refactor(lab): canonicalize recorded spatial replay
This commit is contained in:
DCCONSTRUCTIONS
@@ -1,8 +1,11 @@
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import { useEffect, useState } from "react";
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import {
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RecordedFmp4Player,
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type RecordedObservationPlayback,
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} from "../RecordedFmp4Player";
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import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
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import type { RecordedCameraAdmissionState } from "../../core/observation/recordedSessionAdmission";
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import {
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RecordedEvidenceBoxOverlay,
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type RecordedEvidenceBox,
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@@ -33,6 +36,7 @@ export function RecordedEvidenceVideoScene({
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segmentCount,
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onPlaybackChange,
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onPlayingRejected,
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onAdmissionChange,
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playbackAuthority = "media",
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playbackTransport = "segmented",
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}: {
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@@ -49,9 +53,22 @@ export function RecordedEvidenceVideoScene({
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segmentCount?: number;
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onPlaybackChange?: (playback: RecordedObservationPlayback) => void;
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onPlayingRejected?: () => void;
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onAdmissionChange?: (state: RecordedCameraAdmissionState) => void;
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playbackAuthority?: "media" | "host";
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playbackTransport?: "segmented" | "epoch-stream";
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}) {
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const generation = source.delivery?.kind === "recorded-fmp4-manifest"
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? source.delivery.manifestGenerationSha256
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: "invalid";
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const [admissionPhase, setAdmissionPhase] = useState<RecordedCameraAdmissionState["phase"]>(
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"loading",
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);
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useEffect(() => setAdmissionPhase("loading"), [generation, source.id]);
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const handleAdmissionChange = (next: RecordedCameraAdmissionState) => {
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setAdmissionPhase(next.phase);
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onAdmissionChange?.(next);
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};
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const sourceReady = admissionPhase === "ready";
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return (
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<div className="recorded-evidence-video-scene">
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<RecordedFmp4Player
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@@ -63,29 +80,32 @@ export function RecordedEvidenceVideoScene({
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segmentCount={segmentCount}
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onPlaybackChange={onPlaybackChange}
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onPlayingRejected={onPlayingRejected}
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onAdmissionChange={handleAdmissionChange}
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playbackAuthority={playbackAuthority}
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playbackTransport={playbackTransport}
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/>
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{semanticOverlay ? (
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{sourceReady && semanticOverlay ? (
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<RecordedEvidenceSemanticMaskOverlay
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{...semanticOverlay}
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imageWidth={imageWidth}
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imageHeight={imageHeight}
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/>
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) : null}
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{pointCloudOverlay ? (
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{sourceReady && pointCloudOverlay ? (
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<RecordedEvidencePointCloudOverlay
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imageWidth={imageWidth}
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imageHeight={imageHeight}
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overlay={pointCloudOverlay}
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/>
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) : null}
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<RecordedEvidenceBoxOverlay
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imageWidth={imageWidth}
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imageHeight={imageHeight}
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boxes={boxes}
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ariaLabel={ariaLabel}
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/>
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{sourceReady ? (
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<RecordedEvidenceBoxOverlay
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imageWidth={imageWidth}
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imageHeight={imageHeight}
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boxes={boxes}
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ariaLabel={ariaLabel}
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/>
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) : null}
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</div>
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);
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}
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+116
@@ -0,0 +1,116 @@
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import { useEffect, useRef, useState } from "react";
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import {
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fetchCanonicalRecordedLabSpatialFrame,
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type CanonicalRecordedLabSpatialFrame,
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} from "../../core/laboratory/canonicalRecordedLabSpatial";
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const FRAME_CACHE_LIMIT = 12;
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/**
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* Shared latest-request-wins scheduler for recorded LAB spatial evidence.
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*
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* A feature supplies only the sealed session identity and host-clock time.
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* Cache ownership, identity fencing and stale-response suppression remain in
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* the canonical instrument instead of being reimplemented per experiment.
