| """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() |
|
|
