feat: add local surface review triage
This commit is contained in:
DCCONSTRUCTIONS
@@ -181,6 +181,70 @@ export interface LidarLocalSurfaceTimeline {
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authority: LidarLocalSurfaceModel["authority"];
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}
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export type LidarLocalSurfaceReviewReason =
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| "prediction-tail"
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| "prediction-inlier-drop"
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| "surface-height-jump"
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| "surface-slope-jump"
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| "surface-roughness-jump";
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export interface LidarLocalSurfaceReviewItem {
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rank: number;
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frameIndex: number;
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sourceFrameIndex: number;
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sessionSeconds: number;
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episodeId: string;
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attention: "high" | "review";
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attentionScore: number;
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reasons: LidarLocalSurfaceReviewReason[];
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prediction: {
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available: boolean;
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residualP50M: number;
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residualP95M: number;
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inlierFraction: number;
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};
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temporal: {
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compared: boolean;
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heightDeltaM: number;
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slopeDeltaDeg: number;
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roughnessDeltaM: number;
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};
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surface: {
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sensorHeightM: number;
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slopeDeg: number;
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roughnessM: number;
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confidence: number;
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};
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stepCandidatePointCount: number;
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}
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export interface LidarLocalSurfaceReview {
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reviewProfileId: "missioncore-local-surface-attention/v1";
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modelId: string;
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sourcePackId: string;
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sessionId: string;
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available: boolean;
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criteria: {
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predictionTailResidualP95M: number;
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predictionInlierFractionFloor: number;
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surfaceHeightJumpM: number;
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surfaceSlopeJumpDeg: number;
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surfaceRoughnessJumpM: number;
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highAttentionScore: number;
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episodeMaxFrameGap: number;
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};
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summary: {
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itemCount: number;
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episodeCount: number;
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highAttentionCount: number;
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reviewAttentionCount: number;
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reasonCounts: Record<LidarLocalSurfaceReviewReason, number>;
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};
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items: LidarLocalSurfaceReviewItem[];
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groundTruth: false;
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authority: LidarLocalSurfaceModel["authority"];
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}
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export class LidarLocalSurfaceContractError extends Error {}
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export class LidarLocalSurfaceApiError extends Error {
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@@ -200,6 +264,15 @@ const SAFE_MODEL_ID = new RegExp(`^${LOCAL_SURFACE_MODEL_PREFIX}[a-f0-9]{64}$`);
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const SAFE_PACK_ID = /^e10-lidar-pack-[a-f0-9]{64}$/;
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const SAFE_ID = /^[A-Za-z0-9][A-Za-z0-9._:/-]{0,159}$/;
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const SAFE_KEY = /^[a-z0-9][a-z0-9-]{0,63}$/;
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const SAFE_EPISODE_ID = /^episode-[0-9]{2,4}$/;
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const REVIEW_PROFILE_ID = "missioncore-local-surface-attention/v1";
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const REVIEW_REASONS = [
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"prediction-tail",
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"prediction-inlier-drop",
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"surface-height-jump",
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"surface-slope-jump",
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"surface-roughness-jump",
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] as const satisfies readonly LidarLocalSurfaceReviewReason[];
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function record(value: unknown, label: string): Record<string, unknown> {
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if (!value || typeof value !== "object" || Array.isArray(value)) {
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@@ -925,6 +998,356 @@ export function parseLidarLocalSurfaceTimeline(
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};
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}
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export function parseLidarLocalSurfaceReview(
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value: unknown,
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): LidarLocalSurfaceReview {
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const source = record(value, "LiDAR local-surface review");
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if (
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source.schema_version !== `${LOCAL_SURFACE_SCHEMA_PREFIX}-review/v1`
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|| source.review_profile_id !== REVIEW_PROFILE_ID
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|| source.access !== "read-only"
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|| source.ground_truth !== false
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) {
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throw new LidarLocalSurfaceContractError(
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"LiDAR local-surface review несовместим",
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);
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}
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const available = boolean(source.available, "available");
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const criteriaSource = record(source.criteria, "criteria");
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const criteria = {
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predictionTailResidualP95M: finite(
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criteriaSource.prediction_tail_residual_p95_m,
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"criteria.prediction_tail_residual_p95_m",
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),
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predictionInlierFractionFloor: finite(
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criteriaSource.prediction_inlier_fraction_floor,
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"criteria.prediction_inlier_fraction_floor",
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),
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surfaceHeightJumpM: finite(
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criteriaSource.surface_height_jump_m,
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"criteria.surface_height_jump_m",
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),
