feat(perception): add DDRNet full-video vegetation replay

2026-08-28 01:13:18 +03:00
parent 67e6ae98e2
commit 30080c51aa
10 changed files with 729 additions and 64 deletions
@@ -51,6 +51,26 @@ export interface VegetationVisualCase {
  assets: Readonly<Record<string, string>>;
 }

+export interface VegetationVideoSemanticClass {
+  classId: number;
+  label: string;
+  colorRgb: readonly [number, number, number];
+  disposition: "prediction" | "undefined";
+}
+
+export interface VegetationRouteVideo {
+  workerResultId: string;
+  m47ReferenceGraphResultId: string;
+  baseM4ResultId: string;
+  frameCount: 4489;
+  width: 800;
+  height: 600;
+  centerCropXyxy: readonly [100, 0, 700, 600];
+  outsideCropState: "undefined";
+  taxonomy: readonly VegetationVideoSemanticClass[];
+  aggregatePredictionPixels: readonly number[];
+}
+
 export interface VegetationShadowResult {
  resultId: string;
  createdAtUtc: string;
@@ -59,6 +79,7 @@ export interface VegetationShadowResult {
  candidates: readonly VegetationCandidateMetrics[];
  routeCases: readonly VegetationVisualCase[];
  validationCases: readonly VegetationVisualCase[];
+  routeVideo: VegetationRouteVideo | null;
  limitations: readonly string[];
  visualShadowReady: true;
  missionPolicyReadyForConfiguration: true;
@@ -227,6 +248,98 @@ function visualCaseValue(
  };
 }

