feat(lab): seal full RAVNOVES004TREE semantic review
This commit is contained in:
DCCONSTRUCTIONS
@@ -106,6 +106,39 @@ export interface VegetationMixedRouteReview {
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cases: readonly VegetationMixedRouteCase[];
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}
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export interface VegetationFullRouteLayer {
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name: string;
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resultId: string;
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frameCount: 6830;
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taxonomy: readonly VegetationVideoSemanticClass[];
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inferenceFps: number;
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latencyP95Ms: number;
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peakReservedVramBytes: number;
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}
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export interface VegetationFullRouteReview {
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sourceId: "RAVNOVES004TREE";
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sessionId: "20260828T130511Z_viewer_live";
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sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0";
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sourceJobInputSha256: string;
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sourceStreamSha256: string;
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recordedMediaSourceId: "recorded.camera.6a3945242828a038";
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recordedMediaGenerationSha256: string;
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frameCount: 6830;
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width: 800;
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height: 600;
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timelineStartSeconds: number;
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timelineEndSeconds: number;
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frameSourceTimesNs: readonly number[];
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decodeRepair: {
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repairedFrameCount: 1;
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sequence: 6092;
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method: "duplicate-previous-decoded-frame";
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};
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city: VegetationFullRouteLayer;
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vegetation: VegetationFullRouteLayer;
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}
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export interface VegetationShadowResult {
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resultId: string;
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createdAtUtc: string;
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@@ -116,6 +149,7 @@ export interface VegetationShadowResult {
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validationCases: readonly VegetationVisualCase[];
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routeVideo: VegetationRouteVideo | null;
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routeReview: VegetationMixedRouteReview | null;
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routeFullReview: VegetationFullRouteReview | null;
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limitations: readonly string[];
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visualShadowReady: true;
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missionPolicyReadyForConfiguration: true;
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@@ -545,6 +579,246 @@ function mixedRouteReviewValue(
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};
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}
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function fullRouteTaxonomyValue(
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value: unknown,
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label: string,
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schema: string,
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classCount: number,
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): readonly VegetationVideoSemanticClass[] {
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const taxonomy = objectValue(value, `${label}.taxonomy`);
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exact(taxonomy.schema_version, schema, `${label}.taxonomy.schema`);
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const classes = arrayValue(taxonomy.classes, `${label}.taxonomy.classes`).map(
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(raw, expectedId): VegetationVideoSemanticClass => {
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const item = objectValue(raw, `${label}.taxonomy[${expectedId}]`);
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const classId = integerValue(item.class_id, `${label}.class_id[${expectedId}]`);
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if (classId !== expectedId) {
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throw new VegetationShadowContractError(`${label}: taxonomy order changed.`);
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}
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const color = arrayValue(item.color_rgb, `${label}.color[${expectedId}]`)
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.map((channel, index) => integerValue(channel, `${label}.color[${expectedId}][${index}]`));
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if (color.length !== 3 || color.some((channel) => channel > 255)) {
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throw new VegetationShadowContractError(`${label}: taxonomy color invalid.`);
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}
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const disposition = item.disposition;
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if (
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disposition !== "labeled"
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&& disposition !== "ambiguous"
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&& disposition !== "prediction"
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&& disposition !== "undefined"
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) {
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throw new VegetationShadowContractError(`${label}: taxonomy disposition changed.`);
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}
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return {
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classId,
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label: textValue(item.label, `${label}.label[${expectedId}]`),
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colorRgb: color as unknown as readonly [number, number, number],
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disposition,
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materialClass: item.material_class === null || item.material_class === undefined
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? null
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: textValue(item.material_class, `${label}.material[${expectedId}]`),
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evidenceState: item.evidence_state === null || item.evidence_state === undefined
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? null
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: textValue(item.evidence_state, `${label}.evidence[${expectedId}]`),
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};
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},
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);
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if (classes.length !== classCount) {
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throw new VegetationShadowContractError(`${label}: taxonomy size changed.`);
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}
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return classes;
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}
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function fullRouteLayerValue(
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value: unknown,
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layer: "city" | "vegetation",
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): VegetationFullRouteLayer {
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const label = `vegetation.route_full_review.layers.${layer}`;
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const row = objectValue(value, label);
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const resultId = textValue(row.result_id, `${label}.result_id`);
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const identity = layer === "city"
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? /^result-[a-f0-9]{64}$/
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: /^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/;
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if (!identity.test(resultId)) {
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throw new VegetationShadowContractError(`${label}: identity invalid.`);
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}
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exact(row.frame_count, 6830, `${label}.frame_count`);
