fix(lab): restore canonical RAV004 replay
This commit is contained in:
DCCONSTRUCTIONS
@@ -1,5 +1,9 @@
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import { useEffect, useState } from "react";
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import { useCallback, useEffect, useMemo, useRef, useState } from "react";
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import { Button, SegmentedControl } from "@nodedc/ui-react";
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import { LaboratoryEvidenceViewer } from "../../components/laboratory/LaboratoryEvidenceViewer";
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import { LaboratoryRecordedClipPlayer } from "../../components/laboratory/LaboratoryRecordedClipPlayer";
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import { RerunViewport } from "../../components/RerunViewport";
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import {
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LaboratoryEvidence,
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LaboratoryResultSummary,
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@@ -7,7 +11,18 @@ import {
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LaboratoryWorkTemplate,
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} from "../../components/laboratory/LaboratoryPresentation";
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import {
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RecordedEvidenceSemanticMaskOverlay,
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type RecordedEvidenceSemanticClass,
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type RecordedEvidenceSemanticPaletteEntry,
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} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
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import {
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fetchVegetationShadowResult,
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vegetationFullRouteMaskUrl,
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vegetationVideoMaskUrl,
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type VegetationFullRouteLayer,
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type VegetationFullRouteReview,
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type VegetationMixedRouteCase,
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type VegetationMixedRouteReview,
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type VegetationShadowResult,
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} from "../../core/laboratory/vegetationShadow";
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import {
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@@ -15,11 +30,480 @@ import {
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type M49TgsFullShadowResult,
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} from "../../core/laboratory/m49TgsFullShadow";
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import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
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import { recordedObservationSources } from "../../core/observation/recordedObservationSources";
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import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
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import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
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import {
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recordedSessionRerunProfile,
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type RerunPlaybackController,
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} from "../../core/observation/viewerProfile";
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import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
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import { defaultSceneSettings, type SceneSettings } from "../../sceneSettings";
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import {
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M48EvidenceModeRail,
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type M48BlindEvidenceMode,
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} from "./annotation/M48EvidenceModeControls";
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function decimal(value: number, digits = 1): string {
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return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
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}
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const FULL_ROUTE_SEMANTIC_MODES = [
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{ value: "city", label: "ГОРОД · EoMT" },
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{ value: "vegetation", label: "ПРИРОДА · DDRNet" },
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] as const;
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function semanticPresentation(layer: VegetationFullRouteLayer): {
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classes: readonly RecordedEvidenceSemanticClass[];
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palette: readonly RecordedEvidenceSemanticPaletteEntry[];
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} {
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return {
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classes: layer.taxonomy.map((item) => ({ id: item.classId, label: item.label })),
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palette: layer.taxonomy.map((item) => ({
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classId: item.classId,
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color: item.classId === 0
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? { kind: "transparent" as const }
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: { kind: "diagnostic" as const, rgb: item.colorRgb },
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})),
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};
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}
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function nearestTgsCase(
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cases: readonly VegetationMixedRouteCase[],
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sequence: number,
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): VegetationMixedRouteCase | null {
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return cases.reduce<VegetationMixedRouteCase | null>((nearest, candidate) => (
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!nearest
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|| Math.abs(candidate.sourceSequence - sequence)
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< Math.abs(nearest.sourceSequence - sequence)
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? candidate
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: nearest
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), null);
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}
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function FullRouteReviewEvidence({
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resultId,
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review,
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}: {
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resultId: string;
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review: VegetationFullRouteReview;
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}) {
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const [sequence, setSequence] = useState(1);
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const [playing, setPlaying] = useState(false);
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const [playbackRate, setPlaybackRate] = useState(1);
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const [semanticLayer, setSemanticLayer] = useState<"city" | "vegetation">("vegetation");
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const [showCameraSemantic, setShowCameraSemantic] = useState(true);
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const [expanded, setExpanded] = useState(false);
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const [evidenceMode, setEvidenceMode] = useState<M48BlindEvidenceMode>("3d");
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const [cameraVisible, setCameraVisible] = useState(true);
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const [sceneSettings, setSceneSettings] = useState<SceneSettings>(() => ({
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...defaultSceneSettings,
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accumulationSeconds: 12,
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showPoints: true,
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showTrajectory: true,
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}));
