feat(lidar): add RAVNOVES field review
This commit is contained in:
DCCONSTRUCTIONS
@@ -147,6 +147,106 @@ export interface LidarGroundFrame {
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groundTruth: false;
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}
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export interface LidarFieldReviewWindowSummary {
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index: number;
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key: string;
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label: string;
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startSeconds: number;
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endSeconds: number;
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midpointSeconds: number;
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sourceLidarSamples: number;
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sourcePointCount: number;
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displayPointCount: number;
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sourceFrameStart: number;
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sourceFrameEnd: number;
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previewSourceFrameIndex: number;
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previewSessionSeconds: number;
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}
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export interface LidarFieldReview {
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reviewId: string;
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displayName: string;
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sessionId: string;
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sourcePackId: string;
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status: "diagnostic-only";
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source: {
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timelineStartSeconds: number;
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timelineEndSeconds: number;
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availableLidarFrames: number;
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pointCount: number;
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representation: "legacy-e10-vendor-map-with-pose";
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intensityAvailable: false;
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rawScanAccepted: false;
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};
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selection: {
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purpose: "operator-readable-central-urban-field-review";
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defaultWindowIndex: number;
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accumulation: "per-source-frame masks accumulated in map frame";
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maximumPointsPerWindow: number;
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};
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windows: LidarFieldReviewWindowSummary[];
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metrics: {
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sourceSamples: number;
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current: {
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provider: LidarGroundProviderSummary;
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groundFraction: LidarDistribution;
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latencyMs: LidarDistribution;
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};
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candidate: {
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provider: LidarGroundProviderSummary;
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groundFraction: LidarDistribution;
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latencyMs: LidarDistribution;
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};
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comparison: {
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algorithmGroundIou: LidarDistribution;
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groundDisagreementFraction: LidarDistribution;
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isAccuracyMetric: false;
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};
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};
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decision: {
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status: "visual-review-only";
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productionPromotion: false;
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reasons: string[];
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};
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createdAtUtc: string | null;
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groundTruth: false;
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authority: {
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commandsEnabled: false;
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navigationOrSafetyAccepted: false;
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};
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}
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export interface LidarFieldReviewCatalog {
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configured: boolean;
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validTotal: number;
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invalidTotal: number;
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items: LidarFieldReview[];
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}
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export interface LidarFieldReviewWindow {
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reviewId: string;
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displayName: string;
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sessionId: string;
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sourcePackId: string;
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windowIndex: number;
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windowCount: number;
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window: LidarFieldReviewWindowSummary;
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pointCount: number;
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coordinateFrame: "map";
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distanceUnit: "m";
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pointsXyzM: Array<[number, number, number]>;
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intensity0To255: null;
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intensity: {
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available: false;
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reason: string;
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};
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masks: LidarGroundFrame["masks"];
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counts: LidarGroundFrame["counts"];
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previewUrl: string;
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groundTruth: false;
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authority: LidarFieldReview["authority"];
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}
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export class LidarReplayContractError extends Error {}
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export class LidarReplayApiError extends Error {
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@@ -162,7 +262,10 @@ type LidarFetch = (
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const SAFE_PACK_ID = /^lidar-replay-pack-[a-f0-9]{64}$/;
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const SAFE_GROUND_BENCHMARK_ID = /^ground-benchmark-[a-f0-9]{64}$/;
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const SAFE_FIELD_REVIEW_ID = /^lidar-field-review-[a-f0-9]{64}$/;
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const SAFE_E10_PACK_ID = /^e10-lidar-pack-[a-f0-9]{64}$/;
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const SAFE_ID = /^[A-Za-z0-9][A-Za-z0-9._:/-]{0,159}$/;
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const SAFE_FIELD_KEY = /^[a-z0-9][a-z0-9-]{0,63}$/;
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const SHA256 = /^[a-f0-9]{64}$/;
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const GIT_SHA1 = /^[a-f0-9]{40}$/;
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@@ -641,6 +744,358 @@ export function parseLidarGroundFrame(value: unknown): LidarGroundFrame {
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};
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}
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function fieldReviewWindowSummary(
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value: unknown,
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expectedIndex: number,
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): LidarFieldReviewWindowSummary {
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const source = record(value, `field-review window ${expectedIndex}`);
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const index = integer(source.index, "window.index");
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const startSeconds = number(source.start_seconds, "window.start_seconds") ?? 0;
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const endSeconds = number(source.end_seconds, "window.end_seconds") ?? 0;
