feat(lidar): qualify Patchwork++ on GOOSE
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DCCONSTRUCTIONS
@@ -90,25 +90,43 @@ export interface DatasetNativeScanPreview {
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}>;
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}
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export interface DatasetGroundMetrics {
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precision: number;
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recall: number;
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f1: number;
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groundIou: number;
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accuracy: number;
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artificialGroundRecall: number;
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naturalGroundRecall: number;
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obstacleNonGroundRecall: number;
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}
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export interface DatasetGroundComparison {
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sourceId: "goose-3d/v2025-08-22";
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frameId: string;
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pointCount: number;
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currentGround: number[];
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patchworkGround: number[];
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patchworkAssigned: number[];
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groundTruthGround: number[];
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evaluated: number[];
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disagreement: number[];
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currentDisagreement: number[];
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patchworkDisagreement: number[];
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metrics: {
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precision: number;
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recall: number;
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f1: number;
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groundIou: number;
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accuracy: number;
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artificialGroundRecall: number;
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naturalGroundRecall: number;
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obstacleNonGroundRecall: number;
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current: DatasetGroundMetrics;
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patchworkpp: DatasetGroundMetrics;
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};
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latencyMs: {
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current: number;
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patchworkpp: number;
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};
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patchworkAssignedFraction: number;
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inputProfile: {
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frameId: "sensor/lidar/vls128_roof";
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sensorHeightM: number;
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heightEvidence: "published-dimensioned-schematic";
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normalizedScanProduced: false;
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};
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latencyMs: number;
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}
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export class DatasetGatewayContractError extends Error {}
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@@ -500,7 +518,7 @@ export function parseDatasetGroundComparison(
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): DatasetGroundComparison {
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const source = record(value, "Ground comparison");
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if (
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source.schema_version !== "missioncore.dataset-ground-comparison-preview/v1"
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source.schema_version !== "missioncore.dataset-ground-comparison-preview/v2"
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|| source.source_id !== "goose-3d/v2025-08-22"
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|| source.sampling !== "deterministic-even-index"
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) {
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@@ -508,41 +526,135 @@ export function parseDatasetGroundComparison(
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}
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const pointCount = number(source.point_count, "point_count");
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const currentGround = integers(source.current_ground, "current_ground", 1);
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const patchworkGround = integers(source.patchwork_ground, "patchwork_ground", 1);
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const patchworkAssigned = integers(
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source.patchwork_assigned,
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"patchwork_assigned",
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1,
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);
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const groundTruthGround = integers(
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source.ground_truth_ground,
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"ground_truth_ground",
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1,
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);
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const evaluated = integers(source.evaluated, "evaluated", 1);
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const disagreement = integers(source.disagreement, "disagreement", 1);
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const currentDisagreement = integers(
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source.current_disagreement,
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"current_disagreement",
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1,
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);
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const patchworkDisagreement = integers(
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source.patchwork_disagreement,
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"patchwork_disagreement",
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1,
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);
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if (
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pointCount < 1
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|| pointCount > 50_000
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|| currentGround.length !== pointCount
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|| patchworkGround.length !== pointCount
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|| patchworkAssigned.length !== pointCount
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|| groundTruthGround.length !== pointCount
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|| evaluated.length !== pointCount
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|| disagreement.length !== pointCount
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|| currentDisagreement.length !== pointCount
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|| patchworkDisagreement.length !== pointCount
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) {
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throw new DatasetGatewayContractError("Ground comparison arrays не выровнены");
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}
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const metrics = record(source.metrics, "metrics");
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const fraction = (key: string): number => {
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const value = number(metrics[key], `metrics.${key}`);
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if (value > 1) {
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throw new DatasetGatewayContractError(`metrics.${key}: ожидалась доля`);
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}
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return value;
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const parseMetrics = (
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value: unknown,
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label: string,
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): DatasetGroundMetrics => {
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const providerMetrics = record(value, label);
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const fraction = (key: string): number => {
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const result = number(providerMetrics[key], `${label}.${key}`);
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if (result > 1) {
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throw new DatasetGatewayContractError(`${label}.${key}: ожидалась доля`);
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}
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return result;
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};
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return {
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precision: fraction("precision"),
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recall: fraction("recall"),
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f1: fraction("f1"),
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groundIou: fraction("ground_iou"),
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accuracy: fraction("accuracy"),