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const [videoSource, setVideoSource] = useState<ObservationSourceDescriptor | null>(null);
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const [replayLaunch, setReplayLaunch] = useState<ObservationSessionReplayLaunch | null>(null);
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const [videoError, setVideoError] = useState<string | null>(null);
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const [linkedReview, setLinkedReview] = useState<VegetationMixedRouteReview | null>(null);
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const [linkedReviewError, setLinkedReviewError] = useState<string | null>(null);
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const spatialControllerRef = useRef<RerunPlaybackController | null>(null);
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const frames = useMemo(
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() => review.frameSourceTimesNs.map((sourceTimeNs, index) => ({
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sequence: index + 1,
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sourceTimeNs,
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})),
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[review.frameSourceTimesNs],
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);
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const layer = review[semanticLayer];
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const semantic = useMemo(() => semanticPresentation(layer), [layer]);
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const maskSequence = sequence - 1;
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const prefetchSrcs = useMemo(() => showCameraSemantic
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? Array.from({ length: 8 }, (_, offset) => maskSequence + offset + 1)
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.filter((candidate) => candidate < review.frameCount)
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.map((candidate) => vegetationFullRouteMaskUrl(resultId, semanticLayer, candidate))
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: [], [maskSequence, resultId, review.frameCount, semanticLayer, showCameraSemantic]);
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useEffect(() => {
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const controller = new AbortController();
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setVideoSource(null);
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setReplayLaunch(null);
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setVideoError(null);
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void resolveObservationSessionReplay(review.sessionId, { signal: controller.signal })
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.then((launch) => {
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const source = recordedObservationSources(launch).find((candidate) => (
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candidate.id === review.recordedMediaSourceId
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&& candidate.modality === "video"
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&& candidate.semanticChannelId === "camera.video.recorded"
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&& candidate.delivery?.kind === "recorded-fmp4-manifest"
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&& candidate.delivery.manifestGenerationSha256 === review.recordedMediaGenerationSha256
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&& candidate.delivery.timelineStartSeconds === review.timelineStartSeconds
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&& candidate.delivery.timelineEndSeconds >= review.timelineEndSeconds
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));
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if (!source) {
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throw new Error("RIGHT-видео не совпало с sealed RAVNOVES004TREE timeline.");
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}
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if (!controller.signal.aborted) {
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setVideoSource(source);
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setReplayLaunch(launch);
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}
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})
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.catch((caught: unknown) => {
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if (!controller.signal.aborted) {
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setVideoError(caught instanceof Error ? caught.message : "Записанное видео недоступно.");
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}
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});
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return () => controller.abort();
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}, [
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review.recordedMediaGenerationSha256,
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review.recordedMediaSourceId,
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review.sessionId,
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review.timelineEndSeconds,
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review.timelineStartSeconds,
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]);
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useEffect(() => {
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const controller = new AbortController();
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setLinkedReview(null);
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setLinkedReviewError(null);
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void fetchVegetationShadowResult(review.linkedRouteReviewResultId, {
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signal: controller.signal,
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}).then((result) => {
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if (
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!result.routeReview
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|| result.routeReview.sourceId !== review.sourceId
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|| result.routeReview.sessionId !== review.sessionId
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) {
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throw new Error("TGS anchors имеют другую source identity.");
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}
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if (!controller.signal.aborted) setLinkedReview(result.routeReview);
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}).catch((caught: unknown) => {
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if (!controller.signal.aborted) {
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setLinkedReviewError(caught instanceof Error ? caught.message : "TGS anchors недоступны.");
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}
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});
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return () => controller.abort();
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}, [review.linkedRouteReviewResultId, review.sessionId, review.sourceId]);
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const spatialProfile = useMemo(() => replayLaunch ? recordedSessionRerunProfile({
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sourceUrl: replayLaunch.viewerSourceUrl,
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artifact: {
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sourceUrl: replayLaunch.sourceUrl,
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viewerSourceUrl: replayLaunch.viewerSourceUrl,
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byteLength: replayLaunch.byteLength,
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sha256: replayLaunch.sha256,
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},
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autoplayWhenReady: false,
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presentationGate: "ready",
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expectedTimelineStartSeconds: replayLaunch.timelineStartSeconds,
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expectedTimelineEndSeconds: replayLaunch.timelineEndSeconds,
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initialPlaybackStartSeconds: review.timelineStartSeconds,
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view: "spatial",
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viewResetGeneration: 0,
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followTrajectory: false,
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perceptionLayers: {
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enabled: false,
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detections2d: false,
