feat(lidar): add RAVNOVES field review
This commit is contained in:
DCCONSTRUCTIONS
@@ -8,10 +8,14 @@ let parseLidarReplayCatalog;
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let parseLidarReplayDetail;
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let parseLidarGroundBenchmarkCatalog;
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let parseLidarGroundFrame;
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let parseLidarFieldReviewCatalog;
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let parseLidarFieldReviewWindow;
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let fetchLidarReplayCatalog;
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let fetchLidarReplayDetail;
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let fetchLidarGroundBenchmarks;
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let fetchLidarGroundFrame;
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let fetchLidarFieldReviews;
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let fetchLidarFieldReviewWindow;
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let LidarReplayContractError;
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let workspaceById;
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@@ -26,10 +30,14 @@ before(async () => {
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parseLidarReplayDetail,
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parseLidarGroundBenchmarkCatalog,
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parseLidarGroundFrame,
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parseLidarFieldReviewCatalog,
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parseLidarFieldReviewWindow,
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fetchLidarReplayCatalog,
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fetchLidarReplayDetail,
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fetchLidarGroundBenchmarks,
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fetchLidarGroundFrame,
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fetchLidarFieldReviews,
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fetchLidarFieldReviewWindow,
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LidarReplayContractError,
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} = await server.ssrLoadModule("/src/core/lidar/replayQuality.ts"));
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({ workspaceById } = await server.ssrLoadModule("/src/productModel.ts"));
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@@ -40,6 +48,8 @@ after(async () => {
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});
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const packId = `lidar-replay-pack-${"a".repeat(64)}`;
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const fieldReviewId = `lidar-field-review-${"d".repeat(64)}`;
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const e10PackId = `e10-lidar-pack-${"e".repeat(64)}`;
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function summary(overrides = {}) {
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return {
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@@ -267,6 +277,145 @@ function groundFrame(overrides = {}) {
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};
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}
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function fieldReviewWindowSummary(overrides = {}) {
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return {
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index: 0,
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key: "intersection-facades",
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label: "Перекрёсток, дорога и фасады",
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start_seconds: 145,
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end_seconds: 151,
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midpoint_seconds: 148,
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source_lidar_samples: 56,
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source_point_count: 98538,
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display_point_count: 3,
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source_frame_start: 1097,
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source_frame_end: 1156,
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preview_source_frame_index: 1120,
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preview_session_seconds: 147.451857292,
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...overrides,
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};
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}
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function fieldReviewCatalog(overrides = {}) {
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const provider = (providerId, sourceCommit = undefined) => ({
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provider_id: providerId,
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source_commit: sourceCommit,
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});
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const branch = (providerValue) => ({
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provider: providerValue,
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ground_fraction: distribution(),
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latency_ms: distribution(),
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});
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return {
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schema_version: "missioncore.lidar-field-review-catalog/v1",
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configured: true,
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valid_total: 1,
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invalid_total: 0,
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access: "read-only",
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items: [{
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review_id: fieldReviewId,
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display_name: "RAVNOVES00 · центральный городской интервал",
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session_id: "20260720T065719Z_viewer_live",
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source_pack_id: e10PackId,
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status: "diagnostic-only",
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source: {
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timeline_start_seconds: 135.365857292,
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timeline_end_seconds: 195.334857292,
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available_lidar_frames: 526,
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point_count: 1182292,
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representation: "legacy-e10-vendor-map-with-pose",
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intensity_available: false,
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raw_scan_accepted: 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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default_window_index: 0,
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accumulation: "per-source-frame masks accumulated in map frame",
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sampling: {
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method: "uniform-point-index-per-window",
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maximum_points_per_window: 80000,
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},
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},
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windows: [fieldReviewWindowSummary()],
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metrics: {
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source_samples: 56,
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current: branch(
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provider("missioncore-local-percentile-ground/v1"),
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),
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candidate: branch(
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provider(
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"patchworkpp/v1.4.1",
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"3e6903a1d5537a4cc2ace897b0bbb98a92d6014c",
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),
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),
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comparison: {
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algorithm_to_algorithm_ground_iou: distribution(),
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ground_disagreement_fraction: distribution(),
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is_accuracy_metric: 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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production_promotion: false,
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reasons: ["legacy derivative does not retain intensity"],
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},
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created_at_utc: "2026-07-25T02:00:00Z",
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ground_truth: false,
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authority: {
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commands_enabled: false,
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navigation_or_safety_accepted: false,
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},
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}],
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...overrides,
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};
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}
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function fieldReviewWindow(overrides = {}) {
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return {
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schema_version: "missioncore.lidar-field-review-window/v1",
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review_id: fieldReviewId,
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display_name: "RAVNOVES00 · центральный городской интервал",
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session_id: "20260720T065719Z_viewer_live",
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source_pack_id: e10PackId,
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window_index: 0,
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window_count: 1,
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window: fieldReviewWindowSummary(),