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artificialGroundRecall: fraction("artificial_ground_recall"),
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naturalGroundRecall: fraction("natural_ground_recall"),
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obstacleNonGroundRecall: fraction("obstacle_non_ground_recall"),
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};
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};
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const provider = record(source.provider, "provider");
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const currentMetrics = parseMetrics(metrics.current, "metrics.current");
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const patchworkMetrics = parseMetrics(
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metrics.patchworkpp,
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"metrics.patchworkpp",
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);
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const providers = record(source.providers, "providers");
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const currentProvider = record(providers.current, "providers.current");
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const patchworkProvider = record(providers.patchworkpp, "providers.patchworkpp");
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if (
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provider.provider_id !== "missioncore-local-percentile-ground/v1"
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|| provider.ground_truth !== false
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currentProvider.provider_id !== "missioncore-local-percentile-ground/v1"
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|| currentProvider.ground_truth !== false
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|| !/^[a-f0-9]{64}$/.test(
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string(provider.implementation_sha256, "provider.implementation_sha256"),
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string(
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currentProvider.implementation_sha256,
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"providers.current.implementation_sha256",
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),
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)
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|| patchworkProvider.provider_id !== "patchworkpp/v1.4.1"
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|| patchworkProvider.source_tag !== "v1.4.1"
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|| patchworkProvider.source_commit
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!== "3e6903a1d5537a4cc2ace897b0bbb98a92d6014c"
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|| patchworkProvider.ground_truth !== false
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|| !/^[a-f0-9]{64}$/.test(
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string(
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patchworkProvider.binary_sha256,
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"providers.patchworkpp.binary_sha256",
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),
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)
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) {
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throw new DatasetGatewayContractError("Ground comparison provider несовместим");
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}
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const latency = record(source.latency_ms, "latency_ms");
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const inputProfile = record(source.input_profile, "input_profile");
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const sensorFrame = record(inputProfile.sensor_frame, "input_profile.sensor_frame");
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const height = record(inputProfile.height, "input_profile.height");
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const scope = record(inputProfile.scope, "input_profile.scope");
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const sensorHeightM = number(
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height.sensor_above_ground_m,
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"height.sensor_above_ground_m",
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);
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if (
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inputProfile.schema_version !== "missioncore.goose-patchwork-profile/v1"
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|| inputProfile.source_id !== "goose-3d/v2025-08-22"
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|| inputProfile.representation !== "native-scan"
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|| sensorFrame.frame_id !== "sensor/lidar/vls128_roof"
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|| sensorFrame.handedness !== "right"
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|| sensorFrame.x !== "forward"
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|| sensorFrame.y !== "left"
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|| sensorFrame.z !== "up"
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|| sensorFrame.one_revolution !== true
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|| height.base_link_above_ground_m !== 0.64
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|| height.lidar_above_base_link_m !== 1.6
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|| sensorHeightM !== 2.24
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|| height.evidence !== "published-dimensioned-schematic"
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|| scope.patchworkpp_eligible !== true
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|| scope.normalized_scan_produced !== false
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|| scope.complete_vehicle_transform_known !== false
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|| scope.deskew_claimed !== false
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) {
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throw new DatasetGatewayContractError("GOOSE Patchwork++ profile несовместим");
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}
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const patchworkAssignedFraction = number(
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source.patchwork_assigned_fraction,
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"patchwork_assigned_fraction",
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);
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if (patchworkAssignedFraction > 1) {
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throw new DatasetGatewayContractError(
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"patchwork_assigned_fraction: ожидалась доля",
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);
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}
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const safety = record(source.safety, "safety");
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if (
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safety.qualification_only !== true
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@@ -555,20 +667,27 @@ export function parseDatasetGroundComparison(
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frameId: string(source.frame_id, "frame_id", true),
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pointCount,
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currentGround,
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patchworkGround,
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patchworkAssigned,
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groundTruthGround,
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evaluated,
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disagreement,
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currentDisagreement,
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patchworkDisagreement,
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metrics: {
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precision: fraction("precision"),
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recall: fraction("recall"),
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f1: fraction("f1"),
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groundIou: fraction("ground_iou"),
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accuracy: fraction("accuracy"),
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artificialGroundRecall: fraction("artificial_ground_recall"),
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naturalGroundRecall: fraction("natural_ground_recall"),
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obstacleNonGroundRecall: fraction("obstacle_non_ground_recall"),
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current: currentMetrics,
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patchworkpp: patchworkMetrics,
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},
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latencyMs: {
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current: number(latency.current, "latency_ms.current"),
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patchworkpp: number(latency.patchworkpp, "latency_ms.patchworkpp"),
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},
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patchworkAssignedFraction,
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inputProfile: {
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frameId: "sensor/lidar/vls128_roof",
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sensorHeightM,
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heightEvidence: "published-dimensioned-schematic",
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normalizedScanProduced: false,
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},
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latencyMs: number(source.latency_ms, "latency_ms"),
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};
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}
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