feat(perception): qualify lossless lidar observations

tests/test_lidar_replay.py

@@ -3,6 +3,7 @@ from __future__ import annotations
 import json
 import struct
 from pathlib import Path
+from typing import Any, cast
 
 import lz4.block
 import pytest
@@ -11,11 +12,13 @@ from fastapi.routing import APIRoute
 
 from k1link.compute import (
     K1_LIDAR_PACK_V2_PROFILE,
+    K1LocalSurfaceV1,
     LidarPipelineStage,
     LidarReadiness,
     LidarReplayError,
     LidarReplayPackV2,
     assess_lidar_profile,
+    build_k1_local_surface,
     build_lidar_replay_pack_v2,
     verify_lidar_replay_equivalence,
 )
@@ -163,7 +166,11 @@ def _capture(tmp_path: Path) -> Path:
 
 def _endpoint(router: APIRouter, path: str) -> object:
     for route in router.routes:
-        if isinstance(route, APIRoute) and route.path == path and "GET" in route.methods:
+        if (
+            isinstance(route, APIRoute)
+            and route.path == path
+            and "GET" in (route.methods or set())
+        ):
             return route.endpoint
     raise AssertionError(f"GET {path} route is missing")
 
@@ -208,6 +215,38 @@ def test_lidar_replay_v2_retains_fields_and_passes_equivalence(tmp_path: Path) -
         assert pack.equivalence["array_mismatches"] == 0
         rerun = verify_lidar_replay_equivalence(capture, pack)
         assert rerun["status"] == "passed"
+
+        surface_output = build_k1_local_surface(
+            pack,
+            tmp_path / "local-surfaces",
+            display_name="synthetic replay v2 local surface",
+        )
+        surface = K1LocalSurfaceV1(surface_output)
+        try:
+            assert surface.identity["source_pack_id"] == pack.pack_id
+            assert (
+                surface.identity["source_pack_identity_sha256"]
+                == pack.manifest["identity_sha256"]
+            )
+            assert (
+                surface.identity["source_schema_version"]
+                == "missioncore.lidar-replay-pack/v2"
+            )
+            assert (
+                surface.identity["source_representation"]
+                == "lossless-lidar-replay-v2"
+            )
+            assert surface.identity["frame_count"] == pack.point_frame_count
+            assert surface.identity["point_count"] == pack.point_count
+            surface_source = cast(dict[str, Any], surface.report["source"])
+            assert surface_source["intensity_available"] is True
+            detail = surface.frame_detail(pack, 0)
+            assert detail["source_pack_id"] == pack.pack_id
+            assert detail["source_frame_index"] == 1
+            detail_pose = cast(dict[str, Any], detail["pose"])
+            assert detail_pose["binding_age_ms"] == pytest.approx(10.0)
+        finally:
+            surface.close()
     finally:
         pack.close()