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surfaceSlopeJumpDeg: finite(
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criteriaSource.surface_slope_jump_deg,
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"criteria.surface_slope_jump_deg",
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),
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surfaceRoughnessJumpM: finite(
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criteriaSource.surface_roughness_jump_m,
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"criteria.surface_roughness_jump_m",
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),
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highAttentionScore: finite(
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criteriaSource.high_attention_score,
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"criteria.high_attention_score",
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),
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episodeMaxFrameGap: integer(
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criteriaSource.episode_max_frame_gap,
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"criteria.episode_max_frame_gap",
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),
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};
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if (
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criteria.predictionTailResidualP95M <= 0
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|| criteria.predictionInlierFractionFloor <= 0
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|| criteria.predictionInlierFractionFloor >= 1
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|| criteria.surfaceHeightJumpM <= 0
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|| criteria.surfaceSlopeJumpDeg <= 0
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|| criteria.surfaceRoughnessJumpM <= 0
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|| criteria.highAttentionScore <= 1
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|| criteria.episodeMaxFrameGap < 1
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|| criteria.episodeMaxFrameGap > 100
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) {
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throw new LidarLocalSurfaceContractError(
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"LiDAR local-surface review criteria несовместимы",
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);
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}
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const summarySource = record(source.summary, "summary");
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const reasonCountsSource = record(
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summarySource.reason_counts,
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"summary.reason_counts",
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);
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const reasonCounts: Record<LidarLocalSurfaceReviewReason, number> = {
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"prediction-tail": integer(
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reasonCountsSource["prediction-tail"],
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"reason_counts.prediction-tail",
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),
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"prediction-inlier-drop": integer(
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reasonCountsSource["prediction-inlier-drop"],
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"reason_counts.prediction-inlier-drop",
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),
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"surface-height-jump": integer(
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reasonCountsSource["surface-height-jump"],
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"reason_counts.surface-height-jump",
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),
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"surface-slope-jump": integer(
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reasonCountsSource["surface-slope-jump"],
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"reason_counts.surface-slope-jump",
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),
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"surface-roughness-jump": integer(
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reasonCountsSource["surface-roughness-jump"],
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"reason_counts.surface-roughness-jump",
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),
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};
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const summary = {
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itemCount: integer(summarySource.item_count, "summary.item_count"),
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episodeCount: integer(summarySource.episode_count, "summary.episode_count"),
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highAttentionCount: integer(
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summarySource.high_attention_count,
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"summary.high_attention_count",
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),
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reviewAttentionCount: integer(
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summarySource.review_attention_count,
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"summary.review_attention_count",
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),
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reasonCounts,
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};
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const rawItems = array(source.items, "items");
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if (rawItems.length > 10_000) {
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throw new LidarLocalSurfaceContractError(
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"LiDAR local-surface review слишком большой",
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);
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}
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const items = rawItems.map((value, index): LidarLocalSurfaceReviewItem => {
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const item = record(value, `items[${index}]`);
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const attention = item.attention;
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if (attention !== "high" && attention !== "review") {
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throw new LidarLocalSurfaceContractError(
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`items[${index}].attention: несовместимое значение`,
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);
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}
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const reasons = array(item.reasons, `items[${index}].reasons`).map(
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(reason, reasonIndex): LidarLocalSurfaceReviewReason => {
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if (
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typeof reason !== "string"
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|| !REVIEW_REASONS.includes(
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reason as LidarLocalSurfaceReviewReason,
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)
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) {
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throw new LidarLocalSurfaceContractError(
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`items[${index}].reasons[${reasonIndex}]: неизвестная причина`,
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);
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}
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return reason as LidarLocalSurfaceReviewReason;
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},
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);
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if (!reasons.length || new Set(reasons).size !== reasons.length) {
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throw new LidarLocalSurfaceContractError(
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`items[${index}].reasons: несовместимый набор`,
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);
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}
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const predictionSource = record(
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item.prediction,
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`items[${index}].prediction`,
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);
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const temporalSource = record(
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item.temporal,
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`items[${index}].temporal`,
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);
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const surfaceSource = record(item.surface, `items[${index}].surface`);