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segmentation: false,
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cuboids3d: false,
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},
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perceptionRetryGeneration: 0,
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lockPerceptionCameraInteraction: false,
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}) : null, [replayLaunch, review.timelineStartSeconds]);
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const activeFrame = frames.find((candidate) => candidate.sequence === sequence)
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?? frames[0]
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?? null;
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const activeSourceTimeNsRef = useRef(activeFrame?.sourceTimeNs ?? null);
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activeSourceTimeNsRef.current = activeFrame?.sourceTimeNs ?? null;
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const handleSpatialControllerChange = useCallback((controller: RerunPlaybackController | null) => {
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spatialControllerRef.current = controller;
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const sourceTimeNs = activeSourceTimeNsRef.current;
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if (!controller || sourceTimeNs === null) return;
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controller.setPlaying(false);
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controller.seek(sourceTimeNs);
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}, []);
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useEffect(() => {
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const controller = spatialControllerRef.current;
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if (!controller || !activeFrame) return;
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controller.setPlaying(false);
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controller.seek(activeFrame.sourceTimeNs);
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}, [activeFrame]);
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const selectedTgsCase = linkedReview
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? nearestTgsCase(linkedReview.cases, sequence)
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: null;
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const selectTgsPlan = useCallback(() => {
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if (!linkedReview) return;
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const item = nearestTgsCase(linkedReview.cases, sequence);
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if (!item) return;
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setPlaying(false);
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setSequence(item.sourceSequence);
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setEvidenceMode("plan");
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}, [linkedReview, sequence]);
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const handleEvidenceModeChange = useCallback((nextMode: M48BlindEvidenceMode) => {
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if (nextMode === "plan") {
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selectTgsPlan();
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return;
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}
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setEvidenceMode(nextMode);
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}, [selectTgsPlan]);
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const cameraPresentation = evidenceMode === "camera"
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? "primary"
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: cameraVisible ? "companion" : "hidden";
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const spatialScene = evidenceMode === "plan" ? (
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selectedTgsCase ? (
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<div className="recorded-evidence-image-scene">
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<img
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src={selectedTgsCase.assets.tgs}
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alt={`TGS costmap · sequence ${selectedTgsCase.sourceSequence}`}
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draggable={false}
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/>
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<div className="m48-clip-player__pane-label" data-pane="spatial">
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TGS COSTMAP · ЯКОРЬ {selectedTgsCase.sourceSequence} · {selectedTgsCase.tgs.occupiedCells} OCCUPIED
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</div>
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</div>
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) : (
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<div className="m4-replay-threat-visual__pane-status" role="status">
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{linkedReviewError ?? "Открываем sealed TGS anchors…"}
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</div>
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)
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) : spatialProfile ? (
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<RerunViewport
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profile={spatialProfile}
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sceneSettings={sceneSettings}
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onPlaybackControllerChange={handleSpatialControllerChange}
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/>
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) : (
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<div className="m4-replay-threat-visual__pane-status" role="status">
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Открываем sealed RRD, source points и SLAM trajectory…
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</div>
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);
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return (
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<LaboratoryEvidenceViewer
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label="RAVNOVES004TREE full recorded review"
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className="m48-atlas-visual"
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mode={semanticLayer}
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modes={FULL_ROUTE_SEMANTIC_MODES}
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expanded={expanded}
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onModeChange={setSemanticLayer}
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onExpandedChange={setExpanded}
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modeControlsVisible={false}
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chromeLayout="stacked"
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>
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<div className="m48-evidence-stage">
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{videoSource ? (
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<LaboratoryRecordedClipPlayer
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source={videoSource}
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segmentCount={review.frameCount}
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frames={frames}
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sequence={sequence}
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playing={playing}
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playbackRate={playbackRate}
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cameraPresentation={cameraPresentation}
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continuousPlayback
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sourceCount={4}
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onSequenceChange={setSequence}
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onPlayingChange={setPlaying}
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onPlaybackRateChange={setPlaybackRate}
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alternativeScene={spatialScene}
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cameraControls={(
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<>
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<Button
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size="compact"
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shape="pill"
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variant={showCameraSemantic ? "primary" : "secondary"}
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aria-pressed={showCameraSemantic}
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onClick={() => setShowCameraSemantic((visible) => !visible)}
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>
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SEMANTICS
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</Button>
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<SegmentedControl
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value={semanticLayer}
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items={[...FULL_ROUTE_SEMANTIC_MODES]}
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label="Источник семантики"
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onChange={(value) => {
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setSemanticLayer(value);
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setShowCameraSemantic(true);
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}}
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/>
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</>
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)}
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spatialControls={(
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<>
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<Button
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size="compact"
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shape="pill"
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variant={sceneSettings.showPoints ? "primary" : "secondary"}
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aria-pressed={sceneSettings.showPoints}
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onClick={() => {
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setEvidenceMode("3d");
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setSceneSettings((settings) => ({
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...settings,
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showPoints: !settings.showPoints,
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}));
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}}
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>
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SOURCE POINTS
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</Button>
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<Button
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size="compact"
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shape="pill"
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variant={sceneSettings.showTrajectory ? "primary" : "secondary"}
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aria-pressed={sceneSettings.showTrajectory}
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onClick={() => {
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setEvidenceMode("3d");
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setSceneSettings((settings) => ({
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...settings,
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showTrajectory: !settings.showTrajectory,
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}));
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}}
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>
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LOCAL SLAM
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</Button>
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<Button
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size="compact"
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shape="pill"
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variant={evidenceMode === "plan" ? "primary" : "secondary"}
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aria-pressed={evidenceMode === "plan"}
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disabled={!linkedReview}
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title={linkedReviewError ?? "10 sealed causal TGS anchors; continuous TGS отсутствует"}
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onClick={selectTgsPlan}
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>
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TGS COSTMAP
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</Button>
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<Button
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size="compact"
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shape="pill"
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variant="secondary"
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disabled
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title="Для RAV004 не опубликован point-aligned 3D semantic archive"
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>
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SEMANTICS
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</Button>
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</>
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)}
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cameraOverlay={(
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<>
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<div className="m48-clip-player__pane-label" data-pane="camera">
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{showCameraSemantic
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? `${semanticLayer === "city" ? "EoMT CITY" : "DDRNet NATURE"} · КАДР ${sequence}/${review.frameCount}`
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: `SOURCE · КАДР ${sequence}/${review.frameCount}`}
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</div>
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{showCameraSemantic ? (
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<div className="m48-clip-player__overlay">
|
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<RecordedEvidenceSemanticMaskOverlay
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src={vegetationFullRouteMaskUrl(resultId, semanticLayer, maskSequence)}
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prefetchSrcs={prefetchSrcs}
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imageWidth={review.width}
|
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imageHeight={review.height}
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classes={semantic.classes}
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palette={semantic.palette}
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opacity={0.76}
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ariaLabel={`${layer.name} semantic prediction`}
|
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/>
|
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</div>
|
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) : null}
|
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</>
|
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)}
|
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/>
|
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) : (
|
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<div className="m4-replay-threat-visual__pane-status" role={videoError ? "alert" : "status"}>
|
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{videoError ?? "Открываем автономный RAVNOVES004TREE source…"}
|
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</div>
|
||||
)}
|
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{videoSource ? (
|
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<M48EvidenceModeRail
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mode={evidenceMode}
|
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cameraVisible={cameraVisible}
|
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spatialAvailable={Boolean(spatialProfile)}
|
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planAvailable={Boolean(linkedReview)}
|
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onModeChange={handleEvidenceModeChange}
|
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onCameraVisibleChange={setCameraVisible}
|
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/>
|
||||
) : null}
|
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</div>
|
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</LaboratoryEvidenceViewer>
|
||||
);
|
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}
|
||||
|
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function FullRouteReviewResult({
|
||||
rigLabel,
|
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resultId,
|
||||
review,
|
||||
}: {
|
||||
rigLabel: string;
|
||||
resultId: string;
|
||||
review: VegetationFullRouteReview;
|
||||
}) {
|
||||
return (
|
||||
<LaboratoryWorkTemplate
|
||||
summary={(
|
||||
<LaboratorySummary
|
||||
title="LAB V1 · RAVNOVES004TREE · полный маршрут"
|
||||
description="Общий recorded-LAB шаблон воспроизводит запись с травой и оврагами: RIGHT camera, исходное облако, SLAM trajectory, два независимых semantic-слоя и десять реально просчитанных TGS-якорей."
