feat(perception): add lossless lidar replay v2

2026-07-25 01:35:03 +03:00
parent 3f549f91f1
commit e4fdd9fa20
18 changed files with 2538 additions and 11 deletions
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+"""Build a field-retaining LiDAR replay pack from immutable K1 capture evidence."""
+
+from __future__ import annotations
+
+import argparse
+import json
+from pathlib import Path
+
+from k1link.compute import LidarReplayPackV2, build_lidar_replay_pack_v2
+
+
+def arguments() -> argparse.Namespace:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--capture", type=Path, required=True)
+    parser.add_argument("--output-root", type=Path, required=True)
+    parser.add_argument("--session-id")
+    parser.add_argument("--pose-coverage-threshold-ms", type=float, default=100.0)
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = arguments()
+    output = build_lidar_replay_pack_v2(
+        args.capture,
+        args.output_root,
+        session_id=args.session_id,
+        pose_coverage_threshold_ms=args.pose_coverage_threshold_ms,
+    )
+    pack = LidarReplayPackV2(output)
+    try:
+        print(
+            json.dumps(
+                {
+                    "pack_id": pack.pack_id,
+                    "output": str(output),
+                    "session_id": pack.identity["session_id"],
+                    "point_frames": pack.point_frame_count,
+                    "pose_frames": pack.pose_frame_count,
+                    "points": pack.point_count,
+                    "equivalence": pack.equivalence["status"],
+                    "pose_coverage_fraction": pack.quality["pose_binding"][
+                        "coverage_fraction"
+                    ],
+                },
+                ensure_ascii=False,
+                sort_keys=True,
+            )
+        )
+    finally:
+        pack.close()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())