feat(polygon): add full-frame operator review

apps/control-station/test/groundQualification.test.mjs

@@ -6,6 +6,8 @@ import { createServer } from "vite";
 let server;
 let decodeGroundQualification;
 let decodeGroundFailurePreview;
+let decodeGroundReview;
+let decodeGroundReviewFrame;
 let fetchGroundQualification;
 let GroundQualificationContractError;
 
@@ -70,6 +72,8 @@ before(async () => {
   ({
     decodeGroundQualification,
     decodeGroundFailurePreview,
+    decodeGroundReview,
+    decodeGroundReviewFrame,
     fetchGroundQualification,
     GroundQualificationContractError,
   } = await server.ssrLoadModule("/src/core/polygon/groundQualification.ts"));
@@ -132,3 +136,61 @@ test("treats missing qualification as a generic run", async () => {
   });
   assert.equal(result, null);
 });
+
+test("decodes a complete ordered frame review", () => {
+  const decoded = decodeGroundReview({
+    schema_version: "missioncore.polygon-ground-review/v1",
+    access: "read-only",
+    run_id: "goose-ground-abc",
+    identity_sha256: "b".repeat(64),
+    source_id: "goose-3d/v2025-08-22",
+    frame_count: 2,
+    preview_points: 12_000,
+    frames: [0, 1].map((sequence) => ({
+      sequence,
+      frame_id: `2022-07-22_flight__0071_000${sequence}`,
+      source_point_count: 100_000,
+      point_count: 12_000,
+      current: {
+        ground_iou: 0.5,
+        natural_ground_recall: 0.55,
+        obstacle_non_ground_recall: 0.91,
+        latency_ms: 3_000,
+      },
+      patchworkpp: {
+        ground_iou: 0.7,
+        natural_ground_recall: 0.75,
+        obstacle_non_ground_recall: 0.94,
+        latency_ms: 20,
+      },
+      ground_iou_delta: 0.2,
+    })),
+  });
+  assert.equal(decoded.frames.length, 2);
+  assert.equal(decoded.frames[1].sequence, 1);
+  assert.equal(decoded.frames[0].patchwork.groundIou, 0.7);
+});
+
+test("decodes a point-aligned review frame with intensity", () => {
+  const decoded = decodeGroundReviewFrame({
+    schema_version: "missioncore.polygon-ground-review-frame/v1",
+    access: "read-only",
+    run_id: "goose-ground-abc",
+    source_id: "goose-3d/v2025-08-22",
+    frame_id: "2022-07-22_flight__0071_0001",
+    source_point_count: 2,
+    point_count: 2,
+    sampling: "deterministic-even-index",
+    points_xyz_m: [[0, 0, 0], [1, 1, 1]],
+    intensity_0_255: [12, 255],
+    ground_truth_ground: [1, 0],
+    evaluated: [1, 1],
+    current_ground: [0, 0],
+    patchwork_ground: [1, 0],
+    current_disagreement: [1, 0],
+    patchwork_disagreement: [0, 0],
+    safety: { navigation_or_safety_accepted: false },
+  });
+  assert.deepEqual(decoded.intensity0To255, [12, 255]);
+  assert.equal(decoded.frameId, "2022-07-22_flight__0071_0001");
+});