feat: finalize corrected-route planning and Rerun recording review

2026-09-22 10:10:03 +03:00
parent c804d89b18
commit 2e5d52521f
132 changed files with 14141 additions and 898 deletions
@@ -7,6 +7,7 @@
    "": {
      "name": "@nodedc/mission-core-control-station",
      "version": "0.1.0",
+      "hasInstallScript": true,
      "dependencies": {
        "@noble/hashes": "^2.2.0",
        "@nodedc/map-cesium-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/map-cesium-react",
@@ -5,6 +5,8 @@
  "type": "module",
  "scripts": {
    "dev": "vite",
+    "postinstall": "node scripts/install-rerun-navigation.mjs",
+    "prebuild": "node scripts/install-rerun-navigation.mjs",
    "build": "tsc -b && vite build",
    "preview": "vite preview",
    "test:unit": "node --test test/*.test.mjs",
@@ -0,0 +1,59 @@
+import { createHash } from "node:crypto";
+import { readFileSync, writeFileSync } from "node:fs";
+import { dirname, resolve } from "node:path";
+import { fileURLToPath } from "node:url";
+
+const root = resolve(dirname(fileURLToPath(import.meta.url)), "..");
+const packageRoot = resolve(root, "node_modules/@rerun-io/web-viewer");
+const vendorRoot = resolve(root, "vendor/rerun-web-viewer-0.36.3");
+const manifest = JSON.parse(readFileSync(resolve(vendorRoot, "navigation-build.json"), "utf8"));
+const installed = JSON.parse(readFileSync(resolve(packageRoot, "package.json"), "utf8"));
+const sha = bytes => createHash("sha256").update(bytes).digest("hex");
+if (installed.version !== "0.36.3" || manifest.upstreamVersion !== installed.version) {
+  throw new Error("Rerun navigation requires the audited 0.36.3 package; rebase before upgrading");
+}
+if (sha(readFileSync(resolve(vendorRoot, "NODEDC_NAVIGATION.patch"))) !== manifest.patchSha256) {
+  throw new Error("Rerun navigation source patch identity mismatch");
+}
+
+const eyeType = "{ position: [number, number, number]; lookTarget: [number, number, number]; eyeUp: [number, number, number] } | null";
+const additions = {
+  "index.js": {
+    marker: "    get_active_recording_id() {",
+    code: `    get_camera_eye() {\n        if (!this.#handle) throw new Error("Rerun viewer is stopped");\n        return JSON.parse(this.#handle.nodedc_camera_eye() ?? "null");\n    }\n`,
+  },
+  "index.ts": {
+    marker: "  get_active_recording_id(): string | null {",
+    code: `  get_camera_eye(): ${eyeType} {\n    if (!this.#handle) throw new Error("Rerun viewer is stopped");\n    return JSON.parse(this.#handle.nodedc_camera_eye() ?? "null");\n  }\n`,
+  },
+  "index.d.ts": {
+    marker: "    get_active_recording_id(): string | null;",
+    code: `    get_camera_eye(): ${eyeType};\n`,
+  },
+};
+
+// Validate the complete set before changing any installed file. A package
+// upgrade, corrupt artifact or independently modified wrapper fails closed.
+const writes = [];
+for (const [name, identity] of Object.entries(manifest.files)) {
+  const current = readFileSync(resolve(packageRoot, name));
+  let output;
+  if (additions[name]) {
+    const { marker, code } = additions[name];
+    const source = current.toString("utf8");
+    const original = source.includes(code) ? source.replace(code, "") : source;
+    if (sha(original) !== identity.upstreamSha256 || original.split(marker).length !== 2) {
+      throw new Error(`Unexpected upstream wrapper: ${name}`);
+    }
+    output = Buffer.from(original.replace(marker, code + marker));
+  } else {
+    output = readFileSync(resolve(vendorRoot, identity.artifact));
+    if (sha(output) !== identity.sha256) throw new Error(`Corrupt navigation artifact: ${name}`);
+    if (![identity.upstreamSha256, identity.sha256].includes(sha(current))) {
+      throw new Error(`Unexpected installed runtime: ${name}`);
+    }
+  }
+  writes.push([resolve(packageRoot, name), output]);
+}
+for (const [path, output] of writes) writeFileSync(path, output);
+console.log("Installed NODE.DC Rerun 0.36.3 navigation/v1 (native camera, one renderer).");
@@ -14,6 +14,7 @@ import {
  Inspector,
  StatusBadge,
  TextField,
+  ToastStack,
  UserProfileMenu,
  Window,
  WindowFooterActions,
@@ -49,6 +50,7 @@ import type {
 } from "./core/observation/sessionArchive";
 import { useRecordedSessionAdmission } from "./core/observation/useRecordedSessionAdmission";
 import { useWorkspaceLayoutProfile } from "./core/observation/useWorkspaceLayoutProfile";
+import { useSessionDisplayProfile } from "./core/observation/useSessionDisplayProfile";
 import { viewerSettingsTargetIdentity } from "./core/observation/viewerSettingsTarget";
 import { resolvePolygonRunRoute } from "./core/polygon/runArchive";
 import {
@@ -181,6 +183,7 @@ export default function App() {
  const appliedProfileKeyRef = useRef<string | null>(null);
  const sceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
  const displayDraftRef = useRef<SceneSettings>(defaultSceneSettings);
+  const closeDisplayRef = useRef<() => void>(() => {});
  const confirmedSceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
  const viewerSettingsCommitTimerRef = useRef<number | null>(null);
  const runtimeUpdateViewerSettingsRef = useRef(runtime.updateViewerSettings);
@@ -228,6 +231,13 @@ export default function App() {
  );
  runtimeUpdateViewerSettingsRef.current = runtime.updateViewerSettings;
  replayActiveRef.current = replayPresented;
+  const sessionDisplayProfile = useSessionDisplayProfile(replayPresented ? recordedReplay?.sessionId ?? null : null, (settings) => {
+    sceneSettingsRef.current = settings;
+    displayDraftRef.current = settings;
+    confirmedSceneSettingsRef.current = settings;
+    setSceneSettings(settings);
+    setDisplayDraft(settings);
+  });

  useEffect(() => {
    if (!polygonDatasetRoute.active || polygonDatasetRouteOpenedRef.current) return;
@@ -310,6 +320,7 @@ export default function App() {
    const remote = runtime.state?.viewerSettings;
    if (
      !remote ||
+      replayActiveRef.current ||
      workspaceLayoutProfile.profile ||
      sceneSettingsCommitterRef.current?.isBusy()
    ) return;
@@ -332,7 +343,7 @@ export default function App() {

  useEffect(() => {
    const profile = workspaceLayoutProfile.profile;
-    if (!profile) return;
+    if (!profile || selectedRecordedSessionIdRef.current) return;
    if (viewerSettingsCommitTimerRef.current !== null) {
      window.clearTimeout(viewerSettingsCommitTimerRef.current);
      viewerSettingsCommitTimerRef.current = null;
@@ -403,7 +414,10 @@ export default function App() {

  const closeSceneWindow = useCallback((windowId: SceneToolWindowId) => {
    if (windowId === "sources") setSourceWindowOpen(false);
-    if (windowId === "display") setDisplayWindowOpen(false);
+    if (windowId === "display") {
+      setDisplayWindowOpen(false);
+      closeDisplayRef.current();
+    }
    if (windowId === "layers") setLayerInspectorOpen(false);
    setSceneWindowOrder((current) => current.filter((candidate) => candidate !== windowId));
  }, []);
@@ -464,14 +478,22 @@ export default function App() {
    const next = { ...displayDraftRef.current, ...patch };
    displayDraftRef.current = next;
    setDisplayDraft(next);
+    sessionDisplayProfile.edited();
    if (viewerSettingsCommitTimerRef.current !== null) {
      window.clearTimeout(viewerSettingsCommitTimerRef.current);
    }
+    // Preview and persistence are separate. An open inspector must not freeze
+    // either its controls or the shared accumulation slider below the scene.
+    if (replayActiveRef.current && (patch.pointDecimationPercent === 0 || patch.pointDecimationPercent === 100)) {
+      viewerSettingsCommitTimerRef.current = null;
+      sceneSettingsCommitterRef.current?.enqueue(next);
+      return;
+    }
    viewerSettingsCommitTimerRef.current = window.setTimeout(() => {
      viewerSettingsCommitTimerRef.current = null;
      sceneSettingsCommitterRef.current?.enqueue(displayDraftRef.current);
    }, viewerSettingsQuietPeriodMs);
-  }, []);
+  }, [sessionDisplayProfile.edited]);

  const flushDisplaySettings = useCallback(() => {
    if (viewerSettingsCommitTimerRef.current === null) return;
@@ -481,8 +503,15 @@ export default function App() {
  }, []);

  const commitDisplayPatch = useCallback((patch: Partial<SceneSettings>) => {
+    sessionDisplayProfile.edited();
    commitDisplaySettings({ ...displayDraftRef.current, ...patch });
-  }, [commitDisplaySettings]);
+  }, [commitDisplaySettings, sessionDisplayProfile.edited]);
+
+  closeDisplayRef.current = () => {
+    const settings = {...displayDraftRef.current};
+    commitDisplaySettings(settings);
+    if (replayActiveRef.current) sessionDisplayProfile.save(settings);
+  };

  const openDisplay = () => {
    if (!sceneWorkspaceActive) return;
@@ -1036,8 +1065,11 @@ export default function App() {
        onClose={() => closeSceneWindow("display")}
      >
        <SceneDisplayControls displayDraft={displayDraft} stageDisplayPatch={stageDisplayPatch}
-          commitDisplayPatch={commitDisplayPatch} flushDisplaySettings={flushDisplaySettings} replayPresented={replayPresented}/>
+          commitDisplayPatch={replayPresented ? stageDisplayPatch : commitDisplayPatch} flushDisplaySettings={flushDisplaySettings} replayPresented={replayPresented}/>
      </Window>
+      <ToastStack items={sessionDisplayProfile.error ? [{id: 'session-display-profile', tone: 'error',
+        title: 'Настройки записи', description: sessionDisplayProfile.error}] : []}
+        onDismiss={sessionDisplayProfile.dismissError} />

      <Window
        open={sceneWorkspaceActive && layerInspectorOpen}
@@ -124,7 +124,7 @@ export function ObservationSessionSelect({
  const [deleteTarget, setDeleteTarget] = useState<ObservationSessionSummary | null>(null);
  const sessions = useObservationSessions({
    limit,
-    scope: "source",
+    scope: "standalone",
    replayEnabled: blockedReason === null,
    onReplayBegin,
    onReplayAccepted,
@@ -8,6 +8,7 @@ import {
 } from "./rerun/recordedRerunCameraJournal";

 import type { SceneSettings } from "../sceneSettings";
+import {useRecordedPointDisplay} from './rerun/useRecordedPointDisplay';
 import {
  advanceLiveReceiverOpenWatchdog,
  advanceLiveReceiverWatchdog,
@@ -130,6 +131,7 @@ export interface RerunViewportProps {
  onPlaybackControllerChange?: (controller: RerunPlaybackController | null) => void;
  sceneSettings?: Pick<
    SceneSettings,
+    | "pointDecimationPercent"
    | "accumulationSeconds"
    | "showGrid"
    | "showPoints"
@@ -148,14 +150,8 @@ interface RerunBlueprintChannel {
  cameraContract?: string | null;
  appliedFollowTrajectory?: boolean | null;
  pendingFollowCameraEye?: RecordedRerunCameraEye | null;
-  configureCameraJournal?: (
-    eye: RecordedRerunCameraEye,
-    spatialViewportStart: number,
-  ) => void;
-  getCameraEye?: () => RecordedRerunCameraEye;
-  setCameraViewportStart?: (spatialViewportStart: number) => void;
+  getCameraEye?: () => RecordedRerunCameraEye | null;
  getCurrentTimeNs?: () => number | null;
-  setCameraMaxOrbitalRadius?: (maxOrbitalRadius: number) => void;
  channel: {
    readonly ready: boolean;
    send_rrd: (rrdBytes: Uint8Array) => void;
@@ -421,6 +417,7 @@ export async function fetchRecordedBlueprintRrd(
    currentTimeNs,
    reactivateUpdates = false,
    onCameraMaxOrbitalRadius,
+    displayPointBank,
    perceptionLayers = {
      enabled: false,
      detections2d: false,
@@ -444,12 +441,17 @@ export async function fetchRecordedBlueprintRrd(
    currentTimeNs?: number | null;
    reactivateUpdates?: boolean;
    onCameraMaxOrbitalRadius?: (maxOrbitalRadius: number) => void;
+    displayPointBank?: string | null;
    perceptionLayers?: RecordedPerceptionLayers;
    fetcher?: typeof globalThis.fetch;
  },
 ): Promise<Uint8Array> {
  const resolvedUnifiedPerception =
    unifiedPerception ?? (perceptionLayers.enabled && activeView !== "spatial");
+  // Rerun exposes its interpolated TimeReal cursor as f64 nanoseconds, even
+  // when paused after seeking. The API needs an integer pose-query timestamp.
+  // Quantize at this boundary; never round the viewer's actual playback cursor.
+  const requestTimeNs = currentTimeNs == null ? currentTimeNs : Math.round(currentTimeNs);
  const base = new URL(origin);
  const endpoint = new URL(endpointUrl, base.origin);
  if (
@@ -481,7 +483,7 @@ export async function fetchRecordedBlueprintRrd(
      ...cameraEye.eyeUp,
    ].some((value) => !Number.isFinite(value))) ||
    (currentTimeNs !== undefined && currentTimeNs !== null && (
-      !Number.isSafeInteger(currentTimeNs) || currentTimeNs < 0
+      !Number.isSafeInteger(requestTimeNs) || currentTimeNs < 0
    )) ||
    [
      perceptionLayers.enabled,
@@ -508,6 +510,7 @@ export async function fetchRecordedBlueprintRrd(
      application_id: identity.applicationId,
      recording_id: identity.recordingId,
      blueprint_session_id: blueprintSessionId,
+      ...(displayPointBank == null ? {} : {display_point_bank: displayPointBank}),
      accumulation_seconds: settings.accumulationSeconds,
      show_grid: settings.showGrid,
      show_points: settings.showPoints,
@@ -528,7 +531,7 @@ export async function fetchRecordedBlueprintRrd(
      eye_up: cameraEye?.eyeUp ?? null,
      ...(eyeRelativeToTracking ? { eye_relative_to_tracking: true } : {}),
      ...(currentTimeNs === undefined || currentTimeNs === null ? {} : {
-        current_time_ns: currentTimeNs,
+        current_time_ns: requestTimeNs,
      }),
      show_detections_2d: perceptionLayers.detections2d,
      show_camera_image: perceptionLayers.cameraImage ?? true,
@@ -585,10 +588,8 @@ export function recordedCameraJournalContract(
    followTrajectory: boolean;
  },
 ): string {
-  // Following is a tracking property of the current native eye. It must never
-  // initialize the browser journal again: doing so replaces the operator's
-  // current pose with the startup preset immediately before the blueprint is
-  // sent. Plan/3D and explicit reset are the only preset transitions.
+  // Following uses the native eye snapshot, never the startup preset.
+  // Plan/3D and explicit reset are the only preset transitions.
  return [activeView, viewResetGeneration, planView].join(":");
 }

@@ -841,6 +842,7 @@ function RerunViewportInstance({
  const presentationGateRef = useRef(presentationGate);
  presentationGateRef.current = presentationGate;
  const [blueprintChannelRevision, setBlueprintChannelRevision] = useState(0);
+  const [pointDisplayVisibilityGate, setPointDisplayVisibilityGate] = useState('');
  const [perceptionChannelRevision, setPerceptionChannelRevision] = useState(0);
  const recordedBlueprintUrl = sourceUrl
    ? resolveRecordedBlueprintUrl(
@@ -857,6 +859,17 @@ function RerunViewportInstance({
  const recordedPointColorsUrl = recordedBlueprintUrl
    ? recordedBlueprintUrl.replace(/\/blueprint\.rrd$/, "/point-colors.rrd")
    : sourceUrl ? resolveRecordedPointColorsUrl(sourceUrl, window.location.origin) : null;
+  const pointDisplay = useRecordedPointDisplay({
+    endpoint: recordedBlueprintUrl, settings: sceneSettings, revision: blueprintChannelRevision,
+    sourceGeneration: recordedArtifact?.sha256,
+    ready: status === 'ready' && pointDisplayVisibilityGate === `${recordedBlueprintUrl}:${blueprintChannelRevision}`,
+    onLoad: onPointColorLoadChange,
+    getOwner: () => {
+      const active = blueprintChannelRef.current;
+      const identity = recordedIdentityRef.current;
+      return active?.channel.ready && identity ? {identity, send: bytes => active.channel.send_rrd(bytes)} : null;
+    },
+  });
  const presentationStatus = rerunPresentationStatus(
    status,
    presentationGate,
@@ -1638,29 +1651,14 @@ function RerunViewportInstance({
              cameraContract: null,
              appliedFollowTrajectory: null,
              pendingFollowCameraEye: null,
-              configureCameraJournal: (eye, spatialViewportStart) => {
-                if ("configure_camera_journal" in viewer) {
-                  viewer.configure_camera_journal(eye, spatialViewportStart);
-                }
-              },
              getCameraEye: () => "get_camera_eye" in viewer
                ? viewer.get_camera_eye()
-                : RECORDED_RERUN_ORBITAL_EYE,
-              setCameraViewportStart: (spatialViewportStart) => {
-                if ("set_camera_viewport_start" in viewer) {
-                  viewer.set_camera_viewport_start(spatialViewportStart);
-                }
-              },
+                : null,
              getCurrentTimeNs: () => {
                const currentIdentity = recordedIdentityRef.current;
                if (!currentIdentity) return null;
                return viewer.get_current_time(currentIdentity.recordingId, "session_time");
              },
-              setCameraMaxOrbitalRadius: (maxOrbitalRadius) => {
-                if ("set_camera_max_orbital_radius" in viewer) {
-                  viewer.set_camera_max_orbital_radius(maxOrbitalRadius);
-                }
-              },
              channel,
            };
            blueprintChannelRef.current = blueprintChannel;
@@ -2010,6 +2008,7 @@ function RerunViewportInstance({

  useEffect(() => {
    if (!recordedPointColorsUrl || !sceneSettings) return;
+    if ((sceneSettings.pointDecimationPercent ?? 0) > 0) return;
    const active = blueprintChannelRef.current;
    const identity = recordedIdentityRef.current;
    if (
@@ -2089,6 +2088,7 @@ function RerunViewportInstance({
    sceneSettings?.colorMode,
    sceneSettings?.customColor,
    sceneSettings?.palette,
+    sceneSettings?.pointDecimationPercent,
  ]);

