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

experiments/perception/worker/Invoke-LabV1VegetationGooseBenchmark.ps1

@@ -1,6 +1,6 @@
 [CmdletBinding()]
 param(
-    [ValidateSet("Build", "Probe", "Validate", "Ravnoves", "Status")]
+    [ValidateSet("Build", "Probe", "Validate", "Ravnoves", "RavnovesVideo", "Status")]
     [string]$Mode = "Status",
 
     [ValidateSet("Ddrnet", "Ppliteseg")]
@@ -104,12 +104,13 @@ function New-RunRoot {
 
 function Invoke-IsolatedRun {
     param(
-        [ValidateSet("goose", "ravnoves")][string]$RunMode,
+        [ValidateSet("goose", "ravnoves", "ravnoves-video")][string]$RunMode,
         [string]$RunRoot,
         [int]$Limit,
         [string]$FramesRoot = ""
     )
     $containerName = "ndc-lab-v1-goose-$candidateKey-$([Guid]::NewGuid().ToString('N').Substring(0, 10))"
+    $visualCount = if ($RunMode -eq "ravnoves-video") { 0 } else { 12 }
     $arguments = @(
         "run", "--rm", "--name", $containerName,
         "--gpus", "all",
@@ -136,9 +137,9 @@ function Invoke-IsolatedRun {
         "--dataset-root", "/data/goose",
         "--output", "/output/result",
         "--limit", $Limit.ToString(),
-        "--visual-count", "12"
+        "--visual-count", $visualCount.ToString()
     )
-    if ($RunMode -eq "ravnoves") {
+    if ($RunMode -in @("ravnoves", "ravnoves-video")) {
         $arguments = @($arguments[0..($arguments.Count - 1)])
         $arguments += @("--frames-root", "/input")
         $mountIndex = [Array]::IndexOf($arguments, $image)
@@ -172,6 +173,20 @@ function Export-RavnovesFrames {
     }
 }
 
+function Export-RavnovesVideoFrames {
+    param([string]$Destination)
+    Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $ravnovesSha256
+    New-Item -ItemType Directory -Path $Destination | Out-Null
+    & ffmpeg -hide_banner -loglevel error -i $RavnovesVideo -map 0:v:0 -fps_mode passthrough (Join-Path $Destination "frame-%06d.png")
+    if ($LASTEXITCODE -ne 0) {
+        throw "RAVNOVES full-video frame extraction failed"
+    }
+    $frames = @(Get-ChildItem -LiteralPath $Destination -File -Filter "frame-*.png" | Sort-Object Name)
+    if ($frames.Count -ne 4489 -or $frames[0].Name -ne "frame-000001.png" -or $frames[-1].Name -ne "frame-004489.png") {
+        throw "RAVNOVES full-video frame sequence changed"
+    }
+}
+
 if ($Mode -eq "Status") {
     $imageIdentity = & docker image inspect $image --format "{{.Id}}" 2>$null
     [ordered]@{
@@ -221,6 +236,16 @@ try {
         Export-RavnovesFrames -Destination $framesRoot
         Invoke-IsolatedRun -RunMode "ravnoves" -RunRoot $runRoot -Limit 0 -FramesRoot $framesRoot
     }
+    elseif ($Mode -eq "RavnovesVideo") {
+        if ($candidateKey -ne "ddrnet") {
+            throw "Full-video shadow is admitted only for the selected DDRNet candidate"
+        }
+        $runRoot = New-RunRoot -Kind "ravnoves-video"
+        $framesRoot = Join-Path $runRoot "input-frames"
+        Export-RavnovesVideoFrames -Destination $framesRoot
+        Invoke-IsolatedRun -RunMode "ravnoves-video" -RunRoot $runRoot -Limit 0 -FramesRoot $framesRoot
+        Remove-Item -LiteralPath $framesRoot -Recurse -Force
+    }
 }
 finally {
     $canonicalAfter = Get-CanonicalTritonIdentity