feat(perception): add PointPillars visual audit
This commit is contained in:
DCCONSTRUCTIONS
@@ -13,8 +13,10 @@ import {
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import { fetchE34TemporalLayerResult } from "./e34TemporalLayer";
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import { fetchE35DegradationRecoveryResult } from "./e35DegradationRecovery";
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import { fetchE40ProductGateResult } from "./e40ProductGate";
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import { fetchL3PointPillarsVisualAudit } from "./l3PointPillarsVisualAudit";
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export type AdvancedLaboratoryWorkId =
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| "l3-pointpillars-visual-audit"
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| "e31-source-binding"
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| "e32-track-geometry"
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| "e33-worker-shadow"
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@@ -32,6 +34,7 @@ export interface AdvancedLaboratoryIndexItem {
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}
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const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
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"l3-pointpillars-visual-audit",
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"e31-source-binding",
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"e32-track-geometry",
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"e33-worker-shadow",
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@@ -44,6 +47,7 @@ const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
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];
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const RESULT_PREFIX: Readonly<Record<AdvancedLaboratoryWorkId, string>> = {
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"l3-pointpillars-visual-audit": "l3-pointpillars-visual-audit",
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"e31-source-binding": "e31-source-qualification",
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"e32-track-geometry": "e32-track-geometry",
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"e33-worker-shadow": "e33-worker-shadow",
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@@ -63,6 +67,7 @@ export function isAdvancedLaboratoryWorkId(
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export function emptyAdvancedLaboratoryResults(): AdvancedLaboratoryResults {
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return {
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l3: null,
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e31: null,
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e32: null,
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e33: null,
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@@ -163,7 +168,8 @@ export function advancedLaboratoryResultAvailable(
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workId: AdvancedLaboratoryWorkId,
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results: AdvancedLaboratoryResults,
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): boolean {
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return workId === "e31-source-binding" ? results.e31 !== null
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return workId === "l3-pointpillars-visual-audit" ? results.l3 !== null
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: workId === "e31-source-binding" ? results.e31 !== null
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: workId === "e32-track-geometry" ? results.e32 !== null
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: workId === "e33-worker-shadow" ? results.e33 !== null
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: workId === "e34-temporal-layer" ? results.e34 !== null
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@@ -185,7 +191,9 @@ export async function fetchAdvancedLaboratoryResult(
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} = {},
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): Promise<AdvancedLaboratoryResults> {
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const results = emptyAdvancedLaboratoryResults();
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if (workId === "e31-source-binding") {
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if (workId === "l3-pointpillars-visual-audit") {
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results.l3 = await fetchL3PointPillarsVisualAudit({ fetcher, signal });
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} else if (workId === "e31-source-binding") {
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results.e31 = await fetchOne(
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"/api/v1/laboratory/e31/results?limit=1",
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parseE31,
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@@ -11,6 +11,7 @@ import {
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type E40PerceptionProductGateResult,
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} from "./e40ProductGate";
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import { settledCatalogValue } from "./catalogTransport";
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import type { L3PointPillarsVisualAuditResult } from "./l3PointPillarsVisualAudit";
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export interface E31LaboratoryResult {
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resultId: string;
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@@ -238,6 +239,7 @@ export interface E39PerceptionRefinementResult {
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}
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export interface AdvancedLaboratoryResults {
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l3: L3PointPillarsVisualAuditResult | null;
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e31: E31LaboratoryResult | null;
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e32: E32LaboratoryResult | null;
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e33: E33LaboratoryResult | null;
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@@ -988,5 +990,5 @@ export async function fetchAdvancedLaboratoryResults({
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const e38 = settledCatalogValue(settled[6]);
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const e39 = settledCatalogValue(settled[7]);
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const e40 = settledCatalogValue(settled[8]);
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return { e31, e32, e33, e34, e35, e37, e38, e39, e40 };
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return { l3: null, e31, e32, e33, e34, e35, e37, e38, e39, e40 };
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}
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@@ -0,0 +1,384 @@
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import {
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AdvancedLaboratoryContractError,
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type LaboratoryFetch,
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} from "./advancedResults";
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export interface L3VisualFrameSummary {
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frameId: string;
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inferenceMs: number;
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predictionCount: number;
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evaluatedPredictionCount: number;
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outsideSharedRangeCount: number;
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truthCount: number;
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truePositiveCount: number;
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falsePositiveCount: number;
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falseNegativeCount: number;
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truthClasses: readonly string[];
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}
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export interface L3VisualBox {
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benchmarkClass: string;
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centerXyzM: readonly [number, number, number];
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sizeLwhM: readonly [number, number, number];