  useEffect(() => {
@@ -2113,12 +2113,6 @@ function RerunViewportInstance({
      },
    );
    const cameraContractChanged = active.cameraContract !== cameraContract;
-    if (cameraContractChanged) {
-      active.configureCameraJournal?.(
-        recordedPlanView ? RECORDED_RERUN_PLAN_EYE : RECORDED_RERUN_ORBITAL_EYE,
-        recordedUnifiedPerception ? recordedUnifiedCameraShare : 0,
-      );
-    }
    const abort = new AbortController();
    const previousFollow = active.appliedFollowTrajectory ?? false;
    const enablingFollow = recordedFollowTrajectory && !previousFollow;
@@ -2143,7 +2137,9 @@ function RerunViewportInstance({
      if (eyeRelativeToTracking && currentTimeNs == null) {
        throw new Error("Recorded tracking cursor is unavailable");
      }
-      return fetchRecordedBlueprintRrd(recordedBlueprintUrl, sceneSettings, identity, {
+      return fetchRecordedBlueprintRrd(recordedBlueprintUrl,
+        {...sceneSettings, showPoints: sceneSettings.showPoints && !pointDisplay.hidePoints}, identity, {
+        displayPointBank: pointDisplay.bank,
        origin: window.location.origin,
        blueprintSessionId: blueprintSessionIdRef.current,
        signal: abort.signal,
@@ -2157,13 +2153,11 @@ function RerunViewportInstance({
        planView: recordedPlanView,
        cameraEye,
        eyeRelativeToTracking,
-        currentTimeNs,
+        // Only following-eye transitions need a pose at the cursor. Supplying
+        // time for display-only updates makes the API scan the entire archive
+        // for camera bounds, although neither the camera nor its pose changed.
+        currentTimeNs: eyeRelativeToTracking ? currentTimeNs : undefined,
        reactivateUpdates,
-        onCameraMaxOrbitalRadius: (maxOrbitalRadius) => {
-          if (blueprintChannelRef.current === active) {
-            active.setCameraMaxOrbitalRadius?.(maxOrbitalRadius);
-          }
-        },
      });
    };
    const canApply = () => (
@@ -2175,24 +2169,29 @@ function RerunViewportInstance({
    const applyPayload = (payload: Uint8Array) => {
      if (!canApply()) return false;
      active.channel.send_rrd(payload);
-      active.setCameraViewportStart?.(
-        recordedUnifiedPerception ? recordedUnifiedCameraShare : 0,
-      );
+      // Exclude inactive point generations before admitting their data into
+      // cached recordings whose embedded blueprint predates display controls.
+      setPointDisplayVisibilityGate(`${recordedBlueprintUrl}:${blueprintChannelRevision}`);
      return true;
    };
    void (async () => {
      const firstEye = disablingFollow
        ? transitionEye ?? undefined
        : !enablingFollow && (cameraContractChanged || pendingFollowEye)
-          ? pendingFollowEye ?? active.getCameraEye?.()
-          : undefined;
+          ? pendingFollowEye ?? (recordedPlanView ? RECORDED_RERUN_PLAN_EYE : RECORDED_RERUN_ORBITAL_EYE)
+          : !enablingFollow ? active.getCameraEye?.() ?? undefined : undefined;
      const firstEyeIsTrackingRelative = Boolean(firstEye) && (
        disablingFollow || recordedFollowTrajectory
      );
      const firstPayload = await requestBlueprint(
        firstEye,
        firstEyeIsTrackingRelative,
-        enablingFollow || disablingFollow || Boolean(pendingFollowEye),
+        // Upstream copies incoming blueprints into an active store. Every
+        // settings update must activate it; merely appending rows is invisible.
+        // Activation copies the incoming blueprint store, not the operator's
+        // edited store. Preserve its actual native eye on display-only updates;
+        // omitting the eye resurrects the embedded startup camera.
+        true,
      );
      if (!applyPayload(firstPayload)) return;
      active.cameraContract = cameraContract;
@@ -2213,9 +2212,10 @@ function RerunViewportInstance({
      const stabilizedPayload = await requestBlueprint(transitionEye, true, true);
      if (!applyPayload(stabilizedPayload)) return;
      active.pendingFollowCameraEye = null;
-    })().catch(() => {
+    })().catch((error: unknown) => {
      // The recording remains usable with its embedded default blueprint.
      // A later settings change retries through the same small channel.
+      if (!abort.signal.aborted) console.warn("Recorded scene settings were not applied", error);
    });
    return () => abort.abort();
  }, [
@@ -2243,6 +2243,9 @@ function RerunViewportInstance({
    sceneSettings?.showPoints,
    sceneSettings?.showTrajectory,
    sceneSettings?.showGrid,
+    pointDisplay.ready,
+    pointDisplay.bank,
+    pointDisplay.hidePoints,
  ]);

  return (
@@ -2,11 +2,11 @@ import type {ReactNode} from "react";
 import { Button, LoadingRegion } from "@nodedc/ui-react";
 import { useSessionOverview } from "../../core/observation/useSessionOverview";
 import { SessionOverviewScene } from "../observation/SessionOverviewScene";
-export function MissionZonePreview({ sessionId, toolbar }: { sessionId: string; toolbar?:ReactNode }) {
+export function MissionZonePreview({ sessionId, generation, toolbar }: { sessionId: string; generation: string; toolbar?:ReactNode }) {
  const { data, error, retry } = useSessionOverview(sessionId);
  const pending = !error && (!data || data.state === "queued" || data.state === "preparing");
  const failure = error || (data?.state === "error" ? data.message : null);
  if (pending) return <LoadingRegion loading label="Подготовка облака зоны" className="mission-planner__zone-loading" />;
  if (failure || !data?.scene_url) return <div className="session-overview__empty"><span>{failure || "Облако записи недоступно."}</span><Button onClick={retry}>Повторить</Button></div>;
-  return <SessionOverviewScene sourceUrl={data.scene_url} toolbar={toolbar} hideTitle />;
+  return <SessionOverviewScene sourceUrl={`${data.scene_url}&reference_generation=${encodeURIComponent(generation)}`} toolbar={toolbar} hideTitle />;
 }
@@ -1,53 +1,30 @@
-import { Button, Icon, Inspector, InspectorSelectField, LoadingRegion, RangeControl, SegmentedControl, TextField } from '@nodedc/ui-react';
-import { endAtDistance, indexAtDistance, routeLength, canSelectSession, canStartPlanningRoute } from '../../core/missions/planner';
+import { Button, Icon, Inspector, InspectorSelectField, TextField } from '@nodedc/ui-react';
+import { routeLength, canStartPlanningRoute } from '../../core/missions/planner';
 import type { useMissionPlanner } from '../../core/missions/useMissionPlanner';
-import type { useRegistrationTest } from '../../core/missions/useRegistrationTest';

-export function PlanningProjectSettings({p,t,mode,setMode,onStart,starting}:{
-  p:ReturnType<typeof useMissionPlanner>; t:ReturnType<typeof useRegistrationTest>;
-  mode:'scanner'|'recording';setMode:(mode:'scanner'|'recording')=>void;onStart:()=>void;starting:boolean;
+export function PlanningProjectSettings({p,onStart,starting}:{
+  p:ReturnType<typeof useMissionPlanner>; onStart:()=>void; starting:boolean;
 }) {
  const disabled=p.busy||starting;
  const length=routeLength(p.poses);
-  return <Inspector variant="panel" defaultOpen={['project','zone','route','query']} sections={[
+  const routeReady=canStartPlanningRoute(length,'scanner');
+  return <><Inspector variant="panel" defaultOpen={['project','zone']} sections={[
    {id:'project',label:'Проект',icon:<Icon name="file"/>,content:<div className="inspector-control-stack">
      <TextField label="Название проекта" placeholder="Название совмещения" value={p.name} maxLength={120} disabled={disabled} onChange={e=>p.setName(e.target.value)}/>
    </div>},
    {id:'zone',label:'Эталон',icon:<Icon name="globe"/>,content:<div className="inspector-control-stack">
      <InspectorSelectField label="Сохранённая запись" searchable value={p.sessionId} options={p.options} disabled={disabled||p.catalogBusy} onChange={p.chooseSource}/>
      {p.cursor&&<Button disabled={p.catalogBusy} onClick={()=>void p.loadMore()}>Ещё записи</Button>}
-      {p.source&&<small>{p.source.poses.length.toLocaleString('ru-RU')} положений · {p.source.path_m.toFixed(2)} м</small>}
-    </div>},
-    {id:'route',label:'Участок эталона',icon:<Icon name="plan"/>,content:<div className="inspector-control-stack">
-      {p.source&&!p.sourceChanged?<>
-        <RangeControl label="Начало участка" value={p.source.poses[p.start]?.distance_m??0} min={0} max={p.source.poses[p.source.poses.length-2].distance_m} step="any" disabled={disabled}
-          formatValue={n=>`${n.toFixed(1)} м`} onChange={distance=>{const n=indexAtDistance(p.source!,distance,0,p.source!.poses.length-2);p.setStart(n);if(n>=p.end)p.setEnd(n+1);}}/>
-        <RangeControl label="Конец участка" value={p.source.poses[p.end]?.distance_m??0} min={p.source.poses[p.start+1]?.distance_m??0} max={p.source.path_m} step="any" disabled={disabled}
-          formatValue={n=>`${n.toFixed(1)} м`} onChange={distance=>p.setEnd(indexAtDistance(p.source!,distance,p.start+1,p.source!.poses.length-1,true))}/>
-        <Button disabled={disabled} onClick={()=>p.setEnd(endAtDistance(p.source!,p.start,30))}>30 м от начала участка</Button>
-        <Button disabled={disabled} onClick={()=>{p.setStart(0);p.setEnd(p.source!.poses.length-1);}}>Вся траектория</Button>
+      {p.source&&<>
+        <small>Вся запись · {p.source.path_m.toFixed(2)} м · {p.source.poses.length.toLocaleString('ru-RU')} положений</small>
        <InspectorSelectField label="Направление" value={p.direction} onChange={p.setDirection} disabled={disabled} options={[{value:'forward',label:'По записи'},{value:'reverse',label:'В обратную сторону'}]}/>
-        <small>{length.toFixed(2)} м · {p.poses.length.toLocaleString('ru-RU')} положений</small>
-      </>:<p>Выберите сохранённую запись эталона.</p>}
-    </div>},
-    {id:'query',label:'Повторный проход',icon:<Icon name="activity"/>,content:<div className="inspector-control-stack">
-      <SegmentedControl label="Источник повторного прохода" value={mode} onChange={setMode} items={[{value:'scanner',label:'Новый проход',disabled},{value:'recording',label:'Из записи',disabled}]}/>
-      {mode==='scanner'?<p>После запуска откроется подключение сканера. Новый проход записывается отдельным проектом.</p>:<>
-        <InspectorSelectField label="Повторная запись" value={t.sessionId} disabled={disabled} searchable onChange={t.setSessionId}
-          options={[{value:'',label:'Выберите повторный проход'},...p.sessions.filter(canSelectSession).map(s=>({value:s.id,label:s.label,description:s.id===p.sessionId?'Та же запись · внутренняя проверка':'Сохранённые облако и траектория'}))]}/>
-        <LoadingRegion loading={t.loading} label="Подготовка повторного прохода">
-          {t.source&&<div className="inspector-control-stack">
-            <RangeControl label="Начало повторного участка" min={0} max={t.source.poses[t.source.poses.length-2].distance_m} step="any" value={t.source.poses[t.start].distance_m} disabled={disabled} formatValue={n=>`${n.toFixed(1)} м`}
-              onChange={n=>{const start=indexAtDistance(t.source!,n,0,t.source!.poses.length-2);t.setStart(start);t.setEnd(endAtDistance(t.source!,start,20));}}/>
-            <RangeControl label="Конец повторного участка" min={t.source.poses[t.start+1].distance_m} max={t.source.path_m} step="any" value={t.source.poses[t.end].distance_m} disabled={disabled} formatValue={n=>`${n.toFixed(1)} м`} onChange={n=>t.setEnd(indexAtDistance(t.source!,n,t.start+1))}/>
-          </div>}
-        </LoadingRegion>
      </>}
-      <small>{mode==='scanner'
-        ?'Длина выбранного участка задаёт предел прохода. Ограничения по времени нет; запись сканера не останавливается автоматически. Неподвижная калибровка просматривает весь выбранный маршрут. После калибровки оставайтесь на месте до статуса «Сопровождение»; при отсутствии или неоднозначности совпадения сцена прямо сообщит причину и не начнёт сопровождение.'
-        :'Участки от 3 до 40 м. Начальная привязка — выбранное место старта и одинаковое направление.'}</small>
-      <Button variant="primary" loading={starting} disabled={disabled||!p.ready||!canStartPlanningRoute(length,mode)||(mode==='recording'&&(!t.source||t.loading||!canStartPlanningRoute(t.length,'recording')))} onClick={onStart}><Icon name="play"/>{mode==='scanner'?'Начать новый проход':'Запустить совмещение'}</Button>
-      {(p.error||t.error)&&<p role="alert">{p.error||t.error}</p>}
    </div>},
-  ]}/>;
+  ]}/>
+    <div className="inspector-control-stack">
+      {p.source&&!routeReady&&<small>В записи недостаточно перемещения для привязки. Выберите другой эталон.</small>}
+      <Button variant="primary" loading={starting} disabled={disabled||!p.ready||!routeReady} onClick={onStart}><Icon name="play"/>Начать новый проход</Button>
+      {p.error&&<p role="alert">{p.error}</p>}
+    </div>
+  </>;
 }
@@ -2,10 +2,10 @@ import { type ReactNode, useEffect, useRef, useState } from "react";
 import { Button, LoadingRegion, RangeControl, SegmentedControl } from "@nodedc/ui-react";
 import { createIsolatedRerunHost } from "../rerun/isolatedRerunHost";
 import type { RecordedRerunViewer } from "../rerun/recordedRerunFacade";
-import { fetchOverviewSpatial, updateOverviewSpatial, type OverviewSpatialMetadata, type OverviewViewMode } from "../../core/observation/sessionOverviewSpatial";
+import { fetchOverviewSpatial, updateOverviewSpatial, type OverviewSpatialMetadata, type OverviewViewMode, type OverviewRepresentation } from "../../core/observation/sessionOverviewSpatial";

 /** A separate, bounded static recording; teardown releases the whole WASM realm. */
-export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: { sourceUrl: string; toolbar?:ReactNode; hideTitle?:boolean }) {
+export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false, compareVersions=false }: { sourceUrl: string; toolbar?:ReactNode; hideTitle?:boolean; compareVersions?:boolean }) {
  const host = useRef<HTMLDivElement>(null);
  const [state, setState] = useState<"loading" | "ready" | "error">("loading");
  const [retry, setRetry] = useState(0);
@@ -14,6 +14,10 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
  const [mode, setMode] = useState<OverviewViewMode>("3d");
  const [viewError, setViewError] = useState<string | null>(null);
  const [visiblePoints, setVisiblePoints] = useState<number | null>(null);
+  const [representation, setRepresentation] = useState<OverviewRepresentation>("original");
+  const [appliedRepresentation, setAppliedRepresentation] = useState<OverviewRepresentation>("original");
+  const [updating, setUpdating] = useState(false);
+  const comparison = metadata?.comparison;
  const appliedMode = useRef<OverviewViewMode | null>(null);
  const controller = useRef<{ viewer: RecordedRerunViewer; channel: ReturnType<RecordedRerunViewer["open_channel"]> } | null>(null);
  useEffect(() => {
@@ -23,7 +27,11 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
    appliedMode.current = null;
    setState("loading");
    setMetadata(null); setCeiling(null); setMode("3d"); setVisiblePoints(null); setViewError(null);
-    void fetchOverviewSpatial(sourceUrl, abort.signal).then(setMetadata).catch(() => { if (!disposed) setViewError("Параметры среза недоступны."); });
+    setRepresentation("original"); setAppliedRepresentation("original"); setUpdating(false);
+    void fetchOverviewSpatial(sourceUrl, abort.signal).then(data => {
+      if (disposed) return;
+      setRepresentation(data.default_representation ?? "original"); setMetadata(data);
+    }).catch(() => { if (!disposed) { setState("error"); setViewError("Версия облака недоступна."); } });
    const runtime = createIsolatedRerunHost(host.current);
    const timer = window.setTimeout(() => { if (!disposed) { setState("error"); runtime.dispose(); } }, 60_000);
    void runtime.ready.then(async ({ viewer, mount }) => {
@@ -44,29 +52,33 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
  useEffect(() => {
    if (state !== "ready" || !metadata || !controller.current) return;
    const abort = new AbortController();
+    setUpdating(true);
    const timer = setTimeout(() => {
      const aspect = Math.max(.1, Math.min(20, (host.current?.clientWidth ?? 1) / Math.max(1, (host.current?.clientHeight ?? 1) - 28)));
-      void updateOverviewSpatial(sourceUrl, ceiling, appliedMode.current === mode ? null : mode, aspect, abort.signal).then(result => {
+      void updateOverviewSpatial(sourceUrl, ceiling, appliedMode.current === mode ? null : mode, aspect, abort.signal,
+        comparison?.generation ?? null, comparison ? representation : "original").then(result => {
        if (abort.signal.aborted || !controller.current) return;
        controller.current.channel.send_rrd(result.bytes);
-        if (result.eye) controller.current.viewer.configure_camera_journal(result.eye, 0);
        appliedMode.current = mode;
        setVisiblePoints(result.visiblePoints); setViewError(null);
-      }).catch(() => { if (!abort.signal.aborted) setViewError("Не удалось обновить вид облака."); });
+        setAppliedRepresentation(comparison ? representation : "original"); setUpdating(false);
+      }).catch(() => { if (!abort.signal.aborted) { setUpdating(false); setViewError("Не удалось обновить вид облака. Показан предыдущий вид."); } });
    }, 180);
    return () => { abort.abort(); clearTimeout(timer); };
-  }, [state, metadata, sourceUrl, ceiling, mode, retry]);
+  }, [state, metadata, sourceUrl, ceiling, mode, retry, comparison, representation]);

-  const low = metadata?.height_min_m;
-  const high = metadata?.height_max_m;
+  const low = comparison?.height_min_m ?? metadata?.height_min_m;
+  const high = comparison?.height_max_m ?? metadata?.height_max_m;
  return <>
    <div className={`session-overview__scene-head ${hideTitle?"session-overview__scene-head--end":""}`}>{!hideTitle&&<h2>Облако и траектория</h2>}
+      {compareVersions && comparison && <SegmentedControl label="Версия облака" value={representation} onChange={setRepresentation}
+        items={[{ value: "original", label: "Исходное", disabled: state !== "ready" }, { value: "corrected", label: "Исправленное", disabled: state !== "ready" }]} />}
      <SegmentedControl label="Вид облака" value={mode} onChange={setMode}
        items={[{ value: "top", label: "Сверху", disabled: state !== "ready" }, { value: "3d", label: "3D", disabled: state !== "ready" }]} />
      {toolbar}
    </div>
-    <LoadingRegion loading={state === "loading"} label="Загрузка облака" className="session-overview__scene">
-    <div ref={host} className={`session-overview__runtime ${hideTitle?"rerun-single-view-content":""}`} style={{ visibility: state === "ready" ? "visible" : "hidden" }} />
+    <LoadingRegion loading={state === "loading" || (state === "ready" && !!metadata && visiblePoints === null && !viewError)} label="Загрузка облака" className="session-overview__scene">
+    <div ref={host} className={`session-overview__runtime ${hideTitle?"rerun-single-view-content":""}`} style={{ visibility: state === "ready" && metadata && visiblePoints !== null ? "visible" : "hidden" }} />
    {low != null && high != null && high > low && state === "ready" && <div className="session-overview__height">
      <RangeControl orientation="vertical" limitSide="left" label="Срез" value={ceiling ?? high} min={low} max={high} step="any"
        formatValue={value => `${value.toFixed(1).replace('.', ',')} м`} formatLimit={value => value.toFixed(1).replace('.', ',')}
@@ -74,7 +86,11 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
    </div>}
    {state === "error" && <div className="session-overview__empty"><span>Не удалось открыть облако.</span><Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>}
    </LoadingRegion>
-    {viewError ? <div className="session-overview__note" role="alert">{viewError}<Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>
-      : <span className="session-overview__note">{ceiling == null ? "Без среза" : `Высота ≤ ${ceiling.toFixed(1)} м`} · {visiblePoints?.toLocaleString("ru-RU") ?? "—"} точек</span>}
+    <span className="session-overview__note" role="status" aria-busy={updating}>
+      {updating ? "Обновление · " : comparison ? `${appliedRepresentation === "corrected" ? "Исправленное" : "Исходное"} · ` : ""}
+      {ceiling == null ? "Без среза" : `Высота ≤ ${ceiling.toFixed(1)} м`} · {visiblePoints?.toLocaleString("ru-RU") ?? "—"} точек
+      {comparison && <><br />Выборка для просмотра. Исходная запись сохранена отдельно.</>}
+    </span>
+    {viewError && <div className="session-overview__note" role="alert">{viewError}<Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>}
  </>;
 }
@@ -1,244 +1,28 @@
+// Presets and the native snapshot boundary. No DOM-input journal: only Rerun
+// knows the actual eye after navigation, auto-fit, interpolation and tracking.
 export type RecordedRerunCameraEye = {
  readonly position: readonly [number, number, number];
  readonly lookTarget: readonly [number, number, number];
  readonly eyeUp: readonly [number, number, number];
 };
-
-type Vector3 = [number, number, number];
-type DragMode = "rotate" | "pan" | "roll";
-
-const ROTATION_RADIANS_PER_POINT = 0.004;
-const RERUN_WEB_LINE_SCROLL_POINTS = 8;
-const RERUN_ORBITAL_SCROLL_DIVISOR = 200;
-const RERUN_WEB_PINCH_SCROLL_DIVISOR = 100;
-const RERUN_MIN_ORBIT_DISTANCE = 0.02;
-const DOM_WHEEL_DELTA_LINE = 1;
-const DOM_WHEEL_DELTA_PAGE = 2;
-
 export const RECORDED_RERUN_ORBITAL_EYE: RecordedRerunCameraEye = {
-  position: [16, -16, 18],
-  lookTarget: [0, 0, 0],
-  eyeUp: [0, 0, 1],
+  position: [16, -16, 18], lookTarget: [0, 0, 0], eyeUp: [0, 0, 1],
 };
-
 export const RECORDED_RERUN_PLAN_EYE: RecordedRerunCameraEye = {
-  position: [0, 0, 30],
-  lookTarget: [0, 0, 0],
-  eyeUp: [0, 1, 0],
+  position: [0, 0, 30], lookTarget: [0, 0, 0], eyeUp: [0, 1, 0],
 };

