feat(lidar): add point-aligned ground review

experiments/perception/run_lidar_ground_benchmark.py

@@ -6,8 +6,10 @@ import json
 from pathlib import Path
 
 from k1link.compute import (
+    DEFAULT_GROUND_BENCHMARK_PROFILE,
     PATCHWORKPP_SOURCE_COMMIT,
     PATCHWORKPP_SOURCE_TAG,
+    GroundBenchmarkProfile,
     LidarGroundBenchmarkV1,
     LidarReplayPackV2,
     PatchworkPPGroundSegmenter,
@@ -47,14 +49,40 @@ def _arguments() -> argparse.Namespace:
         "--patchwork-source-commit",
         default=PATCHWORKPP_SOURCE_COMMIT,
     )
+    parser.add_argument(
+        "--profile-id",
+        default=DEFAULT_GROUND_BENCHMARK_PROFILE.profile_id,
+    )
+    parser.add_argument(
+        "--sensor-height-m",
+        type=float,
+        default=DEFAULT_GROUND_BENCHMARK_PROFILE.patchwork_sensor_height_proxy_m,
+    )
+    parser.add_argument(
+        "--map-vertical-origin-offset-m",
+        type=float,
+        default=(DEFAULT_GROUND_BENCHMARK_PROFILE.patchwork_map_vertical_origin_offset_m),
+    )
+    parser.add_argument(
+        "--height-evidence",
+        choices=("missing", "operator-estimated", "runtime-calibrated"),
+        default=DEFAULT_GROUND_BENCHMARK_PROFILE.patchwork_height_evidence,
+    )
     return parser.parse_args()
 
 
 def main() -> int:
     arguments = _arguments()
+    profile = GroundBenchmarkProfile(
+        profile_id=arguments.profile_id,
+        patchwork_sensor_height_proxy_m=arguments.sensor_height_m,
+        patchwork_map_vertical_origin_offset_m=(arguments.map_vertical_origin_offset_m),
+        patchwork_height_evidence=arguments.height_evidence,
+    )
     replay = LidarReplayPackV2(arguments.replay_pack)
     try:
         patchwork = PatchworkPPGroundSegmenter.load(
+            profile=profile,
             module_name=arguments.patchwork_module,
             source_tag=arguments.patchwork_source_tag,
             source_commit=arguments.patchwork_source_commit,
@@ -63,6 +91,7 @@ def main() -> int:
             replay,
             arguments.output_root,
             patchwork=patchwork,
+            profile=profile,
         )
         annotation = (
             build_lidar_ground_annotation_template(
@@ -87,9 +116,7 @@ def main() -> int:
                     "current": result.report["current"],
                     "candidate": result.report["candidate"],
                     "comparison": result.report["comparison"],
-                    "annotation_template_id": (
-                        annotation.name if annotation is not None else None
-                    ),
+                    "annotation_template_id": (annotation.name if annotation is not None else None),
                 },
                 ensure_ascii=False,
                 indent=2,