Publish local frustum hint state
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Meta Vens
parent
27c53f74a7
commit
7898a87f20
5 changed files with 86 additions and 5 deletions
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@ -503,10 +503,14 @@ a named invariant that the native runtime cannot protect yet.
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confidence. The same solver accepts `MimirFeatureTrackFieldCandidate` plus
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scene-space `TrackId` anchors, so PS Move sphere histories, sparse Eye
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tracks, and Eve-local marker tracks use the same Starfire frustum authority
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as the LED strip. Synthetic smoke `--frustum-calibration-smoke` solves both
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as the LED strip. `mimir.local_frustum_hint_state.v1` is the compact CultMesh
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state document for local witness solves: producer node, calibration id,
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marker set id, per-camera pose/frustum snapshot, residual, point count, and
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confidence. Synthetic smoke `--frustum-calibration-smoke` solves both
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LED-spline and feature-track frustums for both Eyes, Kiyo Pro, Leap stereo
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IR, and Eve camera, establishing the first fusion-ready frustum state before
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dense surface fusion.
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IR, and Eve camera, then emits the feature-track solve as a local frustum
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hint state, establishing the first fusion-ready frustum surface before dense
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surface fusion.
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Next useful cut is direct report decoding plus optical sphere observations
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from PS3 Eyes/Kiyos/Eve entering the same calibration-evidence path as LED
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spline constraints.
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@ -1160,9 +1160,13 @@ static int RunFrustumCalibrationSmoke()
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markerSetId: "move-and-eve-feature-markers",
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maximumDeltaMeters: 0.20,
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maximumRotationDeltaDegrees: 12.0);
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var featureHint = MimirCultMeshContractFactory.CreateLocalFrustumHintState(
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"eve-nightwing-local-frustum-hints",
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"starfire-calibration-smoke",
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featureFrame);
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Console.WriteLine(
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$"frustum-calibration-smoke ledUpdates={frame.FrustumUpdates.Count} featureUpdates={featureFrame.FrustumUpdates.Count} confidence={frame.Confidence:0.000}/{featureFrame.Confidence:0.000} meanClipError={frame.MeanReprojectionErrorClip:0.000000}/{featureFrame.MeanReprojectionErrorClip:0.000000} sources={string.Join(",", frame.FrustumUpdates.Select(static update => $"{update.SourceId}:{update.UsedPointCount}/{update.RotationDeltaDegrees:0.00}deg/{update.HorizontalTanHalfFov:0.000}x{update.VerticalTanHalfFov:0.000}"))}");
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$"frustum-calibration-smoke ledUpdates={frame.FrustumUpdates.Count} featureUpdates={featureFrame.FrustumUpdates.Count} hintFrustums={featureHint.Frustums.Length} confidence={frame.Confidence:0.000}/{featureFrame.Confidence:0.000} meanClipError={frame.MeanReprojectionErrorClip:0.000000}/{featureFrame.MeanReprojectionErrorClip:0.000000} sources={string.Join(",", frame.FrustumUpdates.Select(static update => $"{update.SourceId}:{update.UsedPointCount}/{update.RotationDeltaDegrees:0.00}deg/{update.HorizontalTanHalfFov:0.000}x{update.VerticalTanHalfFov:0.000}"))}");
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return frame.HasFrustumUpdate &&
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featureFrame.HasFrustumUpdate &&
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@ -1172,6 +1176,9 @@ static int RunFrustumCalibrationSmoke()
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featureFrame.FrustumUpdates.All(update => update.UsedPointCount == scenePoints.Length) &&
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frame.FrustumUpdates.All(static update => update.MeanReprojectionErrorClip < 0.010) &&
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featureFrame.FrustumUpdates.All(static update => update.MeanReprojectionErrorClip < 0.010) &&
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featureHint.MarkerSetId == "move-and-eve-feature-markers" &&
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featureHint.Frustums.Length == truth.Length &&
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featureHint.Frustums.Any(static frustum => frustum.SourceId == "eve-camera") &&
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frame.Confidence >= 0.70 &&
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featureFrame.Confidence >= 0.70
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? 0
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@ -263,6 +263,37 @@ public sealed record MimirEveMediaObservationDocument(
