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go2 replay realtime (arm64)
Details
| Benchmark suite | Current: 5ee0615 | Previous: fbe126e | Ratio |
|---|---|---|---|
peak memory |
1746.477 MB |
1564.824 MB |
1.12 |
peak threads |
371 threads |
357 threads |
1.04 |
network (transport) |
2719.047 MB |
2727.328 MB |
1.00 |
disk write |
1.648 MB |
1.488 MB |
1.11 |
instructions |
133.488 G |
114.929 G |
1.16 |
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Linear project: Message Encoding Refactor
Experimental Object/ObjectDB, scene registration, 2D/3D tracking and spatial-memory image/TF boundaries now use generated values from
dimos.messages. EdgeTAM and YOLO-E segmentation use the shared pixel helpers. Public processing methods, ports, projection geometry and model choices remain unchanged; the tracker optical-to-robot conversion uses the same coordinate mapping and facing yaw with generated Point/Quaternion values.Object pose/detection headers retain exact color source time, while projected clouds retain depth source time. ObjectDB's repeated-frame check compares source frame and integer nanoseconds, preserving zero stamps and distinguishing adjacent nanoseconds even when application seconds round together. Pending TTL still uses its separate wall clock. Source-coherent scene snapshots continue to be captured before slow detection; no fallback to an unstamped TF query is added.
Validation
At
2cbe71ea2b6489932787cbae38516dfb91c42bef:2776bbd52e5ce86d99fab81e3719806c0b286608942c0a3eca9ca3b7dc24ae2d.CI has not been polled; benchmarks remain paused. No LAN, robot or camera activation.
Review check
Use Python 3.12 with this branch's normal package installation and existing perception test dependencies. From the checkout, run these offline regressions:
The perception guide explains the message/time boundaries. This slice adds no new user-facing command or API.
File change summary
Parent-relative diff from #4664 at
9c7c0805c4758f60e0ac032942e5f61e868f4fb4: 18 files, 1172 additions, 618 deletions.Stack and limits
Depends on #4664. Temporal-memory consumers, depth native stack, ZED, mapping/navigation, controls/robots, default cutover and legacy retirement remain later work. The recent additive #4247 main merge will be propagated through the chain during final reconciliation, preserving all existing commits. No merge, history rewrite, package publication or permissions change requested.