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*/
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export function useCanonicalRecordedLabSpatialFrame({
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sessionId,
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generationSha256,
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targetTimeNs,
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}: {
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sessionId: string;
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generationSha256: string | null;
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targetTimeNs: number;
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}) {
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const [frame, setFrame] = useState<CanonicalRecordedLabSpatialFrame | null>(null);
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const [error, setError] = useState<string | null>(null);
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const desiredRef = useRef<number | null>(null);
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const runningRef = useRef(false);
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const mountedRef = useRef(true);
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const identityRef = useRef("");
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const cacheRef = useRef(new Map<number, CanonicalRecordedLabSpatialFrame>());
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const pumpRef = useRef<() => void>(() => undefined);
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const identity = `${sessionId}:${generationSha256 ?? "unavailable"}`;
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identityRef.current = identity;
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pumpRef.current = () => {
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if (runningRef.current || desiredRef.current === null || !generationSha256) return;
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runningRef.current = true;
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const requestIdentity = identity;
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let settledTimeNs: number | null = null;
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void (async () => {
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while (
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mountedRef.current
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&& identityRef.current === requestIdentity
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&& desiredRef.current !== null
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) {
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const requestedTimeNs = desiredRef.current;
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const cached = cacheRef.current.get(requestedTimeNs);
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try {
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const next = cached ?? await fetchCanonicalRecordedLabSpatialFrame(
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sessionId,
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generationSha256,
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requestedTimeNs,
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);
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if (!mountedRef.current || identityRef.current !== requestIdentity) break;
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if (!cached) {
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cacheRef.current.set(requestedTimeNs, next);
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while (cacheRef.current.size > FRAME_CACHE_LIMIT) {
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const oldest = cacheRef.current.keys().next().value as number | undefined;
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if (oldest === undefined) break;
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cacheRef.current.delete(oldest);
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}
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}
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setFrame(next);
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setError(null);
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} catch (caught: unknown) {
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if (!mountedRef.current || identityRef.current !== requestIdentity) break;
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setError(caught instanceof Error
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? caught.message
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: "Spatial-слои записанной LAB недоступны.");
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}
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settledTimeNs = requestedTimeNs;
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if (desiredRef.current === requestedTimeNs) break;
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}
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})().finally(() => {
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runningRef.current = false;
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if (
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mountedRef.current
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&& desiredRef.current !== null
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&& (identityRef.current !== requestIdentity || desiredRef.current !== settledTimeNs)
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) {
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pumpRef.current();
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}
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});
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};
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useEffect(() => {
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mountedRef.current = true;
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return () => {
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mountedRef.current = false;
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desiredRef.current = null;
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};
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}, []);
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useEffect(() => {
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cacheRef.current.clear();
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desiredRef.current = null;
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setFrame(null);
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setError(null);
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}, [identity]);
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useEffect(() => {
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if (!generationSha256) return;
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desiredRef.current = targetTimeNs;
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const cached = cacheRef.current.get(targetTimeNs);
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if (cached) {
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setFrame(cached);
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setError(null);
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return;
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}
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pumpRef.current();
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}, [generationSha256, identity, targetTimeNs]);
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return { frame, error, loading: Boolean(generationSha256) && !frame && !error };
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}
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@@ -0,0 +1,99 @@
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export const CANONICAL_RECORDED_LAB_TGS_HISTORY_SECONDS = 1;
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export const CANONICAL_RECORDED_LAB_SPATIAL_PROFILE = "source-paced-ground-v2";
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export interface CanonicalRecordedLabPackedCellEvidence {
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centersBodyXyM: Float32Array;
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zBoundsM: Float32Array;
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stateCodes: Uint8Array;
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}
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export interface CanonicalRecordedLabBodyGroundFrame {
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originMapXyzM: readonly [number, number, number];
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sensorOriginMapXyzM: readonly [number, number, number];
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basisMapFromBody: readonly [
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readonly [number, number, number],
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readonly [number, number, number],
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readonly [number, number, number],
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];
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}
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export interface CanonicalRecordedLabTgsCostmap {
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centersXyM: readonly (readonly [number, number])[];
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stateCodes: readonly number[];
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zBoundsM: readonly (readonly [number | null, number | null])[];
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}
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export function canonicalRecordedLabTgsIsCurrent(
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currentTimeNs: number,
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anchorTimeNs: number,
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historySeconds = CANONICAL_RECORDED_LAB_TGS_HISTORY_SECONDS,
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): boolean {
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if (
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!Number.isSafeInteger(currentTimeNs)
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|| !Number.isSafeInteger(anchorTimeNs)
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|| !Number.isFinite(historySeconds)
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|| historySeconds <= 0
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) return false;
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const ageNs = currentTimeNs - anchorTimeNs;
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return ageNs >= 0 && ageNs <= Math.round(historySeconds * 1_000_000_000);
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}
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export function canonicalMapGravityLocalPointToBodyGround(
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point: readonly [number, number, number],
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anchor: CanonicalRecordedLabBodyGroundFrame,
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current: CanonicalRecordedLabBodyGroundFrame,
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): readonly [number, number, number] {
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// TGS is translation-only map-gravity-local: its axes are map axes and its
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// origin is the LiDAR at the source frame. It is not an anchor body frame.
