Merge branch 'main' into sbel/scene_circular_dependency

Author: sbelhaik

.github/actions/setup-cache/action.yaml

@@ -0,0 +1,29 @@
+---
+# SPDX-FileCopyrightText: (C) 2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+name: "Setup Cache Targets"
+description: "Setup environment variables for caching image layers"
+outputs:
+  cache_registry:
+    description: "The cache registry path"
+    value: ${{ steps.cache.outputs.CACHE_REGISTRY }}
+  cache_tag:
+    description: "The cache tag"
+    value: ${{ steps.cache.outputs.CACHE_TAG }}
+  github_actions_cache:
+    description: "Whether GitHub Actions cache is enabled"
+    value: ${{ steps.cache.outputs.GITHUB_ACTIONS_CACHE }}
+runs:
+  using: "composite"
+  steps:
+    - name: Setup Cache Targets
+      id: cache
+      shell: bash
+      env:
+        TAG_BASE: ${{ github.head_ref || github.ref_name }}
+      run: |
+        CACHE_TAG=$(echo "$TAG_BASE" | tr '/' '_' | tr '-' '_')
+        echo "CACHE_REGISTRY=${{ github.repository }}" >> "$GITHUB_OUTPUT"
+        echo "CACHE_TAG=${CACHE_TAG}" >> "$GITHUB_OUTPUT"
+        echo "GITHUB_ACTIONS_CACHE=true" >> "$GITHUB_OUTPUT"

.github/skills/python.md

@@ -147,12 +147,15 @@ result = client.getScene(scene_id)
 
 ### Logging
 
+- Use f-strings for interpolated log messages.
+- Do not use printf-style placeholders (for example `%s`, `%d`) in log statements.
+
 ```python
 from scene_common import log
 
 log.info("Processing started")
-log.error("Failed to process")
-log.debug("Debug information")
+log.error(f"Failed to process scene {scene_id}")
+log.debug(f"Debug information: {debug_payload}")
 ```
 
 ## Type Hints

.github/workflows/tests-all.yml

@@ -43,9 +43,6 @@ concurrency:
 env:
   DOCKER_BUILDKIT: 1
   SUPASS: demo
-  GITHUB_ACTIONS_CACHE: true
-  CACHE_REGISTRY: ${{ github.repository }}
-  CACHE_TAG: ${{ github.head_ref || github.ref_name }}
 
 permissions:
   contents: read
@@ -82,10 +79,18 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: "Setup Cache Targets"
+        id: setup-cache
+        uses: ./.github/actions/setup-cache
+
       - name: "Run Setup"
         uses: ./.github/actions/setup-env
 
       - name: Run Functional Tests
+        env:
+          CACHE_REGISTRY: ${{ steps.setup-cache.outputs.cache_registry }}
+          CACHE_TAG: ${{ steps.setup-cache.outputs.cache_tag }}
+          GITHUB_ACTIONS_CACHE: ${{ steps.setup-cache.outputs.github_actions_cache }}
         run: |
           make clean-all
           make run_functional_tests
@@ -129,10 +134,18 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: "Setup Cache Targets"
+        id: setup-cache
+        uses: ./.github/actions/setup-cache
+
       - name: "Run Setup"
         uses: ./.github/actions/setup-env
 
       - name: Run Non-Functional Tests
+        env:
+          CACHE_REGISTRY: ${{ steps.setup-cache.outputs.cache_registry }}
+          CACHE_TAG: ${{ steps.setup-cache.outputs.cache_tag }}
+          GITHUB_ACTIONS_CACHE: ${{ steps.setup-cache.outputs.github_actions_cache }}
         run: |
           make clean-all
           make run_non_functional_tests
@@ -176,10 +189,18 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: "Setup Cache Targets"
+        id: setup-cache
+        uses: ./.github/actions/setup-cache
+
       - name: "Run Setup"
         uses: ./.github/actions/setup-env
 
       - name: Run Metric Tests
+        env:
+          CACHE_REGISTRY: ${{ steps.setup-cache.outputs.cache_registry }}
+          CACHE_TAG: ${{ steps.setup-cache.outputs.cache_tag }}
+          GITHUB_ACTIONS_CACHE: ${{ steps.setup-cache.outputs.github_actions_cache }}
         run: |
           make clean-all
           make run_metric_tests
@@ -223,10 +244,18 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: "Setup Cache Targets"
+        id: setup-cache
+        uses: ./.github/actions/setup-cache
+
       - name: "Run Setup"
         uses: ./.github/actions/setup-env
 
       - name: Run UI Tests
+        env:
+          CACHE_REGISTRY: ${{ steps.setup-cache.outputs.cache_registry }}
+          CACHE_TAG: ${{ steps.setup-cache.outputs.cache_tag }}
+          GITHUB_ACTIONS_CACHE: ${{ steps.setup-cache.outputs.github_actions_cache }}
         run: |
           make clean-all
           make run_ui_tests
@@ -270,10 +299,18 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: "Setup Cache Targets"
+        id: setup-cache
+        uses: ./.github/actions/setup-cache
+
       - name: "Run Setup"
         uses: ./.github/actions/setup-env
 
