重大更新

.github/workflows/ci.yml

@@ -59,7 +59,7 @@ jobs:
       - name: Install linting tools
         run: |
           python -m pip install --upgrade pip
-          pip install ruff black isort
+          pip install ruff black isort mypy
 
       - name: Check code formatting with Black
         run: black --check src/aylm tests
@@ -69,3 +69,6 @@ jobs:
 
       - name: Lint with Ruff
         run: ruff check src/aylm tests
+
+      - name: Type check with mypy (informational)
+        run: mypy src/aylm --ignore-missing-imports || echo "mypy found issues (non-blocking)"

configs/constitution_example.yaml

@@ -0,0 +1,57 @@
+# A-YLM 宪法配置示例
+# 用户可以根据自己的需求修改此配置
+
+# 宪法原则列表
+principles:
+  # 碰撞检测 - 最高优先级
+  - name: no_collision
+    severity: critical
+    enabled: true
+    params:
+      check_trajectory: true
+      prediction_horizon: 2.0  # 预测时间范围（秒）
+
+  # TTC 安全 - 高优先级
+  - name: ttc_safety
+    severity: high
+    enabled: true
+    params:
+      warning_threshold: 3.0   # 警告阈值（秒）
+      critical_threshold: 1.5  # 关键阈值（秒）
+
+  # 安全跟车距离
+  - name: safe_following
+    severity: high
+    enabled: true
+    params:
+      time_gap: 2.0  # 时间间隔（秒）
+
+  # 车道合规
+  - name: lane_compliance
+    severity: medium
+    enabled: true
+
+  # 速度限制
+  - name: speed_limit
+    severity: medium
+    enabled: true
+    params:
+      max_speed: 120  # km/h
+
+# 安全阈值
+thresholds:
+  ttc_warning: 3.0           # TTC 警告阈值（秒）
+  ttc_critical: 1.5          # TTC 关键阈值（秒）
+  min_safe_distance: 2.0     # 最小安全距离（米）
+  speed_distance_factor: 0.5 # 速度-距离系数
+
+# 打分权重
+weights:
+  collision: 1.0   # 碰撞权重
+  ttc: 0.8         # TTC 权重
+  boundary: 0.5    # 边界权重
+
+# 训练信号配置
+training:
+  generate_positive_signals: false  # 是否生成正样本
+  export_format: json               # 导出格式: json, tfrecord, parquet

