feat(lidar): add ground segmentation diagnostic benchmark

apps/control-station/src/workspaces/LidarQualityWorkspace.tsx

@@ -6,8 +6,10 @@ import {
 } from "@nodedc/ui-react";
 
 import {
+  fetchLidarGroundBenchmarks,
   fetchLidarReplayCatalog,
   fetchLidarReplayDetail,
+  type LidarGroundBenchmark,
   type LidarReplayCatalog,
   type LidarReplayDetail,
   type LidarStageReadiness,
@@ -53,6 +55,8 @@ export function LidarQualityWorkspace({
 }) {
   const [catalog, setCatalog] = useState<LidarReplayCatalog | null>(null);
   const [detail, setDetail] = useState<LidarReplayDetail | null>(null);
+  const [groundBenchmark, setGroundBenchmark] =
+    useState<LidarGroundBenchmark | null>(null);
   const [selectedPackId, setSelectedPackId] = useState<string | null>(null);
   const [loading, setLoading] = useState(true);
   const [error, setError] = useState<string | null>(null);
@@ -72,17 +76,25 @@ export function LidarQualityWorkspace({
         const target = selectedPackId ?? nextCatalog.items[0]?.packId ?? null;
         if (!target) {
           setDetail(null);
+          setGroundBenchmark(null);
           return;
         }
-        const nextDetail = await fetchLidarReplayDetail(target, {
-          signal: controller.signal,
-        });
+        const [nextDetail, groundCatalog] = await Promise.all([
+          fetchLidarReplayDetail(target, {
+            signal: controller.signal,
+          }),
+          fetchLidarGroundBenchmarks(target, {
+            signal: controller.signal,
+          }),
+        ]);
         if (controller.signal.aborted) return;
         setSelectedPackId(target);
         setDetail(nextDetail);
+        setGroundBenchmark(groundCatalog.items[0] ?? null);
       } catch (loadError) {
         if (controller.signal.aborted) return;
         setDetail(null);
+        setGroundBenchmark(null);
         setError(errorMessage(loadError));
       } finally {
         if (!controller.signal.aborted) setLoading(false);
@@ -226,6 +238,118 @@ export function LidarQualityWorkspace({
             </GlassSurface>
           </div>
 
+          <GlassSurface className="lidar-ground-benchmark" padding="lg">
+            <header className="panel-heading">
+              <div>
+                <span className="section-eyebrow">GROUND A/B · L2</span>
+                <h2>Текущий heuristic против Patchwork++</h2>
+              </div>
+              <StatusBadge tone={groundBenchmark ? "warning" : "neutral"}>
+                {groundBenchmark ? "Diagnostic only" : "Нет результата"}
+              </StatusBadge>
+            </header>
+            {groundBenchmark ? (
+              <>
+                <section
+                  className="lidar-ground-metrics"
+                  aria-label="Ground segmentation A/B"
+                >
+                  <div>
+                    <span>Текущий ground p50</span>
+                    <strong>
+                      {formatFraction(
+                        groundBenchmark.current.groundFraction.p50,
+                      )}
+                    </strong>
+                    <small>
+                      {formatNumber(
+                        groundBenchmark.current.latencyMs.p95,
+                        2,
+                      )}{" "}
+                      мс p95
+                    </small>
+                  </div>
+                  <div>
+                    <span>Patchwork++ ground p50</span>
+                    <strong>
+                      {formatFraction(
+                        groundBenchmark.candidate.groundFraction.p50,
+                      )}
+                    </strong>
+                    <small>
+                      {formatNumber(
+                        groundBenchmark.candidate.latencyMs.p95,
+                        2,
+                      )}{" "}
+                      мс p95
+                    </small>
+                  </div>
+                  <div>
+                    <span>Algorithm IoU p50</span>
+                    <strong>
+                      {formatFraction(
+                        groundBenchmark.comparison.algorithmGroundIou.p50,
+                      )}
+                    </strong>
+                    <small>Не является accuracy</small>
+                  </div>
+                  <div>
+                    <span>Disagreement p50</span>
+                    <strong>
+                      {formatFraction(
+                        groundBenchmark.comparison
+                          .groundDisagreementFraction.p50,
+                      )}
+                    </strong>
+                    <small>
+                      {groundBenchmark.frames.toLocaleString("ru-RU")} кадров
+                    </small>
+                  </div>
+                </section>
+                <div className="lidar-ground-gates">
+                  <div>
+                    <StatusBadge tone="danger">
+                      Входной контракт не принят
+                    </StatusBadge>
+                    <p>
+                      Patchwork++ ожидает sensor-centric scan и физическую высоту
+                      сенсора; текущий point feed является vendor-mapped increment.
+                    </p>
+                  </div>
+                  <div>
+                    <StatusBadge tone="warning">Разметка не принята</StatusBadge>
+                    <p>
+                      IoU, curb recall, low-obstacle recall и reflection-noise
+                      rejection появятся только после независимого human review.
+                    </p>
+                  </div>
+                  <div>
+                    <StatusBadge tone="danger">Не продвигать</StatusBadge>
+                    <p>
+                      Следующий gate: human-reviewed annotation subset или
+                      принятый raw sensor scan с физической высотой сенсора.
+                    </p>
+                  </div>
+                </div>
+                <footer className="lidar-ground-footer">
+                  <span>
+                    {groundBenchmark.current.provider.providerId}
+                  </span>
+                  <span>
+                    {groundBenchmark.candidate.provider.providerId}
+                    {groundBenchmark.candidate.provider.sourceCommit
+                      ? ` · ${groundBenchmark.candidate.provider.sourceCommit.slice(0, 12)}`
+                      : ""}
+                  </span>
+                </footer>
+              </>
+            ) : (
+              <p className="lidar-ground-empty">
+                Для выбранного replay pack ещё нет проверенного ground benchmark.
+              </p>
+            )}
+          </GlassSurface>
+
           <GlassSurface className="lidar-pack-catalog" padding="lg">
             <header className="panel-heading">
               <div>