+function routeVideoValue(value: unknown): VegetationRouteVideo | null {
+  if (value === null || value === undefined) return null;
+  const row = objectValue(value, "vegetation.route_video");
+  const workerResultId = textValue(row.worker_result_id, "vegetation.route_video.worker_result_id");
+  const m47ReferenceGraphResultId = textValue(
+    row.m47_reference_graph_result_id,
+    "vegetation.route_video.m47_reference_graph_result_id",
+  );
+  const baseM4ResultId = textValue(row.base_m4_result_id, "vegetation.route_video.base_m4_result_id");
+  if (
+    !/^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/.test(workerResultId)
+    || !/^m47-reference-graph-lab-[a-f0-9]{64}$/.test(m47ReferenceGraphResultId)
+    || !/^m4-threat-replay-[a-f0-9]{64}$/.test(baseM4ResultId)
+  ) {
+    throw new VegetationShadowContractError("vegetation.route_video: identity invalid.");
+  }
+  exact(row.frame_count, 4489, "vegetation.route_video.frame_count");
+  exact(row.width, 800, "vegetation.route_video.width");
+  exact(row.height, 600, "vegetation.route_video.height");
+  exact(row.outside_crop_state, "undefined", "vegetation.route_video.outside_crop_state");
+  exact(
+    row.sequence_binding,
+    "sequence-0-to-masks/frame-000001.png",
+    "vegetation.route_video.sequence_binding",
+  );
+  const crop = arrayValue(row.center_crop_xyxy, "vegetation.route_video.center_crop_xyxy")
+    .map((item, index) => integerValue(item, `vegetation.route_video.crop[${index}]`));
+  if (crop.join(",") !== "100,0,700,600") {
+    throw new VegetationShadowContractError("vegetation.route_video: crop contract changed.");
+  }
+  const taxonomy = objectValue(row.taxonomy, "vegetation.route_video.taxonomy");
+  exact(
+    taxonomy.schema_version,
+    "missioncore.lab-v1-vegetation-taxonomy/v1",
+    "vegetation.route_video.taxonomy.schema",
+  );
+  const classes = arrayValue(taxonomy.classes, "vegetation.route_video.taxonomy.classes")
+    .map((value, expectedId): VegetationVideoSemanticClass => {
+      const item = objectValue(value, `vegetation.route_video.taxonomy[${expectedId}]`);
+      const classId = integerValue(item.class_id, `vegetation.route_video.class_id[${expectedId}]`);
+      if (classId !== expectedId) {
+        throw new VegetationShadowContractError("vegetation.route_video: taxonomy order changed.");
+      }
+      const color = arrayValue(item.color_rgb, `vegetation.route_video.color[${expectedId}]`)
+        .map((channel, index) => integerValue(channel, `vegetation.route_video.color[${expectedId}][${index}]`));
+      if (color.length !== 3 || color.some((channel) => channel > 255)) {
+        throw new VegetationShadowContractError("vegetation.route_video: taxonomy color invalid.");
+      }
+      const disposition: VegetationVideoSemanticClass["disposition"] = expectedId === 0
+        ? "undefined"
+        : "prediction";
+      if (item.disposition !== disposition) {
+        throw new VegetationShadowContractError("vegetation.route_video: taxonomy disposition changed.");
+      }
+      return {
+        classId,
+        label: textValue(item.label, `vegetation.route_video.label[${expectedId}]`),
+        colorRgb: color as unknown as readonly [number, number, number],
+        disposition,
+      };
+    });
+  if (classes.length !== 64) {
+    throw new VegetationShadowContractError("vegetation.route_video: taxonomy must contain 64 classes.");
+  }
+  const aggregatePredictionPixels = arrayValue(
+    row.aggregate_prediction_pixels,
+    "vegetation.route_video.aggregate_prediction_pixels",
+  ).map((value, index) => integerValue(value, `vegetation.route_video.pixels[${index}]`));
+  if (aggregatePredictionPixels.length !== 64) {
+    throw new VegetationShadowContractError("vegetation.route_video: class accounting changed.");
+  }
+  const maskArchive = objectValue(row.mask_archive, "vegetation.route_video.mask_archive");
+  exact(maskArchive.path, "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
+  const archiveSha256 = textValue(maskArchive.sha256, "vegetation.route_video.mask_archive.sha256");
+  if (!SHA256.test(archiveSha256)) {
+    throw new VegetationShadowContractError("vegetation.route_video: archive digest invalid.");
+  }
+  integerValue(maskArchive.byte_length, "vegetation.route_video.mask_archive.byte_length");
+  return {
+    workerResultId,
+    m47ReferenceGraphResultId,
+    baseM4ResultId,
+    frameCount: 4489,
+    width: 800,
+    height: 600,
+    centerCropXyxy: [100, 0, 700, 600],
+    outsideCropState: "undefined",
+    taxonomy: classes,
+    aggregatePredictionPixels,
+  };
+}
+
 function parseResult(value: unknown, resultId: string): VegetationShadowResult {
  const payload = objectValue(value, "Vegetation LAB");
  exact(payload.schema_version, "missioncore.lab-v1-vegetation-shadow/v1", "vegetation.schema");
@@ -277,6 +390,7 @@ function parseResult(value: unknown, resultId: string): VegetationShadowResult {
    candidates: CANDIDATES.map((candidate) => candidateMetricsValue(candidates[candidate], candidate)),
    routeCases,
    validationCases,
+    routeVideo: routeVideoValue(payload.route_video),
    limitations: arrayValue(payload.limitations, "vegetation.limitations")
      .map((item, index) => textValue(item, `vegetation.limitations[${index}]`)),
    visualShadowReady: true,
@@ -290,6 +404,13 @@ function parseResult(value: unknown, resultId: string): VegetationShadowResult {
  };
 }

+export function vegetationVideoMaskUrl(resultId: string, sequence: number): string {
+  if (!RESULT_ID.test(resultId) || !Number.isInteger(sequence) || sequence < 0 || sequence >= 4489) {
+    throw new VegetationShadowContractError("Vegetation video mask identity недопустима.");
+  }
+  return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/masks/${sequence}`;
+}
+
 export async function fetchVegetationShadowResult(
  resultId: string,
  {