-const vector = (value: readonly [number, number, number]): Vector3 => [...value];
-const add = (a: Vector3, b: Vector3): Vector3 => [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
-const subtract = (a: Vector3, b: Vector3): Vector3 => [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
-const scale = (value: Vector3, factor: number): Vector3 => [value[0] * factor, value[1] * factor, value[2] * factor];
-const dot = (a: Vector3, b: Vector3) => a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
-const cross = (a: Vector3, b: Vector3): Vector3 => [
-  a[1] * b[2] - a[2] * b[1],
-  a[2] * b[0] - a[0] * b[2],
-  a[0] * b[1] - a[1] * b[0],
-];
-const length = (value: Vector3) => Math.hypot(...value);
-const normalize = (value: Vector3, fallback: Vector3): Vector3 => {
-  const magnitude = length(value);
-  return magnitude > Number.EPSILON ? scale(value, 1 / magnitude) : fallback;
-};
-const clamp = (value: number, minimum: number, maximum: number) => Math.max(minimum, Math.min(maximum, value));
-const rotateAroundAxis = (value: Vector3, rawAxis: Vector3, angle: number): Vector3 => {
-  const axis = normalize(rawAxis, [0, 0, 1]);
-  const cosine = Math.cos(angle);
-  const sine = Math.sin(angle);
-  return add(
-    add(scale(value, cosine), scale(cross(axis, value), sine)),
-    scale(axis, dot(axis, value) * (1 - cosine)),
-  );
-};
-
-function cloneEye(value: RecordedRerunCameraEye): {
-  position: Vector3;
-  lookTarget: Vector3;
-  eyeUp: Vector3;
-} {
-  return {
-    position: vector(value.position),
-    lookTarget: vector(value.lookTarget),
-    eyeUp: vector(value.eyeUp),
-  };
-}
-
-/**
- * Mirrors Rerun 0.36.3's orbital eye math while the native viewer remains the
- * renderer. Rerun writes operator navigation into its active blueprint clone;
- * the WebViewer API cannot read that clone. Keeping the same three eye vectors
- * here lets a later layer blueprint activate with the exact operator pose.
- */
-export function createRecordedRerunCameraJournal(
-  canvas: HTMLCanvasElement,
-  scope: Window & typeof globalThis,
-) {
-  let eye = cloneEye(RECORDED_RERUN_ORBITAL_EYE);
-  let spatialViewportStart = 0;
-  let pointerId: number | null = null;
-  let dragMode: DragMode | null = null;
-  let previousPointer: readonly [number, number] | null = null;
-  let latestPointer: readonly [number, number] | null = null;
-  let maxOrbitalRadius = 1.0e17;
-
-  const isSpatialPoint = (event: MouseEvent) => {
-    const rect = canvas.getBoundingClientRect();
-    return rect.width > 0 && (event.clientX - rect.left) / rect.width >= spatialViewportStart;
-  };
-  const forward = () => normalize(subtract(eye.lookTarget, eye.position), [0, 1, 0]);
-  const usableUp = () => {
-    const fwd = forward();
-    const fallbackRight: Vector3 = Math.abs(dot(fwd, [0, 0, 1])) > 0.9999
-      ? [1, 0, 0]
-      : cross(fwd, [0, 0, 1]);
-    const fallback = normalize(cross(fwd, fallbackRight), [0, 0, 1]);
-    const candidate = normalize(eye.eyeUp, fallback);
-    return Math.abs(dot(candidate, fwd)) > 0.9999 ? fallback : candidate;
-  };
-  const orbitRadius = () => length(subtract(eye.position, eye.lookTarget));
-
-  const rotate = (deltaX: number, deltaY: number) => {
-    const radius = orbitRadius();
-    const up = usableUp();
-    let fwd = forward();
-    const oldPitch = Math.asin(clamp(dot(fwd, up), -1, 1));
-    fwd = normalize(
-      rotateAroundAxis(fwd, up, -ROTATION_RADIANS_PER_POINT * deltaX),
-      fwd,
-    );
-    const right = normalize(cross(fwd, up), [1, 0, 0]);
-    const maxPitch = 0.99 * Math.PI / 2;
-    const nextPitch = clamp(
-      oldPitch - ROTATION_RADIANS_PER_POINT * deltaY,
-      -maxPitch,
-      maxPitch,
-    );
-    fwd = normalize(rotateAroundAxis(fwd, right, nextPitch - oldPitch), fwd);
-    eye.position = subtract(eye.lookTarget, scale(fwd, radius));
-  };
-
-  const pan = (deltaX: number, deltaY: number) => {
-    const fwd = forward();
-    const right = normalize(cross(fwd, usableUp()), [1, 0, 0]);
-    const screenUp = normalize(cross(right, fwd), [0, 0, 1]);
-    const speed = 0.001 * orbitRadius();
-    const translation = add(scale(right, -deltaX * speed), scale(screenUp, deltaY * speed));
-    eye.position = add(eye.position, translation);
-    eye.lookTarget = add(eye.lookTarget, translation);
-  };
-
-  const roll = (event: PointerEvent, deltaX: number, deltaY: number) => {
-    const rect = canvas.getBoundingClientRect();
-    const left = rect.left + rect.width * spatialViewportStart;
-    const centerX = left + (rect.right - left) / 2;
-    const centerY = rect.top + rect.height / 2;
-    const relativeX = event.clientX - centerX;
-    const relativeY = event.clientY - centerY;
-    const divisor = relativeX * relativeX + relativeY * relativeY;
-    if (divisor <= Number.EPSILON) return;
-    const angle = (-deltaY * relativeX + deltaX * relativeY) / divisor;
-    eye.eyeUp = normalize(rotateAroundAxis(eye.eyeUp, scale(forward(), -1), angle), eye.eyeUp);
-  };
-
-  const pointerDown = (event: PointerEvent) => {
-    latestPointer = [event.clientX, event.clientY];
-    if (!isSpatialPoint(event)) return;
-    pointerId = event.pointerId;
-    previousPointer = [event.clientX, event.clientY];
-    dragMode = event.button === 2 ? "pan" : event.button === 1 || event.altKey ? "roll" : "rotate";
-  };
-  const pointerMove = (event: PointerEvent) => {
-    latestPointer = [event.clientX, event.clientY];
-    if (event.pointerId !== pointerId || !previousPointer || !dragMode) return;
-    const deltaX = event.clientX - previousPointer[0];
-    const deltaY = event.clientY - previousPointer[1];
-    previousPointer = [event.clientX, event.clientY];
-    if (dragMode === "rotate") rotate(deltaX, deltaY);
-    else if (dragMode === "pan") pan(deltaX, deltaY);
-    else roll(event, deltaX, deltaY);
-  };
-  const pointerEnd = (event: PointerEvent) => {
-    if (event.pointerId !== pointerId) return;
-    pointerMove(event);
-    pointerId = null;
-    previousPointer = null;
-    dragMode = null;
-  };
-  const wheel = (event: WheelEvent) => {
-    const rect = canvas.getBoundingClientRect();
-    const wheelX = event.clientX >= rect.left && event.clientX <= rect.right
-      ? event.clientX
-      : latestPointer?.[0];
-    if (wheelX === undefined || rect.width <= 0) return;
-    if ((wheelX - rect.left) / rect.width < spatialViewportStart) return;
-    const unitMultiplier = event.deltaMode === DOM_WHEEL_DELTA_LINE
-      ? RERUN_WEB_LINE_SCROLL_POINTS
-      : event.deltaMode === DOM_WHEEL_DELTA_PAGE
-        ? rect.height
-        : 1;
-    const scrollPoints = (event.deltaX + event.deltaY) * unitMultiplier;
-    // eframe negates the DOM delta before Rerun applies
-    // radius / exp(smooth_scroll_delta / 200). Over a smoothed gesture the
-    // exponent products collapse to the raw accumulated DOM delta below.
-    const divisor = event.ctrlKey
-      ? RERUN_WEB_PINCH_SCROLL_DIVISOR
-      : RERUN_ORBITAL_SCROLL_DIVISOR;
-    const radiusFactor = Math.exp(scrollPoints / divisor);
-    const offset = subtract(eye.position, eye.lookTarget);
-    const radius = length(offset);
-    // Keep the same orbital bounds as Rerun 0.36.3. An eye already outside
-    // the scene-derived cap is allowed to stay there and is never snapped in.
-    const nextRadius = clamp(
-      radius * radiusFactor,
-      RERUN_MIN_ORBIT_DISTANCE,
-      Math.max(radius, maxOrbitalRadius),
-    );
-    eye.position = add(
-      eye.lookTarget,
-      scale(offset, nextRadius / Math.max(radius, Number.EPSILON)),
-    );
-  };
-
-  canvas.addEventListener("pointerdown", pointerDown, true);
-  scope.addEventListener("pointermove", pointerMove, true);
-  scope.addEventListener("pointerup", pointerEnd, true);
-  scope.addEventListener("pointercancel", pointerEnd, true);
-  scope.addEventListener("wheel", wheel, { capture: true, passive: true });
-
-  return {
-    current(): RecordedRerunCameraEye {
-      return {
-        position: [...eye.position],
-        lookTarget: [...eye.lookTarget],
-        eyeUp: [...eye.eyeUp],
-      };
-    },
-    configure(nextEye: RecordedRerunCameraEye, nextSpatialViewportStart: number) {
-      eye = cloneEye(nextEye);
-      spatialViewportStart = clamp(nextSpatialViewportStart, 0, 0.9);
-      pointerId = null;
-      dragMode = null;
-      previousPointer = null;
-    },
-    setSpatialViewportStart(nextSpatialViewportStart: number) {
-      spatialViewportStart = clamp(nextSpatialViewportStart, 0, 0.9);
-    },
-    setMaxOrbitalRadius(nextMaxOrbitalRadius: number) {
-      if (
-        Number.isFinite(nextMaxOrbitalRadius) &&
-        nextMaxOrbitalRadius >= RERUN_MIN_ORBIT_DISTANCE
-      ) {
-        maxOrbitalRadius = nextMaxOrbitalRadius;
-      }
-    },
-    dispose() {
-      canvas.removeEventListener("pointerdown", pointerDown, true);
-      scope.removeEventListener("pointermove", pointerMove, true);
-      scope.removeEventListener("pointerup", pointerEnd, true);
-      scope.removeEventListener("pointercancel", pointerEnd, true);
-      scope.removeEventListener("wheel", wheel, true);
-    },
+export function readNativeRerunCameraEye(value: unknown): RecordedRerunCameraEye | null {
+  if (value == null) return null; // No 3D frame rendered yet.
+  if (typeof value !== "object") throw new Error("Invalid native Rerun camera snapshot");
+  const eye = value as Record<string, unknown>;
+  const vector = (key: string): [number, number, number] => {
+    const item = eye[key];
+    if (!Array.isArray(item) || item.length !== 3 ||
+        !item.every(component => typeof component === "number" && Number.isFinite(component))) {
+      throw new Error("Invalid native Rerun camera vector");
+    }
+    return [item[0], item[1], item[2]];
  };
+  return { position: vector("position"), lookTarget: vector("lookTarget"), eyeUp: vector("eyeUp") };
 }
@@ -11,10 +11,7 @@ export type RecordedRerunViewer = Pick<WebViewer,
  "set_current_time" | "set_playing"
 > & {
  open_channel: (name?: string) => Channel;
-  configure_camera_journal: (eye: RecordedRerunCameraEye, spatialViewportStart: number) => void;
-  get_camera_eye: () => RecordedRerunCameraEye;
-  set_camera_viewport_start: (spatialViewportStart: number) => void;
-  set_camera_max_orbital_radius: (maxOrbitalRadius: number) => void;
+  get_camera_eye: () => RecordedRerunCameraEye | null;
 };

 /** Parent-owned values only. No SDK Promise or foreign prototype escapes. */
@@ -90,16 +87,7 @@ export function createRecordedRerunFacade(invoke: RerunInvoke | null) {
    set_active_timeline: (...args) => command("set_active_timeline", args),
    set_current_time: (...args) => command("set_current_time", args),
    set_playing: (...args) => command("set_playing", args),
-    configure_camera_journal: (eye, spatialViewportStart) => command(
-      "configure-camera-journal", [eye, spatialViewportStart],
-    ),
    get_camera_eye: () => command("get-camera-eye"),
-    set_camera_viewport_start: (spatialViewportStart) => command(
-      "set-camera-viewport-start", [spatialViewportStart],
-    ),
-    set_camera_max_orbital_radius: (maxOrbitalRadius) => command(
-      "set-camera-max-orbital-radius", [maxOrbitalRadius],
-    ),
  };
  return { facade, dispose, notify };
 }
@@ -1,6 +1,6 @@
 import type { WebViewer } from "@rerun-io/web-viewer";
 import type { RerunFrameApi, RerunNotify } from "./recordedRerunProtocol";
-import { createRecordedRerunCameraJournal } from "./recordedRerunCameraJournal";
+import { readNativeRerunCameraEye } from "./recordedRerunCameraJournal";

 /** Lives entirely inside the disposable iframe, including pending SDK starts. */
 export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLElement): RerunFrameApi {
@@ -8,7 +8,6 @@ export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLEle
  let notify: RerunNotify | null = null;
  const subscriptions = new Map<number, () => void>();
  const channels = new Map<number, ReturnType<WebViewer["open_channel"]>>();
-  let cameraJournal: ReturnType<typeof createRecordedRerunCameraJournal> | null = null;
  const send = (message: object) => notify?.(JSON.stringify(message));
  const stop = () => {
    notify = null;
@@ -20,8 +19,6 @@ export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLEle
      try { channel.close(); } catch { /* Other channels must still close. */ }
    }
    channels.clear();
-    cameraJournal?.dispose();
-    cameraJournal = null;
    const current = native;
    native = null;
    try { current?.stop(); } catch { /* Realm teardown remains authoritative. */ }
@@ -34,13 +31,6 @@ export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLEle
    const starting = required();
    try {
      await starting.start(args[0], mount, args[1]);
-      if (native === starting && starting.canvas) {
-        cameraJournal?.dispose();
-        cameraJournal = createRecordedRerunCameraJournal(
-          starting.canvas,
-          window as Window & typeof globalThis,
-        );
-      }
      if (native === starting) send({ type: "started", id });
    } catch (error) {
      if (native === starting) send({ type: "start-failed", id, message: String(error) });
@@ -87,10 +77,9 @@ export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLEle
              channels.delete(id);
            }
            break;
-          case "configure-camera-journal": cameraJournal?.configure(args[0], args[1]); break;
-          case "get-camera-eye": result = cameraJournal?.current(); break;
-          case "set-camera-viewport-start": cameraJournal?.setSpatialViewportStart(args[0]); break;
-          case "set-camera-max-orbital-radius": cameraJournal?.setMaxOrbitalRadius(args[0]); break;
+          case "get-camera-eye": result = readNativeRerunCameraEye(
+            (required() as WebViewer & { get_camera_eye?(): unknown }).get_camera_eye?.(),
+          ); break;
          case "open": required().open(args[0]); break;
          case "close": required().close(args[0]); break;
          case "override_panel_state": required().override_panel_state(args[0], args[1]); break;
@@ -0,0 +1,66 @@
+import {useEffect, useRef, useState} from 'react';
+import {pointDisplayKey, streamRecordedPointDisplay, type PointDisplaySettings} from '../../core/observation/recordedPointDisplay';
+import type {RecordedPointColorLoadState} from '../RerunViewport';
+
+type Owner = {send: (bytes: Uint8Array) => void; identity: {applicationId: string; recordingId: string}};
+
+export function useRecordedPointDisplay({endpoint, settings, revision, ready, getOwner, onLoad, sourceGeneration}: {
+  endpoint: string | null; settings: PointDisplaySettings | undefined; revision: number; ready: boolean;
+  getOwner: () => Owner | null; onLoad?: (state: RecordedPointColorLoadState) => void;
+  sourceGeneration?: string;
+}) {
+  const [applied, setApplied] = useState<{endpoint: string; revision: number; key: string; bank: string; sourceGeneration?: string} | null>(null);
+  const ownerRef = useRef(getOwner); ownerRef.current = getOwner;
+  const loadRef = useRef(onLoad); loadRef.current = onLoad;
+  const failed = useRef(false);
+  const [retry, setRetry] = useState(0);
+  const key = settings ? pointDisplayKey(settings) : '';
+  const percent = settings?.pointDecimationPercent ?? 0;
+  const sameSource = applied?.endpoint === endpoint && applied?.revision === revision && applied?.sourceGeneration === sourceGeneration;
+  const matched = sameSource && applied?.key === key;
+  useEffect(() => {
+    // A new settings interaction retries a failed request, but accumulation or
+    // size edits must not cancel an already-running preparation of the same key.
+    if (failed.current) { failed.current = false; setRetry(value => value + 1); }
+  }, [settings]);
+  useEffect(() => {
+    if (!endpoint || !settings || !ready) return;
+    if (percent === 0 || percent === 100) {
+      loadRef.current?.({phase: 'ready', receivedBytes: 0, totalBytes: 0,
+        progress: 1, message: percent === 100 ? 'Точки скрыты.' : 'Все точки.'});
+      return;
+    }
+    if (matched) {
+      loadRef.current?.({phase: 'ready', receivedBytes: 0, totalBytes: 0,
+        progress: 1, message: 'Прореженное облако готово.'});
+      return;
+    }
+    const owner = ownerRef.current();
+    if (!owner) return;
+    const abort = new AbortController();
+    failed.current = false;
+    // Never append another generation at the same temporal entity path: an
+    // accumulated range would otherwise draw older samples as well.
+    const bank = crypto.randomUUID().replaceAll('-', '');
+    loadRef.current?.({phase: 'loading', receivedBytes: 0, totalBytes: null, progress: null,
+      message: 'Готовим прореженное облако. Текущий вид сохранён.'});
+    void streamRecordedPointDisplay(endpoint, settings, owner.identity, bank, abort.signal, chunk => {
+      if (!abort.signal.aborted) owner.send(chunk);
+    }, undefined, sourceGeneration).then(bytes => {
+      if (abort.signal.aborted) return;
+      setApplied({endpoint, revision, key, bank, sourceGeneration});
+      loadRef.current?.({phase: 'ready', receivedBytes: bytes, totalBytes: bytes, progress: 1,
+        message: 'Прореженное облако готово.'});
+    }).catch(() => {
+      if (!abort.signal.aborted) {
+        failed.current = true;
+        loadRef.current?.({phase: 'error', receivedBytes: 0, totalBytes: null,
+          progress: null, message: 'Прореживание не применено. Предыдущий вид сохранён. Измените значение или закройте настройки для повтора.'});
+      }
+    });
+    return () => abort.abort();
+  }, [endpoint, key, revision, ready, retry, sourceGeneration]);
+  return {ready: !endpoint || percent === 0 || percent === 100 || matched,
+    bank: percent > 0 && percent < 100 && sameSource ? applied?.bank ?? null : null,
+    hidePoints: percent === 100};
+}
@@ -1,8 +1,7 @@
-import { useCallback, useEffect, useMemo, useRef, useState } from "react";
-import { canSelectSession, endAtDistance, plannerBase, plannerRequest, selectedPoses, validatePlanningSource, type Direction, type Draft, type PlanningSource, type RouteCheck, type SessionOption } from "./planner";
+import { useCallback, useEffect, useMemo, useState } from "react";
+import { canSelectSession, plannerBase, plannerRequest, selectedPoses, validatePlanningSource, type Direction, type Draft, type PlanningSource, type RouteCheck, type SessionOption } from "./planner";

 export function useMissionPlanner() {
-  const initializeRoute = useRef(true);
  const [sessions, setSessions] = useState<SessionOption[]>([]);
  const [cursor, setCursor] = useState<string | null>(null);
  const [drafts, setDrafts] = useState<Draft[]>([]);
@@ -10,8 +9,6 @@ export function useMissionPlanner() {
  const [name, setName] = useState("");
  const [sessionId, setSessionId] = useState("");
  const [source, setSource] = useState<PlanningSource | null>(null);
-  const [start, setStart] = useState(0);
-  const [end, setEnd] = useState(1);
  const [direction, setDirection] = useState<Direction>("forward");
  const [error, setError] = useState<string | null>(null);
  const [sourceError, setSourceError] = useState<string | null>(null);
@@ -19,12 +16,13 @@ export function useMissionPlanner() {
  const [catalogBusy, setCatalogBusy] = useState(true);
  const [loadVersion, setLoadVersion] = useState(0);
  const [sourceVersion, setSourceVersion] = useState(0);
+  const [pinnedGeneration, setPinnedGeneration] = useState<string | null>(null);
  const [check, setCheck] = useState<RouteCheck | null>(null);