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const predictionAvailable = boolean(
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predictionSource.available,
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`items[${index}].prediction.available`,
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);
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const temporalCompared = boolean(
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temporalSource.compared,
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`items[${index}].temporal.compared`,
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);
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const predictionInlierFraction = finite(
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predictionSource.inlier_fraction,
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`items[${index}].prediction.inlier_fraction`,
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);
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const predictionResidualP50M = finite(
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predictionSource.residual_p50_m,
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`items[${index}].prediction.residual_p50_m`,
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);
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const predictionResidualP95M = finite(
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predictionSource.residual_p95_m,
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`items[${index}].prediction.residual_p95_m`,
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);
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const heightDeltaM = finite(
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temporalSource.height_delta_m,
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`items[${index}].temporal.height_delta_m`,
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);
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const slopeDeltaDeg = finite(
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temporalSource.slope_delta_deg,
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`items[${index}].temporal.slope_delta_deg`,
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);
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const roughnessDeltaM = finite(
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temporalSource.roughness_delta_m,
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`items[${index}].temporal.roughness_delta_m`,
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);
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const surfaceConfidence = finite(
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surfaceSource.confidence,
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`items[${index}].surface.confidence`,
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);
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const attentionScore = finite(
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item.attention_score,
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`items[${index}].attention_score`,
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);
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const expectedReasons: LidarLocalSurfaceReviewReason[] = [];
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const expectedRatios: number[] = [];
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if (
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predictionAvailable
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&& predictionResidualP95M >= criteria.predictionTailResidualP95M
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) {
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expectedReasons.push("prediction-tail");
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expectedRatios.push(
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predictionResidualP95M / criteria.predictionTailResidualP95M,
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);
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}
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if (
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predictionAvailable
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&& predictionInlierFraction < criteria.predictionInlierFractionFloor
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) {
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expectedReasons.push("prediction-inlier-drop");
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expectedRatios.push(
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(1 - predictionInlierFraction)
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/ (1 - criteria.predictionInlierFractionFloor),
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);
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}
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if (temporalCompared && heightDeltaM >= criteria.surfaceHeightJumpM) {
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expectedReasons.push("surface-height-jump");
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expectedRatios.push(heightDeltaM / criteria.surfaceHeightJumpM);
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}
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if (temporalCompared && slopeDeltaDeg >= criteria.surfaceSlopeJumpDeg) {
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expectedReasons.push("surface-slope-jump");
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expectedRatios.push(slopeDeltaDeg / criteria.surfaceSlopeJumpDeg);
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}
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if (
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temporalCompared
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&& roughnessDeltaM >= criteria.surfaceRoughnessJumpM
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) {
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expectedReasons.push("surface-roughness-jump");
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expectedRatios.push(roughnessDeltaM / criteria.surfaceRoughnessJumpM);
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}
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const expectedAttentionScore = Math.max(...expectedRatios);
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if (
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predictionInlierFraction < 0
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|| predictionInlierFraction > 1
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|| surfaceConfidence < 0
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|| surfaceConfidence > 1
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|| attentionScore < 1
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|| (attention === "high")
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!== (attentionScore >= criteria.highAttentionScore)
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|| (
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reasons.some((reason) => reason.startsWith("prediction-"))
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&& !predictionAvailable
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)
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|| (
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reasons.some((reason) => reason.startsWith("surface-"))
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&& !temporalCompared
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)
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|| reasons.join("|") !== expectedReasons.join("|")
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|| !Number.isFinite(expectedAttentionScore)
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|| Math.abs(attentionScore - expectedAttentionScore) > 1e-9
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) {
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throw new LidarLocalSurfaceContractError(
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`items[${index}]: attention evidence несовместим`,
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);
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}
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return {
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rank: integer(item.rank, `items[${index}].rank`),
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frameIndex: integer(item.frame_index, `items[${index}].frame_index`),
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sourceFrameIndex: integer(
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item.source_frame_index,
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`items[${index}].source_frame_index`,
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),
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sessionSeconds: finite(
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item.session_seconds,
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`items[${index}].session_seconds`,
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),
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episodeId: text(
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item.episode_id,
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`items[${index}].episode_id`,
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SAFE_EPISODE_ID,
