feat(lidar): add ground segmentation diagnostic benchmark

src/k1link/compute/__init__.py

@@ -69,6 +69,25 @@ from .lidar_contract import (
     lidar_readiness_document,
     sensor_frame_xyzi,
 )
+from .lidar_ground import (
+    DEFAULT_GROUND_BENCHMARK_PROFILE,
+    LIDAR_GROUND_ANNOTATION_TEMPLATE_SCHEMA,
+    LIDAR_GROUND_BENCHMARK_REPORT_SCHEMA,
+    LIDAR_GROUND_BENCHMARK_SCHEMA,
+    PATCHWORKPP_SOURCE_COMMIT,
+    PATCHWORKPP_SOURCE_TAG,
+    PATCHWORKPP_SOURCE_URL,
+    GroundBenchmarkProfile,
+    GroundSegmentation,
+    LidarGroundBenchmarkV1,
+    LidarGroundError,
+    LocalPercentileGroundSegmenter,
+    PatchworkPPGroundSegmenter,
+    build_lidar_ground_annotation_template,
+    build_lidar_ground_benchmark,
+    lidar_ground_benchmark_catalog_item,
+    score_ground_labels,
+)
 from .lidar_replay import (
     LIDAR_EQUIVALENCE_REPORT_SCHEMA,
     LIDAR_QUALITY_REPORT_SCHEMA,
@@ -151,7 +170,12 @@ __all__ = [
     "EVALUATION_PACK_SCHEMA",
     "EvaluationFrameRequest",
     "EvaluationPackFrame",
+    "GroundBenchmarkProfile",
+    "GroundSegmentation",
     "LatestWinsQueue",
+    "LIDAR_GROUND_ANNOTATION_TEMPLATE_SCHEMA",
+    "LIDAR_GROUND_BENCHMARK_REPORT_SCHEMA",
+    "LIDAR_GROUND_BENCHMARK_SCHEMA",
     "LIDAR_EVIDENCE_PROFILE_SCHEMA",
     "LIDAR_EQUIVALENCE_REPORT_SCHEMA",
     "LIDAR_QUALITY_REPORT_SCHEMA",
@@ -169,6 +193,8 @@ __all__ = [
     "LidarPoseStatus",
     "LidarQualityMonitor",
     "LidarReadiness",
+    "LidarGroundBenchmarkV1",
+    "LidarGroundError",
     "LidarReplayError",
     "LidarReplayPackV2",
     "LidarReplayPointFrame",
@@ -190,6 +216,12 @@ __all__ = [
     "K1_LAB_LIDAR_PACK_V1_PROFILE",
     "K1_LIDAR_PACK_V2_PROFILE",
     "K1_LIVE_LIDAR_PROFILE",
+    "DEFAULT_GROUND_BENCHMARK_PROFILE",
+    "LocalPercentileGroundSegmenter",
+    "PATCHWORKPP_SOURCE_COMMIT",
+    "PATCHWORKPP_SOURCE_TAG",
+    "PATCHWORKPP_SOURCE_URL",
+    "PatchworkPPGroundSegmenter",
     "QueueSnapshot",
     "RecordedCalibratedFusion",
     "RecordedCalibratedFusionStore",
@@ -224,6 +256,8 @@ __all__ = [
     "prepare_recorded_qualification_slice",
     "assess_lidar_profile",
     "build_lidar_replay_pack_v2",
+    "build_lidar_ground_annotation_template",
+    "build_lidar_ground_benchmark",
     "DetectionFrame",
     "ObjectDetection",
     "RecordedPerceptionOverlayError",
@@ -246,6 +280,8 @@ __all__ = [
     "lidar_readiness_document",
     "lidar_pack_catalog_item",
     "lidar_pack_detail",
+    "lidar_ground_benchmark_catalog_item",
+    "score_ground_labels",
     "sensor_frame_xyzi",
     "verify_lidar_replay_equivalence",
 ]