  useEffect(() => {
    const abort = new AbortController(); setCatalogBusy(true); setError(null);
    void Promise.all([
-      plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>("/api/v1/observation-sessions?limit=100&pagination=cursor-v1", { signal: abort.signal }),
+      plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>("/api/v1/observation-sessions?scope=standalone&limit=100&pagination=cursor-v1", { signal: abort.signal }),
      plannerRequest<{ items: Draft[] }>(`${plannerBase}/drafts`, { signal: abort.signal }),
    ]).then(([catalog, archive]) => { if (!abort.signal.aborted) { setSessions(catalog.items); setCursor(catalog.next_cursor); setDrafts(archive.items); } })
      .catch(reason => { if (!abort.signal.aborted) setError(reason.message); })
@@ -34,26 +32,29 @@ export function useMissionPlanner() {

  useEffect(() => {
    const abort = new AbortController(); setSource(null); setSourceError(null);
-    if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}`, { signal: abort.signal })
-      .then(data => { if (!abort.signal.aborted) { const next = validatePlanningSource(data, sessionId); setSource(next); if (initializeRoute.current) { setStart(0); setEnd(endAtDistance(next, 0, 30)); initializeRoute.current = false; } } })
+    if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}${pinnedGeneration ? `?generation=${encodeURIComponent(pinnedGeneration)}` : ""}`, { signal: abort.signal })
+      .then(data => { if (!abort.signal.aborted) setSource(validatePlanningSource(data, sessionId)); })
      .catch(reason => { if (!abort.signal.aborted) setSourceError(reason.message); });
    return () => abort.abort();
-  }, [sessionId, sourceVersion]);
+  }, [sessionId, sourceVersion, pinnedGeneration]);

  const currentSource = source?.session_id === sessionId ? source : null;
+  // New executions always own the complete reference. No independent interval
+  // state can survive a source change or collapse on same-source reselection.
+  const start = 0, end = currentSource ? currentSource.poses.length - 1 : 0;
  const sourceChanged = !!(saved && currentSource && saved.zone.session_id === sessionId && saved.zone.generation !== currentSource.generation);
  const poses = useMemo(() => selectedPoses(currentSource, start, end, direction), [currentSource, start, end, direction]);
  const dirty = !saved || name.trim() !== saved.name || sessionId !== saved.zone.session_id || sourceChanged
    || start !== saved.route.start_index || end !== saved.route.end_index || direction !== saved.route.direction;
  const ready = !!currentSource && !sourceChanged && poses.length > 1 && !!name.trim();
-  const chooseSource = (id: string) => { initializeRoute.current = true; setSessionId(id); setStart(0); setEnd(1); setCheck(null); };
+  const chooseSource = (id: string) => { setPinnedGeneration(null); setSessionId(id); setSourceVersion(n => n + 1); setCheck(null); };
  const newDraft = () => { setSaved(null); setName(""); chooseSource(""); setDirection("forward"); setError(null); };
  const openDraft = async (id: string) => {
    setBusy(true); setError(null);
    try {
      const next = await plannerRequest<Draft>(`${plannerBase}/drafts/${id}`);
-      initializeRoute.current = false; setSaved(next); setName(next.name); setSessionId(next.zone.session_id);
-      setStart(next.route.start_index); setEnd(next.route.end_index); setDirection(next.route.direction); setCheck(null);
+      setSaved(next); setName(next.name); setSessionId(next.zone.session_id); setPinnedGeneration(next.zone.generation);
+      setDirection(next.route.direction); setCheck(null);
      setSourceVersion(n => n + 1);
    } catch (reason) { setError((reason as Error).message); } finally { setBusy(false); }
  };
@@ -63,7 +64,7 @@ export function useMissionPlanner() {
    try {
      const next = await plannerRequest<Draft>(`${plannerBase}/drafts`, { method: "POST", body: JSON.stringify({
        id: saved?.id ?? null, revision: saved?.revision ?? 0, name: name.trim(), session_id: sessionId,
-        generation: currentSource.generation, start_index: start, end_index: end, direction,
+        generation: currentSource.generation, whole_recording: true, direction,
      }) });
      setSaved(next); setDrafts(items => [next, ...items.filter(item => item.id !== next.id)]);
      return next;
@@ -79,11 +80,11 @@ export function useMissionPlanner() {
    if (!cursor) return;
    setCatalogBusy(true);
    try {
-      const page = await plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>(`/api/v1/observation-sessions?limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
+      const page = await plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>(`/api/v1/observation-sessions?scope=standalone&limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
      setSessions(items => [...items, ...page.items.filter(item => !items.some(old => old.id === item.id))]); setCursor(page.next_cursor);
    } catch (reason) { setError((reason as Error).message); } finally { setCatalogBusy(false); }
  };
-  return { sessions, drafts, saved, name, setName, sessionId, chooseSource, source: currentSource, start, setStart, end, setEnd,
+  return { sessions, drafts, saved, name, setName, sessionId, chooseSource, source: currentSource,
    direction, setDirection, error, sourceError, sourceChanged, busy, catalogBusy, cursor, loadMore, dirty, ready, poses, check,
    save, openDraft, newDraft, runCheck, retrySource: () => setSourceVersion(n => n + 1), refresh: useCallback(() => setLoadVersion(n => n + 1), []),
    options: [{ value: "", label: "Выберите сохранённую запись" }, ...sessions.map(item => ({ value: item.id, label: item.label,
@@ -1,5 +1,5 @@
 import { useEffect, useState } from "react";
-import { endAtDistance, plannerBase, plannerRequest, validatePlanningSource, type Draft, type PlanningSource } from "./planner";
+import { endAtDistance, plannerBase, plannerRequest, validatePlanningSource, type Draft, type PlanningSource, type SessionOption } from "./planner";

 export interface RegistrationReport {
  id: string; state: "queued" | "running" | "ready" | "error"; message?: string; progress_label?: string;
@@ -15,6 +15,25 @@ export function useRegistrationTest(draft: Draft | null) {
  const [start, setStart] = useState(0), [end, setEnd] = useState(1);
  const [error, setError] = useState<string | null>(null);
  const [loading, setLoading] = useState(false), [submitting, setSubmitting] = useState(false);
+  const [sessions,setSessions]=useState<SessionOption[]>([]), [cursor,setCursor]=useState<string|null>(null);
+  const [catalogBusy,setCatalogBusy]=useState(false);
+  // Repeat recordings belong to the planner, including its own captured passes;
+  // they are not restricted to the independent-reference catalog.
+  useEffect(()=>{
+    const abort=new AbortController();setCatalogBusy(true);
+    void plannerRequest<{items:SessionOption[];next_cursor:string|null}>("/api/v1/observation-sessions?scope=source&limit=100&pagination=cursor-v1",{signal:abort.signal})
+      .then(page=>{if(!abort.signal.aborted){setSessions(page.items);setCursor(page.next_cursor);}})
+      .catch(e=>{if(!abort.signal.aborted)setError(e.message);})
+      .finally(()=>{if(!abort.signal.aborted)setCatalogBusy(false);});
+    return()=>abort.abort();
+  },[]);
+  const loadMore=async()=>{
+    if(!cursor||catalogBusy)return;setCatalogBusy(true);
+    try{
+      const page=await plannerRequest<{items:SessionOption[];next_cursor:string|null}>(`/api/v1/observation-sessions?scope=source&limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
+      setSessions(items=>[...items,...page.items.filter(item=>!items.some(old=>old.id===item.id))]);setCursor(page.next_cursor);
+    }catch(e){setError((e as Error).message);}finally{setCatalogBusy(false);}
+  };
  useEffect(() => {
    const abort = new AbortController(); setSource(null); setError(null); setLoading(!!sessionId);
    if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}`, { signal: abort.signal })
@@ -35,5 +54,5 @@ export function useRegistrationTest(draft: Draft | null) {
      return data;
    } catch (e) { setError((e as Error).message); } finally { setSubmitting(false); }
  };
-  return { sessionId, setSessionId, source, start, setStart, end, setEnd, error, busy, loading, length, run };
+  return { sessionId, setSessionId, source, start, setStart, end, setEnd, error, busy, loading, length, run, sessions, cursor, catalogBusy, loadMore };
 }
@@ -0,0 +1,68 @@
+import type {SceneSettings} from '../../sceneSettings';
+
+export type PointDisplaySettings = Pick<SceneSettings, 'pointDecimationPercent' | 'colorMode' | 'palette' | 'customColor'>;
+export function pointDisplayKey(settings: PointDisplaySettings): string {
+  return JSON.stringify([settings.pointDecimationPercent ?? 0, settings.colorMode, settings.palette,
+    settings.palette === 'custom' || settings.colorMode === 'class' ? settings.customColor.toLowerCase() : '']);
+}
+
+/** Feed bounded HTTP chunks to the existing native receiver; no whole-cloud JS Blob. */
+export async function streamRecordedPointDisplay(
+  blueprintUrl: string, settings: PointDisplaySettings,
+  identity: {applicationId: string; recordingId: string}, displayBank: string,
+  signal: AbortSignal, send: (chunk: Uint8Array) => void,
+  fetcher: typeof fetch = fetch,
+  sourceGeneration?: string,
+): Promise<number> {
+  const endpoint = new URL(blueprintUrl, window.location.origin);
+  const percent = settings.pointDecimationPercent ?? 0;
+  if (endpoint.origin !== window.location.origin || endpoint.search || endpoint.hash
+    || !/^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/blueprint\.rrd$/.test(endpoint.pathname)
+    || !Number.isFinite(percent) || percent <= 0 || percent >= 100
+    || !/^[a-f0-9]{32}$/.test(displayBank)) throw new Error('Некорректный запрос прореживания');
+  endpoint.pathname = endpoint.pathname.replace('/blueprint.rrd', '/point-display.rrd');
+  const response = await fetcher(endpoint.href, {method: 'POST', signal, credentials: 'same-origin',
+    headers: {'Content-Type': 'application/json', Accept: 'application/vnd.nodedc.point-display-stream'},
+    body: JSON.stringify({application_id: identity.applicationId, recording_id: identity.recordingId,
+      color_mode: settings.colorMode, palette: settings.palette, custom_color: settings.customColor,
+      point_decimation_percent: percent, display_bank: displayBank,
+      ...(sourceGeneration ? {source_generation: sourceGeneration} : {})})});
+  if (!response.ok || !response.headers.get('Content-Type')?.startsWith('application/vnd.nodedc.point-display-stream') || !response.body) {
+    throw new Error('Не удалось подготовить прореженное облако');
+  }
+  const reader = response.body.getReader();
+  let bytes = 0;
+  let pending = new Uint8Array(0);
+  let admitted = false;
+  let complete = false;
+  try {
+    while (true) {
+      const {done, value} = await reader.read();
+      if (signal.aborted) throw new DOMException('Aborted', 'AbortError');
+      if (done) break;
+      bytes += value.byteLength;
+      const combined = new Uint8Array(pending.length + value.length);
+      combined.set(pending); combined.set(value, pending.length); pending = combined;
+      if (!admitted) {
+        if (pending.length < 4) continue;
+        if (String.fromCharCode(...pending.subarray(0, 4)) !== 'NPD1') throw new Error('Некорректный поток облака');
+        pending = pending.slice(4); admitted = true;
+      }
+      while (pending.length >= 4 && !complete) {
+        const length = new DataView(pending.buffer, pending.byteOffset, 4).getUint32(0, true);
+        if (length === 0) { pending = pending.slice(4); complete = true; break; }
+        if (length < 4 || length > 64 * 1024 * 1024) throw new Error('Некорректный размер пакета облака');
+        if (pending.length < length + 4) break;
+        const payload = pending.slice(4, length + 4);
+        if (String.fromCharCode(...payload.subarray(0, 4)) !== 'RRF2') throw new Error('Некорректный пакет облака');
+        send(payload); pending = pending.slice(length + 4);
+      }
+      if (complete && pending.length) throw new Error('Лишние данные после завершения облака');
+    }
+    if (!complete || pending.length) throw new Error('Поток облака не завершён');
+    return bytes;
+  } finally {
+    await reader.cancel().catch(() => {});
+    reader.releaseLock();
+  }
+}
@@ -23,7 +23,7 @@ export type ObservationSessionStatus =
  | "interrupted"
  | "failed";

-export type ObservationSessionScope = "all" | "source" | "laboratory";
+export type ObservationSessionScope = "all" | "source" | "standalone" | "laboratory";

 export interface ObservationLabInstance {
  labId: string;
@@ -79,6 +79,7 @@ export interface ObservationSessionReplayLaunch {
  seekable: true;
  byteLength: number;
  sha256: string;
+  mapGeneration?: string;
  playback: {
    speed: number;
    loop: boolean;
@@ -237,6 +238,7 @@ const REPLAY_LAUNCH_KEYS = new Set([
  "seekable",
  "byte_length",
  "sha256",
+  "map_generation",
  "playback",
  "media_sources",
 ]);
@@ -787,6 +789,9 @@ export function decodeObservationSessionReplay(
  if (typeof launch.sha256 !== "string" || !SHA256.test(launch.sha256)) {
    throw new ObservationSessionContractError("Descriptor записи не содержит SHA-256.");
  }
+  if (launch.map_generation !== undefined && (typeof launch.map_generation !== "string" || !SHA256.test(launch.map_generation))) {
+    throw new ObservationSessionContractError("Descriptor содержит некорректную версию исправления.");
+  }
  const viewerSourceUrl = requireString(
    launch.viewer_source_url,
    "launch.viewer_source_url",
@@ -845,6 +850,7 @@ export function decodeObservationSessionReplay(
      integer: true,
    }),
    sha256: launch.sha256,
+    ...(launch.map_generation === undefined ? {} : { mapGeneration: launch.map_generation as string }),
    playback: { speed, loop: launch.playback.loop },
    mediaSources,
  };
@@ -0,0 +1,54 @@
+import {defaultSceneSettings, MAX_ACCUMULATION_SECONDS, type SceneSettings} from '../../sceneSettings';
+
+const schema = 'missioncore.session-display-profile/v1';
+const fields = {
+  projection: 'projection', pointSize: 'point_size', pointDecimationPercent: 'point_decimation_percent',
+  accumulationMaxSeconds: 'accumulation_max_seconds', accumulationSeconds: 'accumulation_seconds',
+  colorMode: 'color_mode', palette: 'palette', customColor: 'custom_color',
+  showPoints: 'show_points', showTrajectory: 'show_trajectory', showGrid: 'show_grid',
+  showLabels: 'show_labels', showCameraFrustums: 'show_camera_frustums',
+} as const;
+
+function endpoint(sessionId: string) {
+  if (!/^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/.test(sessionId)) throw new Error('Некорректная запись');
+  return `/api/v1/observation-sessions/${encodeURIComponent(sessionId)}/display-profile`;
+}
+
+export function encodeSessionDisplay(settings: SceneSettings) {
+  return Object.fromEntries(Object.entries(fields).map(([key, wire]) =>
+    [wire, settings[key as keyof SceneSettings] ?? defaultSceneSettings[key as keyof SceneSettings]]));
+}
+
+export function decodeSessionDisplay(value: unknown, sessionId: string): SceneSettings {
+  const document = value as {schema_version?: string; session_id?: string; scene_settings?: Record<string, unknown>};
+  if (!document || document.schema_version !== schema || document.session_id !== sessionId || !document.scene_settings) {
+    throw new Error('Настройки принадлежат другой записи или имеют неизвестный формат');
+  }
+  const s = Object.fromEntries(Object.entries(fields).map(([key, wire]) => [key, document.scene_settings![wire]])) as unknown as SceneSettings;
+  for (const key of ['pointSize', 'accumulationSeconds', 'accumulationMaxSeconds', 'pointDecimationPercent'] as const) {
+    if (typeof s[key] !== 'number' || !Number.isFinite(s[key])) throw new Error('Некорректное значение настройки');
+  }
+  if (s.pointSize < 0.1 || s.pointSize > 32 || s.accumulationSeconds < 0
+    || s.accumulationMaxSeconds! < 1 || s.pointDecimationPercent! < 0 || s.pointDecimationPercent! > 100
+    || !['3d','2d','map'].includes(s.projection) || !['intensity','height','distance','rgb','class'].includes(s.colorMode)
+    || !['turbo','viridis','plasma','grayscale','custom'].includes(s.palette) || !/^#[a-f0-9]{6}$/i.test(s.customColor)
+    || ['showPoints','showTrajectory','showGrid','showLabels','showCameraFrustums'].some(key => typeof s[key as keyof SceneSettings] !== 'boolean')) {
+    throw new Error('Некорректные настройки отображения');
+  }
+  return {...s, accumulationMaxSeconds: Math.max(s.accumulationSeconds, s.accumulationMaxSeconds!)};
+}
+
+export async function loadSessionDisplay(sessionId: string, signal?: AbortSignal): Promise<SceneSettings> {
+  const response = await fetch(endpoint(sessionId), {signal, cache: 'no-store'});
+  if (!response.ok) throw new Error('Не удалось прочитать настройки записи');
+  const document = await response.json();
+  return document === null ? {...defaultSceneSettings, accumulationMaxSeconds: MAX_ACCUMULATION_SECONDS}
+    : decodeSessionDisplay(document, sessionId);
+}
+
+export async function saveSessionDisplay(sessionId: string, settings: SceneSettings): Promise<void> {
+  const response = await fetch(endpoint(sessionId), {method: 'PUT', headers: {'Content-Type': 'application/json'},
+    body: JSON.stringify({scene_settings: encodeSessionDisplay(settings)})});
+  if (!response.ok) throw new Error('Настройки записи не сохранены. Текущий вид оставлен без изменений.');
+  decodeSessionDisplay(await response.json(), sessionId);
+}
@@ -1,5 +1,14 @@
 export type OverviewViewMode = "3d" | "top";
-export interface OverviewSpatialMetadata { height_min_m: number | null; height_max_m: number | null; sample_points: number; }
+export type OverviewRepresentation = "original" | "corrected";
+export interface OverviewComparison {
+  generation: string; map_generation: string; sample_points: number; source_points: number;
+  original_path_m: number; corrected_path_m: number; height_min_m: number; height_max_m: number;
+}
+export interface OverviewSpatialMetadata {
+  default_representation?: OverviewRepresentation;
+  height_min_m: number | null; height_max_m: number | null; sample_points: number;
+  comparison?: OverviewComparison;
+}

 function endpoint(source: string) {
  const url = new URL(source, window.location.origin);
@@ -12,12 +21,15 @@ export async function fetchOverviewSpatial(source: string, signal: AbortSignal):
  if (!response.ok) throw new Error("Параметры среза недоступны.");
  return response.json();
 }
-export async function updateOverviewSpatial(source: string, ceiling: number | null, mode: OverviewViewMode | null, aspect: number, signal: AbortSignal) {
+export async function updateOverviewSpatial(source: string, ceiling: number | null, mode: OverviewViewMode | null, aspect: number, signal: AbortSignal,
+  comparisonGeneration: string | null = null, representation: OverviewRepresentation = "original") {
+  if (representation === "corrected" && !comparisonGeneration) throw new Error("Исправленная версия недоступна.");
  const url = endpoint(source);
  const generation = url.searchParams.get("generation");
  url.search = "";
  const response = await fetch(url, { method: "POST", signal, headers: { "Content-Type": "application/json" },
-    body: JSON.stringify({ generation, ceiling_m: ceiling, mode, aspect }) });
+    body: JSON.stringify({ generation, ceiling_m: ceiling, mode, aspect,
+      comparison_generation: comparisonGeneration, representation }) });
  if (!response.ok) throw new Error("Не удалось обновить вид облака.");
  const bytes = new Uint8Array(await response.arrayBuffer());
  if (bytes.byteLength > 32 * 1024 * 1024) throw new Error("Обзор превышает допустимый размер.");
@@ -0,0 +1,38 @@
+import {useCallback, useEffect, useRef, useState} from 'react';
+import {defaultSceneSettings, type SceneSettings} from '../../sceneSettings';
+import {loadSessionDisplay, saveSessionDisplay} from './sessionDisplayProfile';
+
+/** Session-bound read/write fencing. No viewer, playback or device ownership. */
+export function useSessionDisplayProfile(sessionId: string | null, apply: (settings: SceneSettings) => void) {
+  const [error, setError] = useState<string | null>(null);
+  const applyRef = useRef(apply); applyRef.current = apply;
+  const current = useRef(sessionId); current.current = sessionId;
+  const writeTail = useRef(Promise.resolve());
+  const revision = useRef(0);
+  useEffect(() => {
+    setError(null);
+    if (!sessionId) return;
+    const abort = new AbortController();
+    const readRevision = revision.current;
+    applyRef.current({...defaultSceneSettings});
+    void writeTail.current.then(() => loadSessionDisplay(sessionId, abort.signal)).then(settings => {
+      if (abort.signal.aborted || current.current !== sessionId) return;
+      if (revision.current === readRevision) applyRef.current(settings);
+    }).catch(reason => {
+      if (!abort.signal.aborted && current.current === sessionId) setError(String(reason.message ?? reason));
+    });
+    return () => abort.abort();
+  }, [sessionId]);
+  const edited = useCallback(() => { revision.current += 1; }, []);
+  const save = useCallback((settings: SceneSettings) => {
+    const id = current.current;
+    if (!id) return;
+    const snapshot = {...settings};
+    writeTail.current = writeTail.current.then(() => saveSessionDisplay(id, snapshot)).then(() => {
+      if (current.current === id) setError(null);
+    }).catch(reason => {
+      if (current.current === id) setError(String(reason.message ?? reason));
+    });
+  }, []);
+  return {save, edited, error, dismissError: () => setError(null)};
+}
@@ -3,7 +3,6 @@ import { createPortal } from 'react-dom';
 import { Button, ConfirmationModal, GlassSurface, Icon, IconButton, LoadingRegion, SegmentedControl, StatusBadge, WorkspaceWindow, type WorkspaceWindowRect } from '@nodedc/ui-react';
 import { usePlanningTest } from '../../core/missions/PlanningTestContext';
 import { useMissionPlanner } from '../../core/missions/useMissionPlanner';
-import { useRegistrationTest } from '../../core/missions/useRegistrationTest';
 import { usePlanningProjects } from '../../core/missions/usePlanningProjects';
 import { planningProjectPending, planningProjectStatus } from '../../core/missions/planningProjects';
 import { MissionZonePreview } from '../../components/missions/MissionZonePreview';
@@ -17,9 +16,7 @@ import '../../styles/mission-planner.css';

