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"