feat(lidar): add ground segmentation diagnostic benchmark
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DCCONSTRUCTIONS
@@ -59,6 +59,62 @@ export interface LidarReplayDetail {
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stages: LidarStageReadiness[];
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}
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export interface LidarGroundProviderSummary {
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providerId: string;
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sourceCommit: string | null;
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}
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export interface LidarGroundBenchmark {
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benchmarkId: string;
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replayPackId: string;
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sessionId: string;
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status: "diagnostic-only";
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frames: number;
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points: number;
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inputDomain: {
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accepted: false;
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representation: string;
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physicalSensorHeightKnown: boolean;
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sensorScanGeometryKnown: boolean;
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reason: string;
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};
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labels: {
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status: "missing-independent-review";
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metricsAvailable: false;
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};
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current: {
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provider: LidarGroundProviderSummary;
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groundFraction: LidarDistribution;
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assignedFraction: LidarDistribution;
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latencyMs: LidarDistribution;
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};
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candidate: {
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provider: LidarGroundProviderSummary;
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groundFraction: LidarDistribution;
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assignedFraction: LidarDistribution;
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latencyMs: LidarDistribution;
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};
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comparison: {
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algorithmGroundIou: LidarDistribution;
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groundDisagreementFraction: LidarDistribution;
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isAccuracyMetric: false;
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};
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decision: {
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status: "do-not-promote-on-current-vendor-map";
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productionPromotion: false;
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reasons: string[];
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nextGate: string;
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};
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createdAtUtc: string | null;
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}
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export interface LidarGroundBenchmarkCatalog {
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configured: boolean;
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validTotal: number;
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invalidTotal: number;
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items: LidarGroundBenchmark[];
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}
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export class LidarReplayContractError extends Error {}
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export class LidarReplayApiError extends Error {
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@@ -73,8 +129,10 @@ type LidarFetch = (
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) => Promise<Response>;
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const SAFE_PACK_ID = /^lidar-replay-pack-[a-f0-9]{64}$/;
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const SAFE_GROUND_BENCHMARK_ID = /^ground-benchmark-[a-f0-9]{64}$/;
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const SAFE_ID = /^[A-Za-z0-9][A-Za-z0-9._:/-]{0,159}$/;
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const SHA256 = /^[a-f0-9]{64}$/;
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const GIT_SHA1 = /^[a-f0-9]{40}$/;
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function record(value: unknown, label: string): Record<string, unknown> {
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if (!value || typeof value !== "object" || Array.isArray(value)) {
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@@ -258,6 +316,139 @@ export function parseLidarReplayDetail(value: unknown): LidarReplayDetail {
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};
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}
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function groundProvider(
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value: unknown,
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label: string,
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): LidarGroundProviderSummary {
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const source = record(value, label);
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return {
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providerId: string(source.provider_id, `${label}.provider_id`, SAFE_ID),
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sourceCommit:
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source.source_commit === undefined || source.source_commit === null
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? null
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: string(source.source_commit, `${label}.source_commit`, GIT_SHA1),
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};
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}
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function groundBranch(
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value: unknown,
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label: string,
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): LidarGroundBenchmark["current"] {
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const source = record(value, label);
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return {
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provider: groundProvider(source.provider, `${label}.provider`),
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groundFraction: distribution(
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source.ground_fraction,
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`${label}.ground_fraction`,
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),
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assignedFraction: distribution(
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source.assigned_fraction,
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`${label}.assigned_fraction`,
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),
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latencyMs: distribution(source.latency_ms, `${label}.latency_ms`),
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};
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}
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function groundBenchmark(value: unknown): LidarGroundBenchmark {
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const source = record(value, "LiDAR ground benchmark");
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if (source.status !== "diagnostic-only") {
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throw new LidarReplayContractError("Ground benchmark status несовместим");
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}
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const inputDomain = record(source.input_domain, "input_domain");
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const labels = record(source.labels, "labels");
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const comparison = record(source.comparison, "comparison");
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const decision = record(source.decision, "decision");
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if (
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inputDomain.accepted !== false
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|| labels.status !== "missing-independent-review"