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[property: Key(15)] string PayloadEncoding,
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[property: Key(16)] byte[] Payload);
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[CultDocument("mimir.local_frustum_hint_state", "mimir.local_frustum_hint_state.v1")]
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[MessagePackObject]
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public sealed record MimirLocalFrustumHintStateDocument(
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[property: Key(0)]
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[property: CultName]
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string HintId,
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[property: Key(1)] string UpdatedAtUtc,
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[property: Key(2)] string ProducerNodeId,
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[property: Key(3)] string CalibrationId,
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[property: Key(4)] string CandidateKey,
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[property: Key(5)] string MarkerSetId,
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[property: Key(6)] double MeanReprojectionErrorClip,
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[property: Key(7)] double Confidence,
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[property: Key(8)] MimirLocalFrustumSnapshot[] Frustums);
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[MessagePackObject]
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public sealed record MimirLocalFrustumSnapshot(
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[property: Key(0)] string SourceId,
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[property: Key(1)] float PositionX,
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[property: Key(2)] float PositionY,
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[property: Key(3)] float PositionZ,
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[property: Key(4)] float RotationX,
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[property: Key(5)] float RotationY,
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[property: Key(6)] float RotationZ,
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[property: Key(7)] float RotationW,
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[property: Key(8)] double HorizontalTanHalfFov,
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[property: Key(9)] double VerticalTanHalfFov,
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[property: Key(10)] int UsedPointCount,
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[property: Key(11)] double MeanReprojectionErrorClip,
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[property: Key(12)] double Confidence);
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public static class MimirCultMeshContractFactory
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{
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public static MimirBioacousticCodebookState CreateCodebookState(
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@ -334,6 +365,38 @@ public static class MimirCultMeshContractFactory
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.Select(pair => new MimirFaustControlSnapshot(pair.Key, pair.Value))
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.ToArray());
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public static MimirLocalFrustumHintStateDocument CreateLocalFrustumHintState(
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string hintId,
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string producerNodeId,
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MimirCameraFrustumSolveFrame frame,
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DateTimeOffset? updatedAt = null) =>
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new(
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hintId,
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(updatedAt ?? DateTimeOffset.UtcNow).ToString("O"),
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producerNodeId,
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frame.CalibrationId,
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frame.CandidateKey,
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frame.MarkerSetId,
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frame.MeanReprojectionErrorClip,
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frame.Confidence,
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frame.FrustumUpdates
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.OrderBy(update => update.SourceId, StringComparer.Ordinal)
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.Select(update => new MimirLocalFrustumSnapshot(
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update.SourceId,
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update.EstimatedPositionMeters.X,
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update.EstimatedPositionMeters.Y,
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update.EstimatedPositionMeters.Z,
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update.EstimatedCameraToWorldRotation.X,
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update.EstimatedCameraToWorldRotation.Y,
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update.EstimatedCameraToWorldRotation.Z,
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update.EstimatedCameraToWorldRotation.W,
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update.HorizontalTanHalfFov,
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update.VerticalTanHalfFov,
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update.UsedPointCount,