 export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id:string,profile?:'planning')=>void;headerToolsHost?:HTMLElement|null}) {
  const live=usePlanningTest(), p=useMissionPlanner(), projects=usePlanningProjects();
-  const t=useRegistrationTest(p.saved);
  const [creating,setCreating]=useState(false), [settingsOpen,setSettingsOpen]=useState(false);
-  const [mode,setMode]=useState<'scanner'|'recording'>('scanner');
  const [view,setView]=useState<'cloud'|'route'>('cloud');
  const [starting,setStarting]=useState(false);
  const [pending,setPending]=useState<(()=>void)|null>(null);
@@ -39,7 +36,7 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
  };
  const choose=(key:string)=>replace(()=>{setCreating(false);setSettingsOpen(false);projects.select(key);});
  const newProject=()=>replace(()=>{
-    projects.select('');p.newDraft();t.setSessionId('');setMode('scanner');setView('cloud');
+    projects.select('');p.newDraft();setView('cloud');
    setCreating(true);setSettingsOpen(true);setMaximized(false);loadedDraft.current='';
  });
  const start=async()=>{
@@ -47,13 +44,8 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
    try {
      const draft=p.saved&&!p.dirty?p.saved:await p.save();
      if(!draft)return;
-      if(mode==='scanner') {
-        const next=await live.begin(draft);
-        if(next){projects.select('live:'+next.id);openView('local-device','planning');}
-      } else {
-        const result=await t.run(draft);
-        if(result){setCreating(false);projects.select('recorded:'+result.id);setSettingsOpen(true);}
-      }
+      const next=await live.begin(draft);
+      if(next){projects.select('live:'+next.id);openView('local-device','planning');}
      projects.refresh();
    } finally {setStarting(false);}
  };
@@ -81,13 +73,13 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
          {!p.sessionId?<div className="session-overview__empty">Выберите сохранённую запись эталона в настройках.</div>
            :p.sourceError||p.sourceChanged?<div className="session-overview__empty" role="alert"><span>{p.sourceError||'Исходная запись изменилась.'}</span><Button onClick={p.retrySource}>Повторить загрузку</Button></div>
            :!p.source?<LoadingRegion loading label="Подготовка эталона" className="mission-planner__zone-loading"/>
-            :view==='cloud'?<MissionZonePreview sessionId={p.sessionId} toolbar={zoneControls}/>:<MissionRoutePreview source={p.source} poses={p.poses}/>}
+            :view==='cloud'?<MissionZonePreview sessionId={p.sessionId} generation={p.source.generation} toolbar={zoneControls}/>:<MissionRoutePreview source={p.source} poses={p.poses}/>}
        </>:projects.error?<div className="session-overview__empty" role="alert"><span>{projects.error}</span><Button onClick={projects.refresh}>Повторить</Button></div>
          :project?<>
            <header className="planning-project__result-header"><span>{project.name}</span><StatusBadge tone={project.result_status==='rejected'?'warning':'neutral'}>{planningProjectStatus(project)}</StatusBadge></header>
            {project.scene_url?<RegistrationScene sourceUrl={project.scene_url}/>
              :planningProjectPending(project)?<LoadingRegion loading label="Подготовка результата совмещения" className="mission-planner__zone-loading"/>
-              :<div className="session-overview__empty"><span>В этом проекте нет сохранённого совмещения.</span><small>Исходная запись остаётся в разделе «Данные».</small></div>}
+              :<div className="session-overview__empty"><span>В этом проекте нет сохранённого совмещения.</span><small>Исходная запись прохода сохранена отдельно от результата.</small></div>}
            {project.scene_url&&<small className="planning-project__legend">{project.result?.correspondence_colors?'Серый — эталон · цветной — повторный проход · зелёный — точки в пределах 0,5 м':'Серый — эталон · зелёный — повторный проход (ранний формат записи)'}</small>}
          </>:projects.loading||projects.key?<LoadingRegion loading label="Загрузка проекта" className="mission-planner__zone-loading"/>
          :<div className="session-overview__empty">Выберите совмещённый маршрут или создайте проект кнопкой «+».</div>}
@@ -96,7 +88,7 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
        title="Настройки" minWidth={320} minHeight={260} active zIndex={100} onClose={()=>setSettingsOpen(false)} closeLabel="Закрыть настройки"
        moveLabel="Переместить настройки" resizeLabel="Изменить размер настроек" maximizeLabel="Развернуть настройки" restoreLabel="Восстановить настройки"
        className="planning-project__inspector">
-        {editing?<PlanningProjectSettings p={p} t={t} mode={mode} setMode={setMode} onStart={()=>void start()} starting={starting}/>
+        {editing?<PlanningProjectSettings p={p} onStart={()=>void start()} starting={starting}/>
          :project?<PlanningProjectResult project={project}/>:<p>Выберите проект или создайте новый кнопкой «+».</p>}
        {project?.kind==='live'&&planningProjectPending(project)&&<Button disabled={live.busy} onClick={async()=>{if(await live.select(project.id))openView(project.state==='preparing'||project.state==='waiting'?'local-device':'spatial-scene','planning');}}>Открыть текущий проход</Button>}
        {live.error&&editing&&<p role="alert">{live.error}</p>}
@@ -46,11 +46,11 @@ export function SessionOverviewWorkspace({ sessionId }: { sessionId: string }) {
        separatorLabel="Высота графика интервалов" className="session-overview__split"
        primary={<SplitPane primarySize={left} onPrimarySizeChange={setLeft} minPrimarySize={35} minSecondarySize={25} separatorLabel="Ширина облака и сводки" className="session-overview__split"
          primary={<GlassSurface className="session-overview__panel" radius="panel">
-            {m?.spatial_available && data?.scene_url ? <SessionOverviewScene sourceUrl={data.scene_url} /> : <><h2>Облако и траектория</h2><div className="session-overview__empty">Пространственный обзор для этой записи недоступен.</div></>}
+            {m?.spatial_available && data?.scene_url ? <SessionOverviewScene sourceUrl={data.scene_url} compareVersions /> : <><h2>Облако и траектория</h2><div className="session-overview__empty">Пространственный обзор для этой записи недоступен.</div></>}
            {!m?.spatial_available && <span className="session-overview__note">Доступны сведения из каталога записи.</span>}
          </GlassSurface>}
          secondary={<GlassSurface className="session-overview__panel" radius="panel">
-            <h2>Сведения о записи</h2><div className="session-overview__facts">
+            <h2>Сведения об исходной записи</h2><div className="session-overview__facts">
              <dl>{facts.map(([name, value]) => <div key={name}><dt>{name}</dt><dd>{value}</dd></div>)}</dl>
              <p>Наблюдения точек включают повторные измерения. Длина пути и положения получены из записи и не являются независимой проверкой точности.</p>
            </div>
@@ -554,7 +554,7 @@ export function SpatialWorkspace({
          ) : null}

 </>}
-    navigationReady={visualProfile ? false : presentedViewerStatus==='ready'} timeline={visualProfile ? null : <>          {!pointCloudFocused && !floatingSourceMaximized && recordedPlaybackReady ? (
+    timeline={visualProfile ? null : <>          {!pointCloudFocused && !floatingSourceMaximized && recordedPlaybackReady ? (
            <ObservationTimeline
              active={presentedViewerStatus === "ready"}
              sourceCount={Math.max(1, (unifiedPerception ? 2 : 1) + presentedMediaSourceCount)}
@@ -572,6 +572,7 @@ export function SpatialWorkspace({
              onPlayingChange={playbackController?.setPlaying}
              onJumpToEnd={playbackController?.jumpToEnd}
              accumulationSeconds={accumulationSeconds}
+              accumulationMaxSeconds={sceneSettings.accumulationMaxSeconds}
              onAccumulationChange={onAccumulationChange}
              onAccumulationCommit={onAccumulationCommit}
              className="scene-timeline"
@@ -184,6 +184,15 @@ function preparation(overrides = {}) {
  };
 }

+test("replay preserves an optional corrected-map identity and rejects malformed versions", () => {
+  const decoded = decodeObservationSessionReplay(replay({ map_generation: "b".repeat(64) }));
+  assert.equal(decoded.mapGeneration, "b".repeat(64));
+  assert.equal(decodeObservationSessionReplay(replay()).mapGeneration, undefined);
+  for (const value of [null, "latest", "../private", 123]) {
+    assert.throws(() => decodeObservationSessionReplay(replay({ map_generation: value })), /версию/);
+  }
+});
+
 const preparationEtag = '"prepare-20260717T131400Z"';

 test("session catalog decodes canonical snake_case into a path-free camelCase model", () => {
@@ -412,7 +421,7 @@ test("data recordings keep the compact session dropdown and laboratory results s
  assert.doesNotMatch(laboratorySource, /fetchAdvancedLaboratoryResults/);
 });

-test("recording preparation statuses share the viewer's left alignment", async () => {
+test("recording preparation statuses occupy the viewer's upper-right corner", async () => {
  const spatialStyles = await readFile(
    new URL("../../../packages/spatial-ui/src/spatial.css", import.meta.url),
    "utf8",
@@ -422,9 +431,10 @@ test("recording preparation statuses share the viewer's left alignment", async (
    spatialStyles.indexOf(".scene-operation-status {"),
  );

-  assert.match(statusStack, /left:\s*0\.85rem/);
-  assert.match(statusStack, /justify-items:\s*start/);
-  assert.doesNotMatch(statusStack, /right:/);
+  assert.match(statusStack, /right:\s*0\.85rem/);
+  assert.match(statusStack, /top:\s*0\.85rem/);
+  assert.match(statusStack, /justify-items:\s*end/);
+  assert.doesNotMatch(statusStack, /left:|bottom:/);
 });

 test("source and laboratory catalogs are requested as disjoint backend projections", async () => {
@@ -150,14 +150,15 @@ test("follow toggles retain the current recorded camera journal", () => {
  assert.notEqual(afterReset, before);
 });

-test("observation camera windows tile from the bottom-right above the live timeline", () => {
+test("observation camera windows tile from the bottom-left above the live timeline", () => {
  const bounds = { width: 1280, height: 720 };
  const left = initialObservationWindowRect(0, 2, bounds);
  const right = initialObservationWindowRect(1, 2, bounds);

  assert.equal(left.y, right.y);
  assert.ok(left.x + left.width < right.x);
-  assert.equal(right.x + right.width, bounds.width - 18);
+  assert.equal(left.x, 18);
+  assert.ok(right.x + right.width <= bounds.width - 18);
  assert.ok(right.y + right.height <= bounds.height - 64);
 });

@@ -323,10 +324,14 @@ test("recorded observation timeline rejects empty and non-finite ranges", () =>
 test("accumulation control normalizes UI values and distinguishes a single frame", () => {
  assert.equal(normalizeAccumulationSeconds(-3), 0);
  assert.equal(normalizeAccumulationSeconds(12.6), 13);
-  assert.equal(normalizeAccumulationSeconds(999), 120);
+  assert.equal(normalizeAccumulationSeconds(999), 999);
+  assert.equal(normalizeAccumulationSeconds(1800), 1800);
+  assert.equal(normalizeAccumulationSeconds(9999), 9999);
  assert.equal(normalizeAccumulationSeconds(Number.NaN), 0);
  assert.equal(formatAccumulationDuration(0), "Кадр");
  assert.equal(formatAccumulationDuration(12), "12 с");
+  assert.equal(formatAccumulationDuration(1800), "30 мин");
+  assert.equal(formatAccumulationDuration(125), "2 мин 5 с");
 });

 test("spatial timeline renders synchronized accumulation and playback controls", () => {
@@ -606,6 +611,32 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
  );
 });

+test("recorded tracking quantizes the native fractional-nanosecond cursor without accepting invalid times", async () => {
+  const bodies = [];
+  const request = currentTimeNs => fetchRecordedBlueprintRrd(
+    "/api/v1/observation-sessions/session-1/blueprint.rrd",
+    {accumulationSeconds: 10, showGrid: true, showPoints: true,
+      showTrajectory: true, pointSize: 0.5, colorMode: "intensity",
+      palette: "turbo", customColor: "#ffffff"},
+    {applicationId: "nodedc_mission_core_recorded", recordingId: "recording-001"},
+    {origin: "http://127.0.0.1:8000", blueprintSessionId: "a".repeat(32),
+      cameraEye: {position: [3, 4, 5], lookTarget: [1, 2, 0], eyeUp: [0, 0, 1]},
+      eyeRelativeToTracking: true, currentTimeNs,
+      fetcher: async (_input, init) => {
+        bodies.push(JSON.parse(init.body));
+        return new Response(new Uint8Array([0x52, 0x52, 0x46, 0x32]), {
+          headers: {"Content-Type": "application/vnd.rerun.rrd"},
+        });
+      }},
+  );
+  await request(536_460_021_972.65625);
+  assert.equal(bodies[0].current_time_ns, 536_460_021_973);
+  for (const invalid of [-0.1, NaN, Infinity, Number.MAX_SAFE_INTEGER + 1]) {
+    await assert.rejects(request(invalid), /Unsafe recorded blueprint request/);
+  }
+  assert.equal(bodies.length, 1);
+});
+
 test("recorded point colors use one strict same-origin component overlay", async () => {
  const endpoint = resolveRecordedPointColorsUrl(
    "/api/v1/observation-sessions/session-1/recording.rrd",
@@ -0,0 +1,76 @@
+import assert from 'node:assert/strict';
+import {before,after,test} from 'node:test';
+import React from 'react';
+import {renderToStaticMarkup} from 'react-dom/server';
+import {createServer} from 'vite';
+import {readFile} from 'node:fs/promises';
+
+let server,usePlanner,Settings;
+before(async()=>{
+  server=await createServer({appType:'custom',logLevel:'silent',server:{middlewareMode:true}});
+  ({useMissionPlanner:usePlanner}=await server.ssrLoadModule('/src/core/missions/useMissionPlanner.ts'));
+  ({PlanningProjectSettings:Settings}=await server.ssrLoadModule('/src/components/missions/PlanningProjectSettings.tsx'));
+});
+after(async()=>{await server?.close();});
+
+// Bounded hook dispatcher: execute the real state/effect transitions, without
+// mounting another browser or replacing the production hook with a fake.
+function harness(){
+  const slots=[];let index=0,pending=[];
+  const hooks={
+    useState(initial){const i=index++;if(!slots[i])slots[i]={value:initial};return [slots[i].value,v=>{slots[i].value=typeof v==='function'?v(slots[i].value):v;}];},
+    useEffect(fn,deps){const i=index++,old=slots[i];if(!old||deps.some((d,n)=>!Object.is(d,old.deps[n])))pending.push(()=>{old?.cleanup?.();slots[i]={deps,cleanup:fn()};});},
+    useMemo(fn){return fn();},useCallback(fn){return fn;},
+  };
+  const render=()=>{index=0;const internal=React.__CLIENT_INTERNALS_DO_NOT_USE_OR_WARN_USERS_THEY_CANNOT_UPGRADE,old=internal.H;internal.H=hooks;try{return usePlanner();}finally{internal.H=old;}};
+  return {render,async settle(){let state;for(let n=0;n<5;n++){state=render();const effects=pending;pending=[];effects.forEach(fn=>fn());await new Promise(resolve=>setImmediate(resolve));}return render();},close(){slots.forEach(s=>s.cleanup?.());}};
+}
+const source={schema_version:'missioncore.planning-source/v1',session_id:'ring',generation:'a'.repeat(64),label:'Ring',units:'m',path_m:580,
+  poses:Array.from({length:60},(_,index)=>({index,position:[index*10,0,0],distance_m:index*10}))};
+
+test('same recording reselection cannot collapse the reference or disable a named project',async()=>{
+  const oldFetch=globalThis.fetch,requests=[];const h=harness();
+  globalThis.fetch=async(url,options={})=>{
+    requests.push({url,body:options.body&&JSON.parse(options.body)});
+    if(options.method==='POST')return {ok:true,json:async()=>({id:'draft',revision:1,name:'Seam',zone:{session_id:'ring',generation:source.generation},route:{start_index:0,end_index:59,direction:'forward'}})};
+    return {ok:true,json:async()=>url.includes('/sources/')?source:{items:[],next_cursor:null}};
+  };
+  try{
+    let p=await h.settle();p.chooseSource('ring');p.setName('Seam');p=await h.settle();
+    assert.equal(p.poses.length,60);assert.equal(p.ready,true);
+    for(let i=0;i<4;i++){p.chooseSource('ring');p=await h.settle();assert.equal(p.poses.length,60);assert.equal(p.ready,true);}
+    await p.save();const body=requests.find(r=>r.body)?.body;
+    assert.equal(body.whole_recording,true);assert.equal(body.start_index,undefined);assert.equal(body.end_index,undefined);
+    assert.ok(requests.some(r=>r.url.includes('scope=standalone')));
+    p=h.render();p.newDraft();p=await h.settle();p.chooseSource('ring');p.setName('Next');p=await h.settle();
+    assert.equal(p.poses.length,60);assert.equal(p.ready,true);
+    assert.equal(p.setStart,undefined);assert.equal(p.setEnd,undefined);
+  }finally{h.close();globalThis.fetch=oldFetch;}
+});
+
+test('product removes reference crop controls and Data requests independent captures',async()=>{
+  const settings=await readFile(new URL('../src/components/missions/PlanningProjectSettings.tsx',import.meta.url),'utf8');
+  assert.doesNotMatch(settings,/Участок эталона|Начало участка|Конец участка|30 м от начала участка|p\.set(Start|End)/);
+  assert.match(settings,/Вся запись/);
+  const selector=await readFile(new URL('../src/components/ObservationSessionSelect.tsx',import.meta.url),'utf8');
+  assert.match(selector,/scope: "standalone"/);
+});
+
+test('planner offers one direct live start without a repeated-pass mode or catalogue',async()=>{
+  const p={name:'Ring',poses:source.poses,source,sessionId:'ring',options:[{value:'ring',label:'Ring'}],direction:'forward',ready:true};
+  const render=(overrides={},starting=false)=>renderToStaticMarkup(React.createElement(Settings,{p:{...p,...overrides},starting,onStart:()=>{}}));
+  const ready=render();
+  assert.doesNotMatch(ready,/Повторный проход|Из записи|Источник повторного прохода|Повторная запись|После запуска/);
+  const startButton=html=>[...html.matchAll(/<button\b[^>]*>[\s\S]*?<\/button>/g)].map(m=>m[0]).find(button=>button.includes('Начать новый проход'));
+  assert.ok(startButton(ready));
+  assert.doesNotMatch(startButton(ready),/disabled=/);
+  for(const state of [{ready:false},{busy:true},{poses:source.poses.slice(0,1)}])assert.match(startButton(render(state)),/disabled=/);
+  assert.match(startButton(render({},true)),/disabled=/);
+  let started=0;
+  const tree=Settings({p,starting:false,onStart:()=>{started++;}});
+  tree.props.children[1].props.children[1].props.onClick();
+  assert.equal(started,1);
+  const workspace=await readFile(new URL('../src/workspaces/missions/MissionPlannerWorkspace.tsx',import.meta.url),'utf8');
+  assert.doesNotMatch(workspace,/useRegistrationTest|setMode|t\.run\(/);
+  assert.match(workspace,/live\.begin\(draft\)/);
+});
@@ -1,101 +1,42 @@
 import assert from "node:assert/strict";
+import { readFileSync } from "node:fs";
 import { after, before, test } from "node:test";
 import { createServer } from "vite";

