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fix(perception): reuse M4.8 for vegetation evidence

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DCCONSTRUCTIONS
2026-08-28 00:13:58 +03:00
parent 57204b3b0b
commit 67e6ae98e2
12 changed files with 482 additions and 226 deletions
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apps/control-station/src/core/laboratory/vegetationShadow.ts
+38 -5
View File
@@ -4,11 +4,25 @@ const RESULT_ID = /^lab-v1-vegetation-shadow-[a-f0-9]{64}$/;
const SHA256 = /^[a-f0-9]{64}$/;
const CANDIDATES = ["ddrnet", "ppliteseg"] as const;
const ROUTE_MODES = ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"] as const;
const VALIDATION_MODES = ["source", "truth", "ddrnet", "ppliteseg"] as const;
const VALIDATION_ASSETS = [
"source",
"truth",
"ddrnet",
"ppliteseg",
"ddrnet_error",
"ppliteseg_error",
] as const;
export type VegetationCandidateKey = typeof CANDIDATES[number];
export type VegetationRouteMode = typeof ROUTE_MODES[number];
export type VegetationValidationMode = typeof VALIDATION_MODES[number];
export interface VegetationVisualFocus {
className: string;
labelId: number;
truthPixels: number;
truthFraction: number;
stratumRank: number;
}
export interface VegetationCandidateMetrics {
candidate: VegetationCandidateKey;
@@ -33,6 +47,7 @@ export interface VegetationVisualCase {
height: number;
centerCropXyxy: readonly [number, number, number, number];
outsideCropState: "undefined" | "not-applicable";
focus: VegetationVisualFocus | null;
assets: Readonly<Record<string, string>>;
}
@@ -174,7 +189,7 @@ function visualCaseValue(
.join("/")}`;
}
const expectedAssets = expectedKind === "goose"
? VALIDATION_MODES
? VALIDATION_ASSETS
: ROUTE_MODES;
if (expectedAssets.some((key) => !projected[key])) {
throw new VegetationShadowContractError(`vegetation.case.assets: ${expectedKind} набор неполон.`);
@@ -183,6 +198,23 @@ function visualCaseValue(
if (outsideCropState !== "undefined" && outsideCropState !== "not-applicable") {
throw new VegetationShadowContractError("vegetation.case.outside_crop_state: контракт изменён.");
}
let focus: VegetationVisualFocus | null = null;
if (expectedKind === "goose") {
const rawFocus = objectValue(row.focus, "vegetation.case.focus");
const truthFraction = numberValue(rawFocus.truth_fraction, "vegetation.case.focus.truth_fraction");
if (truthFraction <= 0 || truthFraction > 1) {
throw new VegetationShadowContractError("vegetation.case.focus.truth_fraction: диапазон изменён.");
}
focus = {
className: textValue(rawFocus.class_name, "vegetation.case.focus.class_name"),
labelId: integerValue(rawFocus.label_id, "vegetation.case.focus.label_id"),
truthPixels: integerValue(rawFocus.truth_pixels, "vegetation.case.focus.truth_pixels"),
truthFraction,
stratumRank: integerValue(rawFocus.stratum_rank, "vegetation.case.focus.stratum_rank"),
};
} else if (row.focus !== null) {
throw new VegetationShadowContractError("vegetation.case.focus: RAVNOVES focus отсутствует.");
}
return {
caseId,
sourceKind: expectedKind,
@@ -190,6 +222,7 @@ function visualCaseValue(
height: integerValue(row.height, "vegetation.case.height"),
centerCropXyxy: crop as unknown as readonly [number, number, number, number],
outsideCropState,
focus,
assets: projected,
};
}
@@ -233,8 +266,8 @@ function parseResult(value: unknown, resultId: string): VegetationShadowResult {
.map((item) => visualCaseValue(item, resultId, "ravnoves"));
const validationCases = arrayValue(catalogs.goose, "vegetation.catalogs.goose")
.map((item) => visualCaseValue(item, resultId, "goose"));
if (routeCases.length !== 12 || validationCases.length !== 12) {
throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 + 12 случаев.");
if (routeCases.length !== 0 || validationCases.length !== 12) {
throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 truth-backed GOOSE случаев без route viewer.");
}
return {
resultId,