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yawRad: number;
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status: "matched" | "false-negative" | "true-positive" | "false-positive";
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score: number | null;
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}
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export interface L3VisualFrame {
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frameId: string;
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summary: L3VisualFrameSummary;
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sourcePointCount: number;
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sharedRangePointCount: number;
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sampledPointCount: number;
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pointsXyzi: readonly number[];
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truthBoxes: readonly L3VisualBox[];
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predictionBoxes: readonly L3VisualBox[];
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}
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export interface L3PointPillarsVisualAuditResult {
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resultId: string;
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createdAtUtc: string;
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status: "operator-visual-review-required";
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sourceRunId: string;
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sourceFrameResultsIdentitySha256: string;
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datasetSourceId: string;
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datasetReleaseIdentitySha256: string;
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metrics: {
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frameCount: number;
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bevMap40: number;
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threeDMap40: number;
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falseOccupiedRate: number;
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inferenceP95Ms: number;
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modelOutputBoxCount: number;
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evaluatedBoxCount: number;
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outsideSharedRangeCount: number;
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};
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frames: readonly L3VisualFrameSummary[];
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}
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const RESULT_ID = /^l3-pointpillars-visual-audit-[a-f0-9]{64}$/;
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const RUN_ID = /^l3-pointpillars-kitti-[a-f0-9]{64}$/;
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const SHA256 = /^[a-f0-9]{64}$/;
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const FRAME_ID = /^[0-9]{6}$/;
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function objectValue(
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value: unknown,
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label: string,
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): Record<string, unknown> {
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if (!value || typeof value !== "object" || Array.isArray(value)) {
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throw new AdvancedLaboratoryContractError(`${label}: ожидался объект.`);
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}
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return value as Record<string, unknown>;
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}
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function arrayValue(value: unknown, label: string): readonly unknown[] {
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if (!Array.isArray(value)) {
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throw new AdvancedLaboratoryContractError(`${label}: ожидался массив.`);
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}
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return value;
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}
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function exact(value: unknown, expected: string, label: string): string {
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if (value !== expected) {
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throw new AdvancedLaboratoryContractError(`${label}: нарушен контракт.`);
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}
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return expected;
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}
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function stringValue(value: unknown, label: string): string {
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if (typeof value !== "string" || !value.trim()) {
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throw new AdvancedLaboratoryContractError(`${label}: ожидалась строка.`);
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}
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return value;
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}
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function numberValue(value: unknown, label: string, minimum = 0): number {
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if (
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typeof value !== "number"
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|| !Number.isFinite(value)
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|| value < minimum
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) {
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throw new AdvancedLaboratoryContractError(`${label}: неверное число.`);
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}
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return value;
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}
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function integerValue(value: unknown, label: string): number {
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const parsed = numberValue(value, label);
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if (!Number.isInteger(parsed)) {
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throw new AdvancedLaboratoryContractError(`${label}: ожидалось целое.`);
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}
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return parsed;
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}
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function tuple3(
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value: unknown,
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label: string,
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positive = false,
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): readonly [number, number, number] {
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const values = arrayValue(value, label);
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if (values.length !== 3) {
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throw new AdvancedLaboratoryContractError(`${label}: ожидалось 3 числа.`);
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}
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return [
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numberValue(values[0], `${label}[0]`, positive ? Number.MIN_VALUE : -Infinity),
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numberValue(values[1], `${label}[1]`, positive ? Number.MIN_VALUE : -Infinity),
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numberValue(values[2], `${label}[2]`, positive ? Number.MIN_VALUE : -Infinity),
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];
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}
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function parseSummary(value: unknown): L3VisualFrameSummary {
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const item = objectValue(value, "L3 visual frame");
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const frameId = stringValue(item.frame_id, "L3 frame_id");
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if (!FRAME_ID.test(frameId)) {
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throw new AdvancedLaboratoryContractError("L3 frame_id: неверный формат.");
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}
