fix(observatory): validate M49 fixture filtering

experiments/perception/worker/observatory_portable/Dockerfile.m49-portable-executor

@@ -18,7 +18,7 @@ COPY smoke_m49_tgs_portable.sh /opt/nodedc/m49-tgs-portable/bin/smoke_m49_tgs_po
 
 RUN echo "6128d6af7e6137f9a9473db045e3b155e2105319159f17c32f344b4aedf823a9  /opt/nodedc/m49-tgs-portable/profile/m49-tgs-portable-v2.json" \
       | sha256sum --check --strict \
-    && echo "e5da73c2cf89ed0671de8ac52e13014a7faf79ce1ff1f97a090154063a61c18d  /opt/nodedc/m49-tgs-portable/bin/smoke_m49_tgs_portable" \
+    && echo "b8bc1cf9f21f69904bb64c6384db6fe301faf10f8041cc405a77b011602eaf04  /opt/nodedc/m49-tgs-portable/bin/smoke_m49_tgs_portable" \
       | sha256sum --check --strict \
     && chmod 0555 /opt/nodedc/m49-tgs-portable/bin/smoke_m49_tgs_portable \
     && test -x /opt/nodedc/m49-tgs-portable/bin/run_m49_tgs_portable
@@ -31,7 +31,7 @@ LABEL com.nodedc.product="mission-core" \
       com.nodedc.authority="observation-only" \
       com.nodedc.base-image.sha256="7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f" \
       com.nodedc.runner-source.sha256="52813392aabd02efc5c2b8f7c22ed88e3ef4cc8ad3aafeba2792efe503e29fe9" \
-      com.nodedc.fixture-smoke.sha256="e5da73c2cf89ed0671de8ac52e13014a7faf79ce1ff1f97a090154063a61c18d" \
+      com.nodedc.fixture-smoke.sha256="b8bc1cf9f21f69904bb64c6384db6fe301faf10f8041cc405a77b011602eaf04" \
       com.nodedc.profile.sha256="6128d6af7e6137f9a9473db045e3b155e2105319159f17c32f344b4aedf823a9"
 
 ENTRYPOINT ["/opt/nodedc/m49-tgs-portable/bin/run_m49_tgs_portable"]

experiments/perception/worker/observatory_portable/Invoke-M49PortableExecutorCandidateInstall.ps1

@@ -21,7 +21,7 @@ $BaseImageId = "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042
 $ProfileSha256 = "6128d6af7e6137f9a9473db045e3b155e2105319159f17c32f344b4aedf823a9"
 $RunnerSourceSha256 = "52813392aabd02efc5c2b8f7c22ed88e3ef4cc8ad3aafeba2792efe503e29fe9"
 $RunnerWrapperSha256 = "2d6c32560682647f868e4ce4c2605749f17c60482a609f8c03ff951411f48ffb"
-$FixtureSmokeSha256 = "e5da73c2cf89ed0671de8ac52e13014a7faf79ce1ff1f97a090154063a61c18d"
+$FixtureSmokeSha256 = "b8bc1cf9f21f69904bb64c6384db6fe301faf10f8041cc405a77b011602eaf04"
 $ResultContractSha256 = "9dd80c8e2504559d2156fca933de6eb27901e35305e6853aeb84707e1cb13892"
 $ProtectedContainers = @(
     "ndc-mission-core-triton",
@@ -297,7 +297,10 @@ try {
         & docker rm --force $smokeName *> $null
     }
 }
-if ($smokeOutput[-1] -cne "M49_PORTABLE_FIXTURE_SMOKE_OK frames=2 points_per_frame=124668") {
+if (
+    $smokeOutput[-1] -cne
+    "M49_PORTABLE_FIXTURE_SMOKE_OK frames=2 input_points_per_frame=124668 classified_points_per_frame=124637"
+) {
     throw "portable M4.9 fixture smoke receipt changed"
 }
 
@@ -343,7 +346,8 @@ $releaseDocument = [ordered]@{
     fixture_smoke = [ordered]@{
         source = "pinned TRAVEL KITTI fixture"
         frame_count = 2
-        points_per_frame = 124668
+        input_points_per_frame = 124668
+        classified_points_per_frame = 124637
         network = "none"
         result = "passed"
     }

experiments/perception/worker/observatory_portable/m49-tgs-portable-runner-source.json

@@ -37,8 +37,8 @@
     },
     {
       "name": "smoke_m49_tgs_portable.sh",
-      "byte_length": 1117,
-      "sha256": "e5da73c2cf89ed0671de8ac52e13014a7faf79ce1ff1f97a090154063a61c18d"
+      "byte_length": 1330,
+      "sha256": "b8bc1cf9f21f69904bb64c6384db6fe301faf10f8041cc405a77b011602eaf04"
     }
   ],
   "authority": {
@@ -47,5 +47,5 @@
     "navigation_or_safety_accepted": false,
     "production_accepted": false
   },
-  "source_release_sha256": "50818f50892ded83285a0fe2875066e32f2c5a13aa8af6c6ce55f63eef863569"
+  "source_release_sha256": "b071f7def2200dc996144b46c1b952fed85a79a10fd67d6a62afa4cb0eacbad5"
 }

experiments/perception/worker/observatory_portable/smoke_m49_tgs_portable.sh

@@ -4,8 +4,10 @@ set -euo pipefail
 readonly SMOKE_ROOT=/smoke
 readonly FIXTURE=/opt/travel/fixture/00/velodyne/000000.bin
 readonly RUNNER=/opt/nodedc/m49-tgs-portable/bin/run_m49_tgs_portable
-readonly EXPECTED_FRAME_BYTES=1994688
-readonly EXPECTED_POINTS=124668
+readonly EXPECTED_INPUT_POINTS=124668
+readonly EXPECTED_GROUND_BYTES=1122800
+readonly EXPECTED_NONGROUND_BYTES=871392
+readonly EXPECTED_CLASSIFIED_POINTS=124637
 
 mkdir -p "${SMOKE_ROOT}/sequence"
 cp "${FIXTURE}" "${SMOKE_ROOT}/sequence/000000.bin"
@@ -23,7 +25,9 @@ test "$(wc -l < "${SMOKE_ROOT}/timing.tsv")" -eq 3
 for index in 0 1; do
   ground_bytes="$(stat -c %s "${SMOKE_ROOT}/outputs/${index}_ground.bin")"
   nonground_bytes="$(stat -c %s "${SMOKE_ROOT}/outputs/${index}_nonground.bin")"
-  test "$((ground_bytes + nonground_bytes))" -eq "${EXPECTED_FRAME_BYTES}"
+  test "${ground_bytes}" -eq "${EXPECTED_GROUND_BYTES}"
+  test "${nonground_bytes}" -eq "${EXPECTED_NONGROUND_BYTES}"
 done
 
-printf 'M49_PORTABLE_FIXTURE_SMOKE_OK frames=2 points_per_frame=%s\n' "${EXPECTED_POINTS}"
+printf 'M49_PORTABLE_FIXTURE_SMOKE_OK frames=2 input_points_per_frame=%s classified_points_per_frame=%s\n' \
+  "${EXPECTED_INPUT_POINTS}" "${EXPECTED_CLASSIFIED_POINTS}"