SILVER/NODEDC_MISSION_CORE
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
DCCONSTRUCTIONS
2026-08-28 00:13:58 +03:00
parent 57204b3b0b
commit 67e6ae98e2
12 changed files with 482 additions and 226 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tests/test_vegetation_shadow_lab.py
+15 -5
View File
@@ -28,7 +28,7 @@ def _worker_result(root: Path, *, candidate: str, mode: str, vegetation_iou: flo
case_root.mkdir(parents=True)
keys = ["source", "prediction_semantic", "policy_urban", "policy_rural", "policy_offroad"]
if mode == "goose":
keys.append("truth_semantic")
keys.extend(("truth_semantic", "vegetation_material_error"))
files = {}
for key in keys:
path = case_root / f"{key}.png"
@@ -44,6 +44,13 @@ def _worker_result(root: Path, *, candidate: str, mode: str, vegetation_iou: flo
"source_height": 600 if mode == "ravnoves" else 512,
"center_crop_xyxy": [100, 0, 700, 600] if mode == "ravnoves" else [0, 0, 512, 512],
"outside_crop_state": "undefined" if mode == "ravnoves" else "not-applicable",
"focus": {
"class_name": "high_grass",
"label_id": 51,
"truth_pixels": 16384,
"truth_fraction": 0.0625,
"stratum_rank": index + 1,
} if mode == "goose" else None,
"files": files,
}
)
@@ -99,9 +106,12 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence(tmp_path: Path)
assert manifest["ground_truth"] is False
assert manifest["authority"]["commands_enabled"] is False
assert manifest["authority"]["navigation_or_safety_accepted"] is False
assert len(manifest["catalogs"]["ravnoves"]) == 12
assert len(manifest["catalogs"]["ravnoves"]) == 0
assert len(manifest["catalogs"]["goose"]) == 12
assert len(manifest["artifacts"]) == 124
assert len(manifest["artifacts"]) == 76
assert manifest["catalogs"]["goose"][0]["focus"]["class_name"] == "high_grass"
assert "ddrnet_error" in manifest["catalogs"]["goose"][0]["assets"]
assert "ppliteseg_error" in manifest["catalogs"]["goose"][0]["assets"]
assert "all_classes" not in manifest["metrics"]["candidates"]["ddrnet"]["validation_metrics"]
assert (result_root / "result.json").stat().st_size <= 64 * 1024
@@ -111,7 +121,7 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence(tmp_path: Path)
)
proof = verify_laboratory_evidence_result(definition, result_root)
assert proof["result_id"] == result_root.name
assert proof["artifact_count"] == 124
assert proof["artifact_count"] == 76
app = FastAPI()
app.include_router(build_vegetation_shadow_lab_router(root_provider=lambda: result_root.parent))
@@ -119,7 +129,7 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence(tmp_path: Path)
response = client.get(f"/api/v1/laboratory/vegetation-shadow/{result_root.name}")
assert response.status_code == 200
assert response.json()["access"] == "read-only"
asset_path = manifest["catalogs"]["ravnoves"][0]["assets"]["offroad"]["path"]
asset_path = manifest["catalogs"]["goose"][0]["assets"]["ddrnet_error"]["path"]
asset = client.get(
f"/api/v1/laboratory/vegetation-shadow/{result_root.name}/assets/{asset_path}"
)