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const truthClasses = arrayValue(item.truth_classes, "L3 truth_classes")
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.map((entry) => stringValue(entry, "L3 truth class"));
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if (
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truthClasses.some(
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(entry) => !["Car", "Pedestrian", "Cyclist"].includes(entry),
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)
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) {
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throw new AdvancedLaboratoryContractError("L3 truth class: неизвестен.");
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}
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return {
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frameId,
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inferenceMs: numberValue(item.inference_ms, "L3 inference_ms", Number.MIN_VALUE),
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predictionCount: integerValue(item.prediction_count, "L3 prediction_count"),
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evaluatedPredictionCount: integerValue(
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item.evaluated_prediction_count,
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"L3 evaluated_prediction_count",
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),
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outsideSharedRangeCount: integerValue(
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item.outside_shared_range_count,
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"L3 outside_shared_range_count",
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),
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truthCount: integerValue(item.truth_count, "L3 truth_count"),
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truePositiveCount: integerValue(
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item.true_positive_count,
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"L3 true_positive_count",
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),
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falsePositiveCount: integerValue(
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item.false_positive_count,
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"L3 false_positive_count",
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),
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falseNegativeCount: integerValue(
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item.false_negative_count,
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"L3 false_negative_count",
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),
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truthClasses,
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};
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}
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function parseBox(value: unknown, truth: boolean): L3VisualBox {
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const box = objectValue(value, "L3 visual box");
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const benchmarkClass = stringValue(
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box.benchmark_class,
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"L3 benchmark_class",
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);
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if (!["Car", "Pedestrian", "Cyclist"].includes(benchmarkClass)) {
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throw new AdvancedLaboratoryContractError("L3 box class: неизвестен.");
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}
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const status = stringValue(box.status, "L3 box status");
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const allowed = truth
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? ["matched", "false-negative"]
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: ["true-positive", "false-positive"];
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if (!allowed.includes(status)) {
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throw new AdvancedLaboratoryContractError("L3 box status: неизвестен.");
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}
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return {
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benchmarkClass,
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centerXyzM: tuple3(box.center_xyz_m, "L3 center_xyz_m"),
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sizeLwhM: tuple3(box.size_lwh_m, "L3 size_lwh_m", true),
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yawRad: numberValue(box.yaw_rad, "L3 yaw_rad", -Infinity),
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status: status as L3VisualBox["status"],
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score: truth ? null : numberValue(box.score, "L3 score"),
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};
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}
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function parseResult(value: unknown): L3PointPillarsVisualAuditResult {
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const result = objectValue(value, "L3 visual result");
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exact(
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result.schema_version,
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"missioncore.l3-pointpillars-visual-audit-result/v1",
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"L3 result.schema_version",
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);
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exact(result.access, "read-only", "L3 result.access");
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const resultId = stringValue(result.result_id, "L3 result_id");
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const sourceRunId = stringValue(result.source_run_id, "L3 source_run_id");
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const frameIdentity = stringValue(
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result.source_frame_results_identity_sha256,
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"L3 frame identity",
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);
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const datasetIdentity = stringValue(
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result.dataset_release_identity_sha256,
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"L3 dataset identity",
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);
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if (
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!RESULT_ID.test(resultId)
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|| !RUN_ID.test(sourceRunId)
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|| !SHA256.test(frameIdentity)
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|| !SHA256.test(datasetIdentity)
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) {
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throw new AdvancedLaboratoryContractError(
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"L3 result: нарушена идентичность.",
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);
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}
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const metrics = objectValue(result.metrics, "L3 metrics");
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const aggregates = objectValue(metrics.aggregates, "L3 aggregates");
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const volume = objectValue(
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aggregates.prediction_volume,
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"L3 prediction_volume",
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);
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const latency = objectValue(
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aggregates.inference_latency_ms,
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"L3 latency",
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);
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const frames = arrayValue(result.frames, "L3 frames").map(parseSummary);
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if (
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!frames.length