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update.MeanReprojectionErrorClip,
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update.Confidence))
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.ToArray());
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private static MimirBioacousticDecoderConfigurationSnapshot Snapshot(MimirBioacousticDecoderConfiguration configuration) =>
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new(
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configuration.Id,
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@ -290,3 +290,4 @@
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{"ts":"2026-05-31T22:45:00+01:00","type":"implementation","status":"ok","note":"Mimir editor authority was cut back to a 2D OBS-shaped program mixer. SceneEditorState no longer creates default SDF/model content, preview items are video-feed-only, runtime editor camera/SDF/spline output is silent, and the Eve/CultUI surface is Video Sources with source-adjacent layer actions left, chrome-free program canvas center, and Audio Mix right. Numeric transform inspector controls were removed from the live surface. `--scene-editor-smoke` now verifies only camera+video feed nodes, video-only preview items, and normalized program placement.","files":["src/Mimir.Runtime/MimirRuntime.cs","src/Mimir.Runtime/Synchronization/MimirSceneEditorState.cs","src/Mimir.BufferSmoke/Program.cs"],"source":"dotnet build src/Mimir.Runtime/Mimir.Runtime.csproj; dotnet build src/Mimir.BufferSmoke/Mimir.BufferSmoke.csproj; dotnet run --no-build --project src/Mimir.BufferSmoke/Mimir.BufferSmoke.csproj -- --scene-editor-smoke; Mimir.App --headless --headless-width 1280 --headless-height 720 --capture-frame artifacts/runtime/mimir-editor-flat-2d-program-mixer-headless.png"}
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{"ts": "2026-05-31T22:46:40+01:00", "type": "implementation", "status": "ok", "note": "Added the first Starfire-owned camera frustum solve. MimirCameraFrustumCalibrationSolver consumes stable LED/marker correspondences, scene-space marker points, and seed frustums, then emits position, rotation, horizontal/vertical tangent half-FOV, correspondence count, clipspace reprojection residual, and confidence. BufferSmoke --frustum-calibration-smoke solves five synthetic frustums for ps3-eye-0, ps3-eye-1, kiyo-pro-rgb, leap-stereo-ir, and eve-camera with mean clip error 0.000000; room calibration lock still passes. Eve is now modeled like Nightwing as eve-local-sensor-witness/eve-local-sensors: it owns local camera/mic flash and chirp solves and ships typed hints, not raw placement authority."}
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{"ts": "2026-05-31T22:52:47+01:00", "type": "implementation", "status": "ok", "note": "Extended MimirCameraFrustumCalibrationSolver beyond LED strips: it now also consumes MimirFeatureTrackFieldCandidate plus scene-space TrackId anchors, so PS Move sphere histories, sparse Eye tracks, and Eve-local marker tracks enter the same Starfire-owned frustum authority. BufferSmoke --frustum-calibration-smoke now proves five LED-spline frustums and five feature-track frustums for ps3-eye-0, ps3-eye-1, kiyo-pro-rgb, leap-stereo-ir, and eve-camera with mean clip error 0.000000."}
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{"ts": "2026-05-31T22:55:38+01:00", "type": "implementation", "status": "ok", "note": "Added mimir.local_frustum_hint_state.v1 as the CultMesh document for local witness frustum solves. It carries producer node, calibration id, candidate key, marker set id, per-camera pose/frustum snapshots, residuals, point counts, and confidence, so Eve/Nightwing can publish compact solved hints while Starfire remains canonical global placement authority."}
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@ -236,9 +236,15 @@ invariants:
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`MimirFeatureTrackFieldCandidate` plus scene-space `TrackId` anchors, so
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PS Move sphere histories, Eye feature tracks, and Eve-local marker tracks
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can enter the frustum solve without becoming a separate authority.
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`mimir.local_frustum_hint_state.v1` is the typed CultMesh document for
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publishing those local solved hints: producer node, calibration id,
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candidate key, marker set id, per-camera pose/frustum snapshot, residual,
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point count, and confidence. Starfire may ingest this as evidence; it is
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still not canonical placement until the global solve accepts it.
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`Mimir.BufferSmoke --frustum-calibration-smoke` proves five LED-spline
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frustums and five feature-track frustums for both Eyes, Kiyo Pro, Leap
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stereo IR, and Eve camera.
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stereo IR, and Eve camera, then lowers the feature-track solve into a
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`mimir.local_frustum_hint_state.v1` document.
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The Eyes have physically moved to Nightwing and Linux sees them as stock
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`ov534`/`gspca` V4L2 cameras on `/dev/video2` and `/dev/video3`. A
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repo-owned `tools/nightwing_v4l2_cadence_probe.py` copied to Nightwing
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