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stouchinglhh
Claude
sync processor from GitLab c697b6e: 版本 1.19.4 / 前端 1.12.4 —— 服务端 i18n(首屏不再闪英文)、推理模块并入模型页、前端抽出 shared/、缓存键改用前端号
bb59211 | """全零占位位姿 —— 一个把整集假判成 FAIL 的 bug 的回归锁。 | |
| bug 长什么样 | |
| ------------ | |
| ``observation.slam_pose`` 里没采到的帧写的是**全零占位** ``(0,0,0,0,0,0,0)``。 | |
| 它长得完全像合法位姿：长度 7、能索引、能相减。但它的四元数模是 0，于是 | |
| 两个零四元数的点积 = 0 | |
| acos(0) = π/2 → 夹角 = 2 × π/2 = **π = 180°** | |
| 30fps 下角速度 = π × 30 = **94.248 rad/s** | |
| **任何涉及零占位的相邻对都会报一次"180° 跳变"** —— 不只是"真实↔零"的过渡， | |
| 两个零之间也一样。 | |
| 实测 Test94 的 slam_pose 有 437/599 行是全零，SLAM 连续性因此报出 **465 处** | |
| "跳变"（599 帧里几乎每一帧），整集被判 FAIL → **拦回人工审核**。而峰值角速度 | |
| 94.248 就是上面那个 π×30，是识别这个 bug 的指纹。 | |
| pytest tests/test_cleaning_pose_validity.py | |
| python3 tests/test_cleaning_pose_validity.py | |
| """ | |
| import sys | |
| from pathlib import Path | |
| sys.path.insert(0, str(Path(__file__).resolve().parents[1])) # noqa: E402 | |
| from app.processing.cleaning import collect # noqa: E402 | |
| from app.processing.cleaning.checks import ( # noqa: E402 | |
| CheckContext, StreamEvidence, get_check, PASS, WARN, FAIL, | |
| ) | |
| from app.processing.cleaning.contract import pose_is_valid # noqa: E402 | |
| # π × 30fps —— 零四元数产生的"每帧 180°"角速度 | |
| ZERO_QUAT_RPS = 94.248 | |
| # 一个模不为 0 的合法朝向 | |
| VALID = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0) | |
| ZERO = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) | |
| def _context(poses, fps=30.0): | |
| stream = StreamEvidence(key="slam_pose", channel="slam", fps=fps, | |
| series={"pose": tuple(poses)}) | |
| return CheckContext(batch_dir=Path("/nonexistent"), fps=fps, streams=(stream,)) | |
| def _continuity(poses, fps=30.0): | |
| ctx = _context(poses, fps) | |
| ctx.params = {} | |
| findings = get_check("umi.slam_continuity").run(ctx) | |
| assert findings, "一条结论都没产出" | |
| return findings[0] | |
| # ── 判据本身 ──────────────────────────────────────────────── | |
| def test_zero_quaternion_is_invalid(): | |
| assert pose_is_valid(VALID) is True | |
| assert pose_is_valid(ZERO) is False # ← 核心 | |
| assert pose_is_valid(()) is False # 空元组本来就不算 | |
| assert pose_is_valid((1.0, 2.0, 3.0)) is False | |
| def test_zero_position_is_still_a_valid_pose(): | |
| """位置可以合法地是原点；只有四元数模为 0 才不是合法朝向。""" | |
| assert pose_is_valid((0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0)) is True | |
| # ── 核心回归 ──────────────────────────────────────────────── | |
| def test_zero_placeholders_do_not_create_jumps(): | |
| """★ 全是零占位的一集不该报任何跳变。""" | |
| finding = _continuity([ZERO] * 500) | |
| assert finding.status is PASS, f"零占位被当成了跳变：{finding.message}" | |
| assert finding.metrics["jumps"] == 0 | |
| def test_mixed_valid_and_zero_placeholders_do_not_create_jumps(): | |
| """★ 真实↔零占位的过渡同样不该报 —— 这正是 Test94 的情况。""" | |
| poses = [] | |
| for index in range(200): | |
| poses.append(VALID if index % 3 == 0 else ZERO) | |
| finding = _continuity(poses) | |
| assert finding.status is PASS, f"混合占位报出 {finding.metrics['jumps']} 处跳变" | |
| assert finding.metrics["jumps"] == 0 | |
| def test_zero_placeholder_would_have_produced_the_94_rps_signature(): | |
| """把守卫去掉，峰值角速度应当落回 94.248 —— 确认这确实是那个 bug。""" | |
| finding = _continuity([ZERO] * 100) | |
| assert finding.metrics["peak_angular_rps"] < ZERO_QUAT_RPS / 10 | |
| # ── 真阳性不能被一起修掉 ───────────────────────────────────── | |
| def test_real_relocation_jump_is_still_detected(): | |
| """两帧合法位姿之间突然位移 → 仍要报出来。""" | |
| near = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0) | |
| far = (10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0) # 10 米瞬移 | |
| finding = _continuity([near] * 50 + [far] * 50) | |
| assert finding.status is WARN | |
| assert finding.metrics["jumps"] == 1 | |
| assert finding.metrics["peak_linear_mps"] > 100 # 10m / (1/30s) = 300 m/s | |
| def test_many_real_jumps_still_fail(): | |
| near = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0) | |
| far = (5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0) | |
| poses = [] | |
| for _ in range(30): | |
| poses.extend([near, far]) | |
| finding = _continuity(poses) | |
| assert finding.status is FAIL | |
| assert finding.metrics["jumps"] >= 10 | |
| # ── 采集层的 valid_count 也要认这个 ───────────────────────── | |
| def test_collector_valid_count_excludes_zero_placeholders(): | |
| """位姿流的 valid_count 若把零占位算作有效，别的检查也会被带偏。""" | |
| values = [list(VALID), list(ZERO), None, list(VALID)] | |
| counts = tuple( | |
| 1 if collect.pose_is_valid(tuple(item)) else 0 | |
| for item in collect.vector_series(values, 7)) | |
| assert counts == (1, 0, 0, 1) | |
| if __name__ == "__main__": | |
| import pytest | |
| raise SystemExit(pytest.main([__file__, "-q"])) | |