feat(lidar): qualify Patchwork++ on GOOSE

apps/control-station/test/datasetGateway.test.mjs

@@ -194,36 +194,97 @@ test("decodes one bounded point-aligned native-scan preview", async () => {
   );
 });
 
-test("decodes a point-aligned current-vs-ground-truth comparison", async () => {
+test("decodes a point-aligned current-vs-Patchwork++ comparison", async () => {
   const payload = {
-    schema_version: "missioncore.dataset-ground-comparison-preview/v1",
+    schema_version: "missioncore.dataset-ground-comparison-preview/v2",
     source_id: "goose-3d/v2025-08-22",
     frame_id: "frame-1",
     sampling: "deterministic-even-index",
     point_count: 2,
     current_ground: [1, 1],
+    patchwork_ground: [1, 0],
+    patchwork_assigned: [1, 1],
     ground_truth_ground: [1, 0],
     evaluated: [1, 1],
-    disagreement: [0, 1],
+    current_disagreement: [0, 1],
+    patchwork_disagreement: [0, 0],
     metrics: {
-      true_positive: 1,
-      false_positive: 1,
-      false_negative: 0,
-      true_negative: 0,
-      precision: 0.5,
-      recall: 1,
-      f1: 2 / 3,
-      ground_iou: 0.5,
-      accuracy: 0.5,
-      artificial_ground_recall: 1,
-      natural_ground_recall: 0,
-      obstacle_non_ground_recall: 1,
+      current: {
+        true_positive: 1,
+        false_positive: 1,
+        false_negative: 0,
+        true_negative: 0,
+        precision: 0.5,
+        recall: 1,
+        f1: 2 / 3,
+        ground_iou: 0.5,
+        accuracy: 0.5,
+        artificial_ground_recall: 1,
+        natural_ground_recall: 0,
+        obstacle_non_ground_recall: 1,
+      },
+      patchworkpp: {
+        true_positive: 1,
+        false_positive: 0,
+        false_negative: 0,
+        true_negative: 1,
+        precision: 1,
+        recall: 1,
+        f1: 1,
+        ground_iou: 1,
+        accuracy: 1,
+        artificial_ground_recall: 1,
+        natural_ground_recall: 1,
+        obstacle_non_ground_recall: 1,
+      },
     },
-    latency_ms: 12.5,
-    provider: {
-      provider_id: "missioncore-local-percentile-ground/v1",
-      implementation_sha256: "a".repeat(64),
-      ground_truth: false,
+    latency_ms: {
+      current: 12.5,
+      patchworkpp: 0.4,
+    },
+    patchwork_assigned_fraction: 1,
+    providers: {
+      current: {
+        provider_id: "missioncore-local-percentile-ground/v1",
+        implementation_sha256: "a".repeat(64),
+        ground_truth: false,
+      },
+      patchworkpp: {
+        provider_id: "patchworkpp/v1.4.1",
+        source_url: "https://github.com/url-kaist/patchwork-plusplus",
+        source_tag: "v1.4.1",
+        source_commit: "3e6903a1d5537a4cc2ace897b0bbb98a92d6014c",
+        binding_version: "0.0.1",
+        binary_sha256: "b".repeat(64),
+        platform: "linux",
+        machine: "x86_64",
+        ground_truth: false,
+      },
+    },
+    input_profile: {
+      schema_version: "missioncore.goose-patchwork-profile/v1",
+      source_id: "goose-3d/v2025-08-22",
+      representation: "native-scan",
+      sensor_frame: {
+        frame_id: "sensor/lidar/vls128_roof",
+        handedness: "right",
+        x: "forward",
+        y: "left",
+        z: "up",
+        one_revolution: true,
+      },
+      height: {
+        base_link_above_ground_m: 0.64,
+        lidar_above_base_link_m: 1.6,
+        sensor_above_ground_m: 2.24,
+        evidence: "published-dimensioned-schematic",
+      },
+      scope: {
+        patchworkpp_eligible: true,
+        normalized_scan_produced: false,
+        complete_vehicle_transform_known: false,
+        deskew_claimed: false,
+      },
     },
     safety: {
       qualification_only: true,
@@ -231,15 +292,23 @@ test("decodes a point-aligned current-vs-ground-truth comparison", async () => {
     },
   };
   const parsed = parseDatasetGroundComparison(payload);
-  assert.equal(parsed.metrics.groundIou, 0.5);
-  assert.deepEqual(parsed.disagreement, [0, 1]);
+  assert.equal(parsed.metrics.current.groundIou, 0.5);
+  assert.equal(parsed.metrics.patchworkpp.groundIou, 1);
+  assert.deepEqual(parsed.patchworkDisagreement, [0, 0]);
+  assert.equal(parsed.inputProfile.sensorHeightM, 2.24);
 
   const fetched = await fetchDatasetGroundComparison({
     fetcher: async () => new Response(JSON.stringify(payload), { status: 200 }),
   });
-  assert.equal(fetched.latencyMs, 12.5);
+  assert.equal(fetched.latencyMs.patchworkpp, 0.4);
 
-  payload.disagreement.pop();
+  payload.patchwork_disagreement.pop();
+  assert.throws(
+    () => parseDatasetGroundComparison(payload),
+    DatasetGatewayContractError,
+  );
+  payload.patchwork_disagreement.push(0);
+  payload.input_profile.height.sensor_above_ground_m = 2.25;
   assert.throws(
     () => parseDatasetGroundComparison(payload),
     DatasetGatewayContractError,