feat(lidar): add RAVNOVES field review
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DCCONSTRUCTIONS
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#!/usr/bin/env python3
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from __future__ import annotations
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import argparse
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import hashlib
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import json
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import subprocess
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import tempfile
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from pathlib import Path
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from k1link.compute import (
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PATCHWORKPP_SOURCE_COMMIT,
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PATCHWORKPP_SOURCE_TAG,
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RAVNOVES00_CENTRAL_WINDOWS,
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E10LidarFieldSource,
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GroundBenchmarkProfile,
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LidarFieldReviewV1,
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PatchworkPPGroundSegmenter,
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build_lidar_field_review,
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)
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def _arguments() -> argparse.Namespace:
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parser = argparse.ArgumentParser(
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description=(
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"Build accumulated RAVNOVES00 central-urban LiDAR ground review "
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"with content-bound camera context previews."
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)
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)
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parser.add_argument("source_pack", type=Path)
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parser.add_argument("camera_epoch", type=Path)
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parser.add_argument("output_root", type=Path)
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parser.add_argument("--ffmpeg", default="ffmpeg")
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parser.add_argument("--patchwork-module", default="pypatchworkpp")
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parser.add_argument("--patchwork-source-tag", default=PATCHWORKPP_SOURCE_TAG)
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parser.add_argument(
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"--patchwork-source-commit",
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default=PATCHWORKPP_SOURCE_COMMIT,
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)
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parser.add_argument("--sensor-height-m", type=float, default=1.27)
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parser.add_argument("--map-vertical-origin-offset-m", type=float, default=1.27)
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return parser.parse_args()
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def _preview_segments(epoch: Path) -> dict[str, Path]:
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resolved = epoch.expanduser().resolve(strict=True)
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init = resolved / "init.mp4"
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index_path = resolved / "index.jsonl"
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if not init.is_file() or init.is_symlink() or not index_path.is_file():
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raise RuntimeError("Camera epoch is incomplete")
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required = {
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window.preview_source_frame_index + 1: window.key for window in RAVNOVES00_CENTRAL_WINDOWS
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}
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found: dict[str, Path] = {}
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with index_path.open(encoding="utf-8") as stream:
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for line in stream:
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value = json.loads(line)
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sequence = value.get("sequence") if isinstance(value, dict) else None
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if sequence not in required:
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continue
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relative = value.get("path")
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expected_sha256 = value.get("sha256")
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expected_length = value.get("length")
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if (
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value.get("schema_version") != "missioncore.camera-recording-index/v1"
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or relative != f"segments/{sequence}.m4s"
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or not isinstance(expected_sha256, str)
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or not isinstance(expected_length, int)
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):
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raise RuntimeError("Camera preview segment index is invalid")
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segment = resolved / relative
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if (
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segment.is_symlink()
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or not segment.is_file()
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or segment.stat().st_size != expected_length
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or _sha256(segment) != expected_sha256
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):
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raise RuntimeError("Camera preview segment failed integrity")
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found[required[sequence]] = segment
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if set(found) != set(required.values()):
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raise RuntimeError("Camera preview segments are incomplete")
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return found
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def _extract_previews(
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ffmpeg: str,
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epoch: Path,
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output: Path,
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) -> dict[str, Path]:
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init = epoch.expanduser().resolve(strict=True) / "init.mp4"
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segments = _preview_segments(epoch)
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previews: dict[str, Path] = {}
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for key, segment in segments.items():
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target = output / f"{key}.jpg"
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subprocess.run(
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[
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ffmpeg,
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"-hide_banner",
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"-loglevel",
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"error",
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"-i",
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f"concat:{init}|{segment}",
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"-frames:v",
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"1",
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"-vf",
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"scale=640:480",
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"-q:v",
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"3",
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str(target),
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],
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check=True,
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)
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if not target.is_file() or target.stat().st_size < 1_000:
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raise RuntimeError("Camera preview extraction failed")
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previews[key] = target
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return previews
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def main() -> int:
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arguments = _arguments()
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profile = GroundBenchmarkProfile(
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profile_id="ravnoves00-central-urban-operator-height-ground-review/v1",
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patchwork_sensor_height_proxy_m=arguments.sensor_height_m,
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patchwork_map_vertical_origin_offset_m=(arguments.map_vertical_origin_offset_m),
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patchwork_height_evidence="operator-estimated",
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)
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source = E10LidarFieldSource(arguments.source_pack)
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try:
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patchwork = PatchworkPPGroundSegmenter.load(
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profile=profile,
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module_name=arguments.patchwork_module,
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source_tag=arguments.patchwork_source_tag,
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source_commit=arguments.patchwork_source_commit,
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)
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with tempfile.TemporaryDirectory(prefix="missioncore-lidar-field-review-") as value:
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previews = _extract_previews(
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arguments.ffmpeg,
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arguments.camera_epoch,
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Path(value),
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)
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output = build_lidar_field_review(
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source,
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arguments.output_root,
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patchwork=patchwork,
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profile=profile,
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preview_paths=previews,
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)
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finally:
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source.close()
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review = LidarFieldReviewV1(output)
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try:
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print(
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json.dumps(
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{
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"review_id": review.review_id,
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"display_name": review.report["display_name"],
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"session_id": review.report["session_id"],
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"source": review.report["source"],
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"selection": review.report["selection"],
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"windows": review.report["windows"],
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"metrics": review.report["metrics"],
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"decision": review.report["decision"],
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},
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ensure_ascii=False,
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indent=2,
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)
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)
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finally:
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review.close()
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return 0
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def _sha256(path: Path) -> str:
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digest = hashlib.sha256()
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with path.open("rb") as stream:
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while chunk := stream.read(1024 * 1024):
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digest.update(chunk)
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return digest.hexdigest()
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if __name__ == "__main__":
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raise SystemExit(main())
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