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const map: readonly [number, number, number] = [
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anchor.sensorOriginMapXyzM[0] + point[0],
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anchor.sensorOriginMapXyzM[1] + point[1],
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anchor.sensorOriginMapXyzM[2] + point[2],
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];
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const delta: readonly [number, number, number] = [
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map[0] - current.originMapXyzM[0],
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map[1] - current.originMapXyzM[1],
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map[2] - current.originMapXyzM[2],
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];
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return [
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current.basisMapFromBody[0][0] * delta[0]
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+ current.basisMapFromBody[1][0] * delta[1]
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+ current.basisMapFromBody[2][0] * delta[2],
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current.basisMapFromBody[0][1] * delta[0]
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+ current.basisMapFromBody[1][1] * delta[1]
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+ current.basisMapFromBody[2][1] * delta[2],
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current.basisMapFromBody[0][2] * delta[0]
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+ current.basisMapFromBody[1][2] * delta[1]
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+ current.basisMapFromBody[2][2] * delta[2],
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];
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}
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export function canonicalRecordedLabPackedTgsCells(
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costmap: CanonicalRecordedLabTgsCostmap,
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anchor: CanonicalRecordedLabBodyGroundFrame,
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current: CanonicalRecordedLabBodyGroundFrame,
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): CanonicalRecordedLabPackedCellEvidence {
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if (
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costmap.centersXyM.length !== costmap.stateCodes.length
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|| costmap.centersXyM.length !== costmap.zBoundsM.length
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) throw new Error("Canonical recorded LAB TGS accounting changed");
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const centers: number[] = [];
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const zBounds: number[] = [];
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costmap.centersXyM.forEach(([x, y], index) => {
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const bounds = costmap.zBoundsM[index] ?? [null, null];
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const center = canonicalMapGravityLocalPointToBodyGround([x, y, 0], anchor, current);
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centers.push(center[0], center[1]);
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if (bounds[0] === null || bounds[1] === null) {
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zBounds.push(Number.NaN, Number.NaN);
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return;
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}
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const bottom = canonicalMapGravityLocalPointToBodyGround([x, y, bounds[0]], anchor, current);
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const top = canonicalMapGravityLocalPointToBodyGround([x, y, bounds[1]], anchor, current);
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zBounds.push(Math.min(bottom[2], top[2]), Math.max(bottom[2], top[2]));
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});
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return {
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centersBodyXyM: Float32Array.from(centers),
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zBoundsM: Float32Array.from(zBounds),
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stateCodes: Uint8Array.from(costmap.stateCodes),
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};
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}
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@@ -0,0 +1,256 @@
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import type { LaboratoryFetch } from "./advancedResults";
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import { CANONICAL_RECORDED_LAB_SPATIAL_PROFILE } from "./canonicalRecordedLab";
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const SAFE_SESSION_ID = /^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/;
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const SHA256 = /^[a-f0-9]{64}$/;
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export class CanonicalRecordedLabSpatialContractError extends Error {}
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export interface CanonicalRecordedLabSpatialFrame {
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targetTimeNs: number;
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sourceTimeNs: number;
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poseTimeNs: number;
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trajectoryTimeNs: number;
