feat: add passive K1 local surface replay

2026-07-25 22:47:12 +03:00
parent cfe17e49bb
commit 04a658b218
16 changed files with 2715 additions and 21 deletions
@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+import argparse
+import json
+from pathlib import Path
+
+from k1link.compute import (
+    E10LidarFieldSource,
+    K1LocalSurfaceProfile,
+    K1LocalSurfaceV1,
+    build_k1_local_surface,
+)
+
+
+def _arguments() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description=(
+            "Build a passive, source-bound K1 rolling local-surface derivative "
+            "without firmware commands or a hardcoded sensor height."
+        )
+    )
+    parser.add_argument("source_pack", type=Path)
+    parser.add_argument("output_root", type=Path)
+    parser.add_argument("--local-radius-m", type=float, default=10.0)
+    parser.add_argument("--cell-size-m", type=float, default=0.45)
+    parser.add_argument("--surface-ttl-s", type=float, default=1.25)
+    parser.add_argument("--minimum-surface-cells", type=int, default=18)
+    parser.add_argument("--surface-band-m", type=float, default=0.16)
+    parser.add_argument("--obstacle-min-height-m", type=float, default=0.20)
+    parser.add_argument("--obstacle-max-height-m", type=float, default=3.5)
+    return parser.parse_args()
+
+
+def main() -> int:
+    arguments = _arguments()
+    profile = K1LocalSurfaceProfile(
+        local_radius_m=arguments.local_radius_m,
+        cell_size_m=arguments.cell_size_m,
+        surface_ttl_s=arguments.surface_ttl_s,
+        minimum_surface_cells=arguments.minimum_surface_cells,
+        surface_band_m=arguments.surface_band_m,
+        obstacle_min_height_m=arguments.obstacle_min_height_m,
+        obstacle_max_height_m=arguments.obstacle_max_height_m,
+    )
+    source = E10LidarFieldSource(arguments.source_pack)
+    try:
+        output = build_k1_local_surface(
+            source,
+            arguments.output_root,
+            profile=profile,
+        )
+    finally:
+        source.close()
+    model = K1LocalSurfaceV1(output)
+    try:
+        print(
+            json.dumps(
+                {
+                    "model_id": model.model_id,
+                    "display_name": model.report["display_name"],
+                    "source": model.report["source"],
+                    "surface_model": model.report["surface_model"],
+                    "occupancy_policy": model.report["occupancy_policy"],
+                    "metrics": model.report["metrics"],
+                    "anchors": model.report["anchors"],
+                    "decision": model.report["decision"],
+                },
+                ensure_ascii=False,
+                indent=2,
+            )
+        )
+    finally:
+        model.close()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())