feat(lidar): add ground segmentation diagnostic benchmark

2026-07-25 02:09:27 +03:00
parent e4fdd9fa20
commit 75a3e669d9
14 changed files with 2235 additions and 15 deletions
@@ -0,0 +1,104 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+import argparse
+import json
+from pathlib import Path
+
+from k1link.compute import (
+    PATCHWORKPP_SOURCE_COMMIT,
+    PATCHWORKPP_SOURCE_TAG,
+    LidarGroundBenchmarkV1,
+    LidarReplayPackV2,
+    PatchworkPPGroundSegmenter,
+    build_lidar_ground_annotation_template,
+    build_lidar_ground_benchmark,
+)
+
+
+def _arguments() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description=(
+            "Run diagnostic-only local-percentile vs Patchwork++ ground A/B "
+            "against one immutable LiDAR replay pack."
+        )
+    )
+    parser.add_argument("replay_pack", type=Path)
+    parser.add_argument("output_root", type=Path)
+    parser.add_argument(
+        "--annotation-root",
+        type=Path,
+        help="Optional root for an all-ignore human-review template.",
+    )
+    parser.add_argument(
+        "--annotation-frames",
+        type=int,
+        default=8,
+    )
+    parser.add_argument(
+        "--patchwork-module",
+        default="pypatchworkpp",
+    )
+    parser.add_argument(
+        "--patchwork-source-tag",
+        default=PATCHWORKPP_SOURCE_TAG,
+    )
+    parser.add_argument(
+        "--patchwork-source-commit",
+        default=PATCHWORKPP_SOURCE_COMMIT,
+    )
+    return parser.parse_args()
+
+
+def main() -> int:
+    arguments = _arguments()
+    replay = LidarReplayPackV2(arguments.replay_pack)
+    try:
+        patchwork = PatchworkPPGroundSegmenter.load(
+            module_name=arguments.patchwork_module,
+            source_tag=arguments.patchwork_source_tag,
+            source_commit=arguments.patchwork_source_commit,
+        )
+        output = build_lidar_ground_benchmark(
+            replay,
+            arguments.output_root,
+            patchwork=patchwork,
+        )
+        annotation = (
+            build_lidar_ground_annotation_template(
+                replay,
+                arguments.annotation_root,
+                requested_frames=arguments.annotation_frames,
+            )
+            if arguments.annotation_root is not None
+            else None
+        )
+    finally:
+        replay.close()
+
+    result = LidarGroundBenchmarkV1(output)
+    try:
+        print(
+            json.dumps(
+                {
+                    "benchmark_id": result.benchmark_id,
+                    "status": result.report["status"],
+                    "decision": result.report["decision"],
+                    "current": result.report["current"],
+                    "candidate": result.report["candidate"],
+                    "comparison": result.report["comparison"],
+                    "annotation_template_id": (
+                        annotation.name if annotation is not None else None
+                    ),
+                },
+                ensure_ascii=False,
+                indent=2,
+            )
+        )
+    finally:
+        result.close()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())