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fix: reject crop evidence after track drift

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kiyo9w 2026-09-28 16:11:37 +09:00
parent 2de5740922
commit 13a4e0f475
2 changed files with 122 additions and 2 deletions
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35
recognization/code/live.py
View file

@ -162,6 +162,19 @@ def _iou(a: Sequence[int], b: Sequence[int]) -> float:
return inter / union if union > 0 else 0.0
def _crop_off_product(requested: Sequence[int], current: Sequence[int]) -> bool:
"""True when a track no longer covers the box a crop was taken from.
The measure a settled label already uses: below DRIFT_IOU the track has
slid onto a different product, and a crop of the old one says nothing about
what is there now. A box that was never measured cannot vouch either, so
it counts as off product.
"""
if len(requested) != 4 or len(current) != 4:
return True
return _iou(current, requested) < DRIFT_IOU
class _CropRejected(Exception):
"""A returned crop that may not be used, carrying the reply to send back."""
@ -806,10 +819,14 @@ class LiveSession:
continue
self._crop_counter += 1
request_id = "c%d" % self._crop_counter
# The detection box this crop is a photograph of. The answer is only
# about that product, so the box travels with the request.
requested_box = list(track.raw_box)
self._crop_requests[request_id] = {
"request_id": request_id,
"track_id": track.track_id,
"frame_id": int(frame_id),
"box": requested_box,
"object_generation": track.object_generation,
"generation": self._generation,
"seq": seq,
@ -824,7 +841,7 @@ class LiveSession:
"request_id": request_id,
"track_id": track.track_id,
"frame_id": int(frame_id),
"box": list(track.raw_box),
"box": list(requested_box),
}
return planned
@ -944,11 +961,19 @@ class LiveSession:
if track.last_seq < record["seq"]:
self._release_crop_slot(record)
raise _CropRejected("CROP_STALE", "the track is no longer in the requested frame")
if _crop_off_product(record["box"], track.raw_box):
# The crop is of the product the phone was asked to photograph.
# If the track has since slid onto a neighbour the answer would
# be a label for a product nobody cropped.
self._release_crop_slot(record)
raise _CropRejected("CROP_STALE", "the track moved off the product that was cropped")
limit = self.settings.max_crop_bytes
if not payload or len(payload) > limit:
self._release_crop_slot(record)
raise _CropRejected("CROP_TOO_LARGE", "crop is empty or over %d bytes" % limit)
return record, list(track.box), payload
# The label anchors to the box the crop was taken from, not to where
# the track is by the time the answer lands.
return record, list(record["box"]), payload
def _on_classified(
self,
@ -975,6 +1000,12 @@ class LiveSession:
track.in_flight = max(0, track.in_flight - 1)
return
track.in_flight = max(0, track.in_flight - 1)
if source == SOURCE_CROP and _crop_off_product(submitted_box, track.raw_box):
# The answer was measured on the box the track has since left.
# Dropping it leaves the track to be decided from a later frame
# crop instead of putting the old product's label on whatever
# moved into its place.
return
track.attempts += 1
# A crop is an attempt against the same budget as a frame crop, so
# the lane cannot be used to re-roll the dice on one product.

89
recognization/code/test_live.py
View file

@ -533,6 +533,29 @@ def requested_crop(result):
return None
def panned(detector, x):
"""Put the fake facing at x, the way a camera panning a shelf does.
The facing stays too narrow for the frame path, so only the crop lane can
decide it, and it stays under crop_below_px so a crop is asked about.
"""
detector.boxes[0].update({
"box": [x, 100, x + 36, 220], "width": 36, "height": 120, "center": [x + 18, 160],
})
class GatedMatcher(FakeMatcher):
"""Holds every classification open until the test lets it finish."""
def __init__(self):
super().__init__()
self.gate = threading.Event()
def score_crop(self, crop, method="hybrid"):
self.gate.wait(2.0)
return super().score_crop(crop, method)
class CropLaneTests(unittest.TestCase):
"""A full-resolution crop is extra evidence for one track, nothing else."""
@ -584,6 +607,72 @@ class CropLaneTests(unittest.TestCase):
self.assertTrue(wait_for(lambda: session._crops_accepted == 1))
engine.shutdown()
def test_a_delayed_crop_is_accepted_while_the_track_stays_on_its_product(self):
"""Movement alone is not staleness: the crop still shows the same product."""
session, engine, detector = make_crop_session()
panned(detector, 100)
process(session, 1)
panned(detector, 106)
request = requested_crop(process(session, 2))
self.assertIsNotNone(request, "a facing the frame cannot use is asked about")
# The phone answers a frame late, on a track that has panned a little.
panned(detector, 112)
moved = process(session, 3)
self.assertEqual(moved["tracks"][0]["track_id"], request["track_id"])
reply = session.submit_crop(request["request_id"], request["track_id"],
request["frame_id"], frame_bytes())
self.assertEqual(reply["type"], "crop_ack")
self.assertTrue(wait_for(lambda: process(session, 4)["stats"]["crops"]["accepted"] == 1))
labelled = [t for t in process(session, 5)["tracks"] if t["identity"]["state"] == "recognized"]
self.assertEqual(labelled[0]["identity"]["sku_id"], "sku_a")
engine.shutdown()
def test_a_crop_for_a_track_that_slid_onto_its_neighbour_is_refused(self):
"""The crop photographs one product; a track that walked off it answers nothing."""
session, engine, detector = make_crop_session()
panned(detector, 100)
process(session, 1)
panned(detector, 118)
request = requested_crop(process(session, 2))
self.assertIsNotNone(request)
# The pan carries the track onto the next product before the phone answers.
panned(detector, 136)
moved = process(session, 3)
self.assertEqual(moved["tracks"][0]["track_id"], request["track_id"],
"the id must survive the pan, or this refusal proves nothing")
reply = session.submit_crop(request["request_id"], request["track_id"],
request["frame_id"], frame_bytes())
self.assertEqual(reply["code"], "CROP_STALE")
self.assertEqual(session._tracks[request["track_id"]].in_flight, 0,
"a refused crop gives the track's busy slot back")
result = process(session, 4)
self.assertEqual(result["stats"]["crops"]["accepted"], 0)
self.assertEqual(result["stats"]["crops"]["rejected"], 1)
self.assertNotEqual(result["tracks"][0]["identity"]["state"], "recognized")
engine.shutdown()
def test_a_crop_answered_after_the_track_left_its_product_does_not_label_it(self):
"""A classification in flight cannot settle a track that has since moved on."""
matcher = GatedMatcher()
session, engine, detector = make_crop_session(matcher=matcher)
panned(detector, 100)
process(session, 1)
panned(detector, 118)
request = requested_crop(process(session, 2))
self.assertIsNotNone(request)
reply = session.submit_crop(request["request_id"], request["track_id"],
request["frame_id"], frame_bytes())
self.assertEqual(reply["type"], "crop_ack", "the track is still on the product here")
# The answer is still in the classifier when the pan takes the track off it.
panned(detector, 136)
process(session, 3)
matcher.gate.set()
track = session._tracks[request["track_id"]]
self.assertTrue(wait_for(lambda: session._tracks[request["track_id"]].in_flight == 0))
self.assertEqual(track.attempts, 0, "a crop of a product left behind is not an attempt")
self.assertIsNone(track.identity, "the neighbour must not wear the old product's label")
engine.shutdown()
def test_a_track_is_asked_once(self):
session, engine, _ = make_crop_session()
process(session, 1)