feat: add passive K1 local surface replay

2026-07-25 22:47:12 +03:00
parent cfe17e49bb
commit 04a658b218
16 changed files with 2715 additions and 21 deletions
@@ -9,7 +9,8 @@ export type LidarGroundViewMode =
  | "disagreement"
  | "candidate-disagreement"
  | "semantic"
-  | "ground-truth";
+  | "ground-truth"
+  | "local-surface";

 export interface LidarGroundPointCloudFrame {
  pointCount: number;
@@ -25,6 +26,7 @@ export interface LidarGroundPointCloudFrame {
    candidateDisagreement?: number[];
    groundTruthGround?: number[];
    evaluationMask?: number[];
+    localSurfaceClass?: number[];
  };
 }

@@ -67,7 +69,18 @@ function frameColors(
    const current = frame.masks.currentGround[index] === 1;
    const candidate = frame.masks.candidateGround[index] === 1;
    const candidateAssigned = frame.masks.candidateAssigned[index] === 1;
-    if (mode === "intensity") {
+    if (mode === "local-surface") {
+      const localClass = frame.masks.localSurfaceClass?.[index] ?? 0;
+      if (localClass === 1) {
+        setRgb(colors, offset, 0.63, 0.72, 0.49);
+      } else if (localClass === 2) {
+        setRgb(colors, offset, 0.94, 0.48, 0.24);
+      } else if (localClass === 3) {
+        setRgb(colors, offset, 0.66, 0.32, 0.38);
+      } else {
+        setRgb(colors, offset, 0.27, 0.29, 0.28);
+      }
+    } else if (mode === "intensity") {
      const intensity = (frame.intensity0To255?.[index] ?? 96) / 255;
      const neutral = 0.16 + intensity * 0.8;
      setRgb(
@@ -0,0 +1,219 @@
+import { useEffect, useMemo, useState } from "react";
+import { StatusBadge } from "@nodedc/ui-react";
+
+import {
+  fetchLidarLocalSurfaceFrame,
+  fetchLidarLocalSurfaces,
+  type LidarLocalSurfaceFrame,
+  type LidarLocalSurfaceModel,
+} from "../core/lidar/localSurface";
+import { LidarGroundPointCloud } from "./LidarGroundPointCloud";
+
+function formatNumber(value: number | null, digits = 2): string {
+  if (value === null) return "—";
+  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
+}
+
+function errorMessage(error: unknown): string {
+  return error instanceof Error && error.message.trim()
+    ? error.message
+    : "Не удалось открыть локальную модель LiDAR.";
+}
+
+export function LidarLocalSurfacePanel({
+  selectedWindowKey,
+  reloadGeneration,
+}: {
+  selectedWindowKey: string | null;
+  reloadGeneration: number;
+}) {
+  const [model, setModel] = useState<LidarLocalSurfaceModel | null>(null);
+  const [frame, setFrame] = useState<LidarLocalSurfaceFrame | null>(null);
+  const [loading, setLoading] = useState(true);
+  const [error, setError] = useState<string | null>(null);
+
+  const anchor = useMemo(() => {
+    if (!model) return null;
+    return (
+      model.anchors.find((item) => item.key === selectedWindowKey)
+      ?? model.anchors[0]
+      ?? null
+    );
+  }, [model, selectedWindowKey]);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setLoading(true);
+    setError(null);
+    void fetchLidarLocalSurfaces({ signal: controller.signal })
+      .then((catalog) => {
+        if (controller.signal.aborted) return;
+        setModel(catalog.items[0] ?? null);
+      })
+      .catch((loadError) => {
+        if (controller.signal.aborted) return;
+        setModel(null);
+        setFrame(null);
+        setError(errorMessage(loadError));
+      })
+      .finally(() => {
+        if (!controller.signal.aborted) setLoading(false);
+      });
+    return () => controller.abort();
+  }, [reloadGeneration]);
+
+  useEffect(() => {
+    if (!model || !anchor) {
+      setFrame(null);
+      return;
+    }
+    const controller = new AbortController();
+    setLoading(true);
+    setError(null);
+    void fetchLidarLocalSurfaceFrame(model.modelId, anchor.frameIndex, {
+      signal: controller.signal,
+    })
+      .then((nextFrame) => {
+        if (!controller.signal.aborted) setFrame(nextFrame);
+      })
+      .catch((loadError) => {
+        if (controller.signal.aborted) return;
+        setFrame(null);
+        setError(errorMessage(loadError));
+      })
+      .finally(() => {
+        if (!controller.signal.aborted) setLoading(false);
+      });
+    return () => controller.abort();
+  }, [anchor, model]);
+
+  const cloudFrame = useMemo(() => {
+    if (!frame) return null;
+    const emptyMask = new Array<number>(frame.pointCount).fill(0);
+    return {
+      pointCount: frame.pointCount,
+      pointsXyzM: frame.pointsXyzM,
+      intensity0To255: null,
+      masks: {
+        currentGround: emptyMask,
+        currentAssigned: emptyMask,
+        candidateGround: emptyMask,
+        candidateAssigned: emptyMask,
+        disagreement: emptyMask,
+        localSurfaceClass: frame.pointClass,
+      },
+    };
+  }, [frame]);
+
+  if (!model && !loading && !error) {
+    return null;
+  }
+
+  return (
