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
@@ -429,6 +429,9 @@ app.include_router(
        dataset_rellis_preview_provider=lambda: (
            REPOSITORY_ROOT / ".runtime" / "dataset-gateway" / "rellis-preview.json"
        ),
+        dataset_rellis_admission_provider=lambda: (
+            REPOSITORY_ROOT / ".runtime" / "dataset-gateway" / "rellis-admission.json"
+        ),
        dataset_ground_preview_provider=lambda: (
            REPOSITORY_ROOT / ".runtime" / "dataset-gateway" / "ground-comparison.json"
        ),
@@ -64,6 +64,7 @@ def build_lidar_router(
    dataset_admission_provider: DatasetArtifactProvider = configured_dataset_admission_manifest,
    dataset_preview_provider: DatasetArtifactProvider = configured_dataset_preview,
    dataset_rellis_preview_provider: DatasetArtifactProvider = lambda: None,
+    dataset_rellis_admission_provider: DatasetArtifactProvider = lambda: None,
    dataset_ground_preview_provider: DatasetArtifactProvider = configured_dataset_ground_preview,
 ) -> APIRouter:
    router = APIRouter(prefix="/api/v1/lidar", tags=["lidar"])
@@ -73,6 +74,7 @@ def build_lidar_router(
        return dataset_gateway_catalog(
            admission_manifest_path=dataset_admission_provider(),
            rellis_preview_path=dataset_rellis_preview_provider(),
+            rellis_admission_path=dataset_rellis_admission_provider(),
        )

    @router.get("/dataset-gateway/preview")
@@ -41,17 +41,21 @@ DETAIL_SCHEMA: Final = "missioncore.polygon-run-detail/v1"
 GROUND_QUALIFICATION_SCHEMA: Final = "missioncore.polygon-ground-qualification/v1"
 GROUND_FAILURE_PREVIEW_SCHEMA: Final = "missioncore.polygon-ground-failure-preview/v1"
 GROUND_REPORT_ARTIFACT_KIND: Final = "goose-ground-qualification-report"
+RELLIS_REPORT_ARTIFACT_KIND: Final = "rellis-ground-qualification-report"
 GROUND_FAILURE_ARTIFACT_KIND: Final = "goose-ground-qualification-failure-preview"
 GROUND_REPORT_SCHEMA: Final = "missioncore.goose-ground-qualification-report/v1"
+RELLIS_REPORT_SCHEMA: Final = "missioncore.rellis-ground-qualification-report/v1"
 GROUND_FAILURE_SCHEMA: Final = "missioncore.goose-ground-qualification-failure-preview/v1"
 GROUND_REVIEW_SCHEMA: Final = "missioncore.polygon-ground-review/v2"
 GROUND_REVIEW_FRAME_SCHEMA: Final = "missioncore.polygon-ground-review-frame/v1"
 GOOSE_REVIEW_PACK_SCHEMA: Final = "missioncore.goose-ground-review-pack/v1"
 GOOSE_REVIEW_FRAME_SCHEMA: Final = "missioncore.goose-ground-review-frame/v1"
+RELLIS_REVIEW_PACK_SCHEMA: Final = "missioncore.rellis-ground-review-pack/v1"
+RELLIS_REVIEW_FRAME_SCHEMA: Final = "missioncore.rellis-ground-review-frame/v1"
 MAX_QUALIFICATION_ARTIFACT_BYTES: Final = 32 * 1024**2
 MAX_REVIEW_MANIFEST_BYTES: Final = 8 * 1024**2
 MAX_REVIEW_FRAME_BYTES: Final = 2 * 1024**2
-MAX_REVIEW_FRAMES: Final = 2_000
+MAX_REVIEW_FRAMES: Final = 3_000
 MAX_REVIEW_POINTS: Final = 20_000
 COMMIT_PATTERN: Final = re.compile(r"^[a-f0-9]{40}$")
 GOOSE_FRAME_ID_PATTERN: Final = re.compile(
@@ -201,8 +205,8 @@ def build_polygon_router(
        report = _read_registered_json(
            store,
            run,
-            artifact_kind=GROUND_REPORT_ARTIFACT_KIND,
-            expected_schema=GROUND_REPORT_SCHEMA,
+            artifact_kind=(GROUND_REPORT_ARTIFACT_KIND, RELLIS_REPORT_ARTIFACT_KIND),
+            expected_schema=(GROUND_REPORT_SCHEMA, RELLIS_REPORT_SCHEMA),
        )
        required = (
            "identity_sha256",
@@ -305,7 +309,7 @@ def build_polygon_router(
                            "ground_iou_delta",
                        )
                    },
-                    **_goose_frame_identity(frame["frame_id"]),