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const archive = objectValue(row.mask_archive, `${label}.mask_archive`);
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exact(
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archive.path,
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layer === "city" ? "video/eomt-semantic-masks.zip" : "video/ddrnet-semantic-masks.zip",
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`${label}.mask_archive.path`,
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);
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const digest = textValue(archive.sha256, `${label}.mask_archive.sha256`);
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if (!SHA256.test(digest)) {
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throw new VegetationShadowContractError(`${label}: archive digest invalid.`);
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}
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integerValue(archive.byte_length, `${label}.mask_archive.byte_length`);
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return {
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name: textValue(row.name, `${label}.name`),
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resultId,
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frameCount: 6830,
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taxonomy: fullRouteTaxonomyValue(
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row.taxonomy,
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label,
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layer === "city"
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? "missioncore.recorded-eomt-taxonomy/v1"
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: "missioncore.lab-v1-vegetation-taxonomy/v1",
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layer === "city" ? 16 : 64,
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),
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inferenceFps: numberValue(row.inference_fps, `${label}.inference_fps`),
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latencyP95Ms: numberValue(row.latency_p95_ms, `${label}.latency_p95_ms`),
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peakReservedVramBytes: integerValue(
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row.peak_reserved_vram_bytes,
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`${label}.peak_reserved_vram_bytes`,
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),
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};
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}
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function fullRouteReviewValue(value: unknown): VegetationFullRouteReview | null {
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if (value === null || value === undefined) return null;
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const row = objectValue(value, "vegetation.route_full_review");
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exact(row.source_id, "RAVNOVES004TREE", "vegetation.route_full_review.source_id");
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exact(
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row.session_id,
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"20260828T130511Z_viewer_live",
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"vegetation.route_full_review.session_id",
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);
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exact(
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row.source_job_id,
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"recorded-camera-eb2783c5480d56bda07c8af0",
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"vegetation.route_full_review.source_job_id",
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);
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exact(row.frame_count, 6830, "vegetation.route_full_review.frame_count");
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exact(row.width, 800, "vegetation.route_full_review.width");
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exact(row.height, 600, "vegetation.route_full_review.height");
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exact(row.ground_truth, false, "vegetation.route_full_review.ground_truth");
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const sourceJobInputSha256 = textValue(
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row.source_job_input_sha256,
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"vegetation.route_full_review.source_job_input_sha256",
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);
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const sourceStreamSha256 = textValue(
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row.source_stream_sha256,
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"vegetation.route_full_review.source_stream_sha256",
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);
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exact(
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sourceJobInputSha256,
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"eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715",
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"vegetation.route_full_review.source_job_input_sha256",
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);
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exact(
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sourceStreamSha256,
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"e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac",
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"vegetation.route_full_review.source_stream_sha256",
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);
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exact(
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row.recorded_media_source_id,
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"recorded.camera.6a3945242828a038",
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"vegetation.route_full_review.recorded_media_source_id",
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);
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const recordedMediaGenerationSha256 = textValue(
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row.recorded_media_generation_sha256,
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"vegetation.route_full_review.recorded_media_generation_sha256",
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);
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exact(
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recordedMediaGenerationSha256,
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"b073ea1e7babf1c77a664e1a5b95e3702d0e05b0e34c1e85a7c67a6f8b392ded",
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"vegetation.route_full_review.recorded_media_generation_sha256",
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);
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if (
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!SHA256.test(sourceJobInputSha256)
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|| !SHA256.test(sourceStreamSha256)
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|| !SHA256.test(recordedMediaGenerationSha256)
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) {
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throw new VegetationShadowContractError("vegetation.route_full_review: source digest invalid.");
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}
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const timelineStartSeconds = numberValue(
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row.timeline_start_seconds,
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"vegetation.route_full_review.timeline_start_seconds",
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);
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const timelineEndSeconds = numberValue(
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row.timeline_end_seconds,
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"vegetation.route_full_review.timeline_end_seconds",
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);
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if (timelineEndSeconds <= timelineStartSeconds) {
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throw new VegetationShadowContractError("vegetation.route_full_review: timeline invalid.");
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}
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const frameSourceTimesNs = arrayValue(
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row.frame_source_times_ns,
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"vegetation.route_full_review.frame_source_times_ns",
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).map((raw, index) => {
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const time = integerValue(raw, `vegetation.route_full_review.frame_source_times_ns[${index}]`);
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if (!Number.isSafeInteger(time)) {
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throw new VegetationShadowContractError("vegetation.route_full_review: unsafe frame time.");
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}
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return time;
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});
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if (
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frameSourceTimesNs.length !== 6830
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|| frameSourceTimesNs.some((time, index) => index > 0 && time <= frameSourceTimesNs[index - 1]!)