-let server, createRecordedRerunCameraJournal, initialEye;
+let server, readNativeRerunCameraEye;
 before(async () => {
  server = await createServer({ appType: "custom", logLevel: "silent",
    server: { middlewareMode: true } });
-  const module = await server.ssrLoadModule(
-    "/src/components/rerun/recordedRerunCameraJournal.ts");
-  createRecordedRerunCameraJournal = module.createRecordedRerunCameraJournal;
-  initialEye = module.RECORDED_RERUN_ORBITAL_EYE;
+  ({ readNativeRerunCameraEye } = await server.ssrLoadModule(
+    "/src/components/rerun/recordedRerunCameraJournal.ts"));
 });
 after(async () => { await server?.close(); });

-class FakeEvent {
-  constructor(type, init = {}) { this.type = type; Object.assign(this, init); }
-}
-
-class FakeTarget {
-  listeners = new Map();
-  emitted = [];
-  addEventListener(type, listener) {
-    const listeners = this.listeners.get(type) ?? [];
-    listeners.push(listener); this.listeners.set(type, listeners);
-  }
-  removeEventListener(type, listener) {
-    this.listeners.set(type, (this.listeners.get(type) ?? []).filter(item => item !== listener));
-  }
-  dispatchEvent(event) {
-    this.emitted.push(event);
-    for (const listener of this.listeners.get(event.type) ?? []) listener(event);
-    return true;
+test("camera snapshot copies exact native pose, without approximating input", () => {
+  const native = { position: [287, -74, 8], lookTarget: [286, -72, 0], eyeUp: [0, 0, 1] };
+  const eye = readNativeRerunCameraEye(native);
+  assert.deepEqual(eye, native);
+  native.position[0] = 999;
+  assert.equal(eye.position[0], 287);
+  assert.equal(readNativeRerunCameraEye(null), null);
+});
+
+test("invalid native pose fails closed instead of substituting a guessed camera", () => {
+  for (const value of [{}, "pose", { position: [NaN, 0, 1], lookTarget: [0, 0, 0], eyeUp: [0, 0, 1] }]) {
+    assert.throws(() => readNativeRerunCameraEye(value), /Invalid native Rerun camera/);
  }
-}
-
-const radius = (eye) => Math.hypot(
-  eye.position[0] - eye.lookTarget[0],
-  eye.position[1] - eye.lookTarget[1],
-  eye.position[2] - eye.lookTarget[2],
-);
-
-test("recorded orbital eye tracks only 3D viewport navigation", () => {
-  const scope = new FakeTarget();
-  const timers = [];
-  Object.assign(scope, {
-    WheelEvent: FakeEvent,
-    requestAnimationFrame(callback) { callback(); return 1; },
-    setTimeout(callback) { timers.push(callback); return timers.length; },
-  });
-  const canvas = new FakeTarget();
-  Object.assign(canvas, {
-    clientHeight: 200,
-    isConnected: true,
-    getBoundingClientRect: () => ({
-      left: 100, right: 500, top: 50, bottom: 250, width: 400, height: 200,
-    }),
-  });
-  const journal = createRecordedRerunCameraJournal(canvas, scope);
-  journal.configure(initialEye, 0.46);
-  const pointer = (type, x, y, buttons) => new FakeEvent(type, {
-    clientX: x, clientY: y, button: 0, buttons, pointerId: 7, pointerType: "mouse",
-    altKey: false, ctrlKey: false, metaKey: false, shiftKey: false,
-  });
-
-  canvas.dispatchEvent(pointer("pointerdown", 200, 100, 1));
-  scope.dispatchEvent(pointer("pointermove", 240, 120, 1));
-  scope.dispatchEvent(pointer("pointerup", 240, 120, 0));
-  assert.deepEqual(journal.current(), initialEye);
-
-  canvas.dispatchEvent(pointer("pointerdown", 380, 100, 1));
-  scope.dispatchEvent(pointer("pointermove", 420, 120, 1));
-  scope.dispatchEvent(pointer("pointerup", 420, 120, 0));
-  const rotated = journal.current();
-  assert.notDeepEqual(rotated.position, initialEye.position);
-  assert.ok(Math.abs(radius(rotated) - radius(initialEye)) < 1e-9);
-
-  journal.setMaxOrbitalRadius(40);
-  scope.dispatchEvent(new FakeEvent("wheel", {
-    clientX: 380, clientY: 130, deltaX: 0, deltaY: 2_000, deltaMode: 0,
-    altKey: false, ctrlKey: false, metaKey: false, shiftKey: false,
-  }));
-  assert.ok(Math.abs(radius(journal.current()) - 40) < 1e-9);
-
-  journal.configure(rotated, 0.46);
-
-  scope.dispatchEvent(new FakeEvent("wheel", {
-    clientX: 0, clientY: 0, deltaX: 0, deltaY: -20, deltaMode: 0,
-    altKey: false, ctrlKey: false, metaKey: false, shiftKey: false,
-  }));
-  const zoomed = journal.current();
-  assert.ok(Math.abs(radius(zoomed) - radius(rotated) * Math.exp(-20 / 200)) < 1e-9);
-
-  const snapshot = journal.current();
-  journal.setSpatialViewportStart(0.8);
-  scope.dispatchEvent(new FakeEvent("wheel", {
-    clientX: 380, clientY: 130, deltaX: 0, deltaY: -20, deltaMode: 0,
-  }));
-  assert.deepEqual(journal.current(), snapshot);
-  journal.dispose();
+});
+
+test("iframe owner reads the native camera and installs no shadow input listeners", () => {
+  const owner = readFileSync(new URL("../src/components/rerun/recordedRerunOwner.ts", import.meta.url), "utf8");
+  const camera = readFileSync(new URL("../src/components/rerun/recordedRerunCameraJournal.ts", import.meta.url), "utf8");
+  assert.match(owner, /get_camera_eye\?\.\(\)/);
+  assert.doesNotMatch(owner + camera, /createRecordedRerunCameraJournal|addEventListener|Math\.exp/);
+});
+
+test("display blueprint activation carries the current native eye, not the embedded preset", () => {
+  const viewport = readFileSync(new URL("../src/components/RerunViewport.tsx", import.meta.url), "utf8");
+  assert.match(viewport, /!enablingFollow \? active\.getCameraEye\?\.\(\) \?\? undefined : undefined/);
+  assert.match(viewport, /requestBlueprint\(\s*firstEye,\s*firstEyeIsTrackingRelative,/);
+  assert.match(viewport, /currentTimeNs: eyeRelativeToTracking \? currentTimeNs : undefined/);
 });
@@ -59,6 +59,17 @@ function bridge(native, mount = {}) {
  return parent;
 }

+test("camera snapshot crosses the disposable realm as copied primitive data", () => {
+  const eye = { position: [300, 7, 8], lookTarget: [298, 9, 0], eyeUp: [0, 0, 1] };
+  const { facade, dispose } = bridge({ stop() {}, get_camera_eye: () => eye });
+  const received = facade.get_camera_eye();
+  assert.deepEqual(received, eye);
+  assert.notEqual(received, eye);
+  assert.notEqual(received.position, eye.position);
+  dispose();
+  assert.throws(() => facade.get_camera_eye(), /disposed/);
+});
+
 test("recorded realm terminates on close even if upstream stop throws", async (t) => {
  const f = fixture(t, { stopFails: true });
  const scope = createIsolatedRerunHost(f.host);
@@ -251,6 +251,10 @@ test("recorded RRD bytes are never split across LogChannel.send_rrd calls", asyn
  assert.match(source, /recordedPerceptionLayers\.costmap,/);
  assert.match(source, /recordedPerceptionLayers\.costmap !== undefined && status !== "ready"/);
  assert.match(source, /perceptionLayers\.costmap === undefined \? \{\} : \{\s*show_costmap: perceptionLayers\.costmap,\s*reactivate_updates: true/s);
+  // Ordinary archives need activation too, not only the LAB costmap path.
+  assert.match(source, /requestBlueprint\(\s*firstEye,\s*firstEyeIsTrackingRelative,[\s\S]*?\n\s*true,\s*\);/);
+  // Display changes must not trigger a full-file camera-bounds scan.
+  assert.match(source, /currentTimeNs: eyeRelativeToTracking \? currentTimeNs : undefined/);
  assert.match(source, /viewer\.start\(\s*rerunViewerInitialSource\(resolvedSource\)/s);
  assert.doesNotMatch(source, /rerunViewerOpenOptions/);
  assert.match(
@@ -1,4 +1,5 @@
 import assert from "node:assert/strict";
+import { createHash } from "node:crypto";
 import { readFileSync } from "node:fs";
 import { resolve } from "node:path";
 import test from "node:test";
@@ -7,13 +8,41 @@ const root = resolve(import.meta.dirname, "..");
 const packageRoot = resolve(root, "node_modules/@rerun-io/web-viewer");
 const readJson = (path) => JSON.parse(readFileSync(path, "utf8"));

-test("Mission Core uses the exact upstream Rerun 0.36.3 web package", () => {
+test("Mission Core pins Rerun 0.36.3 with the bounded native navigation installer", () => {
  const application = readJson(resolve(root, "package.json"));
  const installed = readJson(resolve(packageRoot, "package.json"));

  assert.equal(application.dependencies["@rerun-io/web-viewer"], "0.36.3");
  assert.equal(installed.version, "0.36.3");
-  assert.equal(application.scripts.postinstall, undefined);
+  assert.equal(application.scripts.postinstall, "node scripts/install-rerun-navigation.mjs");
+  assert.equal(application.scripts.prebuild, application.scripts.postinstall);
+});
+
+test("native navigation artifacts and source patch match their provenance", () => {
+  const vendorRoot = resolve(root, "vendor/rerun-web-viewer-0.36.3");
+  const manifest = readJson(resolve(vendorRoot, "navigation-build.json"));
+  const sha = bytes => createHash("sha256").update(bytes).digest("hex");
+  assert.equal(manifest.upstreamVersion, "0.36.3");
+  assert.equal(manifest.upstreamCommit, "6ded109d33c549e98185f7c95fa8009d44e4adef");
+  assert.equal(sha(readFileSync(resolve(vendorRoot, "NODEDC_NAVIGATION.patch"))), manifest.patchSha256);
+  for (const [name, identity] of Object.entries(manifest.files)) {
+    if (!identity.artifact) continue;
+    assert.equal(sha(readFileSync(resolve(vendorRoot, identity.artifact))), identity.sha256, name);
+    assert.equal(sha(readFileSync(resolve(packageRoot, name))), identity.sha256, name);
+  }
+});
+
+test("generated JS and native WASM share one ABI including the camera snapshot", () => {
+  const glue = readFileSync(resolve(packageRoot, "re_viewer.js"), "utf8");
+  const wasm = new WebAssembly.Module(readFileSync(resolve(packageRoot, "re_viewer_bg.wasm")));
+  const names = new Set(WebAssembly.Module.exports(wasm).map(item => item.name));
+  assert.ok(names.has("webhandle_nodedc_camera_eye"));
+  for (const [, name] of glue.matchAll(/\bwasm\.([a-zA-Z_$][\w$]*)/g)) {
+    assert.ok(names.has(name), `Missing WASM export: ${name}`);
+  }
+  assert.match(readFileSync(resolve(packageRoot, "index.js"), "utf8"), /this\.#handle\.nodedc_camera_eye\(\)/);
+  assert.match(readFileSync(resolve(packageRoot, "index.d.ts"), "utf8"), /get_camera_eye\(\)/);
+  assert.match(readFileSync(resolve(packageRoot, "re_viewer.d.ts"), "utf8"), /nodedc_camera_eye\(\)/);
 });

 test("the active application never imports or installs the archived vendor fork", () => {
@@ -0,0 +1,134 @@
+import assert from 'node:assert/strict';
+import {before, after, test} from 'node:test';
+import {createServer} from 'vite';
+import {createElement} from 'react';
+import {renderToStaticMarkup} from 'react-dom/server';
+import {readFile} from 'node:fs/promises';
+import {runInNewContext} from 'node:vm';
+import ts from 'typescript';
+
+let server, profile, points, defaults, Controls, Timeline;
+before(async () => {
+  server = await createServer({appType: 'custom', logLevel: 'silent', server: {middlewareMode: true}});
+  profile = await server.ssrLoadModule('/src/core/observation/sessionDisplayProfile.ts');
+  points = await server.ssrLoadModule('/src/core/observation/recordedPointDisplay.ts');
+  defaults = (await server.ssrLoadModule('/src/sceneSettings.ts')).defaultSceneSettings;
+  ({SceneDisplayControls: Controls} = await server.ssrLoadModule('../../packages/spatial-ui/src/SceneDisplayControls.tsx'));
+  ({ObservationTimeline: Timeline} = await server.ssrLoadModule('/src/components/ObservationTimeline.tsx'));
+});
+after(async () => {await server?.close();});
+
+const document = (settings, id='session-a') => ({schema_version: 'missioncore.session-display-profile/v1',
+  session_id: id, scene_settings: profile.encodeSessionDisplay(settings)});
+
+test('session profile round trips all display settings and fractional decimation', () => {
+  const settings = {...defaults, accumulationMaxSeconds: 600, accumulationSeconds: 590, pointDecimationPercent: 49.5};
+  assert.deepEqual(profile.decodeSessionDisplay(document(settings), 'session-a'), settings);
+  assert.throws(() => profile.decodeSessionDisplay(document(settings), 'session-b'), /другой записи/);
+  for (const percent of [-1, 100.1, NaN, Infinity]) {
+    assert.throws(() => profile.decodeSessionDisplay(document({...settings, pointDecimationPercent: percent}), 'session-a'));
+  }
+  for (const percent of [0, 50, 100]) assert.equal(profile.decodeSessionDisplay(document({...settings,
+    pointDecimationPercent: percent}), 'session-a').pointDecimationPercent, percent);
+  assert.equal(defaults.accumulationMaxSeconds, 180);
+});
+
+test('timeline uses per-session range instead of a fixed duration cap', () => {
+  const html = renderToStaticMarkup(createElement(Timeline, {accumulationSeconds: 47,
+    accumulationMaxSeconds: 600, onAccumulationChange: () => {}}));
+  assert.match(html, /max="600"/);
+});
+
+test('display exposes precise thinning only for saved playback', () => {
+  const props = {displayDraft: defaults, stageDisplayPatch: () => {}, commitDisplayPatch: () => {}, flushDisplaySettings: () => {}};
+  assert.match(renderToStaticMarkup(createElement(Controls, {...props, replayPresented: true})), /Прореживание облака/);
+  assert.doesNotMatch(renderToStaticMarkup(createElement(Controls, props)), /Прореживание облака/);
+});
+
+test('open Display previews 100%, 0% and accumulation; close alone persists the latest draft', async () => {
+  // Execute the actual composition callbacks with deterministic timers. This
+  // catches the former open-inspector early return, not just helper behavior.
+  const source = await readFile(new URL('../src/App.tsx', import.meta.url), 'utf8');
+  const ast = ts.createSourceFile('App.tsx', source, ts.ScriptTarget.Latest, true, ts.ScriptKind.TSX);
+  const callbacks = new Map();
+  const names = ['stageDisplayPatch', 'flushDisplaySettings', 'commitDisplaySettings'];
+  let close;
+  function visit(node) {
+    if (ts.isVariableDeclaration(node) && names.includes(node.name.getText(ast))) {
+      callbacks.set(node.name.getText(ast), node.initializer.getText(ast));
+    }
+    if (ts.isBinaryExpression(node) && node.left.getText(ast) === 'closeDisplayRef.current') close = node.getText(ast);
+    ts.forEachChild(node, visit);
+  }
+  visit(ast);
+  assert.equal(callbacks.size, names.length); assert.ok(close);
+  const applied = [], saved = [], timers = new Map(); let timerId = 0;
+  const context = {
+    useCallback: fn => fn, displayWindowOpenRef: {current: true}, replayActiveRef: {current: true},
+    displayDraftRef: {current: {...defaults, pointDecimationPercent: 86}}, setDisplayDraft() {},
+    viewerSettingsCommitTimerRef: {current: null}, viewerSettingsQuietPeriodMs: 750,
+    sceneSettingsCommitterRef: {current: {enqueue: value => applied.push(value)}}, closeDisplayRef: {current: null},
+    sessionDisplayProfile: {edited() {}, save: value => saved.push(value)},
+    window: {setTimeout: fn => {timers.set(++timerId, fn); return timerId;}, clearTimeout: id => timers.delete(id)},
+  };
+  const code = [...callbacks].map(([name, init]) => `const ${name} = ${init};`).join('\n') +
+    `\n${close}; ({stageDisplayPatch, flushDisplaySettings, close: closeDisplayRef.current});`;
+  const actions = runInNewContext(ts.transpileModule(code, {compilerOptions: {target: ts.ScriptTarget.ES2022}}).outputText, context);
+  actions.stageDisplayPatch({pointDecimationPercent: 100});
+  assert.equal(applied.at(-1).pointDecimationPercent, 100);
+  actions.stageDisplayPatch({pointDecimationPercent: 0});
+  assert.equal(applied.at(-1).pointDecimationPercent, 0);
+  actions.stageDisplayPatch({accumulationSeconds: 180});
+  actions.flushDisplaySettings();
+  assert.equal(applied.at(-1).accumulationSeconds, 180);
+  actions.stageDisplayPatch({accumulationSeconds: 10});
+  actions.flushDisplaySettings();
+  assert.equal(applied.at(-1).accumulationSeconds, 10);
+  actions.stageDisplayPatch({pointDecimationPercent: 49.5});
+  assert.equal(timers.size, 1);
+  const pending = [...timers.values()][0]; timers.clear(); pending();
+  assert.equal(applied.at(-1).pointDecimationPercent, 49.5);
+  assert.equal(applied.at(-1).accumulationSeconds, 10);
+  assert.equal(saved.length, 0);
+  actions.close();
+  assert.equal(saved.length, 1);
+  assert.equal(saved[0].pointDecimationPercent, 49.5);
+  assert.equal(saved[0].accumulationSeconds, 10);
+});
+
+test('display stream validates fragmented header and sends bounded chunks', async () => {
+  const previous = globalThis.window; globalThis.window = {location: {origin: 'http://localhost'}};
+  try {
+    const wire = [78,80,68,49,8,0,0,0,82,82,70,50,1,2,3,4,0,0,0,0];
+    const chunks = [new Uint8Array(wire.slice(0,1)), new Uint8Array(wire.slice(1,7)),
+      new Uint8Array(wire.slice(7,10)), new Uint8Array(wire.slice(10))];
+    const sent = []; let request;
+    const fetcher = async (url, options) => {request = {url, ...options}; return new Response(new ReadableStream({
+      start(controller) {chunks.forEach(chunk => controller.enqueue(chunk)); controller.close();},
+    }), {headers: {'Content-Type': 'application/vnd.nodedc.point-display-stream'}});};
+    const total = await points.streamRecordedPointDisplay('/api/v1/observation-sessions/session-a/blueprint.rrd',
+      {...defaults, pointDecimationPercent: 49.5}, {applicationId: 'app', recordingId: 'rec'}, 'a'.repeat(32),
+      new AbortController().signal, chunk => sent.push(...chunk), fetcher, 'a'.repeat(64));
+    assert.equal(total, 20); assert.deepEqual(sent, [82,82,70,50,1,2,3,4]);
+    assert.equal(JSON.parse(request.body).point_decimation_percent, 49.5);
+    assert.equal(JSON.parse(request.body).source_generation, 'a'.repeat(64));
+    assert.match(request.url, /point-display\.rrd$/);
+  } finally {globalThis.window = previous;}
+});
+
+test('invalid, cross-origin and canceled streams never become active', async () => {
+  const previous = globalThis.window; globalThis.window = {location: {origin: 'http://localhost'}};
+  try {
+    const call = (url, signal, fetcher) => points.streamRecordedPointDisplay(url, {...defaults, pointDecimationPercent: 50},
+      {applicationId: 'app', recordingId: 'rec'}, 'b'.repeat(32), signal, () => assert.fail('must not publish'), fetcher);
+    const url = '/api/v1/observation-sessions/session-a/blueprint.rrd';
+    await assert.rejects(call('https://elsewhere.test'+url, new AbortController().signal, () => assert.fail('must not fetch')));
+    await assert.rejects(call(url, new AbortController().signal, async () => new Response('bad!', {
+      headers: {'Content-Type': 'application/vnd.nodedc.point-display-stream'}})), /Некорректный поток/);
+    await assert.rejects(call(url, new AbortController().signal, async () => new Response('NPD1', {
+      headers: {'Content-Type': 'application/vnd.nodedc.point-display-stream'}})), /не завершён/);
+    const abort = new AbortController(); abort.abort();
+    await assert.rejects(call(url, abort.signal, async () => new Response('RRF2', {
+      headers: {'Content-Type': 'application/vnd.nodedc.point-display-stream'}})), /Aborted/);
+  } finally {globalThis.window = previous;}
+});
@@ -0,0 +1,55 @@
+import assert from 'node:assert/strict';
+import { before, after, test } from 'node:test';
+import { createServer } from 'vite';
+import { readFile } from 'node:fs/promises';
+let server, api;
+before(async () => {
+  server = await createServer({ appType: 'custom', logLevel: 'silent', server: { middlewareMode: true } });
+  api = await server.ssrLoadModule('/src/core/observation/sessionOverviewSpatial.ts');
+});
+after(async () => { await server?.close(); });
+test('comparison pins identity and changes geometry without requesting a camera reset', async () => {
+  const oldFetch = globalThis.fetch, oldWindow = globalThis.window;
+  const requests = [];
+  globalThis.window = { location: { origin: 'http://localhost:8000' } };
+  globalThis.fetch = async (url, options) => {
+    requests.push({ url: String(url), body: JSON.parse(options.body) });
+    return { ok: true, arrayBuffer: async () => new ArrayBuffer(8), headers: new Headers({ 'X-Overview-Visible-Points': '42' }) };
+  };
+  try {
+    const source = '/api/v1/observation-sessions/example/overview/scene.rrd?generation=' + 'a'.repeat(64);
+    const signal = new AbortController().signal;
+    for (const representation of ['original', 'corrected', 'original']) {
+      const result = await api.updateOverviewSpatial(source, 80, null, 1.5, signal, 'b'.repeat(64), representation);
+      assert.equal(result.eye, null);
+      assert.equal(result.visiblePoints, 42);
+    }
+    assert.deepEqual(requests.map(r => r.body.representation), ['original', 'corrected', 'original']);
+    for (const request of requests) {
+      assert.equal(request.body.mode, null);
+      assert.equal(request.body.comparison_generation, 'b'.repeat(64));
+      assert.equal(request.body.generation, 'a'.repeat(64));
+      assert.ok(request.url.endsWith('/overview/spatial'));
+    }
+    await assert.rejects(api.updateOverviewSpatial(source, null, null, 1, signal, null, 'corrected'), /недоступна/);
+    assert.equal(requests.length, 3);
+  } finally { globalThis.fetch = oldFetch; globalThis.window = oldWindow; }
+});
+test('comparison control is opt-in while default geometry and pinned planner versions are shared', async () => {
+  const source = await readFile(new URL('../src/components/observation/SessionOverviewScene.tsx', import.meta.url), 'utf8');
+  assert.match(source, /compareVersions=false/);
+  assert.match(source, /}, \[sourceUrl, retry\]\);/);
+  assert.match(source, /appliedMode.current === mode \? null : mode/);
+  assert.doesNotMatch(source, /key=\{representation\}|setRetry\([^\n]*representation/);
+  assert.match(source, /label="Версия облака"/);
+  assert.match(source, /setAppliedRepresentation\(comparison \? representation/);
+  assert.match(source, /setRepresentation\(data.default_representation/);
+  assert.match(source, /const comparison = metadata\?\.comparison/);
+  assert.match(source, /compareVersions && comparison/);
+  const planner = await readFile(new URL('../src/components/missions/MissionZonePreview.tsx', import.meta.url), 'utf8');
+  assert.doesNotMatch(planner, /compareVersions/);
+  assert.match(planner, /reference_generation=\$\{encodeURIComponent\(generation\)\}/);
+  const logic = await readFile(new URL('../src/core/missions/useMissionPlanner.ts', import.meta.url), 'utf8');
+  assert.match(logic, /setPinnedGeneration\(next.zone.generation\)/);
+  assert.match(logic, /setPinnedGeneration\(null\)/);
+});
@@ -13,7 +13,8 @@ before(async () => {
 after(async () => { await server?.close(); });

