File size: 2,651 Bytes
1150050 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 | """Validate every corrected row, source mapping, seed, composition and checksum."""
from __future__ import annotations
import argparse
import json
from pathlib import Path
import numpy as np
import pyarrow.parquet as pq
from kitti_c2l.release import require, sha256, validate_table
def main() -> None:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--root", type=Path, default=Path(__file__).resolve().parents[1])
parser.add_argument("--raw-root", type=Path)
args = parser.parse_args()
report = json.loads((args.root / "release/v1.1.0/calibration_audit.json").read_text())
source_root = args.raw_root or args.root / "release/v1.1.0/source_calibration"
for relative, expected in report["source_calibration_sha256"].items():
require(
sha256(source_root / relative) == expected, f"Source calibration checksum: {relative}"
)
require(
report["status"] == "pass" and not report["parameters_estimated_from_recordings"],
"Calibration claim mismatch",
)
for item in report["files"]:
path = args.root / item["path"]
require(sha256(path) == item["sha256"], f"Corrected checksum mismatch: {path}")
legacy_path = args.root / "data" / path.name
require(
sha256(legacy_path) == item["legacy_sha256"], f"Legacy checksum mismatch: {path.name}"
)
actual = validate_table(
path, kitti_calib_root=source_root, camera_model="full_projection_v1_1"
)
require(actual["rows"] == item["rows"], f"Row count mismatch: {path.name}")
table, legacy = pq.read_table(path), pq.read_table(legacy_path)
require(
table.select(item["unchanged_columns"]).equals(
legacy.select(item["unchanged_columns"])
),
f"Unexpected non-translation change: {path.name}",
)
for date, calibration in report["per_date"].items():
mask = np.asarray(table["raw_date"].to_pylist()) == date
if mask.any():
translation = np.asarray(table["gt_t_cam_from_velo_cm"].to_pylist())[mask]
require(
np.allclose(
translation,
calibration["full_projection_translation_cm"],
atol=2e-5,
rtol=0,
),
f"Calibration manifest mismatch: {date}",
)
print(f"Validated {path.name}: {actual['rows']} rows", flush=True)
print("Full-projection v1.1 release: pass")
if __name__ == "__main__":
main()
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