mirror of
https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
ba70381346
ci/woodpecker/push/02-build-push Pipeline failed
- Changed paths in documentation and configuration files to reflect the new naming convention for the NetVLAD model, transitioning from `models/netvlad/netvlad.pt` to `models/net_vlad/net_vlad.pt`. - Updated the `.gitignore` to include additional file types and directories related to input data and locally-generated evidence frames. - Removed the old NetVLAD checkpoint file as part of the transition to the new naming scheme. These changes ensure consistency across the project and improve the management of generated files.
84 lines
3.2 KiB
YAML
84 lines
3.2 KiB
YAML
# AZ-962 — Operator pre-flight + replay-mode config for Tier-2 Jetson e2e harness.
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#
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# Consumed by `tests/e2e/replay/conftest.py::_build_operator_pre_flight_cache`
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# (the AZ-839 C3 fixture) which `load_config(env, paths=[this])` then drives the
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# AZ-840 7-step orchestrator (`test_az835_e2e_real_flight.py`).
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#
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# Most fields stay at their dataclass defaults (see
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# `src/gps_denied_onboard/components/{c6_tile_cache,c7_inference,c10_provisioning,c11_tile_manager}/config.py`).
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# The blocks are declared here primarily so the four-component contract the
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# fixture skip-gate cites is satisfied by inspection of this file. The env
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# vars below are filled by docker-compose.test.jetson.yml / `.env.test`:
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#
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# * `GPS_DENIED_FC_PROFILE`, `GPS_DENIED_TIER`, `DB_URL` → runtime
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# * `INFERENCE_BACKEND`, `TILE_CACHE_PATH`, `CAMERA_CALIBRATION_PATH` → runtime
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# * `LOG_LEVEL`, `LOG_SINK` → log
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# * `FDR_PATH` → fdr
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# * `SATELLITE_PROVIDER_URL` → c11_tile_manager.satellite_provider_url
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# * `SATELLITE_PROVIDER_API_KEY` → c11_tile_manager.service_api_key
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#
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# AZ-965 (2026-05-29): `c10_provisioning.backbones` declares one
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# NetVLAD-VGG16 entry pointing at `models/net_vlad/net_vlad.pt`
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# (568 MiB git-lfs blob; see `_docs/03_ip_attribution/netvlad.md` for
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# provenance — VGG16 encoder = torchvision IMAGENET1K_V1 BSD, NetVLAD
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# pool + PCA tail = deterministic-random untrained). Bind-mounted into
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# the e2e-runner at `/opt/models` via docker-compose.test.jetson.yml.
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# AZ-321 design: NetVLAD runs on the PyTorch FP16 runtime (NOT TRT),
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# so the field literally named `onnx_path` here is actually the path
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# to the `.pt` PyTorch state_dict the runtime consumes. File stem MUST
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# equal `MODEL_NAME == "net_vlad"` from c2_vpr.net_vlad because the
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# PyTorch runtime uses `path.stem` as the registry lookup key.
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__top__:
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mode: replay
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runtime:
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fc_profile: ardupilot_plane
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tier: 2
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replay:
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pace: asap
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target_fc_dialect: ardupilot_plane
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c6_tile_cache:
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store_runtime: postgres_filesystem
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metadata_runtime: postgres_filesystem
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descriptor_index_runtime: faiss_hnsw
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postgres_pool_size: 4
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lru_eviction_threshold_bytes: 10737418240 # 10 GiB
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c7_inference:
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runtime: pytorch_fp16
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thermal_poll_hz: 1.0
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engine_cache_dir: /var/lib/gps-denied/engines
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gpu_memory_budget_bytes: 4294967296 # 4 GiB
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trtexec_timeout_s: 600
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ort_trt_cache_dir: /var/lib/gps-denied/engines/ort_trt_cache
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c2_vpr:
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strategy: net_vlad
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backbone_weights_path: /opt/models/net_vlad/net_vlad.pt
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netvlad_descriptor_dim: 4096
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warn_top1_threshold: 0.30
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# faiss_index_path is overlaid at runtime by
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# tests/e2e/replay/_e2e_orchestrator.py::write_effective_replay_config
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# to point at <cache_root>/descriptor.index (the C3 fixture's tmp).
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c10_provisioning:
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workspace_mb: 4096
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backbones:
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- model_name: net_vlad
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onnx_path: /opt/models/net_vlad/net_vlad.pt
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expected_input_shape: [3, 480, 480]
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input_name: input
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c11_tile_manager:
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# satellite_provider_url + service_api_key flow in from env vars
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# (SATELLITE_PROVIDER_URL / SATELLITE_PROVIDER_API_KEY) via the
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# loader's ENV_KEY_MAP additions in AZ-962.
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upload_batch_size: 25
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upload_http_timeout_s: 30.0
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download_http_timeout_s: 30.0
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download_max_5xx_retries: 4
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download_resolution_floor_m_per_px: 0.5
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