 const render = (focused = false) => renderToStaticMarkup(createElement(SpatialScene, {
-  viewportRef: { current: null }, primaryFocused: focused, toolbar: null, renderer: null,
+  viewportRef: { current: null }, primaryFocused: focused, toolbar: null,
+  renderer: createElement('div', { 'data-testid': 'renderer' }, 'RENDERER'),
  sourceControls: createElement('div', { className: focused ? 'scene-focus-exit' : 'scene-source-controls' }, 'SOURCE_CONTROLS'),
  status: { label: 'Накопление данных', tone: 'neutral', message: 'Сканер неподвижен.' },
  metrics: createElement('div', null, 'METRICS'),
@@ -37,6 +38,18 @@ test('focus exit remains viewport-owned outside the hidden information stack', (
  assert.equal((markup.match(/SOURCE_CONTROLS/g) ?? []).length, 1);
 });

+test('normal and expanded scenes retain the renderer without mouse-navigation copy', async () => {
+  for (const focused of [false, true]) {
+    const markup = render(focused);
+    assert.match(markup, /data-testid="renderer">RENDERER/);
+    assert.doesNotMatch(markup, /scene-navigation-hint|Навигация по 3D-сцене|ЛКМ|ПКМ|Колесо/);
+  }
+  const source = await readFile(new URL('../../../packages/spatial-ui/src/SpatialScene.tsx', import.meta.url), 'utf8');
+  const css = await readFile(new URL('../../../packages/spatial-ui/src/observation.css', import.meta.url), 'utf8');
+  assert.doesNotMatch(source, /navigationReady|scene-navigation-hint/);
+  assert.doesNotMatch(css, /scene-navigation-hint/);
+});
+
 test('scene layout uses flow, retains compact metrics and removes only the calibration perimeter', async () => {
  const css = await readFile(new URL('../../../packages/spatial-ui/src/spatial.css', import.meta.url), 'utf8');
  const responsive = await readFile(new URL('../src/styles/responsive.css', import.meta.url), 'utf8');
@@ -48,3 +61,13 @@ test('scene layout uses flow, retains compact metrics and removes only the calib
  assert.doesNotMatch(responsive, /\.scene-metrics\s*\{\s*display: none/);
  assert.match(calibration, /\.xgrids-k1-spatial-controls \{[^}]*border: 0;/);
 });
+
+test('preparation status shares the source controls top axis on the opposite side', async () => {
+  const css = await readFile(new URL('../../../packages/spatial-ui/src/spatial.css', import.meta.url), 'utf8');
+  const stack = css.match(/\.scene-operation-status-stack \{[^}]*\}/)?.[0] ?? '';
+  assert.match(stack, /top: 0\.85rem/);
+  assert.match(stack, /right: 0\.85rem/);
+  assert.match(stack, /min-height: 2\.75rem/);
+  assert.match(stack, /align-content: center/);
+  assert.doesNotMatch(stack, /left:|bottom:/);
+});
@@ -0,0 +1,201 @@
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+   PARTICULAR PURPOSE. You are solely responsible for determining the
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+8. Limitation of Liability. In no event and under no legal theory,
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+   unless required by applicable law (such as deliberate and grossly
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+   on Your own behalf and on Your sole responsibility, not on behalf
+   of any other Contributor, and only if You agree to indemnify,
+   defend, and hold each Contributor harmless for any liability
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+   of your accepting any such warranty or additional liability.
+
+END OF TERMS AND CONDITIONS
+
+APPENDIX: How to apply the Apache License to your work.
+
+   To apply the Apache License to your work, attach the following
+   boilerplate notice, with the fields enclosed by brackets "[]"
+   replaced with your own identifying information. (Don't include
+   the brackets!)  The text should be enclosed in the appropriate
+   comment syntax for the file format. We also recommend that a
+   file or class name and description of purpose be included on the
+   same "printed page" as the copyright notice for easier
+   identification within third-party archives.
+
+Copyright [yyyy] [name of copyright owner]
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
@@ -0,0 +1,25 @@
+Copyright (c) 2022 Rerun Technologies AB <opensource@rerun.io>
+
+Permission is hereby granted, free of charge, to any
+person obtaining a copy of this software and associated
+documentation files (the "Software"), to deal in the
+Software without restriction, including without
+limitation the rights to use, copy, modify, merge,
+publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software
+is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice
+shall be included in all copies or substantial portions
+of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF
+ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
+SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
+IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
@@ -0,0 +1,361 @@
+--- a/crates/viewer/re_view_spatial/src/eye.rs
+++ b/crates/viewer/re_view_spatial/src/eye.rs
+@@ -2,7 +2,7 @@
+ use glam::{Mat4, Quat, Vec3, vec3};
+ use macaw::IsoTransform;
+ use re_log_types::EntityPath;
+-use re_sdk_types::blueprint::archetypes::EyeControls3D;
+use re_sdk_types::blueprint::archetypes::{EyeControls3D, LineGrid3D};
+ use re_sdk_types::blueprint::components::{AngularSpeed, Eye3DKind};
+ use re_sdk_types::components::{LinearSpeed, Position3D, Vector3D};
+ use re_view::controls::{
+@@ -214,6 +214,8 @@
+     pub last_look_target: Option<Vec3>,
+     pub last_orbit_radius: Option<f32>,
+     pub last_eye_up: Option<Vec3>,
+    /// NODE.DC: time of the last rendered eye, for the read-only WebViewer snapshot.
+    pub last_render_time: f64,
+ }
+ 
+ #[derive(Clone, Debug, PartialEq, re_byte_size::SizeBytes)]
+@@ -241,6 +243,7 @@
+     fov_y: Option<f32>,
+ 
+     did_interact: bool,
+    grid_plane: macaw::Plane3,
+ }
+ 
+ impl EyeController {
+@@ -250,16 +253,8 @@
+     /// Avoids breaking the view by zooming in too far.
+     pub const MIN_ORBIT_DISTANCE: f32 = Eye::PERSPECTIVE_NEAR_PLANE * 2.0;
+ 
+-    /// Cap on the orbital camera radius, as a multiple of the scene bounding box diagonal.
+-    ///
+-    /// Only applied when scroll-to-zoom wants to grow the radius further. Zoom-in, rotate,
+-    /// pan, WASD, and every other form of motion are left alone — this is intentionally a
+-    /// local restriction on orbital zoom-out only, not a general movement envelope. The 2D
+-    /// view has its own, separate zoom-out cap (see `ui_2d::MAX_ZOOM_OUT_FACTOR`).
+-    ///
+-    /// If the radius already exceeds this (e.g. right after loading) the current radius is
+-    /// used as the cap instead, so the camera isn't pulled back in.
+-    const MAX_ORBITAL_ZOOM_OUT_FACTOR: f32 = 5.0;
+    // NODE.DC: finite arithmetic guard only, independent of route/scene bounds.
+    const MAX_ORBITAL_RADIUS: f32 = 1.0e17;
+ 
+     fn get_eye(&self) -> Eye {
+         Eye {
+@@ -317,6 +312,10 @@
+                 .0,
+         );
+ 
+        let grid = ViewProperty::from_archetype::<LineGrid3D>(ctx);
+        let grid_plane = grid.component_or_fallback::<re_sdk_types::components::Plane3D>(
+            ctx, LineGrid3D::descriptor_plane().component,
+        )?;
+         Ok(Self {
+             pos,
+             look_target,
+@@ -325,6 +324,7 @@
+             eye_up,
+             did_interact: false,
+             fov_y,
+            grid_plane: grid_plane.into(),
+         })
+     }
+ 
+@@ -482,12 +482,45 @@
+         let up = rot * Vec3::Y;
+         let right = rot * -Vec3::X; // TODO(emilk): why do we need a negation here? O.o
+ 
+        // Mission Core's map grid is XY. Screen-plane pan otherwise lifts the
+        // orbit target into the air, leaving scroll-to-target stranded there.
+        // First-person navigation intentionally retains upstream 3D movement.
+        let (right, up) = if self.kind == Eye3DKind::Orbital {
+            let normal = self.grid_plane.normal;
+            let project = |v: Vec3| v - normal * normal.dot(v);
+            let right = project(right).normalize_or(project(Vec3::X).normalize_or(Vec3::Y));
+            let up = project(up).normalize_or(normal.cross(-right));
+            (right, up)
+        } else {
+            (right, up)
+        };
+         let translate = delta_in_view.x * right + delta_in_view.y * up;
+ 
+         self.pos += translate;
+         self.look_target += translate;
+     }
+ 
+    /// Translate the whole rig, not its orientation/radius, onto the grid.
+    /// Called only by deliberate navigation while not following an entity.
+    fn anchor_orbit_to_grid(&mut self) {
+        if self.kind == Eye3DKind::Orbital {
+            let correction = self.grid_plane.normal
+                * (self.grid_plane.d - self.grid_plane.normal.dot(self.look_target));
+            self.pos += correction;
+            self.look_target += correction;
+        }
+    }
+
+    fn zoom_orbit(&mut self, zoom_factor: f32) {
+        if !zoom_factor.is_finite() || zoom_factor <= 0.0 {
+            return;
+        }
+        let new_radius = (self.radius() / zoom_factor)
+            .clamp(Self::MIN_ORBIT_DISTANCE, Self::MAX_ORBITAL_RADIUS);
+        self.pos = self.look_target - self.fwd() * new_radius;
+        self.did_interact = true;
+    }
+
+     fn handle_drag(&mut self, response: &egui::Response, drag_threshold: f32) {
+         if response.drag_delta().length() > drag_threshold {
+             let roll = response.dragged_by(ROLL_MOUSE)
+@@ -513,7 +546,7 @@
+     }
+ 
+     /// Handle zoom/scroll input.
+-    fn handle_zoom(&mut self, egui_ctx: &egui::Context, scene_bounding_box: &macaw::BoundingBox) {
+    fn handle_zoom(&mut self, egui_ctx: &egui::Context, _scene_bounding_box: &macaw::BoundingBox) {
+         let zoom_factor = egui_ctx.input(|input| {
+             // egui's default horizontal_scroll_modifier is shift, which is also our speed-up modifier.
+             // This means that a user who wants to speed up scroll-to-zoom will generate a horizontal scroll delta.
+@@ -528,22 +561,7 @@
+ 
+         match self.kind {
+             Eye3DKind::Orbital => {
+-                let radius = self.pos.distance(self.look_target);
+-
+-                // Cap zoom-out against the scene bounding box. If we're already past the cap
+-                // (e.g. right after loading) use the current radius instead — no snap-back.
+-                let max_radius = max_orbital_radius(scene_bounding_box).max(radius);
+-                let new_radius = (radius / zoom_factor).clamp(Self::MIN_ORBIT_DISTANCE, max_radius);
+-
+-                // The user may be scrolling to move the camera closer, but are not realizing
+-                // the radius is now tiny.
+-                // TODO(emilk): inform the users somehow that scrolling won't help, and that they should use WSAD instead.
+-                // It might be tempting to start moving the camera here on scroll, but that would is bad for other reasons.
+-
+-                if f32::MIN_POSITIVE < new_radius {
+-                    self.pos = self.look_target - self.fwd() * new_radius;
+-                    self.did_interact = true;
+-                }
+                self.zoom_orbit(zoom_factor);
+             }
+             Eye3DKind::FirstPerson => {
+                 // Move along the forward axis when zooming in first person mode.
+@@ -707,25 +725,6 @@
+     }
+ }
+ 
+-/// Cap on the orbital zoom-out radius, derived from the scene bounding box diagonal.
+-///
+-/// Returns `1.0e17` (a large fallback that avoids infinities downstream) when no usable scene
+-/// bounding box is available.
+-fn max_orbital_radius(scene_bounding_box: &macaw::BoundingBox) -> f32 {
+-    // `1.0e17` fallback is chosen with generous margin of an observed crash due to infinity.
+-    let fallback = 1.0e17;
+-
+-    if !scene_bounding_box.is_finite() || scene_bounding_box.is_nothing() {
+-        return fallback;
+-    }
+-    let scene_diagonal = scene_bounding_box.size().length();
+-    if !scene_diagonal.is_finite() || scene_diagonal <= 0.0 {
+-        return fallback;
+-    }
+-    (scene_diagonal * EyeController::MAX_ORBITAL_ZOOM_OUT_FACTOR)
+-        .max(EyeController::MIN_ORBIT_DISTANCE)
+-}
+-
+ pub fn find_camera(cameras: &[PinholeWrapper], needle: &EntityPath) -> Option<Eye> {
+     let mut found_camera = None;
+ 
+@@ -744,6 +743,103 @@
+ 
+ fn ease_out(t: f32) -> f32 {
+     1. - (1. - t) * (1. - t)
+}
+
+#[cfg(test)]
+mod nodedc_navigation_tests {
+    use super::*;
+
+    fn controller() -> EyeController {
+        EyeController {
+            pos: vec3(305.0, -80.0, 22.0),
+            look_target: vec3(290.0, -60.0, 4.0),
+            kind: Eye3DKind::Orbital,
+            speed: 30.0,
+            eye_up: Vec3::Z,
+            fov_y: Some(Eye::DEFAULT_FOV_Y),
+            did_interact: false,
+            grid_plane: macaw::Plane3 { normal: Vec3::Z, d: 0.0 },
+        }
+    }
+
+    #[test]
+    fn pan_is_on_grid_and_moves_the_whole_rig() {
+        let mut c = controller();
+        let offset = c.pos - c.look_target;
+        c.anchor_orbit_to_grid();
+        for _ in 0..100 {
+            c.translate(egui::vec2(0.5, 0.7));
+        }
+        assert_eq!(c.look_target.z, 0.0);
+        assert!((c.pos - c.look_target - offset).length() < 0.001);
+    }
+
+    #[test]
+    fn rotation_keeps_selected_pivot_and_radius() {
+        let mut c = controller();
+        c.anchor_orbit_to_grid();
+        let target = c.look_target;
+        let radius = c.radius();
+        for _ in 0..200 {
+            c.rotate(egui::vec2(2.0, 0.1));
+        }
+        assert_eq!(c.look_target, target);
+        assert!((c.radius() - radius).abs() < 0.01);
+    }
+
+    #[test]
+    fn zoom_passes_map_scale_without_moving_pivot() {
+        let mut c = controller();
+        c.anchor_orbit_to_grid();
+        let target = c.look_target;
+        c.zoom_orbit(0.001);
+        assert!(c.radius() > 20_000.0);
+        for _ in 0..12 {
+            c.zoom_orbit(4.0);
+        }
+        assert!(c.radius() < 0.03);
+        assert_eq!(c.look_target, target);
+        assert!(c.get_eye().world_from_rub_view.translation().is_finite());
+    }
+
+    #[test]
+    fn vertical_view_pan_stays_finite_on_grid() {
+        let mut c = controller();
+        c.pos = vec3(0.0, 0.0, 30.0);
+        c.look_target = Vec3::ZERO;
+        c.eye_up = Vec3::Y;
+        c.translate(egui::vec2(1.0, 1.0));
+        assert_eq!(c.look_target.z, 0.0);
+        assert!(c.pos.is_finite());
+        assert!(c.look_target.length() > 1.0);
+    }
+
+    #[test]
+    fn navigation_respects_the_actual_grid_plane() {
+        let mut c = controller();
+        c.grid_plane = macaw::Plane3 { normal: Vec3::Y, d: 3.0 };
+        c.anchor_orbit_to_grid();
+        let target = c.look_target;
+        c.translate(egui::vec2(2.0, 4.0));
+        c.rotate(egui::vec2(10.0, 3.0));
+        assert_eq!(c.look_target.y, 3.0);
+        assert_ne!(c.look_target, target);
+    }
+
+    #[test]
+    fn invalid_zoom_is_ignored_and_first_person_is_unchanged() {
+        let mut c = controller();
+        let before = c.pos;
+        for factor in [0.0, -1.0, f32::NAN, f32::INFINITY] {
+            c.zoom_orbit(factor);
+            assert_eq!(c.pos, before);
+        }
+        c.kind = Eye3DKind::FirstPerson;
+        c.anchor_orbit_to_grid();
+        assert_eq!(c.look_target.z, 4.0);
+        c.translate(egui::vec2(0.0, 1.0));
+        assert_ne!(c.look_target.z, 4.0);
+    }
+ }
+ 
+ impl EyeState {
+@@ -804,9 +900,32 @@
+             }
+         }
+ 
+        // Anchor before the first paint, not on the first orbit drag. This
+        // avoids a one-off camera jump when the scene-bounds fallback is high.
+        if tracking_entity.is_none() && eye_controller.kind == Eye3DKind::Orbital
+            && (eye_controller.grid_plane.normal.dot(eye_controller.look_target)
+                - eye_controller.grid_plane.d).abs() > 1.0e-5
+        {
+            eye_controller.anchor_orbit_to_grid();
+            eye_controller.did_interact = true;
+        }
+
+         // Handle spinning before inputs because some inputs depend on view direction.
+         self.handle_spinning(ctx, eye_property, &mut eye_controller)?;
+ 
+        // NODE.DC: pin manual map navigation to the XY grid. Tracking and
+        // explicit camera presets retain their own target until manual input.
+        let manual_input = response.drag_delta().length_sq() > 0.0
+            || (response.hovered() && response.ctx.input(|i| {
+                i.smooth_scroll_delta != egui::Vec2::ZERO || i.zoom_delta() != 1.0
+            }));
+        if manual_input {
+            self.stop_interpolation();
+            if tracking_entity.is_none() {
+                eye_controller.anchor_orbit_to_grid();
+            }
+        }
+
+         // We do input before tracking entity, because the input can cause the eye
+         // to stop tracking.
+         let gamepad_navigation_status = eye_controller.handle_input(
+@@ -1241,6 +1360,7 @@
+         };
+ 
+         self.last_eye = Some(eye);
+        self.last_render_time = ctx.egui_ctx().time();
+ 
+         Ok(eye)
+     }
+--- a/crates/viewer/re_viewer_context/src/view/view_states.rs
+++ b/crates/viewer/re_viewer_context/src/view/view_states.rs
+@@ -173,6 +173,13 @@
+ }
+ 
+ impl ViewStates {
+    /// NODE.DC: read-only per-recording state access for native camera snapshots.
+    pub fn states_for_store<'a>(&'a self, store_id: &'a StoreId) -> impl Iterator<Item = &'a dyn ViewState> {
+        self.states.iter().filter_map(move |((id, _), state)| {
+            (id == store_id).then_some(state.as_ref())
+        })
+    }
+
+     pub fn get(&self, store_id: &StoreId, view_id: ViewId) -> Option<&dyn ViewState> {
+         self.states
+             .get(&(store_id.clone(), view_id))
+--- a/crates/viewer/re_viewer/src/web.rs
