feat(perception): run PointPillars on RAVNOVES00

tests/test_l31_pointpillars_ravnoves.py

@@ -0,0 +1,49 @@
+from __future__ import annotations
+
+import numpy as np
+import pytest
+
+from k1link.compute.l31_pointpillars_ravnoves import (
+    L31PointPillarsRavnovesError,
+    nearest_pose_indices,
+    select_visual_frame_indices,
+    sensor_frame_xyzi,
+)
+
+
+def test_nearest_pose_binding_prefers_earlier_pose_on_tie() -> None:
+    indices, age_ms = nearest_pose_indices(
+        np.asarray([10, 20, 31], dtype=np.int64) * 1_000_000,
+        np.asarray([5, 15, 30], dtype=np.int64) * 1_000_000,
+    )
+    assert indices.tolist() == [0, 1, 2]
+    assert age_ms.tolist() == [5.0, 5.0, 1.0]
+
+
+def test_sensor_frame_xyzi_inverts_map_pose() -> None:
+    points = np.asarray([[11.0, 20.0, 30.0], [10.0, 22.0, 30.0]])
+    intensity = np.asarray([255, 0], dtype=np.uint8)
+    result = sensor_frame_xyzi(
+        points,
+        intensity,
+        position_map_xyz=np.asarray([10.0, 20.0, 30.0]),
+        orientation_map_from_lidar_xyzw=np.asarray([0.0, 0.0, 0.0, 1.0]),
+    )
+    np.testing.assert_allclose(
+        result,
+        np.asarray([[1.0, 0.0, 0.0, 1.0], [0.0, 2.0, 0.0, 0.0]]),
+    )
+
+
+def test_visual_selection_prefers_vehicles_with_route_coverage() -> None:
+    selected = select_visual_frame_indices(
+        [0, 3, 1, 0, 0, 2],
+        [5, 3, 9, 0, 4, 2],
+        maximum_frames=3,
+    )
+    assert selected == (1, 2, 5)
+
+
+def test_visual_selection_rejects_impossible_class_count() -> None:
+    with pytest.raises(L31PointPillarsRavnovesError):
+        select_visual_frame_indices([2], [1])