       - name: Run Unit Tests
+        env:
+          CACHE_REGISTRY: ${{ steps.setup-cache.outputs.cache_registry }}
+          CACHE_TAG: ${{ steps.setup-cache.outputs.cache_tag }}
+          GITHUB_ACTIONS_CACHE: ${{ steps.setup-cache.outputs.github_actions_cache }}
         run: |
           make clean-all
           make run_unit_tests

.github/workflows/tests-bat.yml

@@ -1,5 +1,5 @@
 ---
-# SPDX-FileCopyrightText: (C) 2025 Intel Corporation
+# SPDX-FileCopyrightText: (C) 2025-2026 Intel Corporation
 # SPDX-License-Identifier: Apache-2.0
 
 name: "[Tests] Basic Acceptance Tests"
@@ -44,9 +44,6 @@ concurrency:
 env:
   DOCKER_BUILDKIT: 1
   SUPASS: demo
-  GITHUB_ACTIONS_CACHE: true
-  CACHE_REGISTRY: ${{ github.repository }}
-  CACHE_TAG: ${{ github.head_ref || github.ref_name }}
 
 permissions:
   contents: read
@@ -145,9 +142,16 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: "Setup Cache Targets"
+        id: setup-cache
+        uses: ./.github/actions/setup-cache
+
       - name: "Run Basic Acceptance Tests (BAT)"
+        env:
+          CACHE_REGISTRY: ${{ steps.setup-cache.outputs.cache_registry }}
+          CACHE_TAG: ${{ steps.setup-cache.outputs.cache_tag }}
+          GITHUB_ACTIONS_CACHE: ${{ steps.setup-cache.outputs.github_actions_cache }}
         run: |
-          export CACHE_TAG=$(echo $CACHE_TAG | tr '/' '_')
           make clean-all
           git clean -fdx
           make run_basic_acceptance_tests
@@ -188,9 +192,16 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: "Setup Cache Targets"
+        id: setup-cache
+        uses: ./.github/actions/setup-cache
+
       - name: Install chart with timeout
+        env:
+          CACHE_REGISTRY: ${{ steps.setup-cache.outputs.cache_registry }}
+          CACHE_TAG: ${{ steps.setup-cache.outputs.cache_tag }}
+          GITHUB_ACTIONS_CACHE: ${{ steps.setup-cache.outputs.github_actions_cache }}
         run: |
-          export CACHE_TAG=$(echo $CACHE_TAG | tr '/' '_')
           KUBERNETES=1 DEPLOYMENT_TEST=1 ./deploy.sh
 
       - name: Stability test (2m)

controller/src/controller/detections_builder.py

@@ -4,6 +4,7 @@
 import numpy as np
 
 from controller.scene import TripwireEvent
+from scene_common import log
 from scene_common.earth_lla import convertXYZToLLA, calculateHeading
 from scene_common.geometry import DEFAULTZ, Point, Size
 from scene_common.timestamp import get_iso_time
@@ -134,23 +135,53 @@ def computeCameraBounds(scene, aobj, obj_dict):
   camera_bounds = {}
   for cameraID in obj_dict['visibility']:
     bounds = None
-    if aobj and len(aobj.vectors) > 0 and hasattr(aobj.vectors[0].camera, 'cameraID') \
-          and cameraID == aobj.vectors[0].camera.cameraID:
+    projected = False
+    is_source_camera = (
+      aobj and len(aobj.vectors) > 0 and hasattr(aobj.vectors[0].camera, 'cameraID')
+      and cameraID == aobj.vectors[0].camera.cameraID
+    )
+
+    # Prefer source detector pixel bbox when available. This preserves the
+    # detector-provided 2D box instead of a reprojected estimate.
+    if is_source_camera:
       bounds = getattr(aobj, 'boundingBoxPixels', None)
-    elif scene:
+      projected = False
+      if bounds is None:
+        log.debug(
+          f"computeCameraBounds: source camera {cameraID} has no boundingBoxPixels; "
+          "falling back to projected bounds when possible."
+        )
+
+    # For non-source cameras (or source camera without pixel bbox), project
+    # 3D/metric object state into each visible camera image plane.
+    if bounds is None and scene:
       camera = scene.cameraWithID(cameraID)
-      if camera is not None and 'bb_meters' in obj_dict:
-        obj_translation = None
-        obj_size = None
-        if aobj:
-          obj_translation = aobj.sceneLoc
-          obj_size = aobj.bbMeters.size
-        else:
-          obj_translation = Point(obj_dict['translation'])
-          obj_size = Size(obj_dict['bb_meters']['width'], obj_dict['bb_meters']['height'])
-        bounds = camera.pose.projectEstimatedBoundsToCameraPixels(obj_translation,
-                                                                  obj_size)
+      if camera is None:
+        log.debug(
+          f"computeCameraBounds: camera {cameraID} not found in scene; cannot project bounds."
+        )
+        continue
+      elif 'bb_meters' not in obj_dict and (not aobj or not hasattr(aobj, 'bbMeters') or aobj.bbMeters is None):
+        log.debug(
+          f"computeCameraBounds: missing bb_meters for camera {cameraID}; cannot project bounds."
+        )
+        continue
+
+      obj_translation = None
+      obj_size = None
+      if aobj and hasattr(aobj, 'bbMeters') and aobj.bbMeters is not None:
+        obj_translation = aobj.sceneLoc
+        obj_size = aobj.bbMeters.size
+      else:
+        obj_translation = Point(obj_dict['translation'])
+        obj_size = Size(obj_dict['bb_meters']['width'], obj_dict['bb_meters']['height'])
+      bounds = camera.pose.projectEstimatedBoundsToCameraPixels(obj_translation,
+                                                                obj_size)
+      projected = True
+
     if bounds:
-      camera_bounds[cameraID] = bounds.asDict
+      bound_dict = dict(bounds.asDict)
+      bound_dict['projected'] = projected
+      camera_bounds[cameraID] = bound_dict
   obj_dict['camera_bounds'] = camera_bounds
   return

