refactor(lab): restore canonical RAV004 replay

tests/test_canonical_lab_spatial.py

@@ -8,6 +8,8 @@ from k1link.sessions.canonical_lab_spatial import (
     _TimedPoses,
     _bounded_local_slam,
     _estimate_sensor_height,
+    _estimate_local_sensor_height,
+    _gravity_stable_basis_map_from_body,
     _ground_origin_map,
 )
 
@@ -57,7 +59,7 @@ def test_local_slam_accumulates_source_increments_in_ground_body_frame() -> None
         ),
     )
     basis = np.eye(3)
-    ground_origin = _ground_origin_map(np.asarray([0.0, 0.0, 0.0]), basis, 0.32)
+    ground_origin = _ground_origin_map(np.asarray([0.0, 0.0, 0.0]), 0.32)
 
     local, frame_count, source_count = _bounded_local_slam(
         points,
@@ -69,3 +71,59 @@ def test_local_slam_accumulates_source_increments_in_ground_body_frame() -> None
     assert frame_count == 3
     assert source_count == 3
     assert local[:, 2].tolist() == pytest.approx([0.0, 0.0, 0.0], abs=1e-6)
+
+
+def test_gravity_stable_body_frame_converts_rfu_to_forward_left_up() -> None:
+    times = (0, 1_000_000_000, 2_000_000_000)
+    poses = _TimedPoses(
+        times_ns=times,
+        translations=(
+            np.asarray([0.0, 0.0, 0.4]),
+            np.asarray([0.0, 1.0, 0.5]),
+            np.asarray([0.0, 2.0, 0.3]),
+        ),
+        quaternions_xyzw=tuple(
+            np.asarray([0.25, 0.0, 0.0, np.sqrt(1.0 - 0.25**2)]) for _ in times
+        ),
+    )
+
+    basis, source = _gravity_stable_basis_map_from_body(poses, 1_000_000_000)
+
+    assert source == "smoothed-pose-trajectory-tangent"
+    assert basis[:, 0].tolist() == pytest.approx([0.0, 1.0, 0.0], abs=1e-7)
+    assert basis[:, 1].tolist() == pytest.approx([-1.0, 0.0, 0.0], abs=1e-7)
+    assert basis[:, 2].tolist() == pytest.approx([0.0, 0.0, 1.0], abs=1e-7)
+    assert np.linalg.det(basis) == pytest.approx(1.0, abs=1e-7)
+
+
+def test_ground_origin_is_projected_only_along_map_gravity() -> None:
+    origin = _ground_origin_map(np.asarray([4.0, -2.0, 1.25]), 0.32)
+    assert origin.tolist() == pytest.approx([4.0, -2.0, 0.93], abs=1e-9)
+
+
+def test_sensor_height_tracks_current_source_window_instead_of_fixed_mount() -> None:
+    times = tuple(index * 500_000_000 for index in range(8))
+    points = _TimedPoints(
+        times_ns=times,
+        values=tuple(
+            _calibration_cloud(0.18 if index < 4 else 1.05, index)
+            for index in range(8)
+        ),
+    )
+    poses = _TimedPoses(
+        times_ns=times,
+        translations=tuple(np.zeros(3) for _ in times),
+        quaternions_xyzw=tuple(np.asarray([0.0, 0.0, 0.0, 1.0]) for _ in times),
+    )
+
+    low, low_samples, _, low_source = _estimate_local_sensor_height(
+        points, poses, 500_000_000, 0.5,
+    )
+    high, high_samples, _, high_source = _estimate_local_sensor_height(
+        points, poses, 3_000_000_000, 0.5,
+    )
+
+    assert low == pytest.approx(0.18, abs=0.03)
+    assert high == pytest.approx(1.05, abs=0.03)
+    assert low_samples >= 3 and high_samples >= 3
+    assert low_source == high_source == "local-source-cloud-ground-quantile-median"

tests/test_session_api.py

@@ -489,7 +489,7 @@ def test_canonical_lab_spatial_frame_uses_ready_immutable_recording(
     assert resolved is not None and resolved.recording is not None
     generation = hashlib.sha256(payload).hexdigest()
     expected = {
-        "schema_version": "missioncore.canonical-recorded-lab-spatial-frame/v2",
+        "schema_version": "missioncore.canonical-recorded-lab-spatial-frame/v3",
         "target_time_ns": 500_000_000,
         "source_time_ns": 499_000_000,
         "pose_time_ns": 499_000_000,
@@ -497,13 +497,13 @@ def test_canonical_lab_spatial_frame_uses_ready_immutable_recording(
         "coordinate_frame": "body-ground",
         "sensor_height": {
             "meters": 0.32,
-            "source": "initial-source-cloud-lower-quantile-median",
+            "source": "local-source-cloud-ground-quantile-median",
             "sample_count": 20,
             "mad_m": 0.03,
             "authority": "visual-derived",
         },
         "spatial_profile": {
-            "profile_id": "source-paced-ground-v2",
+            "profile_id": "source-paced-ground-v3",
             "local_slam_history_seconds": 5.0,
             "local_slam_radius_m": 30.0,
             "local_slam_voxel_size_m": 0.12,
@@ -544,11 +544,11 @@ def test_canonical_lab_spatial_frame_uses_ready_immutable_recording(
             session_id=session.name,
             generation=generation,
             time_ns=500_000_000,
-            profile="source-paced-ground-v2",
+            profile="source-paced-ground-v3",
         ))
         assert json.loads(response.body) == expected
         assert response.headers["etag"] == (
-            f'"{generation}:source-paced-ground-v2:499000000"'
+            f'"{generation}:source-paced-ground-v3:499000000"'
         )
         assert response.headers["cache-control"].endswith("immutable")
     finally:

tests/test_vegetation_shadow_lab.py

@@ -22,6 +22,7 @@ from k1link.laboratory.evidence_report import verify_laboratory_evidence_result
 from k1link.laboratory.vegetation_policy_review import seal_vegetation_policy_review
 from k1link.laboratory.vegetation_shadow_lab import seal_vegetation_shadow_lab
 from k1link.web.vegetation_shadow_lab_api import (
+    _mask_component_boxes,
     _route_tgs_anchor_payload,
     build_vegetation_shadow_lab_router,
 )
@@ -29,6 +30,18 @@ from k1link.web.vegetation_shadow_lab_api import (
 REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
 
 
+def test_semantic_component_boxes_keep_distinct_objects_separate() -> None:
+    mask = np.zeros((20, 30), dtype=np.uint8)
+    mask[2:10, 3:8] = 4
+    mask[4:12, 18:24] = 4
+    mask[15:17, 3:5] = 4
+
+    assert _mask_component_boxes(mask, 4, minimum_pixels=20) == [
+        (18, 4, 24, 12, 48),
+        (3, 2, 8, 10, 40),
+    ]
+
+
 def test_route_tgs_anchor_payload_preserves_metric_evidence(tmp_path: Path) -> None:
     path = tmp_path / "tgs-evidence.npz"
     point_counts = np.arange(1, 11, dtype=np.int64)