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),
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attention,
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attentionScore,
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reasons,
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prediction: {
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available: predictionAvailable,
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residualP50M: predictionResidualP50M,
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residualP95M: predictionResidualP95M,
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inlierFraction: predictionInlierFraction,
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},
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temporal: {
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compared: temporalCompared,
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heightDeltaM,
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slopeDeltaDeg,
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roughnessDeltaM,
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},
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surface: {
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sensorHeightM: finite(
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surfaceSource.sensor_height_m,
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`items[${index}].surface.sensor_height_m`,
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),
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slopeDeg: finite(
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surfaceSource.slope_deg,
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`items[${index}].surface.slope_deg`,
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),
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roughnessM: finite(
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surfaceSource.roughness_m,
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`items[${index}].surface.roughness_m`,
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),
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confidence: surfaceConfidence,
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},
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stepCandidatePointCount: integer(
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item.step_candidate_point_count,
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`items[${index}].step_candidate_point_count`,
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),
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};
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});
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const observedReasonCounts: Record<LidarLocalSurfaceReviewReason, number> = {
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"prediction-tail": 0,
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"prediction-inlier-drop": 0,
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"surface-height-jump": 0,
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"surface-slope-jump": 0,
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"surface-roughness-jump": 0,
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};
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for (const item of items) {
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for (const reason of item.reasons) observedReasonCounts[reason] += 1;
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}
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if (
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summary.itemCount !== items.length
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|| summary.highAttentionCount + summary.reviewAttentionCount
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!== summary.itemCount
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|| summary.highAttentionCount
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!== items.filter((item) => item.attention === "high").length
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|| summary.episodeCount !== new Set(items.map((item) => item.episodeId)).size
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|| !REVIEW_REASONS.every(
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(reason) => reasonCounts[reason] === observedReasonCounts[reason],
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)
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|| (!available && items.length > 0)
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|| items.some((item, index) =>
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item.rank !== index + 1
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|| (
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index > 0
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&& (
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item.attentionScore > items[index - 1].attentionScore
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|| (
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item.attentionScore === items[index - 1].attentionScore
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&& item.frameIndex < items[index - 1].frameIndex
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)
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)
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)
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)
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) {
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throw new LidarLocalSurfaceContractError(
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"LiDAR local-surface review content несовместим",
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);
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}
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return {
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reviewProfileId: REVIEW_PROFILE_ID,
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modelId: text(source.model_id, "model_id", SAFE_MODEL_ID),
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sourcePackId: text(source.source_pack_id, "source_pack_id", SAFE_PACK_ID),
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sessionId: text(source.session_id, "session_id", SAFE_ID),
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available,
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criteria,
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summary,
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items,
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groundTruth: false,
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authority: authority(source.authority),
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};
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}
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async function responseJson(
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response: Response,
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fallback: string,
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@@ -1015,3 +1438,29 @@ export async function fetchLidarLocalSurfaceTimeline(
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),
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);
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}
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export async function fetchLidarLocalSurfaceReview(
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modelId: string,
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options: { signal?: AbortSignal; fetcher?: LidarFetch } = {},
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): Promise<LidarLocalSurfaceReview> {
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if (!SAFE_MODEL_ID.test(modelId)) {
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throw new LidarLocalSurfaceContractError(
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"Некорректный LiDAR local-surface review",
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);
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}
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const fetcher = options.fetcher ?? fetch;
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const response = await fetcher(
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`/api/v1/lidar/local-surfaces/${modelId}/review`,
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{
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method: "GET",
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headers: { Accept: "application/json" },
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signal: options.signal,
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},
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);
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return parseLidarLocalSurfaceReview(
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await responseJson(
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response,
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"Не удалось получить LiDAR local-surface review.",
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),
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);
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}
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Reference in New Issue
Block a user