+    <section
+      className="lidar-local-surface"
+      aria-label="Динамическая локальная поверхность LiDAR"
+    >
+      <header className="lidar-local-surface__heading">
+        <div>
+          <span className="section-eyebrow">ЛОКАЛЬНАЯ МОДЕЛЬ LIDAR · L2.6</span>
+          <h3>Поверхность и наблюдаемые препятствия</h3>
+          <p>
+            Производная от неизменяемого RAVNOVES00: высота и уклон
+            вычисляются из текущей позы и локальной поверхности, без константы
+            1,27 м и без команд в сканер.
+          </p>
+        </div>
+        <StatusBadge tone={error ? "danger" : frame?.valid ? "success" : "warning"}>
+          {error
+            ? "Недоступно"
+            : frame?.valid
+              ? "Кадр рассчитан"
+              : "Диагностический режим"}
+        </StatusBadge>
+      </header>
+
+      {model ? (
+        <div className="lidar-local-surface__summary">
+          <div>
+            <span>Покрытие записи</span>
+            <strong>
+              {model.metrics.frames.valid.toLocaleString("ru-RU")} /{" "}
+              {model.metrics.frames.sourceAvailable.toLocaleString("ru-RU")}
+            </strong>
+          </div>
+          <div>
+            <span>Высота над поверхностью · p50</span>
+            <strong>{formatNumber(model.metrics.sensorHeightM.p50)} м</strong>
+          </div>
+          <div>
+            <span>Шероховатость · p95</span>
+            <strong>{formatNumber(model.metrics.roughnessM.p95, 3)} м</strong>
+          </div>
+          <div>
+            <span>Pose binding · p95</span>
+            <strong>{formatNumber(model.metrics.poseBindingAgeMs.p95)} мс</strong>
+          </div>
+        </div>
+      ) : null}
+
+      <div className="lidar-local-surface__stage">
+        {cloudFrame && frame ? (
+          <LidarGroundPointCloud frame={cloudFrame} mode="local-surface" />
+        ) : (
+          <div className="lidar-ground-scene-placeholder">
+            <StatusBadge tone={error ? "danger" : "accent"}>
+              {error ? "Ошибка" : "Загрузка"}
+            </StatusBadge>
+            <span>{error ?? "Читаем производную выбранной сцены…"}</span>
+          </div>
+        )}
+        {frame ? (
+          <aside className="lidar-local-surface__frame">
+            <div>
+              <span>Исходный кадр</span>
+              <strong>{frame.sourceFrameIndex}</strong>
+              <small>t = {formatNumber(frame.sessionSeconds)} с</small>
+            </div>
+            <dl>
+              <div>
+                <dt>Высота</dt>
+                <dd>{formatNumber(frame.surface.sensorHeightM)} м</dd>
+              </div>
+              <div>
+                <dt>Уклон</dt>
+                <dd>{formatNumber(frame.surface.slopeDeg)}°</dd>
+              </div>
+              <div>
+                <dt>Шероховатость</dt>
+                <dd>{formatNumber(frame.surface.roughnessM, 3)} м</dd>
+              </div>
+              <div>
+                <dt>Confidence</dt>
+                <dd>{formatNumber(frame.surface.confidence * 100, 0)}%</dd>
+              </div>
+              <div>
+                <dt>Поверхность</dt>
+                <dd>{frame.counts.surface.toLocaleString("ru-RU")} точек</dd>
+              </div>
+              <div>
+                <dt>Препятствия</dt>
+                <dd>{frame.counts.occupied.toLocaleString("ru-RU")} точек</dd>
+              </div>
+            </dl>
+            <div className="lidar-local-surface__legend">
+              <span><i data-class="surface" />Наблюдаемая поверхность</span>
+              <span><i data-class="occupied" />Выше поверхности</span>
+              <span><i data-class="below" />Нижний выброс</span>
+              <span><i data-class="unknown" />Не классифицировано</span>
+            </div>
+            <p>
+              Пустота между точками остаётся unknown. Этот слой не разрешает
+              движение и не меняет постоянную реконструкцию территории.
+            </p>
+          </aside>
+        ) : null}
+      </div>
+    </section>
+  );
+}
@@ -25,6 +25,7 @@ import {
  LidarGroundPointCloud,
  type LidarGroundViewMode,
 } from "./LidarGroundPointCloud";
+import { LidarLocalSurfacePanel } from "./LidarLocalSurfacePanel";

 function formatNumber(value: number | null, digits = 1): string {
  if (value === null) return "—";
@@ -460,6 +461,11 @@ export function LidarQualityWorkspace({
                    <span><i data-color="non-ground" />Оба non-ground</span>
                  </div>
                </div>
+
+                <LidarLocalSurfacePanel
+                  selectedWindowKey={selectedFieldWindow?.key ?? null}
+                  reloadGeneration={reloadGeneration}
+                />
              </>
            ) : groundBenchmark ? (
              <section