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if (index !== expectedIndex || startSeconds >= endSeconds) {
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throw new LidarReplayContractError("LiDAR field-review window несовместим");
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}
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return {
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index,
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key: string(source.key, "window.key", SAFE_FIELD_KEY),
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label: string(source.label, "window.label"),
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startSeconds,
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endSeconds,
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midpointSeconds:
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number(source.midpoint_seconds, "window.midpoint_seconds") ?? 0,
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sourceLidarSamples: integer(
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source.source_lidar_samples,
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"window.source_lidar_samples",
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),
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sourcePointCount: integer(
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source.source_point_count,
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"window.source_point_count",
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),
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displayPointCount: integer(
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source.display_point_count,
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"window.display_point_count",
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),
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sourceFrameStart: integer(
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source.source_frame_start,
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"window.source_frame_start",
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),
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sourceFrameEnd: integer(
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source.source_frame_end,
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"window.source_frame_end",
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),
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previewSourceFrameIndex: integer(
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source.preview_source_frame_index,
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"window.preview_source_frame_index",
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),
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previewSessionSeconds:
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number(
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source.preview_session_seconds,
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"window.preview_session_seconds",
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) ?? 0,
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};
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}
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function fieldReviewBranch(
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value: unknown,
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label: string,
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): LidarFieldReview["metrics"]["current"] {
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const source = record(value, label);
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return {
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provider: groundProvider(source.provider, `${label}.provider`),
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groundFraction: distribution(
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source.ground_fraction,
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`${label}.ground_fraction`,
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),
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latencyMs: distribution(source.latency_ms, `${label}.latency_ms`),
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};
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}
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function fieldReview(value: unknown): LidarFieldReview {
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const source = record(value, "LiDAR field review");
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const sourceEvidence = record(source.source, "field-review source");
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const selection = record(source.selection, "field-review selection");
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const sampling = record(selection.sampling, "field-review sampling");
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const metrics = record(source.metrics, "field-review metrics");
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const comparison = record(metrics.comparison, "field-review comparison");
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const decision = record(source.decision, "field-review decision");
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const authority = record(source.authority, "field-review authority");
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if (
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source.status !== "diagnostic-only"
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|| source.ground_truth !== false
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|| sourceEvidence.representation !== "legacy-e10-vendor-map-with-pose"
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|| sourceEvidence.intensity_available !== false
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|| sourceEvidence.raw_scan_accepted !== false
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|| selection.purpose !== "operator-readable-central-urban-field-review"
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|| selection.accumulation !== "per-source-frame masks accumulated in map frame"
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|| sampling.method !== "uniform-point-index-per-window"
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|| comparison.is_accuracy_metric !== false
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|| decision.status !== "visual-review-only"
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|| decision.production_promotion !== false
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|| authority.commands_enabled !== false
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|| authority.navigation_or_safety_accepted !== false
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) {
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throw new LidarReplayContractError(
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"LiDAR field review завышает readiness или меняет evidence",
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);
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}
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const windows = array(source.windows, "field-review windows").map(
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fieldReviewWindowSummary,
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);
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const defaultWindowIndex = integer(
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selection.default_window_index,
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"selection.default_window_index",
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);
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const maximumPointsPerWindow = integer(
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sampling.maximum_points_per_window,
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"sampling.maximum_points_per_window",
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);
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if (
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windows.length < 1
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|| defaultWindowIndex >= windows.length
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|| maximumPointsPerWindow < 1
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|| maximumPointsPerWindow > 80_000
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|| windows.some(
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(window) =>
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window.sourceLidarSamples < 1
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|| window.sourcePointCount < window.displayPointCount
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|| window.displayPointCount < 1
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|| window.displayPointCount > maximumPointsPerWindow,
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)
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) {
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throw new LidarReplayContractError("LiDAR field-review selection несовместим");
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}
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return {
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reviewId: string(source.review_id, "review_id", SAFE_FIELD_REVIEW_ID),
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displayName: string(source.display_name, "display_name"),
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sessionId: string(source.session_id, "session_id", SAFE_ID),
