feat(lab): separate current increment from rolling map

2026-08-05 21:12:54 +03:00
parent 7aa3ce55c0
commit 31313c3c96
7 changed files with 165 additions and 37 deletions
@@ -151,6 +151,52 @@ test("M4.6 binds exact CAMERA and metric 3D evidence to one replay frame", async
  assert.equal(frame.pointCloudSampleCount, 2);
 });

+test("M4.6 v2 keeps CURRENT INCREMENT separate from ROLLING MAP", async () => {
+  const frame = await fetchM4ThreatVisual(resultId, 14, {
+    fetcher: async () => new Response(JSON.stringify({
+      schema_version: "missioncore.perception-threat-visual-frame/v2",
+      result_id: resultId,
+      ordinal: 14,
+      sequence: 1880,
+      frame_id: "frame-001880",
+      source_time_ns: 223304857292,
+      point_cloud_body_xyz_m: [[1, 0, 0.1]],
+      point_cloud_source_count: 1652,
+      point_cloud_sample_count: 1652,
+      point_cloud_layer: "current-increment",
+      rolling_map_component_count: 10,
+      metric_obstacles: [{
+        component_id: "rolling-sphere-near",
+        state: "retained",
+        motion: "unknown",
+        centroid_body_xyz_m: [0.76, -0.27, 0.38],
+        cell_centers_body_xyz_m: [[0.52, -0.3, 0.08]],
+        assessment: {
+          component_id: "rolling-sphere-near",
+          decision: "threat",
+          corridor_intersection: "intersects",
+          relative_speed_mps: null,
+          closest_approach_m: 0.1,
+          ttc_seconds: null,
+          reason_codes: ["retained-corridor-intersection"],
+        },
+      }],
+      camera_proposals: [],
+      rig: { length_m: 1, width_m: 0.6, nominal_sensor_height_m: 1.25 },
+      corridor: {
+        forward_length_m: 8,
+        rear_margin_m: 0.5,
+        half_width_m: 0.5,
+        prediction_horizon_seconds: 5,
+      },
+    }), { status: 200 }),
+  });
+  assert.equal(frame.pointCloudLayer, "current-increment");
+  assert.equal(frame.rollingMapComponentCount, 10);
+  assert.equal(frame.metricObstacles[0].state, "retained");
+  assert.equal(frame.metricObstacles[0].assessment.decision, "threat");
+});
+
 test("M4.6 full video preserves camera-only unknown and nearest-frame selection", async () => {
  const overlay = await fetchM4ThreatVideoOverlay(resultId, {
    fetcher: async () => new Response(JSON.stringify({
@@ -198,4 +244,6 @@ test("M4.6 viewer reuses shared video and metric evidence renderers", async () =
  assert.match(visual, /label: "3D"/);
  assert.match(videoScene, /<RecordedFmp4Player/);
  assert.match(metricScene, /OrbitControls/);
+  assert.match(metricScene, /CURRENT INCREMENT/);
+  assert.match(metricScene, /ROLLING MAP/);
 });