feat(lab): project system obstacles into fisheye

apps/control-station/src/core/laboratory/m4ReplayThreat.ts

@@ -70,6 +70,14 @@ export interface M4ThreatAssessment {
   reasonCodes: readonly string[];
 }
 
+export interface M4ThreatCameraObstacleProjection {
+  bboxXyxy: readonly [number, number, number, number];
+  nearestDepthM: number;
+  projectedCellCount: number;
+  projection: "factory-kb4-occupied-voxel-bounds";
+  authority: "visual-derived";
+}
+
 export interface M4ThreatMetricVisual {
   componentId: string;
   state: "current" | "retained" | "held" | "expired";
@@ -78,6 +86,7 @@ export interface M4ThreatMetricVisual {
   cellCentersBodyXyzM: readonly M4Point3[];
   assessment: M4ThreatAssessment;
   occupancySource: M4OccupancySource;
+  cameraProjection: M4ThreatCameraObstacleProjection | null;
 }
 
 export interface M4ThreatCameraProposal {
@@ -177,6 +186,7 @@ export interface M4ThreatTimeline {
   cameraPointSampleLimit: number;
   worldStateDelivery: "source-paced-latest-wins" | null;
   occupancyProvenanceDelivery: "baseline-versus-additive-component-diff" | null;
+  cameraObstacleProjectionDelivery: "factory-kb4-occupied-voxel-bounds" | null;
   worldStateFrameCount: number;
   supersededFrameCount: number;
   sourceRepresentationId: "registered-map-increment-v1";
@@ -323,6 +333,32 @@ function parseCameraProposal(value: unknown): M4ThreatCameraProposal {
   };
 }
 
+function parseCameraObstacleProjection(value: unknown): M4ThreatCameraObstacleProjection {
+  const item = object(value, "M4.8R3 camera obstacle projection");
+  const bbox = vector(item.bbox_xyxy, 4, "M4.8R3 camera obstacle bbox");
+  if (bbox[2]! < bbox[0]! || bbox[3]! < bbox[1]!) {
+    throw new M4ThreatContractError("M4.8R3 camera obstacle bbox: нарушена геометрия.");
+  }
+  return {
+    bboxXyxy: [bbox[0]!, bbox[1]!, bbox[2]!, bbox[3]!],
+    nearestDepthM: number(item.nearest_depth_m, "M4.8R3 camera obstacle depth"),
+    projectedCellCount: integer(
+      item.projected_cell_count,
+      "M4.8R3 camera obstacle cells",
+    ),
+    projection: exact(
+      item.projection,
+      "factory-kb4-occupied-voxel-bounds",
+      "M4.8R3 camera obstacle projection",
+    ),
+    authority: exact(
+      item.authority,
+      "visual-derived",
+      "M4.8R3 camera obstacle authority",
+    ),
+  };
+}
+
 function parseMetricVisual(value: unknown): M4ThreatMetricVisual {
   const item = object(value, "M4.6 metric visual");
   const state = text(item.state, "M4.6 temporal state");
@@ -347,6 +383,9 @@ function parseMetricVisual(value: unknown): M4ThreatMetricVisual {
     ),
     assessment: parseAssessment(item.assessment),
     occupancySource,
+    cameraProjection: item.camera_projection === undefined
+      ? null
+      : parseCameraObstacleProjection(item.camera_projection),
   };
 }
 
@@ -704,6 +743,13 @@ export async function fetchM4ThreatTimeline(
           "baseline-versus-additive-component-diff",
           "M4.8R3 occupancy provenance",
         ),
+    cameraObstacleProjectionDelivery: payload.camera_obstacle_projection_delivery == null
+      ? null
+      : exact(
+          payload.camera_obstacle_projection_delivery,
+          "factory-kb4-occupied-voxel-bounds",
+          "M4.8R3 camera obstacle projection delivery",
+        ),
     worldStateFrameCount: payload.world_state_frame_count === undefined
       ? frameCount
       : integer(payload.world_state_frame_count, "M4.6 world-state frames"),
@@ -756,16 +802,21 @@ export async function fetchM4ThreatTimelineChunk(
     fetcher = fetch,
     signal,
     endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+    cameraObstacleProjectionDelivery = null,
   }: {
     fetcher?: LaboratoryFetch;
     signal?: AbortSignal;
     endpointRoot?: string;
+    cameraObstacleProjectionDelivery?: M4ThreatTimeline["cameraObstacleProjectionDelivery"];
   } = {},
 ): Promise<M4ThreatTimelineChunk> {
   const params = new URLSearchParams({
     start: String(startSequence),
     count: String(frameCount),
   });
+  if (cameraObstacleProjectionDelivery !== null) {
+    params.set("obstacle_projection", cameraObstacleProjectionDelivery);
+  }
   const response = await fetcher(
     `${endpointRoot}/${result}/timeline/chunk?${params}`,
     { headers: { Accept: "application/json" }, signal },