fuse.sh

@@ -0,0 +1,110 @@
+#!/bin/bash
+# 多帧点云融合脚本
+# 用法: ./fuse.sh [输入目录] [输出文件]
+
+set -e
+
+# 颜色定义
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m'
+
+# 默认路径
+DEFAULT_INPUT="outputs/video_output/voxelized"
+DEFAULT_OUTPUT="outputs/video_output/fused_map.ply"
+
+# 解析参数
+INPUT_DIR="${1:-$DEFAULT_INPUT}"
+OUTPUT_FILE="${2:-$DEFAULT_OUTPUT}"
+
+# 显示帮助
+if [[ "$1" == "-h" || "$1" == "--help" ]]; then
+    echo "多帧点云融合脚本"
+    echo ""
+    echo "用法: ./fuse.sh [输入目录] [输出文件] [选项]"
+    echo ""
+    echo "参数:"
+    echo "  输入目录    包含 vox_*.ply 文件的目录 (默认: $DEFAULT_INPUT)"
+    echo "  输出文件    融合后的点云文件路径 (默认: $DEFAULT_OUTPUT)"
+    echo ""
+    echo "选项:"
+    echo "  -h, --help  显示帮助"
+    echo ""
+    echo "示例:"
+    echo "  ./fuse.sh                                    # 使用默认路径"
+    echo "  ./fuse.sh outputs/my_scan                    # 指定输入目录"
+    echo "  ./fuse.sh outputs/my_scan my_map.ply         # 指定输入和输出"
+    echo ""
+    echo "高级用法 (直接调用 aylm):"
+    echo "  aylm fuse -i 输入目录 -o 输出文件 --icp-distance 0.1 --voxel-size 0.05"
+    exit 0
+fi
+
+# 检查输入目录
+if [[ ! -d "$INPUT_DIR" ]]; then
+    echo -e "${YELLOW}错误: 输入目录不存在: $INPUT_DIR${NC}"
+    exit 1
+fi
+
+# 统计点云文件
+PLY_COUNT=$(find "$INPUT_DIR" -name "vox_*.ply" 2>/dev/null | wc -l | tr -d ' ')
+
+if [[ "$PLY_COUNT" -eq 0 ]]; then
+    echo -e "${YELLOW}错误: 未找到 vox_*.ply 文件${NC}"
+    echo "目录: $INPUT_DIR"
+    exit 1
+fi
+
+# 显示信息
+echo -e "${BLUE}━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━${NC}"
+echo -e "${GREEN}多帧点云融合${NC}"
+echo -e "${BLUE}━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━${NC}"
+echo ""
+echo -e "输入目录: ${GREEN}$INPUT_DIR${NC}"
+echo -e "点云数量: ${GREEN}$PLY_COUNT${NC} 帧"
+echo -e "输出文件: ${GREEN}$OUTPUT_FILE${NC}"
+echo ""
+
+# 列出点云文件
+echo "点云文件:"
+find "$INPUT_DIR" -name "vox_*.ply" | sort | while read f; do
+    SIZE=$(du -h "$f" | cut -f1)
+    echo "  $(basename "$f") ($SIZE)"
+done
+echo ""
+
+# 激活虚拟环境
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+if [[ -d "$SCRIPT_DIR/aylm_env" ]]; then
+    source "$SCRIPT_DIR/aylm_env/bin/activate"
+fi
+
+# 执行融合
+echo -e "${BLUE}开始融合...${NC}"
+echo ""
+
+aylm fuse -i "$INPUT_DIR" -o "$OUTPUT_FILE" -v
+
+# 检查结果
+if [[ -f "$OUTPUT_FILE" ]]; then
+    echo ""
+    echo -e "${BLUE}━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━${NC}"
+    echo -e "${GREEN}融合完成!${NC}"
+    echo -e "${BLUE}━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━${NC}"
+
+    OUTPUT_SIZE=$(du -h "$OUTPUT_FILE" | cut -f1)
+    echo ""
+    echo -e "输出文件: ${GREEN}$OUTPUT_FILE${NC} ($OUTPUT_SIZE)"
+
+    # 检查位姿文件
+    POSES_FILE="${OUTPUT_FILE%.ply}.poses.json"
+    if [[ -f "$POSES_FILE" ]]; then
+        echo -e "位姿轨迹: ${GREEN}$POSES_FILE${NC}"
+    fi
+
+    echo ""
+    echo "查看结果:"
+    echo "  open $OUTPUT_FILE          # macOS 默认应用打开"
+    echo "  meshlab $OUTPUT_FILE       # 使用 MeshLab 查看"
+fi

pyproject.toml

@@ -5,7 +5,7 @@ build-backend = "setuptools.build_meta"
 [project]
 name = "aylm"
 version = "2.0.0"
-description = "AYLM - Advanced YLM for 3D Gaussian Splatting"
+description = "A-YLM: Geometric Constitutional AI for Embodied Intelligence - Bidirectional fusion with E2E driving systems (FSD/ADS), providing 3D point cloud input and safety supervision. Self-supervised learning without human annotation. Edge-deployable real-time geometric validation."
 readme = "README.md"
 license = {text = "MIT"}
 requires-python = ">=3.9"
@@ -20,6 +20,8 @@ classifiers = [
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
     "Topic :: Scientific/Engineering :: Artificial Intelligence",
+    "Topic :: Scientific/Engineering :: Image Recognition",
+    "Topic :: Scientific/Engineering :: Visualization",
 ]
 dependencies = [
     "numpy",
@@ -41,9 +43,11 @@ semantic = [
 ]
 dev = [
     "pytest",
+    "pytest-cov",
     "black",
     "isort",
     "ruff",
+    "mypy",
 ]
 all = [
     "open3d>=0.18.0",
@@ -68,3 +72,47 @@ line_length = 88
 [tool.ruff]
 line-length = 88
 target-version = "py39"
+
+[tool.ruff.lint]
+select = [
+    "E",      # pycodestyle errors
+    "W",      # pycodestyle warnings
+    "F",      # Pyflakes
+    "I",      # isort
+    "B",      # flake8-bugbear
+    "C4",     # flake8-comprehensions
+    "UP",     # pyupgrade
+    "SIM",    # flake8-simplify
+    "TCH",    # flake8-type-checking
+    "RUF",    # Ruff-specific rules
+]
+ignore = [
+    "E501",   # line too long (handled by black)
+    "B008",   # function call in default argument
+    "B905",   # zip without strict
+    "RUF001", # ambiguous unicode in string (中文逗号等)
+    "RUF002", # ambiguous unicode in docstring
+    "RUF003", # ambiguous unicode in comment
+    "RUF022", # __all__ not sorted (按功能分组更清晰)
+    "TC002",  # move import into TYPE_CHECKING (运行时需要)
+]
+
+[tool.ruff.lint.isort]
+known-first-party = ["aylm"]
+
+[tool.mypy]
+python_version = "3.11"
+warn_return_any = false
+warn_unused_configs = true
+disallow_untyped_defs = false
+check_untyped_defs = false
+ignore_missing_imports = true
+exclude = [
+    "tests/",
+    "ml-sharp/",
+    "aylm_env/",
+]
+
+[[tool.mypy.overrides]]
+module = "yaml"
+ignore_missing_imports = true

