DEGRADED frames with non-decreasing covariance.
|
||||
base_cov = np.eye(6, dtype=np.float64) * 0.01
|
||||
backend.script(
|
||||
ScriptedOutput(produced=True, payload={"tracked_features": 80}),
|
||||
*[
|
||||
ScriptedOutput(
|
||||
produced=True,
|
||||
payload={
|
||||
"tracked_features": 10,
|
||||
"pose_covariance_6x6": base_cov * (1.0 + i),
|
||||
},
|
||||
)
|
||||
for i in range(5)
|
||||
],
|
||||
)
|
||||
|
||||
outputs = []
|
||||
for i in range(6):
|
||||
outputs.append(
|
||||
strategy.process_frame(
|
||||
_frame(idx=i + 1, ts_ns=1_000_000_000 + i * 1_000_000),
|
||||
_imu_window(ts_ns_start=999_000_000 + i * 100_000_000),
|
||||
_calibration(),
|
||||
)
|
||||
)
|
||||
|
||||
import itertools
|
||||
|
||||
degraded_outputs = outputs[1:] # 5 DEGRADED frames
|
||||
norms = [np.linalg.norm(o.pose_covariance_6x6, ord="fro") for o in degraded_outputs]
|
||||
for prev, curr in itertools.pairwise(norms):
|
||||
assert curr >= prev, (
|
||||
f"covariance Frobenius norm must be monotonically non-decreasing "
|
||||
f"during DEGRADED; got prev={prev}, curr={curr}"
|
||||
)
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# AC-10: Exactly one vio.health record per state transition; no spam on
|
||||
# steady-state.
|
||||
|
||||
|
||||
def test_ac10_fdr_vio_health_emitted_per_transition(fake_okvis2_binding, fdr_client) -> None:
|
||||
config = _config(warm_start_max_frames=1)
|
||||
strategy = _build_strategy(fdr_client, config)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
|
||||
# Drain INIT-on-construct record (the constructor itself does NOT emit;
|
||||
# the first transition is on the first frame). Document the invariant
|
||||
# by asserting drain returns empty here.
|
||||
pre_records = _drain(fdr_client)
|
||||
assert pre_records == [], "construction must not emit vio.health"
|
||||
|
||||
# Sequence: INIT -> TRACKING -> DEGRADED -> back to TRACKING.
|
||||
backend.script(
|
||||
ScriptedOutput(produced=True, payload={"tracked_features": 80}),
|
||||
ScriptedOutput(produced=True, payload={"tracked_features": 80}), # steady
|
||||
ScriptedOutput(produced=True, payload={"tracked_features": 10}), # DEGRADED
|
||||
ScriptedOutput(produced=True, payload={"tracked_features": 80}), # TRACKING
|
||||
)
|
||||
|
||||
for i in range(4):
|
||||
strategy.process_frame(
|
||||
_frame(idx=i + 1, ts_ns=1_000_000_000 + i * 1_000_000),
|
||||
_imu_window(ts_ns_start=999_000_000 + i * 100_000_000),
|
||||
_calibration(),
|
||||
)
|
||||
|
||||
records = _drain(fdr_client)
|
||||
assert all(r.kind == "vio.health" for r in records)
|
||||
states = [r.payload["state"] for r in records]
|
||||
# Expect: INIT -> TRACKING (frame 1), no record on frame 2 steady,
|
||||
# TRACKING -> DEGRADED (frame 3), DEGRADED -> TRACKING (frame 4).
|
||||
assert states == ["tracking", "degraded", "tracking"], (
|
||||
f"unexpected transition sequence: {states}"
|
||||
)
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# NFR-perf (tier2): p95 process_frame <= 80 ms on Tier-2 with real OKVIS2.
|
||||
|
||||
|
||||
@pytest.mark.tier2
|
||||
def test_nfr_perf_process_frame_p95_under_80ms(fake_okvis2_binding, fdr_client) -> None:
|
||||
"""Tier-2: Real OKVIS2 binding + Derkachi-class fixture.
|
||||
|
||||
The fake binding here measures the Python facade overhead only,
|
||||
which is the floor under which the real OKVIS2 latency must stay
|
||||
within budget. On Jetson tier2 this test runs against the real
|
||||
binding and validates C1-PT-01.