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) {
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throw new VegetationShadowContractError("vegetation.route_full_review: frame timeline changed.");
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}
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const decodeRepair = objectValue(
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row.decode_repair,
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"vegetation.route_full_review.decode_repair",
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);
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exact(decodeRepair.repaired_frame_count, 1, "vegetation.route_full_review.decode_repair.count");
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exact(decodeRepair.sequence, 6092, "vegetation.route_full_review.decode_repair.sequence");
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exact(
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decodeRepair.method,
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"duplicate-previous-decoded-frame",
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"vegetation.route_full_review.decode_repair.method",
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);
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const repairProofs = objectValue(
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decodeRepair.proofs,
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"vegetation.route_full_review.decode_repair.proofs",
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);
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for (const [key, expectedPath] of Object.entries({
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eomt: "proofs/decode_repair.json",
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ddrnet: "proofs/ddrnet_decode_repair.json",
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})) {
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const proof = objectValue(
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repairProofs[key],
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`vegetation.route_full_review.decode_repair.proofs.${key}`,
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);
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exact(
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proof.path,
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expectedPath,
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`vegetation.route_full_review.decode_repair.proofs.${key}.path`,
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);
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const digest = textValue(
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proof.sha256,
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`vegetation.route_full_review.decode_repair.proofs.${key}.sha256`,
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);
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if (!SHA256.test(digest)) {
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throw new VegetationShadowContractError("vegetation.route_full_review: repair proof invalid.");
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}
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}
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const layers = objectValue(row.layers, "vegetation.route_full_review.layers");
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return {
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sourceId: "RAVNOVES004TREE",
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sessionId: "20260828T130511Z_viewer_live",
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sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0",
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sourceJobInputSha256,
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sourceStreamSha256,
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recordedMediaSourceId: "recorded.camera.6a3945242828a038",
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recordedMediaGenerationSha256,
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frameCount: 6830,
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width: 800,
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height: 600,
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timelineStartSeconds,
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timelineEndSeconds,
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frameSourceTimesNs,
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decodeRepair: {
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repairedFrameCount: 1,
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sequence: 6092,
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method: "duplicate-previous-decoded-frame",
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},
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city: fullRouteLayerValue(layers.city, "city"),
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vegetation: fullRouteLayerValue(layers.vegetation, "vegetation"),
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};
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}
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function parseResult(
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value: unknown,
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resultId: string,
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@@ -589,9 +863,10 @@ function parseResult(
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const validationCases = arrayValue(catalogs.goose, "vegetation.catalogs.goose")
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.map((item) => visualCaseValue(item, resultId, "goose", endpointRoot));
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const routeReview = mixedRouteReviewValue(payload.route_review, resultId, endpointRoot);
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const routeFullReview = fullRouteReviewValue(payload.route_full_review);
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if (
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routeCases.length !== 0
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|| (routeReview ? validationCases.length !== 0 : validationCases.length !== 12)
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|| (routeReview || routeFullReview ? validationCases.length !== 0 : validationCases.length !== 12)
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) {
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throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 truth-backed GOOSE случаев без route viewer.");
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}
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@@ -605,6 +880,7 @@ function parseResult(
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validationCases,
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routeVideo: routeVideoValue(payload.route_video),
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routeReview,
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routeFullReview,
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limitations: arrayValue(payload.limitations, "vegetation.limitations")
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.map((item, index) => textValue(item, `vegetation.limitations[${index}]`)),
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visualShadowReady: true,
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@@ -625,6 +901,23 @@ export function vegetationVideoMaskUrl(resultId: string, sequence: number): stri
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return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/masks/${sequence}`;
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}
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export function vegetationFullRouteMaskUrl(
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resultId: string,
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layer: "city" | "vegetation",
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sequence: number,
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): string {
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if (
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!RESULT_ID.test(resultId)
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|| (layer !== "city" && layer !== "vegetation")
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|| !Number.isInteger(sequence)
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|| sequence < 0
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|| sequence >= 6830
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) {
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throw new VegetationShadowContractError("Vegetation full-route mask identity недопустима.");
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}
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return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/route-masks/${layer}/${sequence}`;
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}
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export async function fetchVegetationShadowResult(
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resultId: string,
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{
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