mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 15:41:12 +00:00
Oleksandr Bezdieniezhnykh
21a7784682
- gtsam_isam2_estimator: shim for gtsam>=4.3a0 aarch64 pre-release where IncrementalFixedLagSmoother/FixedLagSmootherKeyTimestampMap moved from gtsam_unstable to gtsam - inference_factory: eager import of c7_inference package so register_component_block runs before config.components is read - docker-compose.test.jetson.yml: remove companion and operator-orchestrator (not needed by replay CLI tests and crash in test env due to AZ-618 live-mode deps); add db-migrate and tile-init setup-profile services for Alembic migrations and FAISS fixture provisioning; update e2e-runner depends_on to db only - scripts/mk_test_faiss_fixture.py: generate minimal HNSW32 FAISS descriptor index into the tile-data volume for the test harness Co-authored-by: Cursor <cursoragent@cursor.com>
62 lines
1.8 KiB
Python
62 lines
1.8 KiB
Python
#!/usr/bin/env python3
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"""Create a minimal valid FAISS HNSW32 + IndexIDMap2 fixture for the test harness.
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Used by the `tile-init` init service in docker-compose.test.jetson.yml.
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Writes three files to /var/lib/gps-denied/tiles/:
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descriptor.index — empty HNSW32 dim=512 binary
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descriptor.index.sha256 — sha256 sidecar (matches FaissDescriptorIndex._load)
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descriptor.index.meta.json — metadata (descriptor_dim, hnsw_params.metric, ...)
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Running this twice is idempotent (overwrites the previous fixture).
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"""
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from __future__ import annotations
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import hashlib
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import json
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from datetime import datetime, timezone
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from pathlib import Path
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import faiss # type: ignore[import-untyped]
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DESCRIPTOR_DIM = 512
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HNSW_M = 32
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root = Path("/var/lib/gps-denied/tiles")
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root.mkdir(parents=True, exist_ok=True)
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inner = faiss.IndexHNSWFlat(DESCRIPTOR_DIM, HNSW_M, faiss.METRIC_INNER_PRODUCT)
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index = faiss.IndexIDMap2(inner)
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idx_path = root / "descriptor.index"
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faiss.write_index(index, str(idx_path))
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idx_bytes = idx_path.read_bytes()
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sha256 = hashlib.sha256(idx_bytes).hexdigest()
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(idx_path.parent / (idx_path.name + ".sha256")).write_text(sha256, encoding="ascii")
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meta = {
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"descriptor_dim": DESCRIPTOR_DIM,
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"n_vectors": 0,
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"backbone_label": "ultra_vpr",
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"backbone_sha256_hex": "0" * 64,
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"built_at": datetime.now(timezone.utc).isoformat(),
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"hnsw_params": {
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"m": HNSW_M,
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"ef_construction": 40,
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"ef_search": 16,
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"metric": "INNER_PRODUCT",
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},
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"sidecar_sha256_hex": sha256,
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"file_path": str(idx_path),
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"id_mapping": [],
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}
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(idx_path.parent / (idx_path.name + ".meta.json")).write_text(
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json.dumps(meta, sort_keys=True, indent=2), encoding="utf-8"
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)
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print(
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f"[tile-init] OK: empty HNSW32 dim={DESCRIPTOR_DIM} index "
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f"at {idx_path} sha256={sha256[:16]}..."
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)
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