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sourcePointCount: number;
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coordinateFrame: "body-ground";
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sensorHeight: {
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meters: number;
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source: "initial-source-cloud-lower-quantile-median";
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sampleCount: number;
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madM: number;
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authority: "visual-derived";
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};
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spatialProfile: {
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profileId: typeof CANONICAL_RECORDED_LAB_SPATIAL_PROFILE;
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localSlamHistorySeconds: number;
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localSlamRadiusM: number;
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localSlamVoxelSizeM: number;
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localSlamPointLimit: number;
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};
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bodyFrame: {
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originMapXyzM: readonly [number, number, number];
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sensorOriginMapXyzM: readonly [number, number, number];
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basisMapFromBody: readonly [
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readonly [number, number, number],
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readonly [number, number, number],
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readonly [number, number, number],
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];
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};
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sourcePointsBodyXyzM: readonly (readonly [number, number, number])[];
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localSlamSourceFrameCount: number;
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localSlamSourcePointCount: number;
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localSlamBodyXyzM: readonly (readonly [number, number, number])[];
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}
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function objectValue(value: unknown, label: string): Record<string, unknown> {
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if (!value || typeof value !== "object" || Array.isArray(value)) {
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throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидался объект.`);
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}
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return value as Record<string, unknown>;
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}
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function arrayValue(value: unknown, label: string): unknown[] {
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if (!Array.isArray(value)) {
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throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидался массив.`);
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}
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return value;
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}
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function exact(value: unknown, expected: unknown, label: string): void {
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if (value !== expected) {
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throw new CanonicalRecordedLabSpatialContractError(`${label}: контракт изменён.`);
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}
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}
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function numberValue(value: unknown, label: string): number {
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if (typeof value !== "number" || !Number.isFinite(value)) {
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throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидалось число.`);
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}
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return value;
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}
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function integerValue(value: unknown, label: string): number {
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const parsed = numberValue(value, label);
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if (!Number.isSafeInteger(parsed) || parsed < 0) {
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throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидалось целое значение.`);
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}
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return parsed;
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}
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function pointList(
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value: unknown,
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label: string,
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): readonly (readonly [number, number, number])[] {
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return arrayValue(value, label).map((entry, index) => {