+                    **_dataset_frame_identity(frame),
                }
                for frame in manifest["frames"]
            ],
@@ -348,7 +352,11 @@ def build_polygon_router(
            ) from exc
        point_count = int(frame["point_count"])
        if (
-            schema != GOOSE_REVIEW_FRAME_SCHEMA
+            schema
+            not in {
+                GOOSE_REVIEW_FRAME_SCHEMA,
+                RELLIS_REVIEW_FRAME_SCHEMA,
+            }
            or stored_frame_id != frame_id
            or source_point_count != frame["source_point_count"]
            or xyz_cm.dtype != np.dtype("<i2")
@@ -562,11 +570,17 @@ def _read_registered_json(
    store: QualificationRunStore,
    run: QualificationRun,
    *,
-    artifact_kind: str,
-    expected_schema: str,
+    artifact_kind: str | tuple[str, ...],
+    expected_schema: str | tuple[str, ...],
    frame_id: str | None = None,
 ) -> dict[str, Any]:
-    candidates = [artifact for artifact in run.artifacts if artifact.kind == artifact_kind]
+    artifact_kinds = (artifact_kind,) if isinstance(artifact_kind, str) else artifact_kind
+    expected_schemas = (
+        (expected_schema,) if isinstance(expected_schema, str) else expected_schema
+    )
+    candidates = [
+        artifact for artifact in run.artifacts if artifact.kind in artifact_kinds
+    ]
    if frame_id is not None:
        candidates = [
            artifact for artifact in candidates if Path(artifact.relative_path).stem == frame_id
@@ -611,7 +625,7 @@ def _read_registered_json(
            status_code=500,
            detail="Квалификационный артефакт не является допустимым JSON.",
        ) from exc
-    if not isinstance(value, dict) or value.get("schema_version") != expected_schema:
+    if not isinstance(value, dict) or value.get("schema_version") not in expected_schemas:
        raise HTTPException(
            status_code=500,
            detail="Квалификационный артефакт имеет неизвестную схему.",
@@ -676,7 +690,8 @@ def _read_ground_review_manifest(
    safety = manifest.get("safety") if isinstance(manifest, dict) else None
    if (
        not isinstance(manifest, dict)
-        or manifest.get("schema_version") != GOOSE_REVIEW_PACK_SCHEMA
+        or manifest.get("schema_version")
+        not in {GOOSE_REVIEW_PACK_SCHEMA, RELLIS_REVIEW_PACK_SCHEMA}
        or manifest.get("source_run_id") != run_id
        or not isinstance(manifest.get("identity_sha256"), str)
        or not re.fullmatch(r"[a-f0-9]{64}", manifest["identity_sha256"])
@@ -725,7 +740,27 @@ def _read_ground_review_manifest(
    return pack_root, manifest


-def _goose_frame_identity(frame_id: str) -> dict[str, str | int]:
+def _dataset_frame_identity(frame: dict[str, Any]) -> dict[str, str | int | None]:
+    frame_id = frame["frame_id"]
+    explicit_sequence = frame.get("dataset_sequence_id")
+    explicit_number = frame.get("dataset_frame_number")
+    if explicit_sequence is not None or explicit_number is not None:
+        if (
+            not isinstance(explicit_sequence, str)
+            or re.fullmatch(r"[A-Za-z0-9][A-Za-z0-9_-]{0,95}", explicit_sequence)
+            is None
+            or not isinstance(explicit_number, int)
+            or explicit_number < 0
+        ):
+            raise HTTPException(
+                status_code=500,
+                detail="Идентичность dataset-кадра нарушает контракт.",
+            )
+        return {
+            "dataset_sequence_id": explicit_sequence,
+            "dataset_frame_number": explicit_number,
+            "sensor_timestamp_ns": None,
+        }
    match = GOOSE_FRAME_ID_PATTERN.fullmatch(frame_id)
    if match is None:
        raise HTTPException(