|
||||
status="FULL RECORDED REVIEW · truth отсутствует · commands OFF"
|
||||
statusTone="warning"
|
||||
facts={[
|
||||
{ label: "Источник", value: `${review.sourceId} · ${review.frameCount}/${review.frameCount} frames` },
|
||||
{ label: "3D", value: "1437 source point chunks · 2825 SLAM poses · recorded RRD" },
|
||||
{ label: "Город", value: `${review.city.name} · ${decimal(review.city.inferenceFps, 2)} fps` },
|
||||
{ label: "Природа", value: `${review.vegetation.name} · ${decimal(review.vegetation.inferenceFps, 2)} fps` },
|
||||
{ label: "TGS", value: "10 sealed causal anchors · continuous costmap отсутствует" },
|
||||
{ label: "Authority", value: `${rigLabel} · VISUAL REVIEW ONLY · commands OFF` },
|
||||
]}
|
||||
brief={{
|
||||
question: "Что реально видно на полном RAV004-прогоне с высокой травой, оврагами и переходом к городу?",
|
||||
approach: "Одна recorded timeline открывается общим LAB viewer. Camera и RRD синхронизированы; EoMT/DDRNet переключаются на камере, source points и SLAM trajectory — в 3D, TGS — только на десяти запечатанных якорях.",
|
||||
principalResult: "RAV004 больше не подменяется RAV00: доступна полная исходная запись и её реальные пространственные слои.",
|
||||
limitation: "Ручной truth, continuous TGS и point-aligned 3D semantics отсутствуют. Один повреждённый H.264-пакет на позиции 6092 заменён предыдущим декодированным кадром и отражён в proof.",
|
||||
}}
|
||||
method={{
|
||||
completeness: "complete",
|
||||
executionClass: "ai-inference",
|
||||
pipelineId: "ravnoves004tree-full-eomt-ddrnet-recorded-review/v1",
|
||||
components: [
|
||||
{ kind: "algorithm", name: "Recorded source points + SLAM trajectory", version: "sealed RRD", role: "spatial source evidence", identitySha256: null },
|
||||
{ kind: "model", name: review.city.name, version: "sealed Worker 006 run", role: "urban semantic review", identitySha256: null },
|
||||
{ kind: "model", name: review.vegetation.name, version: "GOOSE DDRNet-39", role: "vegetation semantic review", identitySha256: null },
|
||||
{ kind: "algorithm", name: "Causal TGS", version: "10 linked route anchors", role: "bounded geometric evidence", identitySha256: null },
|
||||
],
|
||||
}}
|
||||
/>
|
||||
)}
|
||||
evidence={(
|
||||
<LaboratoryEvidence
|
||||
eyebrow="CANONICAL RECORDED LAB · RAVNOVES004TREE"
|
||||
title="CAMERA + SOURCE POINTS + LOCAL SLAM + TGS COSTMAP + SEMANTICS · 6830/6830"
|
||||
kind="recorded-replay"
|
||||
resizable
|
||||
>
|
||||
<FullRouteReviewEvidence resultId={resultId} review={review} />
|
||||
</LaboratoryEvidence>
|
||||
)}
|
||||
result={(
|
||||
<LaboratoryResultSummary
|
||||
title="Полный RAV004 visual review восстановлен; управление не авторизовано"
|
||||
status="Recorded evidence ready · navigation/actuation OFF"
|
||||
statusTone="warning"
|
||||
metrics={[
|
||||
{ label: "Route masks", value: "6830/6830 × 2", hint: "sealed local archives · Worker не требуется" },
|
||||
{ label: "EoMT throughput", value: `${decimal(review.city.inferenceFps, 2)} fps`, hint: "изолированный полный прогон" },
|
||||
{ label: "DDRNet throughput", value: `${decimal(review.vegetation.inferenceFps, 2)} fps`, hint: "изолированный полный прогон" },
|
||||
{ label: "Spatial evidence", value: "RRD + 10 TGS anchors", hint: "continuous TGS и 3D semantics отсутствуют" },
|
||||
]}
|
||||
conclusion={{
|
||||
proved: "Полный RAV004 открывается в каноническом recorded viewer с camera, source points, SLAM trajectory, EoMT, DDRNet и связанными TGS-якорями.",
|
||||
notProved: "Не доказаны truth accuracy, временная стабильность DDRNet, continuous negative-obstacle detection и безопасное управление ровером.",
|
||||
decision: "Использовать как visual audit. Следующий gate — truth-набор овраг/трава/дерево/яма и motion-aware temporal evaluation при целевых ≥10 FPS; navigation/actuation оставить OFF.",
|
||||
}}
|
||||
/>
|
||||
)}
|
||||
/>
|
||||
);
|
||||
}
|
||||
|
||||
function VegetationRouteEvidence({ result }: { result: VegetationShadowResult }) {
|
||||
const route = result.routeVideo!;
|
||||
const linkedTgsResultId = route.linkedTgsResultId;
|
||||
@@ -92,6 +576,15 @@ export function VegetationShadowResultView({
|
||||
rigLabel: string;
|
||||
result: VegetationShadowResult;
|
||||
}) {
|
||||
if (result.routeFullReview) {
|
||||
return (
|
||||
<FullRouteReviewResult
|
||||
rigLabel={rigLabel}
|
||||
resultId={result.resultId}
|
||||
review={result.routeFullReview}
|
||||
/>
|
||||
);
|
||||
}
|
||||
if (!result.routeVideo?.linkedTgsResultId) {
|
||||
throw new Error(
|
||||
"Vegetation LAB result has no canonical M4 source timeline and linked M4.9 TGS evidence.",
|
||||
|
||||
Reference in New Issue
Block a user