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const point = arrayValue(entry, `${label}[${index}]`).map(
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(channel, channelIndex) => numberValue(channel, `${label}[${index}][${channelIndex}]`),
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);
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if (point.length !== 3) {
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throw new CanonicalRecordedLabSpatialContractError(`${label}[${index}]: размер изменён.`);
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}
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return [point[0]!, point[1]!, point[2]!] as const;
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});
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}
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export async function fetchCanonicalRecordedLabSpatialFrame(
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sessionId: string,
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generationSha256: string,
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targetTimeNs: number,
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{
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fetcher = fetch,
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signal,
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}: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
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): Promise<CanonicalRecordedLabSpatialFrame> {
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if (
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!SAFE_SESSION_ID.test(sessionId)
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|| !SHA256.test(generationSha256)
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|| !Number.isSafeInteger(targetTimeNs)
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|| targetTimeNs < 0
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) {
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throw new CanonicalRecordedLabSpatialContractError(
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"Canonical LAB spatial identity недопустима.",
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);
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}
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const query = new URLSearchParams({
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generation: generationSha256,
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time_ns: String(targetTimeNs),
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profile: CANONICAL_RECORDED_LAB_SPATIAL_PROFILE,
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});
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const response = await fetcher(
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`/api/v1/observation-sessions/${encodeURIComponent(sessionId)}`
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+ `/canonical-lab/spatial-frame?${query.toString()}`,
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{ method: "GET", headers: { Accept: "application/json" }, signal },
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);
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if (!response.ok) {
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throw new CanonicalRecordedLabSpatialContractError(
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`Canonical LAB spatial frame недоступен: HTTP ${response.status}.`,
|
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);
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}
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const payload = objectValue(await response.json(), "canonical_lab.spatial_frame");
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exact(
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payload.schema_version,
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"missioncore.canonical-recorded-lab-spatial-frame/v2",
|
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"canonical_lab.spatial_frame.schema_version",
|
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);
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exact(payload.coordinate_frame, "body-ground", "canonical_lab.spatial_frame.coordinate_frame");
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exact(payload.target_time_ns, targetTimeNs, "canonical_lab.spatial_frame.target_time_ns");
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const sourcePoints = pointList(
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payload.source_points_body_xyz_m,
|
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"canonical_lab.spatial_frame.source_points",
|
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);
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const localSlam = pointList(
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payload.local_slam_body_xyz_m,
|
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"canonical_lab.spatial_frame.local_slam",
|
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);
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const sourcePointCount = integerValue(
|
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payload.source_point_count,
|
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"canonical_lab.spatial_frame.source_point_count",
|
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);
|
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const localSlamPointCount = integerValue(
|
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payload.local_slam_point_count,
|
||||
"canonical_lab.spatial_frame.local_slam_point_count",
|
||||
);
|
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if (