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|| labels.metrics_available !== false
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|| comparison.is_accuracy_metric !== false
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|| decision.status !== "do-not-promote-on-current-vendor-map"
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|| decision.production_promotion !== false
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) {
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throw new LidarReplayContractError(
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"Ground benchmark завышает readiness или accuracy",
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);
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}
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return {
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benchmarkId: string(
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source.benchmark_id,
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"benchmark_id",
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SAFE_GROUND_BENCHMARK_ID,
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),
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replayPackId: string(source.replay_pack_id, "replay_pack_id", SAFE_PACK_ID),
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sessionId: string(source.session_id, "session_id", SAFE_ID),
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status: "diagnostic-only",
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frames: integer(source.frames, "frames"),
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points: integer(source.points, "points"),
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inputDomain: {
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accepted: false,
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representation: string(
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inputDomain.representation,
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"input_domain.representation",
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SAFE_ID,
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),
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physicalSensorHeightKnown: boolean(
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inputDomain.physical_sensor_height_known,
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"input_domain.physical_sensor_height_known",
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),
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sensorScanGeometryKnown: boolean(
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inputDomain.sensor_scan_geometry_known,
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"input_domain.sensor_scan_geometry_known",
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),
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reason: string(inputDomain.reason, "input_domain.reason"),
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},
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labels: {
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status: "missing-independent-review",
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metricsAvailable: false,
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},
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current: groundBranch(source.current, "current"),
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candidate: groundBranch(source.candidate, "candidate"),
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comparison: {
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algorithmGroundIou: distribution(
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comparison.algorithm_to_algorithm_ground_iou,
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"comparison.algorithm_ground_iou",
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),
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groundDisagreementFraction: distribution(
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comparison.ground_disagreement_fraction,
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"comparison.ground_disagreement_fraction",
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),
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isAccuracyMetric: false,
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},
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decision: {
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status: "do-not-promote-on-current-vendor-map",
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productionPromotion: false,
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reasons: array(decision.reasons, "decision.reasons").map((reason) =>
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string(reason, "decision.reason")
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),
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nextGate: string(decision.next_gate, "decision.next_gate"),
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},
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createdAtUtc:
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source.created_at_utc === null || source.created_at_utc === undefined
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? null
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: string(source.created_at_utc, "created_at_utc"),
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};
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}
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export function parseLidarGroundBenchmarkCatalog(
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value: unknown,
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): LidarGroundBenchmarkCatalog {
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const source = record(value, "LiDAR ground catalog");
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if (
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source.schema_version
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!== "missioncore.lidar-ground-benchmark-catalog/v1"
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|| source.access !== "read-only"
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) {
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throw new LidarReplayContractError("LiDAR ground catalog несовместим");
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}
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return {
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configured: boolean(source.configured, "configured"),
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validTotal: integer(source.valid_total, "valid_total"),
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invalidTotal: integer(source.invalid_total, "invalid_total"),
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items: array(source.items, "items").map(groundBenchmark),
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};
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}
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async function responseJson(
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response: Response,
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fallback: string,
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@@ -309,3 +500,24 @@ export async function fetchLidarReplayDetail(
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await responseJson(response, "Не удалось получить LiDAR quality report."),
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);
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}
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export async function fetchLidarGroundBenchmarks(
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packId: string,
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options: { signal?: AbortSignal; fetcher?: LidarFetch } = {},
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): Promise<LidarGroundBenchmarkCatalog> {
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if (!SAFE_PACK_ID.test(packId)) {
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throw new LidarReplayContractError("Некорректный LiDAR pack id");
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}
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const fetcher = options.fetcher ?? fetch;
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const response = await fetcher(
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`/api/v1/lidar/ground-benchmarks?pack_id=${encodeURIComponent(packId)}&limit=20`,
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{
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method: "GET",
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headers: { Accept: "application/json" },
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signal: options.signal,
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},
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);
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return parseLidarGroundBenchmarkCatalog(
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await responseJson(response, "Не удалось получить LiDAR ground benchmark."),
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);
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}
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