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feat: add passive K1 local surface replay

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DCCONSTRUCTIONS
2026-07-25 22:47:12 +03:00
parent cfe17e49bb
commit 04a658b218
16 changed files with 2715 additions and 21 deletions
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README.md
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@@ -139,6 +139,14 @@ private replay dataset for this work. No K1 firmware change, onboard exporter
or new device command is part of the LiDAR roadmap, and the historical
`1.27 m` handheld-height experiment is not a runtime constant.
The first passive replay derivative is now implemented as
`missioncore.k1-local-surface/v1`. It binds the immutable `RAVNOVES00` pack,
estimates a rolling local surface from map points plus compatible pose, and
publishes height, slope, roughness, confidence and conservative observed
surface/occupied/unknown evidence. All `526/526` available samples produced a
diagnostic result; no free-space, command, navigation or safety authority is
inferred. The selected scene is visible in **Парк → Диагностика LiDAR**.
The complete RELLIS-3D v1.1 release is now admitted there and its full
`2,413`-frame validation split is available in **Полигон → Датасеты**. The
sealed Current/Patchwork++ comparison rejected Patchwork++ for navigation: