feat(lab): seal full RAVNOVES004TREE semantic review
This commit is contained in:
DCCONSTRUCTIONS
@@ -187,12 +187,15 @@ Write-Output "PHASE=e4-preflight-complete"
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$runToken = [Guid]::NewGuid().ToString("N")
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$workRoot = Join-Path $tmpRoot ("{0}-e4-{1}" -f $job.job_id, $runToken)
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$framesRoot = Join-Path $workRoot "frames"
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$decodedFramesRoot = Join-Path $workRoot "decoded-by-pts"
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$streamPath = Join-Path $workRoot "camera.mp4"
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$ptsPath = Join-Path $workRoot "pts.json"
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$packetsPath = Join-Path $workRoot "packets.csv"
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$decodeRepairPath = Join-Path $workRoot "decode-repair.json"
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$timelinePath = Join-Path $workRoot "timeline.jsonl"
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$publishRoot = Join-Path $derivedRoot (".{0}-e4-{1}.publish" -f $job.job_id, $runToken)
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$stagingRoot = Join-Path $publishRoot "output"
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$null = New-Item -ItemType Directory -Path $framesRoot
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$null = New-Item -ItemType Directory -Path $decodedFramesRoot
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$null = New-Item -ItemType Directory -Path $publishRoot
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$totalWatch = [Diagnostics.Stopwatch]::StartNew()
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$completed = $false
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@@ -230,29 +233,69 @@ try {
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$extractWatch = [Diagnostics.Stopwatch]::StartNew()
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Write-Output "PHASE=e4-frame-extraction-start"
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& ffmpeg -hide_banner -loglevel fatal -i $streamPath -map 0:v:0 -fps_mode passthrough -frames:v $activeFrameCount (Join-Path $framesRoot "frame-%06d.png")
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& ffprobe -v error -select_streams v:0 -show_packets -show_entries packet=pts,flags -of csv=p=0 -o $packetsPath $streamPath
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Assert-LastExitCode "LAB E4 packet timestamp probe"
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$packetRows = @(Get-Content -LiteralPath $packetsPath | Select-Object -First $activeFrameCount)
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if ($packetRows.Count -ne $activeFrameCount) {
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throw "LAB E4 packet count differs from the requested camera epoch"
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}
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& ffmpeg -hide_banner -loglevel error `
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-hwaccel cuda -hwaccel_output_format cuda -c:v h264_cuvid `
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-err_detect ignore_err -flags +output_corrupt -copyts `
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-i $streamPath -map 0:v:0 -vf "hwdownload,format=nv12" `
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-fps_mode passthrough -enc_time_base demux -frames:v $activeFrameCount `
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-frame_pts 1 (Join-Path $decodedFramesRoot "frame-%d.png")
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Assert-LastExitCode "LAB E4 camera extraction"
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& ffprobe -v error -select_streams v:0 -show_entries frame=best_effort_timestamp_time -of json $streamPath | Set-Content -LiteralPath $ptsPath -Encoding utf8
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Assert-LastExitCode "LAB E4 camera timestamp probe"
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$decodedCount = @(Get-ChildItem -LiteralPath $decodedFramesRoot -File -Filter "frame-*.png").Count
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$repairs = @()
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$packetPts = @()
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for ($index = 0; $index -lt $activeFrameCount; $index++) {
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$columns = ([string]$packetRows[$index]).Split(",")
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if ($columns.Count -lt 2) {
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throw "LAB E4 packet timestamp row is malformed"
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}
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$pts = [int64]::Parse($columns[0].Trim(), [Globalization.CultureInfo]::InvariantCulture)
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$packetPts += $pts
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$decodedPath = Join-Path $decodedFramesRoot ("frame-{0}.png" -f $pts)
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$canonicalPath = Join-Path $framesRoot ("frame-{0:D6}.png" -f ($index + 1))
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if (Test-Path -LiteralPath $decodedPath -PathType Leaf) {
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Move-Item -LiteralPath $decodedPath -Destination $canonicalPath
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continue
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}
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if ($index -eq 0 -or $repairs.Count -ge 1) {
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throw "LAB E4 source contains more than one recoverable decoder gap"
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}
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$previousPath = Join-Path $framesRoot ("frame-{0:D6}.png" -f $index)
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Copy-Item -LiteralPath $previousPath -Destination $canonicalPath
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$repairs += [ordered]@{
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sequence = $index + 1
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packet_pts = $pts
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method = "duplicate-previous-decoded-frame"
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}
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}
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$decodedFrames = @(Get-ChildItem -LiteralPath $framesRoot -File -Filter "frame-*.png")
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$ptsDocument = Get-Content -LiteralPath $ptsPath -Raw | ConvertFrom-Json
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$pts = @($ptsDocument.frames)
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if ($decodedFrames.Count -ne $activeFrameCount -or $pts.Count -lt $activeFrameCount) {
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if ($decodedFrames.Count -ne $activeFrameCount) {
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throw "Decoded LAB E4 frame count differs from the requested camera epoch"
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}
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$firstEpochSeconds = [double]::Parse(
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([string]$pts[0].best_effort_timestamp_time).Trim(),
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[Globalization.CultureInfo]::InvariantCulture
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)
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$decodeRepair = [ordered]@{
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schema_version = "missioncore.recorded-video-decode-repair/v1"
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decoder = "ffmpeg-h264_cuvid-output-corrupt"
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packets_requested = $activeFrameCount
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frames_decoded = $decodedCount
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repaired_frame_count = $repairs.Count
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repairs = $repairs
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}
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$decodeRepair | ConvertTo-Json -Depth 8 | Set-Content -LiteralPath $decodeRepairPath -Encoding utf8
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$firstPacketPts = [int64]$packetPts[0]
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$previousEpochSeconds = -1.0
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$timelineWriter = [IO.StreamWriter]::new($timelinePath, $false, [Text.UTF8Encoding]::new($false))
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try {
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for ($index = 0; $index -lt $activeFrameCount; $index++) {
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$epochSeconds = [double]::Parse(
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([string]$pts[$index].best_effort_timestamp_time).Trim(),
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[Globalization.CultureInfo]::InvariantCulture
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) - $firstEpochSeconds
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$epochSeconds = ([int64]$packetPts[$index] - $firstPacketPts) / 90000.0
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if ($epochSeconds -le $previousEpochSeconds -or $epochSeconds -gt ($timelineDuration + 0.001)) {
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throw "Decoded LAB E4 timestamps are not strictly monotonic inside the camera timeline"
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}
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@@ -313,6 +356,7 @@ try {
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Write-Output ("PHASE=e4-inference-start FRAMES={0}" -f $activeFrameCount)
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& docker @runArgs
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Assert-LastExitCode "LAB E4 semantic inference"
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Copy-Item -LiteralPath $decodeRepairPath -Destination (Join-Path $stagingRoot "decode-repair.json")
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$freeBytesPostInference = Assert-FreeSpace "post-inference"
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Write-Output "PHASE=e4-inference-complete"
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@@ -12,7 +12,18 @@ param(
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[string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\experiments\lab-v1-vegetation",
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[string]$RavnovesVideo = "D:\NDC_MISSIONCORE\runtime\experiments\e46e\inputs\right-cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8.mp4"
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[string]$RavnovesVideo = "D:\NDC_MISSIONCORE\runtime\experiments\e46e\inputs\right-cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8.mp4",
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[string]$RavnovesSourceId = "RAVNOVES00/right-cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8",
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[string]$RavnovesSha256 = "cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8",
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[ValidateRange(1, 1000000)]
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[int]$RavnovesExpectedFrameCount = 4489,
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[string]$RavnovesBaseM4ResultId = "m4-threat-replay-2a953c5f27f2a5b1dddc5c658c1de2c323d7796084a099c024987a1da03aa324",
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[string]$RavnovesSourceProfile = ""
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)
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Set-StrictMode -Version Latest
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@@ -38,6 +49,31 @@ $configRoot = Join-Path $ToolRoot "config"
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$benchmarkConfig = Join-Path $configRoot "lab-v1-goose-vegetation-benchmark-v1.json"
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$policyConfig = Join-Path $configRoot "lab-v1-vegetation-mission-policy-v1.json"
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$providerMapConfig = Join-Path $configRoot "lab-v1-vegetation-provider-label-map-v1.json"
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$ravnovesProfileDocument = $null
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if (-not [string]::IsNullOrWhiteSpace($RavnovesSourceProfile)) {
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$resolvedProfile = (Resolve-Path -LiteralPath $RavnovesSourceProfile).Path
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if (-not $resolvedProfile.StartsWith($ToolRoot, [StringComparison]::OrdinalIgnoreCase)) {
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throw "RAVNOVES source profile must stay under ToolRoot"
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}
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$ravnovesProfileDocument = Get-Content -LiteralPath $resolvedProfile -Raw | ConvertFrom-Json
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$source = $ravnovesProfileDocument.source
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if (
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$ravnovesProfileDocument.schema_version -ne "missioncore.lab-v1-ravnoves-source/v1" -or
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$null -eq $source -or
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[string]::IsNullOrWhiteSpace([string]$source.source_id) -or
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[string]$source.source_sha256 -notmatch "^[a-f0-9]{64}$" -or
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[int]$source.expected_width -ne 800 -or
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[int]$source.expected_height -ne 600 -or
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[int]$source.expected_frame_count -lt 1 -or
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[string]$source.crop_contract -ne "center-600-square-to-512; outside-crop-is-undefined"
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) {
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throw "RAVNOVES source profile is incompatible"
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}
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$RavnovesSourceId = [string]$source.source_id
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$RavnovesSha256 = [string]$source.source_sha256
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$RavnovesExpectedFrameCount = [int]$source.expected_frame_count
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$RavnovesBaseM4ResultId = [string]$source.base_m4_result_id
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}
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$datasetRoot = Join-Path $AssetRoot "goose-2d\validation"
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$checkpointRelative = if ($candidateKey -eq "ddrnet") {
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"models\goose\ddrnet_class_512.pth"
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@@ -51,7 +87,6 @@ $expectedCheckpointSha256 = if ($candidateKey -eq "ddrnet") {
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"6dd412c0c99115e359896c4cab43a8e6bce9e09b843e7fa885fe597b0a6121cd"
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}
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$expectedCheckpointBytes = if ($candidateKey -eq "ddrnet") { 259419077 } else { 98208249 }
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$ravnovesSha256 = "cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8"
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$frameIndices = @(0, 253, 512, 768, 1024, 1536, 2048, 2560, 3072, 3584, 4096, 4488)
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$dockerConfig = "D:\NDC_MISSIONCORE\datasets\state\lab-v1-vegetation\docker-config"
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@@ -110,6 +145,18 @@ function Invoke-IsolatedRun {
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[string]$FramesRoot = ""
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)
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$containerName = "ndc-lab-v1-goose-$candidateKey-$([Guid]::NewGuid().ToString('N').Substring(0, 10))"
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$activeConfigRoot = $configRoot
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if ($RunMode -eq "ravnoves-video" -and $null -ne $ravnovesProfileDocument) {
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$activeConfigRoot = Join-Path $RunRoot "effective-config"
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New-Item -ItemType Directory -Path $activeConfigRoot | Out-Null
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Copy-Item -LiteralPath $policyConfig -Destination $activeConfigRoot
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Copy-Item -LiteralPath $providerMapConfig -Destination $activeConfigRoot
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$benchmark = Get-Content -LiteralPath $benchmarkConfig -Raw | ConvertFrom-Json
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$benchmark.ravnoves = $ravnovesProfileDocument.source
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$benchmark | ConvertTo-Json -Depth 32 | Set-Content -LiteralPath (
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Join-Path $activeConfigRoot "lab-v1-goose-vegetation-benchmark-v1.json"
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) -Encoding utf8
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}
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$visualCount = if ($RunMode -eq "ravnoves-video") { 0 } else { 12 }
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$arguments = @(
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"run", "--rm", "--name", $containerName,
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@@ -125,7 +172,7 @@ function Invoke-IsolatedRun {
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"--env", "HOME=/tmp",
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"--mount", "type=bind,src=$datasetRoot,dst=/data/goose,readonly",
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"--mount", "type=bind,src=$checkpoint,dst=/models/candidate.pth,readonly",
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"--mount", "type=bind,src=$configRoot,dst=/config,readonly",
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"--mount", "type=bind,src=$activeConfigRoot,dst=/config,readonly",
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"--mount", "type=bind,src=$RunRoot,dst=/output",
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$image,
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"--mode", $RunMode,
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@@ -147,15 +194,27 @@ function Invoke-IsolatedRun {
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$tail = @($arguments[$mountIndex..($arguments.Count - 1)])
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$arguments = $head + @("--mount", "type=bind,src=$FramesRoot,dst=/input,readonly") + $tail
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}
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& docker @arguments
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if ($LASTEXITCODE -ne 0) {
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throw "LAB V1 container failed with exit code $LASTEXITCODE"
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$dockerExitCode = -1
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$previousErrorActionPreference = $ErrorActionPreference
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try {
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# Windows PowerShell exposes native stderr as ErrorRecord objects. Model
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# libraries legitimately emit warnings there, so merge the stream and
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# fail only on the native process exit code.
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$ErrorActionPreference = "Continue"
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& docker @arguments 2>&1 | ForEach-Object { Write-Output $_ }
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$dockerExitCode = $LASTEXITCODE
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}
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finally {
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$ErrorActionPreference = $previousErrorActionPreference
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}
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if ($dockerExitCode -ne 0) {
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throw "LAB V1 container failed with exit code $dockerExitCode"
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}
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}
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function Export-RavnovesFrames {
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param([string]$Destination)
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Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $ravnovesSha256
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Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $RavnovesSha256
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New-Item -ItemType Directory -Path $Destination | Out-Null
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$expression = ($frameIndices | ForEach-Object { "eq(n\,$_ )" }) -join "+"
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$temporaryPattern = Join-Path $Destination "selected-%03d.png"
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@@ -175,14 +234,68 @@ function Export-RavnovesFrames {
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function Export-RavnovesVideoFrames {
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param([string]$Destination)
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Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $ravnovesSha256
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Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $RavnovesSha256
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New-Item -ItemType Directory -Path $Destination | Out-Null
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& ffmpeg -hide_banner -loglevel error -i $RavnovesVideo -map 0:v:0 -fps_mode passthrough (Join-Path $Destination "frame-%06d.png")
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$decodedRoot = "{0}-decoded-by-pts" -f $Destination
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$packetsPath = "{0}-packets.csv" -f $Destination
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New-Item -ItemType Directory -Path $decodedRoot | Out-Null
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& ffprobe -v error -select_streams v:0 -show_packets -show_entries packet=pts,flags -of csv=p=0 -o $packetsPath $RavnovesVideo
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if ($LASTEXITCODE -ne 0) {
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throw "RAVNOVES full-video packet probe failed"
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}
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$packetRows = @(Get-Content -LiteralPath $packetsPath | Select-Object -First $RavnovesExpectedFrameCount)
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if ($packetRows.Count -ne $RavnovesExpectedFrameCount) {
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throw "RAVNOVES full-video packet sequence changed"
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}
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& ffmpeg -hide_banner -loglevel error `
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-hwaccel cuda -hwaccel_output_format cuda -c:v h264_cuvid `
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-err_detect ignore_err -flags +output_corrupt -copyts `
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-i $RavnovesVideo -map 0:v:0 -vf "hwdownload,format=nv12" `
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-fps_mode passthrough -enc_time_base demux -frames:v $RavnovesExpectedFrameCount `
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-frame_pts 1 (Join-Path $decodedRoot "frame-%d.png")
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if ($LASTEXITCODE -ne 0) {
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throw "RAVNOVES full-video frame extraction failed"
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}
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$decodedCount = @(Get-ChildItem -LiteralPath $decodedRoot -File -Filter "frame-*.png").Count
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$repairs = @()
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for ($index = 0; $index -lt $RavnovesExpectedFrameCount; $index++) {
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$columns = ([string]$packetRows[$index]).Split(",")
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if ($columns.Count -lt 2) {
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throw "RAVNOVES full-video packet row is malformed"
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}
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$pts = [int64]::Parse($columns[0].Trim(), [Globalization.CultureInfo]::InvariantCulture)
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$decodedPath = Join-Path $decodedRoot ("frame-{0}.png" -f $pts)
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$canonicalPath = Join-Path $Destination ("frame-{0:D6}.png" -f ($index + 1))
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if (Test-Path -LiteralPath $decodedPath -PathType Leaf) {
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Move-Item -LiteralPath $decodedPath -Destination $canonicalPath
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continue
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}
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if ($index -eq 0 -or $repairs.Count -ge 1) {
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throw "RAVNOVES source contains more than one recoverable decoder gap"
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}
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$previousPath = Join-Path $Destination ("frame-{0:D6}.png" -f $index)
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Copy-Item -LiteralPath $previousPath -Destination $canonicalPath
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$repairs += [ordered]@{
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sequence = $index + 1
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packet_pts = $pts
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method = "duplicate-previous-decoded-frame"
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}
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}
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Remove-Item -LiteralPath $decodedRoot -Recurse -Force
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Remove-Item -LiteralPath $packetsPath -Force
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[ordered]@{
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schema_version = "missioncore.recorded-video-decode-repair/v1"
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decoder = "ffmpeg-h264_cuvid-output-corrupt"
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packets_requested = $RavnovesExpectedFrameCount
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frames_decoded = $decodedCount
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repaired_frame_count = $repairs.Count
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repairs = $repairs
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} | ConvertTo-Json -Depth 8 | Set-Content -LiteralPath (
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Join-Path (Split-Path $Destination -Parent) "decode-repair.json"
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) -Encoding utf8
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$frames = @(Get-ChildItem -LiteralPath $Destination -File -Filter "frame-*.png" | Sort-Object Name)
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if ($frames.Count -ne 4489 -or $frames[0].Name -ne "frame-000001.png" -or $frames[-1].Name -ne "frame-004489.png") {
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$lastFrameName = "frame-{0:D6}.png" -f $RavnovesExpectedFrameCount
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if ($frames.Count -ne $RavnovesExpectedFrameCount -or $frames[0].Name -ne "frame-000001.png" -or $frames[-1].Name -ne $lastFrameName) {
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throw "RAVNOVES full-video frame sequence changed"
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}
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}
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@@ -244,6 +357,9 @@ try {
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$framesRoot = Join-Path $runRoot "input-frames"
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Export-RavnovesVideoFrames -Destination $framesRoot
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Invoke-IsolatedRun -RunMode "ravnoves-video" -RunRoot $runRoot -Limit 0 -FramesRoot $framesRoot
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Copy-Item -LiteralPath (Join-Path $runRoot "decode-repair.json") -Destination (
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Join-Path $runRoot "result\decode-repair.json"
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)
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Remove-Item -LiteralPath $framesRoot -Recurse -Force
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}
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}
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