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|| frames.length > 24
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|| new Set(frames.map(({ frameId }) => frameId)).size !== frames.length
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) {
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throw new AdvancedLaboratoryContractError(
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"L3 frames: нарушен ограниченный каталог.",
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);
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}
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return {
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resultId,
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createdAtUtc: stringValue(result.created_at_utc, "L3 created_at_utc"),
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status: exact(
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result.status,
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"operator-visual-review-required",
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"L3 status",
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) as "operator-visual-review-required",
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sourceRunId,
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sourceFrameResultsIdentitySha256: frameIdentity,
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datasetSourceId: stringValue(result.dataset_source_id, "L3 dataset_source_id"),
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datasetReleaseIdentitySha256: datasetIdentity,
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metrics: {
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frameCount: integerValue(metrics.frame_count, "L3 frame_count"),
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bevMap40: numberValue(aggregates.bev_map40, "L3 bev_map40"),
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threeDMap40: numberValue(aggregates["3d_map40"], "L3 3d_map40"),
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falseOccupiedRate: numberValue(
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aggregates.false_occupied_rate,
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"L3 false_occupied_rate",
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),
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inferenceP95Ms: numberValue(latency.p95, "L3 latency.p95"),
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modelOutputBoxCount: integerValue(
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volume.model_output_box_count,
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"L3 model_output_box_count",
|
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),
|
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evaluatedBoxCount: integerValue(
|
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volume.evaluated_box_count,
|
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"L3 evaluated_box_count",
|
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),
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outsideSharedRangeCount: integerValue(
|
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volume.outside_shared_range_count,
|
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"L3 outside_shared_range_count",
|
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),
|
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},
|
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frames,
|
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};
|
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}
|
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|
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export async function fetchL3PointPillarsVisualAudit({
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fetcher = fetch,
|
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signal,
|
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}: {
|
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fetcher?: LaboratoryFetch;
|
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signal?: AbortSignal;
|
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} = {}): Promise<L3PointPillarsVisualAuditResult | null> {
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const response = await fetcher(
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"/api/v1/laboratory/l3/pointpillars-visual-audits/results?limit=1",
|
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{ method: "GET", headers: { Accept: "application/json" }, signal },
|
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);
|
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if (!response.ok) {
|
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throw new AdvancedLaboratoryContractError(
|
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`L3 visual audit недоступен: HTTP ${response.status}.`,
|
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);
|
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}
|
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const catalog = objectValue(await response.json(), "L3 result catalog");
|
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exact(
|
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catalog.schema_version,
|
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"missioncore.l3-pointpillars-visual-audit-catalog-results/v1",
|
||||
"L3 catalog.schema_version",
|
||||
);
|
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exact(catalog.access, "read-only", "L3 catalog.access");
|
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const items = arrayValue(catalog.items, "L3 catalog.items");
|
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if (items.length > 1) {
|
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throw new AdvancedLaboratoryContractError("L3 catalog: лишние результаты.");
|
||||
}
|
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return items.length ? parseResult(items[0]) : null;
|
||||
}
|
||||
|
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export async function fetchL3PointPillarsVisualFrame(
|
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resultId: string,
|
||||
frameId: string,
|
||||
{
|
||||
fetcher = fetch,
|
||||
signal,
|
||||
}: {
|
||||
fetcher?: LaboratoryFetch;
|
||||
signal?: AbortSignal;
|
||||
} = {},
|
||||
): Promise<L3VisualFrame> {
|
||||
if (!RESULT_ID.test(resultId) || !FRAME_ID.test(frameId)) {
|
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throw new AdvancedLaboratoryContractError(
|
||||
"L3 visual frame: неверная идентичность.",
|
||||
);
|
||||
}
|
||||
const response = await fetcher(
|
||||
`/api/v1/laboratory/l3/pointpillars-visual-audits/${resultId}/frames/${frameId}`,
|
||||
{ method: "GET", headers: { Accept: "application/json" }, signal },
|
||||
);
|
||||
if (!response.ok) {
|
||||
throw new AdvancedLaboratoryContractError(
|
||||
`L3 visual frame недоступен: HTTP ${response.status}.`,
|
||||
);
|
||||
}
|
||||
const payload = objectValue(await response.json(), "L3 visual frame");
|
||||
exact(
|
||||
payload.schema_version,
|
||||
"missioncore.l3-pointpillars-visual-frame/v1",
|
||||
"L3 frame.schema_version",
|
||||
);
|
||||
exact(payload.access, "read-only", "L3 frame.access");
|
||||
exact(payload.frame_id, frameId, "L3 frame.frame_id");
|
||||
const points = objectValue(payload.points, "L3 points");
|
||||
exact(points.layout, "flat-xyzi", "L3 points.layout");
|
||||
const pointValues = arrayValue(points.values, "L3 points.values").map(
|
||||
(value, index) => numberValue(value, `L3 points[${index}]`, -Infinity),
|
||||
);
|
||||
const sampledPointCount = integerValue(
|
||||
points.sampled_point_count,
|
||||
"L3 sampled_point_count",
|
||||
);
|
||||
if (sampledPointCount > 12_000 || pointValues.length !== sampledPointCount * 4) {
|
||||
throw new AdvancedLaboratoryContractError(
|
||||
"L3 points: нарушен ограниченный массив.",
|
||||
);
|
||||
}
|
||||
return {
|
||||
frameId,
|
||||
summary: parseSummary(payload.summary),
|
||||
sourcePointCount: integerValue(
|
||||
points.source_point_count,
|
||||
"L3 source_point_count",
|
||||
),
|
||||
sharedRangePointCount: integerValue(
|
||||
points.shared_range_point_count,
|
||||
"L3 shared_range_point_count",
|
||||
),
|
||||
sampledPointCount,
|
||||
pointsXyzi: pointValues,
|
||||
truthBoxes: arrayValue(payload.truth_boxes, "L3 truth_boxes")
|
||||
.map((box) => parseBox(box, true)),
|
||||
predictionBoxes: arrayValue(
|
||||
payload.prediction_boxes,
|
||||
"L3 prediction_boxes",
|
||||
).map((box) => parseBox(box, false)),
|
||||
};
|
||||
}
|
||||
Reference in New Issue
Block a user