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sourcePackId: string(
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source.source_pack_id,
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"source_pack_id",
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SAFE_E10_PACK_ID,
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),
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status: "diagnostic-only",
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source: {
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timelineStartSeconds:
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number(
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sourceEvidence.timeline_start_seconds,
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"source.timeline_start_seconds",
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) ?? 0,
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timelineEndSeconds:
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number(
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sourceEvidence.timeline_end_seconds,
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"source.timeline_end_seconds",
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) ?? 0,
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availableLidarFrames: integer(
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sourceEvidence.available_lidar_frames,
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"source.available_lidar_frames",
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),
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pointCount: integer(sourceEvidence.point_count, "source.point_count"),
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representation: "legacy-e10-vendor-map-with-pose",
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intensityAvailable: false,
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rawScanAccepted: false,
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},
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selection: {
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purpose: "operator-readable-central-urban-field-review",
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defaultWindowIndex,
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accumulation: "per-source-frame masks accumulated in map frame",
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maximumPointsPerWindow,
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},
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windows,
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metrics: {
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sourceSamples: integer(metrics.source_samples, "metrics.source_samples"),
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current: fieldReviewBranch(metrics.current, "metrics.current"),
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candidate: fieldReviewBranch(metrics.candidate, "metrics.candidate"),
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comparison: {
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algorithmGroundIou: distribution(
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comparison.algorithm_to_algorithm_ground_iou,
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"metrics.comparison.algorithm_ground_iou",
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),
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groundDisagreementFraction: distribution(
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comparison.ground_disagreement_fraction,
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"metrics.comparison.ground_disagreement_fraction",
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),
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isAccuracyMetric: false,
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},
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},
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decision: {
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status: "visual-review-only",
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productionPromotion: false,
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reasons: array(decision.reasons, "decision.reasons").map((reason) =>
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string(reason, "decision.reason")
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),
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},
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createdAtUtc:
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source.created_at_utc === null || source.created_at_utc === undefined
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? null
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: string(source.created_at_utc, "created_at_utc"),
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groundTruth: false,
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authority: {
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commandsEnabled: false,
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navigationOrSafetyAccepted: false,
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},
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};
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}
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export function parseLidarFieldReviewCatalog(
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value: unknown,
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): LidarFieldReviewCatalog {
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const source = record(value, "LiDAR field-review catalog");
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if (
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source.schema_version !== "missioncore.lidar-field-review-catalog/v1"
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|| source.access !== "read-only"
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) {
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throw new LidarReplayContractError("LiDAR field-review catalog несовместим");
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}
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return {
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configured: boolean(source.configured, "configured"),
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validTotal: integer(source.valid_total, "valid_total"),
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invalidTotal: integer(source.invalid_total, "invalid_total"),
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items: array(source.items, "items").map(fieldReview),
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};
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}
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export function parseLidarFieldReviewWindow(
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value: unknown,
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): LidarFieldReviewWindow {
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const source = record(value, "LiDAR field-review window");
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const reviewId = string(
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source.review_id,
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"review_id",
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SAFE_FIELD_REVIEW_ID,
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);
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if (
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source.schema_version !== "missioncore.lidar-field-review-window/v1"
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|| source.access !== "read-only"
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|| source.ground_truth !== false
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|| source.coordinate_frame !== "map"
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|| source.distance_unit !== "m"
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) {
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throw new LidarReplayContractError("LiDAR field-review window несовместим");
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}
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const authority = record(source.authority, "authority");
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const intensity = record(source.intensity, "intensity");
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if (
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authority.commands_enabled !== false
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|| authority.navigation_or_safety_accepted !== false
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|| intensity.available !== false
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) {
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throw new LidarReplayContractError("LiDAR field-review authority несовместим");
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}
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const pointCount = integer(source.point_count, "point_count");
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if (pointCount < 1 || pointCount > 80_000) {
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throw new LidarReplayContractError("LiDAR field-review window слишком большой");
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}
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const points = array(source.points_xyz_m, "points_xyz_m");
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if (points.length !== pointCount) {
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throw new LidarReplayContractError("Количество field-review points не совпадает");