|
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sourcePointCount !== sourcePoints.length
|
||||
|| sourcePointCount > 100_000
|
||||
|| localSlamPointCount !== localSlam.length
|
||||
|| localSlam.length > 27_000
|
||||
) {
|
||||
throw new CanonicalRecordedLabSpatialContractError(
|
||||
"Canonical LAB spatial accounting изменён.",
|
||||
);
|
||||
}
|
||||
const bodyFrame = objectValue(payload.body_frame, "canonical_lab.spatial_frame.body_frame");
|
||||
const origin = pointList(
|
||||
[bodyFrame.origin_map_xyz_m],
|
||||
"canonical_lab.spatial_frame.body_frame.origin",
|
||||
)[0]!;
|
||||
const sensorOrigin = pointList(
|
||||
[bodyFrame.sensor_origin_map_xyz_m],
|
||||
"canonical_lab.spatial_frame.body_frame.sensor_origin",
|
||||
)[0]!;
|
||||
const basisRows = pointList(
|
||||
bodyFrame.basis_map_from_body,
|
||||
"canonical_lab.spatial_frame.body_frame.basis",
|
||||
);
|
||||
if (basisRows.length !== 3) {
|
||||
throw new CanonicalRecordedLabSpatialContractError(
|
||||
"Canonical LAB spatial basis изменён.",
|
||||
);
|
||||
}
|
||||
const sensorHeight = objectValue(payload.sensor_height, "canonical_lab.spatial_frame.sensor_height");
|
||||
exact(
|
||||
sensorHeight.source,
|
||||
"initial-source-cloud-lower-quantile-median",
|
||||
"canonical_lab.spatial_frame.sensor_height.source",
|
||||
);
|
||||
exact(
|
||||
sensorHeight.authority,
|
||||
"visual-derived",
|
||||
"canonical_lab.spatial_frame.sensor_height.authority",
|
||||
);
|
||||
const spatialProfile = objectValue(
|
||||
payload.spatial_profile,
|
||||
"canonical_lab.spatial_frame.spatial_profile",
|
||||
);
|
||||
exact(
|
||||
spatialProfile.profile_id,
|
||||
CANONICAL_RECORDED_LAB_SPATIAL_PROFILE,
|
||||
"canonical_lab.spatial_frame.spatial_profile.profile_id",
|
||||
);
|
||||
return {
|
||||
targetTimeNs,
|
||||
sourceTimeNs: integerValue(payload.source_time_ns, "canonical_lab.spatial_frame.source_time_ns"),
|
||||
poseTimeNs: integerValue(payload.pose_time_ns, "canonical_lab.spatial_frame.pose_time_ns"),
|
||||
trajectoryTimeNs: integerValue(
|
||||
payload.trajectory_time_ns,
|
||||
"canonical_lab.spatial_frame.trajectory_time_ns",
|
||||
),
|
||||
sourcePointCount,
|
||||
coordinateFrame: "body-ground",
|
||||
sensorHeight: {
|
||||
meters: numberValue(sensorHeight.meters, "canonical_lab.spatial_frame.sensor_height.meters"),
|
||||
source: "initial-source-cloud-lower-quantile-median",
|
||||
sampleCount: integerValue(
|
||||
sensorHeight.sample_count,
|
||||
"canonical_lab.spatial_frame.sensor_height.sample_count",
|
||||
),
|
||||
madM: numberValue(sensorHeight.mad_m, "canonical_lab.spatial_frame.sensor_height.mad_m"),
|
||||
authority: "visual-derived",
|
||||
},
|
||||
spatialProfile: {
|
||||
profileId: CANONICAL_RECORDED_LAB_SPATIAL_PROFILE,
|
||||
localSlamHistorySeconds: numberValue(
|
||||
spatialProfile.local_slam_history_seconds,
|
||||
"canonical_lab.spatial_frame.spatial_profile.history",
|
||||
),
|
||||
localSlamRadiusM: numberValue(
|
||||
spatialProfile.local_slam_radius_m,
|
||||
"canonical_lab.spatial_frame.spatial_profile.radius",
|
||||
),
|
||||
localSlamVoxelSizeM: numberValue(
|
||||
spatialProfile.local_slam_voxel_size_m,
|
||||
"canonical_lab.spatial_frame.spatial_profile.voxel",
|
||||
),
|
||||
localSlamPointLimit: integerValue(
|
||||
spatialProfile.local_slam_point_limit,
|
||||
"canonical_lab.spatial_frame.spatial_profile.limit",
|
||||
),
|
||||
},
|
||||
bodyFrame: {
|
||||
originMapXyzM: origin,
|
||||
sensorOriginMapXyzM: sensorOrigin,
|
||||
basisMapFromBody: [basisRows[0]!, basisRows[1]!, basisRows[2]!],
|
||||
},
|
||||
sourcePointsBodyXyzM: sourcePoints,
|
||||
localSlamSourceFrameCount: integerValue(
|
||||
payload.local_slam_source_frame_count,
|
||||
"canonical_lab.spatial_frame.local_slam_source_frames",
|
||||
),
|
||||
localSlamSourcePointCount: integerValue(
|
||||
payload.local_slam_source_point_count,
|
||||
"canonical_lab.spatial_frame.local_slam_source_points",
|
||||
),
|
||||
localSlamBodyXyzM: localSlam,
|
||||
};
|
||||
}
|
||||
@@ -118,24 +118,6 @@ export interface VegetationRouteTgsAnchor {
|
||||
};
|
||||
}
|
||||
|
||||
export interface CanonicalRecordedLabSpatialFrame {
|
||||
targetTimeNs: number;
|
||||
sourceTimeNs: number;
|
||||
poseTimeNs: number;
|
||||
trajectoryTimeNs: number;
|
||||
sourcePointCount: number;
|
||||
bodyFrame: {
|
||||
originMapXyzM: readonly [number, number, number];
|
||||
basisMapFromBody: readonly [
|
||||
readonly [number, number, number],
|
||||
readonly [number, number, number],
|
||||
readonly [number, number, number],
|
||||
];
|
||||
};
|
||||
sourcePointsBodyXyzM: readonly (readonly [number, number, number])[];
|
||||
localSlamBodyXyzM: readonly (readonly [number, number, number])[];
|
||||
}
|
||||
|
||||
export interface VegetationFullRouteLayer {
|
||||
name: string;
|
||||
resultId: string;
|
||||
@@ -1044,100 +1026,6 @@ export async function fetchVegetationRouteTgsAnchor(
|
||||
};
|
||||
}
|
||||
|
||||
export async function fetchCanonicalRecordedLabSpatialFrame(
|
||||
sessionId: string,
|
||||
generationSha256: string,
|
||||
targetTimeNs: number,
|
||||
{
|
||||
fetcher = fetch,
|
||||
signal,
|
||||
}: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
|
||||
): Promise<CanonicalRecordedLabSpatialFrame> {
|
||||
if (
|
||||
!/^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/.test(sessionId)
|
||||
|| !SHA256.test(generationSha256)
|
||||
|| !Number.isSafeInteger(targetTimeNs)
|
||||
|| targetTimeNs < 0
|
||||
) {
|
||||
throw new VegetationShadowContractError("Canonical LAB spatial identity недопустима.");
|
||||
}
|
||||
const query = new URLSearchParams({
