feat: qualify complete RELLIS ground dataset

2026-07-25 21:12:37 +03:00
parent 054feec0d2
commit f2f044080f
17 changed files with 2349 additions and 35 deletions
@@ -184,6 +184,40 @@ test("decodes a complete ordered frame review", () => {
  assert.equal(decoded.frames[0].patchwork.groundIou, 0.7);
 });

+test("decodes RELLIS sequences without inventing sensor timestamps", () => {
+  const metric = {
+    ground_iou: 0.6,
+    natural_ground_recall: 0.7,
+    obstacle_non_ground_recall: 0.93,
+    latency_ms: 18,
+  };
+  const decoded = decodeGroundReview({
+    schema_version: "missioncore.polygon-ground-review/v2",
+    access: "read-only",
+    run_id: "rellis-ground-abc",
+    identity_sha256: "c".repeat(64),
+    source_id: "rellis-3d/v1.1",
+    frame_count: 1,
+    preview_points: 12_000,
+    frames: [{
+      sequence: 0,
+      frame_id: "rellis-00000-000307",
+      dataset_sequence_id: "00000",
+      dataset_frame_number: 307,
+      sensor_timestamp_ns: null,
+      source_point_count: 131_072,
+      point_count: 12_000,
+      current: metric,
+      patchworkpp: metric,
+      ground_iou_delta: 0,
+    }],
+  });
+  assert.equal(decoded.sourceId, "rellis-3d/v1.1");
+  assert.equal(decoded.frames[0].datasetSequenceId, "00000");
+  assert.equal(decoded.frames[0].datasetFrameNumber, 307);
+  assert.equal(decoded.frames[0].sensorTimestampNs, null);
+});
+
 test("parses GOOSE sequence, source frame and nanosecond timestamp", () => {
  assert.deepEqual(
    parseGooseFrameId("2023-05-17_neubiberg_sunny__0459_1684330012686564560"),