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}
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const pointsXyzM = points.map((value, index): [number, number, number] => {
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const tuple = array(value, `points_xyz_m[${index}]`);
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if (tuple.length !== 3) {
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throw new LidarReplayContractError("LiDAR point должен содержать XYZ");
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}
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return [
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number(tuple[0], `points_xyz_m[${index}].x`) ?? 0,
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number(tuple[1], `points_xyz_m[${index}].y`) ?? 0,
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number(tuple[2], `points_xyz_m[${index}].z`) ?? 0,
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];
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});
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const masks = record(source.masks, "masks");
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const currentGround = groundMask(
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masks.current_ground,
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"masks.current_ground",
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pointCount,
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);
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const currentAssigned = groundMask(
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masks.current_assigned,
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"masks.current_assigned",
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pointCount,
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);
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const candidateGround = groundMask(
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masks.candidate_ground,
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"masks.candidate_ground",
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pointCount,
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);
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const candidateAssigned = groundMask(
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masks.candidate_assigned,
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"masks.candidate_assigned",
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pointCount,
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);
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const disagreement = groundMask(
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masks.disagreement,
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"masks.disagreement",
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pointCount,
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);
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const counts = record(source.counts, "counts");
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const parsedCounts = {
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currentGround: integer(counts.current_ground, "counts.current_ground"),
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candidateGround: integer(
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counts.candidate_ground,
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"counts.candidate_ground",
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),
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disagreement: integer(counts.disagreement, "counts.disagreement"),
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};
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const windowIndex = integer(source.window_index, "window_index");
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const windowCount = integer(source.window_count, "window_count");
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const window = fieldReviewWindowSummary(source.window, windowIndex);
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const expectedPreviewUrl =
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`/api/v1/lidar/field-reviews/${reviewId}/windows/${windowIndex}/preview`;
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if (
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windowCount < 1
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|| windowIndex >= windowCount
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|| window.displayPointCount !== pointCount
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|| parsedCounts.currentGround
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!== currentGround.reduce((sum, item) => sum + item, 0)
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|| parsedCounts.candidateGround
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!== candidateGround.reduce((sum, item) => sum + item, 0)
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|| parsedCounts.disagreement
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!== disagreement.reduce((sum, item) => sum + item, 0)
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|| disagreement.some(
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(item, index) =>
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item !== Number(currentGround[index] !== candidateGround[index]),
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)
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|| source.preview_url !== expectedPreviewUrl
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) {
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throw new LidarReplayContractError("LiDAR field-review content несовместим");
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}
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return {
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reviewId,
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displayName: string(source.display_name, "display_name"),
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sessionId: string(source.session_id, "session_id", SAFE_ID),
|
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sourcePackId: string(
|
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source.source_pack_id,
|
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"source_pack_id",
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SAFE_E10_PACK_ID,
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),
|
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windowIndex,
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windowCount,
|
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window,
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pointCount,
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coordinateFrame: "map",
|
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distanceUnit: "m",
|
||||
pointsXyzM,
|
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intensity0To255: null,
|
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intensity: {
|
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available: false,
|
||||
reason: string(intensity.reason, "intensity.reason"),
|
||||
},
|
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masks: {
|
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currentGround,
|
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currentAssigned,
|
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candidateGround,
|
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candidateAssigned,
|
||||
disagreement,
|
||||
},
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counts: parsedCounts,
|
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previewUrl: expectedPreviewUrl,
|
||||
groundTruth: false,
|
||||
authority: {
|
||||
commandsEnabled: false,
|
||||
navigationOrSafetyAccepted: false,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
async function responseJson(
|
||||
response: Response,
|
||||
fallback: string,
|
||||
@@ -739,3 +1194,48 @@ export async function fetchLidarGroundFrame(
|
||||
await responseJson(response, "Не удалось получить LiDAR ground frame."),
|
||||
);
|
||||
}
|
||||
|
||||
export async function fetchLidarFieldReviews(
|
||||
options: { signal?: AbortSignal; fetcher?: LidarFetch } = {},
|
||||
): Promise<LidarFieldReviewCatalog> {
|
||||
const fetcher = options.fetcher ?? fetch;
|
||||
const response = await fetcher("/api/v1/lidar/field-reviews?limit=10", {
|
||||
method: "GET",
|
||||
headers: { Accept: "application/json" },
|
||||
signal: options.signal,
|
||||
});
|
||||
return parseLidarFieldReviewCatalog(
|
||||
await responseJson(response, "Не удалось получить полевой LiDAR review."),
|
||||
);
|
||||
}
|
||||
|
||||
export async function fetchLidarFieldReviewWindow(
|
||||
reviewId: string,
|
||||
windowIndex: number,
|
||||
options: { signal?: AbortSignal; fetcher?: LidarFetch } = {},
|
||||
): Promise<LidarFieldReviewWindow> {
|
||||
if (
|
||||
!SAFE_FIELD_REVIEW_ID.test(reviewId)
|
||||
|| !Number.isInteger(windowIndex)
|
||||
|| windowIndex < 0
|
||||
) {
|
||||
throw new LidarReplayContractError(
|
||||
"Некорректное окно полевого LiDAR review",
|
||||
);
|
||||
}
|
||||
const fetcher = options.fetcher ?? fetch;
|
||||
const response = await fetcher(
|
||||
`/api/v1/lidar/field-reviews/${reviewId}/windows/${windowIndex}`,
|
||||
{
|
||||
method: "GET",
|
||||
headers: { Accept: "application/json" },
|
||||
signal: options.signal,
|
||||
},
|
||||
);
|
||||
return parseLidarFieldReviewWindow(
|
||||
await responseJson(
|
||||
response,
|
||||
"Не удалось получить окно полевого LiDAR review.",
|
||||
),
|
||||
);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user