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
@@ -0,0 +1,104 @@
+"""Train-calibrated, algorithm-scoped RELLIS OS1 Patchwork++ profile."""
+
+from __future__ import annotations
+
+import math
+from dataclasses import dataclass
+from typing import Any, Final
+
+RELLIS_PATCHWORK_PROFILE_SCHEMA: Final = "missioncore.rellis-patchwork-profile/v1"
+RELLIS_URDF_URL: Final = (
+    "https://raw.githubusercontent.com/unmannedlab/RELLIS-3D/"
+    "c17a118fcaed1559f03cc32cc3a91dedc557f8b8/"
+    "catkin_ws/src/platform_description/urdf/warthog.urdf.xacro"
+)
+RELLIS_URDF_SHA256: Final = (
+    "bcb66a05b8818f06479bb4a17ce93e9d66cb8fdaab726c437596807288116ac3"
+)
+
+
+@dataclass(frozen=True, slots=True)
+class RellisPatchworkProfile:
+    """Frozen provider profile derived without looking at validation labels."""
+
+    patchwork_sensor_height_proxy_m: float
+    calibration_identity_sha256: str
+    calibration_frame_count: int
+    calibration_median_absolute_deviation_m: float
+    patchwork_minimum_range_m: float = 2.7
+    patchwork_maximum_range_m: float = 80.0
+    profile_id: str = "rellis-warthog-os1-patchwork/v1"
+
+    def __post_init__(self) -> None:
+        values = (
+            self.patchwork_sensor_height_proxy_m,
+            self.calibration_median_absolute_deviation_m,
+            self.patchwork_minimum_range_m,
+            self.patchwork_maximum_range_m,
+        )
+        if (
+            not self.profile_id
+            or not all(math.isfinite(value) for value in values)
+            or not 0.5 <= self.patchwork_sensor_height_proxy_m <= 3.0
+            or not 5 <= self.calibration_frame_count <= 256
+            or self.calibration_median_absolute_deviation_m < 0
+            or not 0 < self.patchwork_minimum_range_m < self.patchwork_maximum_range_m
+            or len(self.calibration_identity_sha256) != 64
+            or any(
+                character not in "0123456789abcdef"
+                for character in self.calibration_identity_sha256
+            )
+        ):
+            raise ValueError("RELLIS Patchwork++ profile is invalid")
+
+    def to_dict(self) -> dict[str, Any]:
+        return {
+            "schema_version": RELLIS_PATCHWORK_PROFILE_SCHEMA,
+            "profile_id": self.profile_id,
+            "source_id": "rellis-3d/v1.1",
+            "representation": "native-scan",
+            "sensor_frame": {
+                "frame_id": "sensor/lidar/os1",
+                "handedness": "right",
+                "x": "forward",
+                "y": "left",
+                "z": "up",
+                "one_revolution": True,
+            },
+            "height": {
+                "sensor_above_ground_m": self.patchwork_sensor_height_proxy_m,
+                "evidence": "train-split-ground-label-calibration",
+                "calibration_frame_count": self.calibration_frame_count,
+                "median_absolute_deviation_m": (
+                    self.calibration_median_absolute_deviation_m
+                ),
+                "calibration_identity_sha256": self.calibration_identity_sha256,
+                "validation_labels_used": False,
+            },
+            "patchworkpp": {
+                "provider_id": "patchworkpp/v1.4.1",
+                "minimum_range_m": self.patchwork_minimum_range_m,
+                "maximum_range_m": self.patchwork_maximum_range_m,
+                "enable_rnr": True,
+                "enable_rvpf": True,
+                "enable_tgr": True,
+            },
+            "evidence": {
+                "vehicle_urdf": {
+                    "url": RELLIS_URDF_URL,
+                    "sha256": RELLIS_URDF_SHA256,
+                    "use": "topology-cross-check-only",
+                    "exact_physical_height_claimed": False,
+                }
+            },
+            "scope": {
+                "patchworkpp_eligible": True,
+                "normalized_scan_produced": False,
+                "complete_vehicle_transform_known": False,
+                "deskew_claimed": False,
+            },
+            "authority": {
+                "qualification_only": True,
+                "navigation_or_safety_accepted": False,
+            },
+        }