|
||||
generation: generationSha256,
|
||||
time_ns: String(targetTimeNs),
|
||||
});
|
||||
const response = await fetcher(
|
||||
`/api/v1/observation-sessions/${encodeURIComponent(sessionId)}`
|
||||
+ `/canonical-lab/spatial-frame?${query.toString()}`,
|
||||
{ method: "GET", headers: { Accept: "application/json" }, signal },
|
||||
);
|
||||
if (!response.ok) {
|
||||
throw new VegetationShadowContractError(
|
||||
`Canonical LAB spatial frame недоступен: HTTP ${response.status}.`,
|
||||
);
|
||||
}
|
||||
const payload = objectValue(await response.json(), "canonical_lab.spatial_frame");
|
||||
exact(
|
||||
payload.schema_version,
|
||||
"missioncore.canonical-recorded-lab-spatial-frame/v1",
|
||||
"canonical_lab.spatial_frame.schema_version",
|
||||
);
|
||||
exact(payload.target_time_ns, targetTimeNs, "canonical_lab.spatial_frame.target_time_ns");
|
||||
const pointList = (value: unknown, label: string) => arrayValue(value, label).map(
|
||||
(entry, index) => {
|
||||
const point = arrayValue(entry, `${label}[${index}]`).map(
|
||||
(channel, channelIndex) => numberValue(channel, `${label}[${index}][${channelIndex}]`),
|
||||
);
|
||||
if (point.length !== 3) {
|
||||
throw new VegetationShadowContractError(`${label}[${index}]: размер изменён.`);
|
||||
}
|
||||
return [point[0]!, point[1]!, point[2]!] as const;
|
||||
},
|
||||
);
|
||||
const sourcePoints = pointList(
|
||||
payload.source_points_body_xyz_m,
|
||||
"canonical_lab.spatial_frame.source_points",
|
||||
);
|
||||
const localSlam = pointList(
|
||||
payload.local_slam_body_xyz_m,
|
||||
"canonical_lab.spatial_frame.local_slam",
|
||||
);
|
||||
const sourcePointCount = integerValue(
|
||||
payload.source_point_count,
|
||||
"canonical_lab.spatial_frame.source_point_count",
|
||||
);
|
||||
if (sourcePointCount !== sourcePoints.length || sourcePointCount > 100_000 || localSlam.length > 10_000) {
|
||||
throw new VegetationShadowContractError("Canonical LAB spatial accounting изменён.");
|
||||
}
|
||||
const bodyFrame = objectValue(payload.body_frame, "canonical_lab.spatial_frame.body_frame");
|
||||
const origin = pointList(
|
||||
[bodyFrame.origin_map_xyz_m],
|
||||
"canonical_lab.spatial_frame.body_frame.origin",
|
||||
)[0]!;
|
||||
const basisRows = pointList(
|
||||
bodyFrame.basis_map_from_body,
|
||||
"canonical_lab.spatial_frame.body_frame.basis",
|
||||
);
|
||||
if (basisRows.length !== 3) {
|
||||
throw new VegetationShadowContractError("Canonical LAB spatial basis изменён.");
|
||||
}
|
||||
return {
|
||||
targetTimeNs,
|
||||
sourceTimeNs: integerValue(payload.source_time_ns, "canonical_lab.spatial_frame.source_time_ns"),
|
||||
poseTimeNs: integerValue(payload.pose_time_ns, "canonical_lab.spatial_frame.pose_time_ns"),
|
||||
trajectoryTimeNs: integerValue(
|
||||
payload.trajectory_time_ns,
|
||||
"canonical_lab.spatial_frame.trajectory_time_ns",
|
||||
),
|
||||
sourcePointCount,
|
||||
bodyFrame: {
|
||||
originMapXyzM: origin,
|
||||
basisMapFromBody: [basisRows[0]!, basisRows[1]!, basisRows[2]!],
|
||||
},
|
||||
sourcePointsBodyXyzM: sourcePoints,
|
||||
localSlamBodyXyzM: localSlam,
|
||||
};
|
||||
}
|
||||
|
||||
export async function fetchVegetationShadowResult(
|
||||
resultId: string,
|
||||
{
|
||||
|
||||
@@ -23,6 +23,7 @@ import {
|
||||
type LaboratoryMetricPackedCellEvidence,
|
||||
} from "../../components/laboratory/LaboratoryMetricEvidenceScene";
|
||||
import { RecordedEvidenceVideoScene } from "../../components/laboratory/RecordedEvidenceVideoScene";
|
||||
import { useCanonicalRecordedLabSpatialFrame } from "../../components/laboratory/useCanonicalRecordedLabSpatialFrame";
|
||||
import { useRecordedEvidencePlayback } from "../../components/laboratory/useRecordedEvidencePlayback";
|
||||
import {
|
||||
LaboratoryEvidence,
|
||||
@@ -35,12 +36,14 @@ import {
|
||||
type RecordedEvidenceSemanticPaletteEntry,
|
||||
} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
|
||||
import {
|
||||
fetchCanonicalRecordedLabSpatialFrame,
|
||||
canonicalRecordedLabPackedTgsCells,
|
||||
canonicalRecordedLabTgsIsCurrent,
|
||||
} from "../../core/laboratory/canonicalRecordedLab";
|
||||
import {
|
||||
fetchVegetationShadowResult,
|
||||
fetchVegetationRouteTgsAnchor,
|
||||
vegetationFullRouteMaskUrl,
|
||||
vegetationVideoMaskUrl,
|
||||
type CanonicalRecordedLabSpatialFrame,
|
||||
type VegetationFullRouteLayer,
|
||||
type VegetationFullRouteReview,
|
||||
type VegetationMixedRouteCase,
|
||||
@@ -105,9 +108,7 @@ function causalTgsCase(
|
||||
&& (!latest || candidate.sourceSequence > latest.sourceSequence)
|
||||
? candidate
|
||||
: latest
|
||||
), null) ?? cases.reduce((first, candidate) => (
|
||||
candidate.sourceSequence < first.sourceSequence ? candidate : first
|
||||
));
|
||||
), null);
|
||||
}
|
||||
|
||||
function nearestFullRouteFrameIndex(
|
||||
@@ -130,92 +131,6 @@ function nearestFullRouteFrameIndex(
|
||||
: low;
|
||||
}
|
||||
|
||||
function useCanonicalRavSpatialFrame(
|
||||
review: VegetationFullRouteReview,
|
||||
replayLaunch: ObservationSessionReplayLaunch | null,
|
||||
targetTimeNs: number,
|
||||
) {
|
||||
const [frame, setFrame] = useState<CanonicalRecordedLabSpatialFrame | null>(null);
|
||||
const [error, setError] = useState<string | null>(null);
|
||||
const desiredRef = useRef<number | null>(null);
|
||||
const runningRef = useRef(false);
|
||||
const mountedRef = useRef(true);
|
||||
const cacheRef = useRef(new Map<number, CanonicalRecordedLabSpatialFrame>());
|
||||
const pumpRef = useRef<() => void>(() => undefined);
|
||||
|
||||
pumpRef.current = () => {
|
||||
if (runningRef.current || desiredRef.current === null || !replayLaunch) return;