run.sh

@@ -62,6 +62,10 @@ ${YELLOW}点云切片选项:${NC}
   --no-slice        禁用点云切片
   --slice-radius    切片半径/米 (默认: 10.0)
 
+${YELLOW}目标跟踪选项:${NC}
+  --track           启用目标跟踪 (默认)
+  --no-track        禁用目标跟踪
+
 ${YELLOW}示例:${NC}
   ./run.sh --setup                    # 初始化
   ./run.sh -i ./images                # 处理图像
@@ -158,9 +162,10 @@ run_auto() {
 main() {
     local action="auto" input_dir="inputs/input_images" output_dir="" config_file=""
     local extra_args=() check_only=false use_gpu=false frame_interval="" fps="10" loop=false
-    # 语义检测和切片参数（默认都启用）
-    local semantic=true semantic_model="yolo11n-seg.pt" semantic_confidence="0.5"
+    # 语义检测、切片和跟踪参数（默认都启用）
+    local semantic=true semantic_model="yolo11n-seg.pt" semantic_confidence="0.25"
     local slice=true slice_radius="10.0"
+    local track=true
 
     while [[ $# -gt 0 ]]; do
         case "$1" in
@@ -185,6 +190,9 @@ main() {
             --slice) slice=true; shift ;;
             --no-slice) slice=false; shift ;;
             --slice-radius) slice_radius="$2"; shift 2 ;;
+            # 跟踪参数
+            --track) track=true; shift ;;
+            --no-track) track=false; shift ;;
             *) extra_args+=("$1"); shift ;;
         esac
     done
@@ -213,6 +221,13 @@ main() {
         slice_args+=("--no-slice")
     fi
 
+    local track_args=()
+    if [[ "$track" == true ]]; then
+        track_args+=("--track")
+    else
+        track_args+=("--no-track")
+    fi
+
     case "$action" in
         setup) log_step "下载模型..."; python3 -m aylm.cli setup --download ;;
         voxelize) run_voxelize "${extra_args[@]}" ;;
@@ -223,6 +238,7 @@ main() {
             local video_args=("${extra_args[@]}")
             [[ -n "$config_file" ]] && video_args+=("-c" "$config_file")
             [[ "$use_gpu" == true ]] && video_args+=("--use-gpu")
+            video_args+=("${semantic_args[@]}" "${slice_args[@]}" "${track_args[@]}")
             show_banner "视频处理"
             run_video_process "${video_args[@]}" ;;
         video-extract)
@@ -234,7 +250,7 @@ main() {
             local play_args=("-i" "$input_dir" "--fps" "$fps")
             [[ "$loop" == true ]] && play_args+=("--loop")
             run_video_play "${play_args[@]}" ;;
-        auto) run_auto "$input_dir" "${extra_args[@]}" "${semantic_args[@]}" "${slice_args[@]}" ;;
+        auto) run_auto "$input_dir" "${extra_args[@]}" "${semantic_args[@]}" "${slice_args[@]}" "${track_args[@]}" ;;
     esac
 
     log_info "完成"