controller/src/controller/scene.py

@@ -502,9 +502,6 @@ def _deserializeTrackedObjects(self, serialized_objects):
         'confidence': obj.confidence,
       }
 
-      if 'center_of_mass' in obj_data:
-        obj.info['center_of_mass'] = obj_data['center_of_mass']
-
       if 'camera_bounds' in obj_data and obj_data['camera_bounds']:
         obj._camera_bounds = obj_data['camera_bounds']
       else:

controller/src/controller/time_chunking.py

@@ -130,6 +130,8 @@ def run(self):
 class TimeChunkedIntelLabsTracking(IntelLabsTracking):
   """Time-chunked version of IntelLabsTracking."""
 
+  EMPTY_FRAME_CAMERA_ID = "__empty_frame__"
+
   def __init__(self, max_unreliable_time, non_measurement_time_dynamic, non_measurement_time_static, time_chunking_rate_fps, suspended_track_timeout_secs=DEFAULT_SUSPENDED_TRACK_TIMEOUT_SECS, reid_config_data=None):
     # Call parent constructor to initialize IntelLabsTracking
     super().__init__(max_unreliable_time, non_measurement_time_dynamic, non_measurement_time_static, time_chunking_rate_fps, suspended_track_timeout_secs, reid_config_data)
@@ -150,18 +152,19 @@ def trackObjects(self, objects, already_tracked_objects, when, categories,
     # Create IntelLabs trackers if not already created
     self._createIlabsTrackers(categories, max_unreliable_time, non_measurement_time_dynamic, non_measurement_time_static)
 
-    if len(objects) == 0:
-      return
-
     if not categories:
       categories = self.trackers.keys()
 
     # Extract camera_id from objects - required for time chunking
-    try:
-      camera_id = objects[0].camera.cameraID
-    except (AttributeError, IndexError):
-      log.warning("No camera ID found in objects, skipping time chunking processing")
-      return
+    if len(objects) > 0:
+      try:
+        camera_id = objects[0].camera.cameraID
+      except (AttributeError, IndexError):
+        log.warning("No camera ID found in objects, skipping time chunking processing")
+        return
+    else:
+      # Keep retirement moving when a camera/category has no detections.
+      camera_id = self.EMPTY_FRAME_CAMERA_ID
 
     for category in categories:
       # Use time chunking

controller/src/schema/metadata.schema.json

@@ -90,32 +90,6 @@
       },
       "required": ["x", "y", "width", "height"]
     },
-    "center_of_mass": {
-      "title": "Center of Mass",
-      "type": "object",
-      "description": "Center of mass region of a detected object in pixel coordinates of a detected object in an image frame. It is a smaller bounding box that is used for determining average distance from the camera when using RealSense, for example.",
-      "properties": {
-        "x": {
-          "type": "number",
-          "description": "Number of horizontal pixels from the left side of the image to the center of mass bounding box."
-        },
-        "y": {
-          "type": "number",
-          "description": "Number of vertical pixels from the top of the image to the center of mass bounding box."
-        },
-        "width": {
-          "type": "number",
-          "description": "Horizontal width of the center of mass bounding box in pixels.",
-          "minimum": 0
-        },
-        "height": {
-          "type": "number",
-          "description": "Vertical height of the center of mass bounding box in pixels.",
-          "minimum": 0
-        }
-      },
-      "required": ["x", "y", "width", "height"]
-    },
     "semantic_metadata_attribute": {
       "type": "object",
       "title": "Semantic Metadata Attribute",
@@ -233,9 +207,6 @@
           "$ref": "#/definitions/semantic_metadata",
           "description": "Semantic metadata describing what an object is (age, gender, clothing, embedding vectors, etc)."
         },
-        "center_of_mass": {
-          "$ref": "#/definitions/center_of_mass"
-        },
         "distance": {
           "title": "Distance to Object",
           "type": "number",