+++ b/crates/viewer/re_viewer/src/web.rs
+@@ -384,6 +384,26 @@
+         let recording = hub.entity_db(recording_id)?;
+ 
+         Some(recording.store_id().recording_id().to_string())
+    }
+
+    /// NODE.DC navigation/v1. Last rendered native eye, never a replay of DOM deltas.
+    /// Each Mission Core iframe admits one active 3D pane. Timestamp selection
+    /// excludes states retained for a previously selected/reset pane.
+    #[wasm_bindgen]
+    pub fn nodedc_camera_eye(&self) -> Option<String> {
+        let app = self.runner.app_mut::<crate::App>()?;
+        let store_id = app.active_recording_id()?;
+        let eye_state = app.state.view_states.states_for_store(store_id)
+            .filter_map(|state| state.as_any().downcast_ref::<re_view_spatial::SpatialViewState>())
+            .map(|state| &state.state_3d.eye_state)
+            .filter(|state| state.last_eye.is_some() && state.last_look_target.is_some())
+            .max_by(|a, b| a.last_render_time.total_cmp(&b.last_render_time))?;
+        let eye = eye_state.last_eye?;
+        Some(serde_json::json!({
+            "position": eye.pos_in_world().to_array(),
+            "lookTarget": eye_state.last_look_target?.to_array(),
+            "eyeUp": eye_state.last_eye_up?.to_array(),
+        }).to_string())
+     }
+ 
+     //TODO(#10737): we should refer to logical recordings using store id (recording id is ambiguous)
@@ -0,0 +1,44 @@
+# Rerun 0.36.3 · NODE.DC navigation/v1
+
+This is the bounded native camera amendment in ADR 0052, not the archived
+0.34.1 renderer fork. `navigation-build.json` binds the exact upstream commit,
+portable source patch and paired generated runtime. Keep the upstream licenses.
+
+## Rebuild
+
+1. Download the source archive for the manifest's `upstreamCommit` from
+   `https://codeload.github.com/rerun-io/rerun/tar.gz/<commit>` and verify its hash.
+2. Extract into a new temporary directory and run `git apply --check` followed
+   by `git apply` with `NODEDC_NAVIGATION.patch` at the extracted root.
+3. Pack that root as `patched-source.tar.gz`. On macOS use
+   `COPYFILE_DISABLE=1 tar --no-mac-metadata --exclude='._*'`; AppleDouble files
+   are not shaders and must not enter the build.
+4. On Worker006, create a temporary container from the pinned Rust image in
+   the manifest, with 4 CPUs, 16 GB memory, no GPU, no ports and no private data.
+   Use the `ndc-` name and NODE.DC ownership labels required by AGENTS.md.
+   Copy the archive to `/work/patched-source.tar.gz` and the repository's
+   `scripts/build-rerun-navigation.sh` to `/work/build-rerun-navigation.sh`.
+   Entrypoint: `bash /work/build-rerun-navigation.sh`.
+5. Require the native navigation tests to pass. The upstream
+   `rerun_js/web-viewer/build-wasm.mjs --mode release` produces the matching
+   `re_viewer.js`, `re_viewer.d.ts` and `re_viewer_bg.wasm`. Copy all three,
+   never only WASM, to the artifact names in this directory's manifest.
+6. Recheck source patch, build script and generated file hashes. Update the
+   manifest, run the installer twice (idempotency), vendor ABI checks, frontend
+   contracts/build, then real product-browser QA. Remove the temporary build
+   container after copying artifacts and evidence.
+
+The source archive and build cache are not runtime dependencies. No compiler,
+Docker or hardware access is needed on a clean operator install: the existing
+exact npm package plus `postinstall` installs the audited paired artifacts.
+An unfamiliar package or artifact is rejected before any file is changed.
+
+## Upgrade / rollback
+
+Rebase against the next exact upstream source, not against minified JS. Retest
+grid-plane pan, fixed-pivot orbit, close/far zoom, explicit reset/top/follow,
+display updates, normal/expanded views and disposable-iframe cleanup.
+
+To roll back, disable `postinstall`/`prebuild`, restore the official exact npm
+package and rebuild. Missing snapshots are represented as null, not simulated
+camera state. Recordings, corrected maps and scanner sessions are unchanged.
@@ -0,0 +1,35 @@
+{
+  "schema": "nodedc.rerun-navigation/v1",
+  "upstreamVersion": "0.36.3",
+  "upstreamCommit": "6ded109d33c549e98185f7c95fa8009d44e4adef",
+  "upstreamArchiveSha256": "3f92aef3f33f63c79b275b5c66a65d73192e75967cbcd3d1f16c75010996f896",
+  "patchSha256": "a893a4b4e7523cca88284316c88b930c3b91ba973ed3f954c9ca632f71252e64",
+  "cargoLockSha256": "74cdf9c3c8c5dbe5a368f1a9a58b011e2a45720843b30e552bc7b1d8ac21d791",
+  "buildScriptSha256": "e3cbd5da889403eda3ffba7c020b6075bdfb025b823d1bf503b639f59688135a",
+  "buildDate": "2026-09-21",
+  "rustImage": "rust:1.95-bookworm@sha256:6258907abe69656e41cd992e0b705cdcfabcbbe3db374f92ed2d47121282d4a1",
+  "binaryenVersion": "117",
+  "binaryenArchiveSha256": "3dc677006555b355ea2da5e82602065a161d5e83eaefd3f759afa00b96e83212",
+  "wasmBindgenVersion": "0.2.126",
+  "nativeTestsPassed": 6,
+  "files": {
+    "index.js": { "upstreamSha256": "009aa5f66c8674ea268a91926c00e2f82cc7a7b7e5535056d93bd4656d6f6812" },
+    "index.ts": { "upstreamSha256": "087b25170f720a28aa69c411903133286238900050ac775d2cc511b919846696" },
+    "index.d.ts": { "upstreamSha256": "649637dad4e50ef4f2310fc1920b580d16832226a0dda5238355059bf167efba" },
+    "re_viewer.js": {
+      "upstreamSha256": "d2a94836dd0e6de40538c4d657cfb423b1803e354e6ee0cd550735eb5aaab09b",
+      "artifact": "re_viewer.nodedc.js",
+      "sha256": "610d89abffcc5c329797e77794ae2ab5b426c80a5b23fd24064c7d47c6583d3a"
+    },
+    "re_viewer.d.ts": {
+      "upstreamSha256": "9a77a4e1e1aa8311185a3f275bf326a8fff2844e468e561c59d5f0ee7aa6debe",
+      "artifact": "re_viewer.nodedc.d.ts",
+      "sha256": "cfbf010d66560af919aa68d255a6ddc7120829f8ee8f27a41f56d943cd54e598"
+    },
+    "re_viewer_bg.wasm": {
+      "upstreamSha256": "02d6d9c3a569d3faceb01cf89104342d970fc85e7c31a08dedd357b6c7104d2f",
+      "artifact": "re_viewer_bg.nodedc.wasm",
+      "sha256": "2b661de545ac90bb950eda1a28fc5a7c3ce4ca7f5bb24894789acf7589495185"
+    }
+  }
+}
@@ -0,0 +1,200 @@
+
+declare namespace wasm_bindgen {
+    /* tslint:disable */
+    /* eslint-disable */
+    /**
+     * The `ReadableStreamType` enum.
+     *
+     * *This API requires the following crate features to be activated: `ReadableStreamType`*
+     */
+
+    export type ReadableStreamType = "bytes";
+
+    export class IntoUnderlyingByteSource {
+        private constructor();
+        free(): void;
+        [Symbol.dispose](): void;
+        cancel(): void;
+        pull(controller: ReadableByteStreamController): Promise<any>;
+        start(controller: ReadableByteStreamController): void;
+        readonly autoAllocateChunkSize: number;
+        readonly type: ReadableStreamType;
+    }
+
+    export class IntoUnderlyingSink {
+        private constructor();
+        free(): void;
+        [Symbol.dispose](): void;
+        abort(reason: any): Promise<any>;
+        close(): Promise<any>;
+        write(chunk: any): Promise<any>;
+    }
+
+    export class IntoUnderlyingSource {
+        private constructor();
+        free(): void;
+        [Symbol.dispose](): void;
+        cancel(): void;
+        pull(controller: ReadableStreamDefaultController): Promise<any>;
+    }
+
+    export class WebHandle {
+        free(): void;
+        [Symbol.dispose](): void;
+        /**
+         * Add a new receiver streaming data from the given url.
+         *
+         * Websocket streams are always opened in `Following` mode.
+         *
+         * It is an error to open a channel twice with the same id.
+         */
+        add_receiver(url: string): void;
+        /**
+         * Close an existing channel for streaming data.
+         *
+         * No-op if the channel is already closed.
+         */
+        close_channel(id: string): void;
+        destroy(): void;
+        get_active_recording_id(): string | undefined;
+        get_active_timeline(recording_id: string): string | undefined;
+        get_playing(recording_id: string): boolean | undefined;
+        get_time_for_timeline(recording_id: string, timeline_name: string): number | undefined;
+        get_timeline_time_range(recording_id: string, timeline_name: string): any;
+        has_panicked(): boolean;
+        constructor(app_options: any);
+        /**
+         * NODE.DC navigation/v1. Last rendered native eye, never a replay of DOM deltas.
+         * Each Mission Core iframe admits one active 3D pane. Timestamp selection
+         * excludes states retained for a previously selected/reset pane.
+         */
+        nodedc_camera_eye(): string | undefined;
+        /**
+         * Open a new channel for streaming data.
+         *
+         * It is an error to open a channel twice with the same id.
+         */
+        open_channel(id: string, channel_name: string): void;
+        override_panel_state(panel: string, state?: string | null): void;
+        panic_callstack(): string | undefined;
+        panic_message(): string | undefined;
+        remove_receiver(url: string): void;
+        /**
+         * Add an rrd to the viewer directly from a byte array.
+         */
+        send_rrd_to_channel(id: string, data: Uint8Array): void;
+        send_table_to_channel(id: string, data: Uint8Array): void;
+        set_active_recording_id(recording_id: string): void;
+        /**
+         * Set the active timeline.
+         *
+         * This does nothing if the timeline can't be found.
+         */
+        set_active_timeline(recording_id: string, timeline_name: string): void;
+        set_credentials(access_token: string, email: string): void;
+        set_playing(recording_id: string, value: boolean): void;
+        set_time_for_timeline(recording_id: string, timeline_name: string, time: number): void;
+        start(canvas: any): Promise<void>;
+        toggle_panel_overrides(value?: boolean | null): void;
+    }
+
+}
+declare type InitInput = RequestInfo | URL | Response | BufferSource | WebAssembly.Module;
+
+declare interface InitOutput {
+    readonly memory: WebAssembly.Memory;
+    readonly __wbg_webhandle_free: (a: number, b: number) => void;
+    readonly webhandle_add_receiver: (a: number, b: number, c: number) => void;
+    readonly webhandle_close_channel: (a: number, b: number, c: number) => void;
+    readonly webhandle_destroy: (a: number) => void;
+    readonly webhandle_get_active_recording_id: (a: number) => [number, number];
+    readonly webhandle_get_active_timeline: (a: number, b: number, c: number) => [number, number];
+    readonly webhandle_get_playing: (a: number, b: number, c: number) => number;
+    readonly webhandle_get_time_for_timeline: (a: number, b: number, c: number, d: number, e: number) => [number, number];
+    readonly webhandle_get_timeline_time_range: (a: number, b: number, c: number, d: number, e: number) => any;
+    readonly webhandle_has_panicked: (a: number) => number;
+    readonly webhandle_new: (a: any) => [number, number, number];
+    readonly webhandle_nodedc_camera_eye: (a: number) => [number, number];
+    readonly webhandle_open_channel: (a: number, b: number, c: number, d: number, e: number) => void;
+    readonly webhandle_override_panel_state: (a: number, b: number, c: number, d: number, e: number) => [number, number];
+    readonly webhandle_panic_callstack: (a: number) => [number, number];
+    readonly webhandle_panic_message: (a: number) => [number, number];
+    readonly webhandle_remove_receiver: (a: number, b: number, c: number) => void;
+    readonly webhandle_send_rrd_to_channel: (a: number, b: number, c: number, d: number, e: number) => void;
+    readonly webhandle_send_table_to_channel: (a: number, b: number, c: number, d: number, e: number) => void;
+    readonly webhandle_set_active_recording_id: (a: number, b: number, c: number) => void;
+    readonly webhandle_set_active_timeline: (a: number, b: number, c: number, d: number, e: number) => void;
+    readonly webhandle_set_credentials: (a: number, b: number, c: number, d: number, e: number) => void;
+    readonly webhandle_set_playing: (a: number, b: number, c: number, d: number) => void;
+    readonly webhandle_set_time_for_timeline: (a: number, b: number, c: number, d: number, e: number, f: number) => void;
+    readonly webhandle_start: (a: number, b: any) => any;
+    readonly webhandle_toggle_panel_overrides: (a: number, b: number) => void;
+    readonly rust_lz4_wasm_shim_calloc: (a: number, b: number) => number;
+    readonly rust_lz4_wasm_shim_free: (a: number) => void;
+    readonly rust_lz4_wasm_shim_malloc: (a: number) => number;
+    readonly rust_lz4_wasm_shim_memcmp: (a: number, b: number, c: number) => number;
+    readonly rust_lz4_wasm_shim_memcpy: (a: number, b: number, c: number) => number;
+    readonly rust_lz4_wasm_shim_memmove: (a: number, b: number, c: number) => number;
+    readonly rust_lz4_wasm_shim_memset: (a: number, b: number, c: number) => number;
+    readonly rust_zstd_wasm_shim_calloc: (a: number, b: number) => number;
+    readonly rust_zstd_wasm_shim_free: (a: number) => void;
+    readonly rust_zstd_wasm_shim_malloc: (a: number) => number;
+    readonly rust_zstd_wasm_shim_memcmp: (a: number, b: number, c: number) => number;
+    readonly rust_zstd_wasm_shim_memcpy: (a: number, b: number, c: number) => number;
+    readonly rust_zstd_wasm_shim_memmove: (a: number, b: number, c: number) => number;
+    readonly rust_zstd_wasm_shim_memset: (a: number, b: number, c: number) => number;
+    readonly rust_zstd_wasm_shim_qsort: (a: number, b: number, c: number, d: number) => void;
+    readonly __wbg_intounderlyingbytesource_free: (a: number, b: number) => void;
+    readonly __wbg_intounderlyingsink_free: (a: number, b: number) => void;
+    readonly __wbg_intounderlyingsource_free: (a: number, b: number) => void;
+    readonly intounderlyingbytesource_autoAllocateChunkSize: (a: number) => number;
+    readonly intounderlyingbytesource_cancel: (a: number) => void;
+    readonly intounderlyingbytesource_pull: (a: number, b: any) => any;
+    readonly intounderlyingbytesource_start: (a: number, b: any) => void;
+    readonly intounderlyingbytesource_type: (a: number) => number;
+    readonly intounderlyingsink_abort: (a: number, b: any) => any;
+    readonly intounderlyingsink_close: (a: number) => any;
+    readonly intounderlyingsink_write: (a: number, b: any) => any;
+    readonly intounderlyingsource_cancel: (a: number) => void;
+    readonly intounderlyingsource_pull: (a: number, b: any) => any;
+    readonly wasm_bindgen__convert__closures_____invoke__ha28703b0fc0ac5f5: (a: number, b: number, c: any) => [number, number];
+    readonly wasm_bindgen__convert__closures_____invoke__h17feb392561402d4: (a: number, b: number, c: any) => [number, number];
+    readonly wasm_bindgen__convert__closures_____invoke__hd1708d5debff0eb7: (a: number, b: number, c: any) => [number, number];
+    readonly wasm_bindgen__convert__closures_____invoke__h17feb392561402d4_10: (a: number, b: number, c: any) => [number, number];
+    readonly wasm_bindgen__convert__closures_____invoke__h17feb392561402d4_11: (a: number, b: number, c: any) => [number, number];
+    readonly wasm_bindgen__convert__closures_____invoke__h68d110bc138a9729: (a: number, b: number, c: any) => [number, number];
+    readonly wasm_bindgen__convert__closures_____invoke__h4a090e5af75dc439: (a: number, b: number, c: any, d: any) => void;
+    readonly wasm_bindgen__convert__closures_____invoke__h72e0675ea71ceaf9: (a: number, b: number, c: any) => void;
+    readonly wasm_bindgen__convert__closures_____invoke__h76e373640bdbaace: (a: number, b: number, c: any) => void;
+    readonly wasm_bindgen__convert__closures_____invoke__h912ec1a6c04fd19b: (a: number, b: number, c: any) => void;
+    readonly wasm_bindgen__convert__closures_____invoke__h76e373640bdbaace_4: (a: number, b: number, c: any) => void;
+    readonly wasm_bindgen__convert__closures_____invoke__ha366fcce789d0db1: (a: number, b: number, c: any) => void;
+    readonly wasm_bindgen__convert__closures_____invoke__h3d976baa4adbebda: (a: number, b: number, c: any) => void;
+    readonly wasm_bindgen__convert__closures_____invoke__h912ec1a6c04fd19b_9: (a: number, b: number, c: any) => void;
+    readonly wasm_bindgen__convert__closures_____invoke__hbf8a291ae3f8f46d: (a: number, b: number) => [number, number];
+    readonly wasm_bindgen__convert__closures_____invoke__h0e2ab714131e0149: (a: number, b: number) => void;
+    readonly wasm_bindgen__convert__closures_____invoke__h2a38a854c15eed3d: (a: number, b: number) => void;
+    readonly wasm_bindgen__convert__closures_____invoke__h46084f6dced1097a: (a: number, b: number) => void;
+    readonly __wbindgen_malloc: (a: number, b: number) => number;
+    readonly __wbindgen_realloc: (a: number, b: number, c: number, d: number) => number;
+    readonly __externref_table_alloc: () => number;
+    readonly __wbindgen_externrefs: WebAssembly.Table;
+    readonly __wbindgen_exn_store: (a: number) => void;
+    readonly __wbindgen_free: (a: number, b: number, c: number) => void;
+    readonly __wbindgen_destroy_closure: (a: number, b: number) => void;
+    readonly __externref_table_dealloc: (a: number) => void;
+    readonly __wbindgen_start: () => void;
+}
+
+/**
+ * If `module_or_path` is {RequestInfo} or {URL}, makes a request and
+ * for everything else, calls `WebAssembly.instantiate` directly.
+ *
+ * @param {{ module_or_path: InitInput | Promise<InitInput> }} module_or_path - Passing `InitInput` directly is deprecated.
+ *
+ * @returns {Promise<InitOutput>}
+ */
+declare function wasm_bindgen (module_or_path: { module_or_path: InitInput | Promise<InitInput> } | InitInput | Promise<InitInput>): Promise<InitOutput>;
+
+export type WebHandle = wasm_bindgen.WebHandle;
+export default function(): wasm_bindgen;