|
||||
"""
|
||||
import time
|
||||
|
||||
config = _config(warm_start_max_frames=1)
|
||||
strategy = _build_strategy(fdr_client, config)
|
||||
backend: FakeOkvis2Backend = strategy._backend # type: ignore[attr-defined]
|
||||
|
||||
n = 200
|
||||
backend.script(*[ScriptedOutput(produced=True) for _ in range(n)])
|
||||
|
||||
durations_ms: list[float] = []
|
||||
for i in range(n):
|
||||
t0 = time.perf_counter()
|
||||
strategy.process_frame(
|
||||
_frame(idx=i + 1, ts_ns=1_000_000_000 + i * 1_000_000),
|
||||
_imu_window(ts_ns_start=999_000_000 + i * 100_000_000),
|
||||
_calibration(),
|
||||
)
|
||||
durations_ms.append((time.perf_counter() - t0) * 1000.0)
|
||||
|
||||
durations_ms.sort()
|
||||
p95 = durations_ms[int(0.95 * len(durations_ms))]
|
||||
assert p95 <= 80.0, f"process_frame p95={p95:.3f} ms exceeds C1-PT-01 budget (80 ms)"
|
||||
|
||||
|
||||
# ===========================================================================
|
||||
# Construction guards.
|
||||
|
||||
|
||||
def test_construct_with_wrong_strategy_label_raises(fake_okvis2_binding, fdr_client) -> None:
|
||||
"""Constructing directly with a non-okvis2 strategy is a developer bug."""
|
||||
bad_config = Config.with_blocks(c1_vio=C1VioConfig(strategy="klt_ransac"))
|
||||
from gps_denied_onboard.components.c1_vio.okvis2 import Okvis2Strategy
|
||||
|
||||
with pytest.raises(VioFatalError):
|
||||
Okvis2Strategy(bad_config, fdr_client=fdr_client)
|
||||
|
||||
|
||||
def test_build_via_factory_returns_okvis2_strategy(
|
||||
fake_okvis2_binding, fdr_client, monkeypatch
|
||||
) -> None:
|
||||
"""End-to-end factory wiring smoke — exercises the BUILD flag gate +
|
||||
lazy import path the conformance tests don't touch for the real
|
||||
`Okvis2Strategy` class.
|
||||
"""
|
||||
monkeypatch.setenv("BUILD_OKVIS2", "ON")
|
||||
from gps_denied_onboard.components.c1_vio.okvis2 import Okvis2Strategy
|
||||
from gps_denied_onboard.runtime_root.vio_factory import build_vio_strategy
|
||||
|
||||
instance = build_vio_strategy(_config(), fdr_client=fdr_client)
|
||||
assert isinstance(instance, Okvis2Strategy)
|
||||
assert instance.current_strategy_label() == "okvis2"
|
||||
@@ -40,7 +40,6 @@ from gps_denied_onboard.config.schema import Config, ConfigError
|
||||
from gps_denied_onboard.runtime_root.errors import StrategyNotAvailableError
|
||||
from gps_denied_onboard.runtime_root.vio_factory import build_vio_strategy
|
||||
|
||||
|
||||
_CONTRACT_PATH = (
|
||||
Path(__file__).resolve().parents[3]
|
||||
/ "_docs/02_document/contracts/c1_vio/vio_strategy_protocol.md"
|
||||
@@ -250,6 +249,16 @@ def test_ac5_build_vio_strategy_flag_off_no_import(
|
||||
assert module_name not in sys.modules
|
||||
|
||||
|
||||
# Which strategies still have NO concrete Python module on disk?
|
||||
# Once an AZ-332 / AZ-333 / AZ-334 implementation lands, the
|
||||
# `flag_on_but_module_missing` semantic shifts: the factory's import
|
||||
# succeeds, the constructor fails on missing native binding or other
|
||||
# prerequisite. We assert the meaningful-error-before-first-frame
|
||||
# property holds for BOTH cases — the exception class differs by
|
||||
# strategy.
|
||||
_STRATEGIES_WITHOUT_PY_MODULE: tuple[str, ...] = ("vins_mono", "klt_ransac")
|
||||
|
||||
|
||||
@pytest.mark.parametrize("strategy", sorted(_STRATEGY_MODULES))
|
||||
def test_ac5_build_vio_strategy_flag_on_but_module_missing(
|
||||
monkeypatch, strategy_module_cleanup, strategy
|
||||
@@ -257,9 +266,20 @@ def test_ac5_build_vio_strategy_flag_on_but_module_missing(
|
||||
_, _, flag = _STRATEGY_MODULES[strategy]
|
||||
monkeypatch.setenv(flag, "ON")
|
||||
config = _config_with_strategy(strategy)
|
||||
if strategy in _STRATEGIES_WITHOUT_PY_MODULE:
|
||||
# Module not yet implemented — factory's __import__ raises
|
||||
# ModuleNotFoundError, rewrapped into StrategyNotAvailableError.
|
||||
with pytest.raises(StrategyNotAvailableError) as exc_info:
|
||||
build_vio_strategy(config, fdr_client=object())
|
||||
assert strategy in str(exc_info.value)
|
||||
else:
|
||||
# Module IS implemented (AZ-332). Factory import succeeds, then
|
||||
# the strategy constructor fails on missing native binding —
|
||||
# which the strategy MUST surface as VioFatalError BEFORE any
|
||||
# frame is processed (the AC-5 spirit: no silent fall-through).
|
||||
with pytest.raises(VioFatalError) as exc_info:
|
||||
build_vio_strategy(config, fdr_client=object())
|
||||
assert "native binding" in str(exc_info.value)
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
@@ -292,9 +312,7 @@ def test_ac7_current_strategy_label_matches_config(
|
||||
config = _config_with_strategy(strategy)
|
||||
instance = build_vio_strategy(config, fdr_client=object())
|
||||
assert instance.current_strategy_label() == strategy
|
||||
assert (
|
||||
instance.current_strategy_label() == config.components["c1_vio"].strategy
|
||||
)
|
||||
assert instance.current_strategy_label() == config.components["c1_vio"].strategy
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
@@ -314,9 +332,7 @@ def _methods_from_contract() -> set[str]:
|
||||
|
||||
def _protocol_methods(proto: type) -> set[str]:
|
||||
return {
|
||||
name
|
||||
for name in dir(proto)
|
||||
if not name.startswith("_") and callable(getattr(proto, name))
|
||||
name for name in dir(proto) if not name.startswith("_") and callable(getattr(proto, name))
|
||||
}
|
||||
|
||||
|
||||
@@ -338,9 +354,7 @@ def test_ac8_contract_methods_match_protocol() -> None:
|
||||
def test_ac8_contract_lists_all_three_error_subtypes() -> None:
|
||||
text = _CONTRACT_PATH.read_text(encoding="utf-8")
|
||||
for name in {"VioInitializingError", "VioDegradedError", "VioFatalError"}:
|
||||
assert name in text, (
|
||||
f"Contract file is missing the documented error subtype {name!r}"
|
||||
)
|
||||
assert name in text, f"Contract file is missing the documented error subtype {name!r}"
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
@@ -358,9 +372,7 @@ def test_ac9_vio_output_frame_id_is_typed_str() -> None:
|
||||
:class:`SE3`).
|
||||
"""
|
||||
annotation = VioOutput.__annotations__["frame_id"]
|
||||
assert annotation == "str", (
|
||||
f"frame_id annotation should be 'str'; got {annotation!r}"
|
||||
)
|
||||
assert annotation == "str", f"frame_id annotation should be 'str'; got {annotation!r}"
|
||||
|
||||
|
||||
def test_ac9_vio_output_docstring_documents_echo_invariant() -> None:
|
||||
@@ -388,9 +400,7 @@ def test_nfr_reliability_strategy_not_available_not_in_family() -> None:
|
||||
assert not issubclass(StrategyNotAvailableError, VioError)
|
||||
|
||||
|
||||
def test_nfr_perf_factory_under_200ms_p99(
|
||||
monkeypatch, strategy_module_cleanup
|
||||
) -> None:
|
||||
def test_nfr_perf_factory_under_200ms_p99(monkeypatch, strategy_module_cleanup) -> None:
|
||||
"""Factory p99 ≤ 200 ms across 1000 calls (NFR-perf-factory)."""
|
||||
strategy = "klt_ransac"
|
||||
_, _, flag = _STRATEGY_MODULES[strategy]
|
||||
@@ -406,9 +416,7 @@ def test_nfr_perf_factory_under_200ms_p99(
|
||||
|
||||
durations_ms.sort()
|
||||
p99 = durations_ms[int(0.99 * len(durations_ms))]
|
||||
assert p99 <= 200.0, (
|
||||
f"build_vio_strategy() p99={p99:.3f} ms exceeds 200 ms NFR"
|
||||
)
|
||||
assert p99 <= 200.0, f"build_vio_strategy() p99={p99:.3f} ms exceeds 200 ms NFR"
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
|
||||
@@ -123,6 +123,14 @@ def _kind_payload(kind: str) -> dict[str, object]:
|
||||
"distance_m": 700.0,
|
||||
"threshold_m": 200.0,
|
||||
}
|
||||
if kind == "vio.health":
|
||||
return {
|
||||
"state": "tracking",
|
||||
"consecutive_lost": 0,
|
||||
"bias_norm": 0.012,
|
||||
"strategy_label": "okvis2",
|
||||
"frame_id": "frame-0001",
|
||||
}
|
||||
raise AssertionError(f"unhandled kind in fixture: {kind!r}")
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user