feat(lidar): qualify Patchwork++ on GOOSE

tests/test_dataset_gateway.py

@@ -21,7 +21,11 @@ from k1link.datasets import (
     read_semantic_kitti_frame,
 )
 from k1link.datasets.goose_admission import admit_goose_validation
-from k1link.datasets.goose_benchmark import benchmark_goose_current_ground
+from k1link.datasets.goose_benchmark import (
+    benchmark_goose_current_ground,
+    benchmark_goose_patchwork_ground,
+)
+from k1link.ground_segmentation import GroundSegmentation
 from k1link.web.lidar_api import build_lidar_router
 
 
@@ -354,12 +358,49 @@ def test_goose_current_ground_is_scored_against_independent_labels(
     assert report["ground_truth"]["evaluated_points"] == 4
     assert 0 <= report["metrics"]["ground_iou"] <= 1
     assert report["decision"]["promoted"] is False
-    output = (
-        install
-        / "benchmarks"
-        / f"current-ground-{report['identity_sha256']}"
-        / "preview.json"
-    )
-    preview = read_dataset_ground_preview(output)
+    output = install / "benchmarks" / f"current-ground-{report['identity_sha256']}" / "preview.json"
+    preview = json.loads(output.read_text(encoding="utf-8"))
     assert preview["point_count"] == 4
     assert len(preview["disagreement"]) == 4
+
+    class FakePatchwork:
+        identity = {
+            "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": "test",
+            "binary_sha256": "c" * 64,
+            "platform": "linux",
+            "machine": "x86_64",
+            "ground_truth": False,
+        }
+
+        def segment(self, xyzi: np.ndarray) -> GroundSegmentation:
+            return GroundSegmentation(
+                ground_mask=np.asarray([True, True, False, False]),
+                assigned_mask=np.ones(xyzi.shape[0], dtype=np.bool_),
+                latency_ms=0.2,
+            )
+
+    ab_report = benchmark_goose_patchwork_ground(
+        root,
+        patchwork=FakePatchwork(),
+        preview_points=4,
+    )
+
+    assert ab_report["scope"]["patchworkpp_input_admitted"] is True
+    assert ab_report["scope"]["normalized_scan_produced"] is False
+    assert ab_report["decision"]["promoted"] is False
+    ab_output = (
+        install / "benchmarks" / f"ground-ab-{ab_report['identity_sha256']}" / "preview.json"
+    )
+    ab_preview = read_dataset_ground_preview(ab_output)
+    assert ab_preview["schema_version"] == "missioncore.dataset-ground-comparison-preview/v2"
+    assert ab_preview["input_profile"]["height"]["sensor_above_ground_m"] == 2.24
+    assert len(ab_preview["patchwork_disagreement"]) == 4
+
+    ab_preview["input_profile"]["height"]["sensor_above_ground_m"] = 2.25
+    ab_output.write_text(json.dumps(ab_preview), encoding="utf-8")
+    with pytest.raises(DatasetAdmissionError, match="input profile"):
+        read_dataset_ground_preview(ab_output)