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point_count: 3,
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coordinate_frame: "map",
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distance_unit: "m",
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intensity: {
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available: false,
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reason: "E10 derivative did not retain rgbi/intensity",
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},
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points_xyz_m: [
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[0, 0, 0],
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[1, 0, 0.1],
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[0, 1, 0.5],
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],
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masks: {
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current_ground: [1, 1, 0],
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current_assigned: [1, 1, 1],
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candidate_ground: [1, 0, 0],
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candidate_assigned: [1, 1, 1],
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disagreement: [0, 1, 0],
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},
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counts: {
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current_ground: 2,
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candidate_ground: 1,
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disagreement: 1,
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},
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preview_url:
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`/api/v1/lidar/field-reviews/${fieldReviewId}/windows/0/preview`,
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access: "read-only",
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ground_truth: false,
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authority: {
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commands_enabled: false,
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navigation_or_safety_accepted: false,
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},
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...overrides,
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};
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}
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function jsonResponse(payload, status = 200) {
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return new Response(JSON.stringify(payload), {
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status,
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@@ -359,6 +508,49 @@ test("ground frame stays point-aligned, bounded and path-free", () => {
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);
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});
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test("field review identifies RAVNOVES00 source and stays visual-only", () => {
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const parsedCatalog = parseLidarFieldReviewCatalog(fieldReviewCatalog());
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const parsedWindow = parseLidarFieldReviewWindow(fieldReviewWindow());
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assert.equal(parsedCatalog.items[0].sourcePackId, e10PackId);
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assert.equal(parsedCatalog.items[0].source.availableLidarFrames, 526);
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assert.equal(parsedCatalog.items[0].selection.defaultWindowIndex, 0);
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assert.equal(parsedWindow.window.label, "Перекрёсток, дорога и фасады");
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assert.equal(parsedWindow.intensity0To255, null);
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assert.equal(parsedWindow.counts.disagreement, 1);
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assert.equal("path" in parsedWindow, false);
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const promoted = fieldReviewCatalog();
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promoted.items[0].decision.production_promotion = true;
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assert.throws(
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() => parseLidarFieldReviewCatalog(promoted),
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LidarReplayContractError,
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);
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});
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test("field-review window refuses forged preview and point masks", () => {
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assert.throws(
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() => parseLidarFieldReviewWindow(fieldReviewWindow({
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preview_url: "https://example.invalid/frame.jpg",
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})),
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LidarReplayContractError,
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);
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assert.throws(
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() => parseLidarFieldReviewWindow(fieldReviewWindow({
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masks: {
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...fieldReviewWindow().masks,
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disagreement: [0, 0, 0],
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},
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counts: {
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current_ground: 2,
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candidate_ground: 1,
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disagreement: 0,
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},
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})),
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LidarReplayContractError,
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);
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});
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test("LiDAR fetchers use read-only endpoints and workspace is registered", async () => {
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const calls = [];
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const fetcher = async (input, init) => {
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@@ -368,6 +560,11 @@ test("LiDAR fetchers use read-only endpoints and workspace is registered", async
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? jsonResponse(groundFrame())
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: jsonResponse(groundCatalog());
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}
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if (String(input).includes("field-reviews")) {
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return String(input).includes("/windows/")
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? jsonResponse(fieldReviewWindow())
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: jsonResponse(fieldReviewCatalog());
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}
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return String(input).includes(packId)
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? jsonResponse(detail())
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: jsonResponse(catalog());
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@@ -380,11 +577,19 @@ test("LiDAR fetchers use read-only endpoints and workspace is registered", async
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0,
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{ fetcher },
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);
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const fieldCatalog = await fetchLidarFieldReviews({ fetcher });
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const fieldWindow = await fetchLidarFieldReviewWindow(
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fieldReviewId,
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0,
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{ fetcher },
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);
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assert.equal(parsedCatalog.validTotal, 1);
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assert.equal(parsedDetail.pack.packId, packId);
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assert.equal(ground.validTotal, 1);
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assert.equal(frame.pointCount, 3);
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assert.equal(fieldCatalog.items[0].windows[0].sourceLidarSamples, 56);
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assert.equal(fieldWindow.previewUrl.endsWith("/preview"), true);
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assert.deepEqual(calls, [
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{ input: "/api/v1/lidar/replay-packs?limit=50", method: "GET" },
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{ input: `/api/v1/lidar/replay-packs/${packId}`, method: "GET" },
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@@ -396,6 +601,14 @@ test("LiDAR fetchers use read-only endpoints and workspace is registered", async
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input: `/api/v1/lidar/ground-benchmarks/ground-benchmark-${"c".repeat(64)}/frames/0`,
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method: "GET",
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},
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{
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input: "/api/v1/lidar/field-reviews?limit=10",
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method: "GET",
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},
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{
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input: `/api/v1/lidar/field-reviews/${fieldReviewId}/windows/0`,
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method: "GET",
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},
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]);
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assert.equal(workspaceById("lidar-quality").root, "data");
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assert.equal(workspaceById("lidar-quality").kind, "lidar-quality");
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