fix(lab): show only actionable obstacle boxes

2026-08-26 16:09:32 +03:00
parent a98ad929d9
commit ac1dc7d930
6 changed files with 306 additions and 31 deletions
@@ -0,0 +1,53 @@
+from __future__ import annotations
+
+from pathlib import Path
+
+from k1link.perception.m48s_replay_timeline import _actionable_camera_metric_rows
+from k1link.perception.threat import ReplayBodyFrame, load_replay_threat_profile
+
+REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
+
+
+def test_camera_obstacles_keep_only_added_cells_inside_an_accepted_threat() -> None:
+    profile = load_replay_threat_profile(
+        REPOSITORY_ROOT / "config/perception/m4-replay-threat-v3.json"
+    )
+    body_frame = ReplayBodyFrame(
+        frame_id="frame-000001",
+        origin_map_xyz_m=(0.0, 0.0, 0.0),
+        basis_map_from_body=((1.0, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0)),
+        sensor_height_m=1.25,
+        surface_slope_deg=0.0,
+        forward_source="test",
+        camera_forward_alignment_deg=0.0,
+    )
+    threat = {
+        "component_id": "rolling-actionable",
+        "cells": [
+            {"x": 0, "y": 0, "z": 0},
+            {"x": 1, "y": 4, "z": 0},
+            {"x": 2, "y": 0, "z": 0},
+        ],
+        "assessment": {
+            "decision": "threat",
+            "corridor_intersection": "intersects",
+        },
+    }
+    unknown = {
+        **threat,
+        "component_id": "rolling-unknown",
+        "assessment": {
+            "decision": "unknown",
+            "corridor_intersection": "unknown",
+        },
+    }
+
+    selected = _actionable_camera_metric_rows(
+        [threat, unknown],
+        added_cells=frozenset({(0, 0, 0), (1, 4, 0)}),
+        body_frame=body_frame,
+        profile=profile,
+    )
+
+    assert [row["component_id"] for row in selected] == ["rolling-actionable"]
+    assert selected[0]["cells"] == [{"x": 0, "y": 0, "z": 0}]