|
||||
runningRef.current = true;
|
||||
let settledTimeNs: number | null = null;
|
||||
void (async () => {
|
||||
while (mountedRef.current && desiredRef.current !== null) {
|
||||
const requestedTimeNs = desiredRef.current;
|
||||
const cached = cacheRef.current.get(requestedTimeNs);
|
||||
try {
|
||||
const next = cached ?? await fetchCanonicalRecordedLabSpatialFrame(
|
||||
review.sessionId,
|
||||
replayLaunch.sha256,
|
||||
requestedTimeNs,
|
||||
);
|
||||
if (!cached) {
|
||||
cacheRef.current.set(requestedTimeNs, next);
|
||||
while (cacheRef.current.size > 12) {
|
||||
const oldest = cacheRef.current.keys().next().value as number | undefined;
|
||||
if (oldest === undefined) break;
|
||||
cacheRef.current.delete(oldest);
|
||||
}
|
||||
}
|
||||
if (!mountedRef.current) break;
|
||||
setFrame(next);
|
||||
setError(null);
|
||||
} catch (caught: unknown) {
|
||||
if (!mountedRef.current) break;
|
||||
setError(caught instanceof Error ? caught.message : "Spatial-слои RAV004 недоступны.");
|
||||
}
|
||||
settledTimeNs = requestedTimeNs;
|
||||
if (desiredRef.current === requestedTimeNs) break;
|
||||
}
|
||||
})().finally(() => {
|
||||
runningRef.current = false;
|
||||
if (
|
||||
mountedRef.current
|
||||
&& desiredRef.current !== null
|
||||
&& desiredRef.current !== settledTimeNs
|
||||
) {
|
||||
pumpRef.current();
|
||||
}
|
||||
});
|
||||
};
|
||||
|
||||
useEffect(() => {
|
||||
mountedRef.current = true;
|
||||
return () => {
|
||||
mountedRef.current = false;
|
||||
desiredRef.current = null;
|
||||
};
|
||||
}, []);
|
||||
|
||||
useEffect(() => {
|
||||
cacheRef.current.clear();
|
||||
setFrame(null);
|
||||
setError(null);
|
||||
}, [replayLaunch?.sha256, review.sessionId]);
|
||||
|
||||
useEffect(() => {
|
||||
if (!replayLaunch) return;
|
||||
desiredRef.current = targetTimeNs;
|
||||
const cached = cacheRef.current.get(targetTimeNs);
|
||||
if (cached) {
|
||||
setFrame(cached);
|
||||
setError(null);
|
||||
return;
|
||||
}
|
||||
pumpRef.current();
|
||||
}, [replayLaunch, targetTimeNs]);
|
||||
|
||||
return { frame, error, loading: Boolean(replayLaunch) && !frame && !error };
|
||||
}
|
||||
|
||||
function FullRouteReviewEvidence({
|
||||
resultId,
|
||||
review,
|
||||
@@ -266,7 +181,11 @@ function FullRouteReviewEvidence({
|
||||
const spatialRequestTimeNs = review.frameSourceTimesNs[spatialRequestIndex]
|
||||
?? review.frameSourceTimesNs[sequenceIndex]
|
||||
?? Math.round(playbackController.playback.currentSeconds * 1_000_000_000);
|
||||
const spatialEvidence = useCanonicalRavSpatialFrame(review, replayLaunch, spatialRequestTimeNs);
|
||||
const spatialEvidence = useCanonicalRecordedLabSpatialFrame({
|
||||
sessionId: review.sessionId,
|
||||
generationSha256: replayLaunch?.sha256 ?? null,
|
||||
targetTimeNs: spatialRequestTimeNs,
|
||||
});
|
||||
const layer = review[semanticLayer];
|
||||
const semantic = useMemo(() => semanticPresentation(layer), [layer]);
|
||||
const prefetchSrcs = useMemo(() => showCameraSemantic
|
||||
@@ -343,11 +262,17 @@ function FullRouteReviewEvidence({
|
||||
? review.frameSourceTimesNs[selectedTgsCase.sourceSequence - 1]
|
||||
?? Math.round(selectedTgsCase.sessionSeconds * 1_000_000_000)
|
||||
: spatialRequestTimeNs;
|
||||
const tgsReferenceEvidence = useCanonicalRavSpatialFrame(
|
||||
review,
|
||||
replayLaunch,
|
||||
selectedTgsTimeNs,
|
||||
const currentFrameTimeNs = review.frameSourceTimesNs[sequenceIndex]
|
||||
?? Math.round(playbackController.playback.currentSeconds * 1_000_000_000);
|
||||
const tgsWithinEvidenceWindow = Boolean(
|
||||
selectedTgsCase
|
||||
&& canonicalRecordedLabTgsIsCurrent(currentFrameTimeNs, selectedTgsTimeNs),
|
||||
);
|
||||
const tgsReferenceEvidence = useCanonicalRecordedLabSpatialFrame({
|
||||
sessionId: review.sessionId,
|
||||
generationSha256: replayLaunch?.sha256 ?? null,
|
||||
targetTimeNs: selectedTgsTimeNs,
|
||||
});
|
||||
|
||||
useEffect(() => {
|
||||
if (!showTgs || !selectedTgsCase) {
|
||||
@@ -376,53 +301,24 @@ function FullRouteReviewEvidence({
|
||||
}, [review.linkedRouteReviewResultId, selectedTgsCase?.sourceSequence, showTgs]);
|
||||
|
||||
const packedTgsCells = useMemo<LaboratoryMetricPackedCellEvidence | undefined>(() => {
|
||||
if (!tgsAnchor) return undefined;
|
||||
if (!tgsAnchor || !tgsWithinEvidenceWindow) return undefined;
|
||||
const currentBody = spatialEvidence.frame?.bodyFrame;
|
||||
const anchorBody = tgsReferenceEvidence.frame?.bodyFrame;
|
||||
const transformPoint = (point: readonly [number, number, number]) => {
|
||||
if (!currentBody || !anchorBody) return point;
|
||||
const map = [0, 1, 2].map((row) => (
|
||||
anchorBody.originMapXyzM[row]!
|
||||
+ anchorBody.basisMapFromBody[row]!.reduce(
|
||||
(sum, coefficient, column) => sum + coefficient * point[column]!,
|
||||
0,
|
||||
)
|
||||
));
|
||||
const delta = map.map((value, index) => value - currentBody.originMapXyzM[index]!);
|
||||
return [0, 1, 2].map((column) => (
|
||||
currentBody.basisMapFromBody.reduce(
|
||||
(sum, row, rowIndex) => sum + row[column]! * delta[rowIndex]!,
|
||||
0,
|
||||
)
|
||||
)) as [number, number, number];
|
||||
};
|
||||
const centers: number[] = [];
|
||||
const zBounds: number[] = [];
|
||||
tgsAnchor.costmap.centersXyM.forEach(([x, y], index) => {
|
||||
const bounds = tgsAnchor.costmap.zBoundsM[index] ?? [null, null];
|
||||
const center = transformPoint([x, y, 0]);
|
||||
centers.push(center[0], center[1]);
|
||||
if (bounds[0] === null || bounds[1] === null) {
|
||||
zBounds.push(Number.NaN, Number.NaN);
|
||||
} else {
|
||||
const bottom = transformPoint([x, y, bounds[0]]);
|
||||
const top = transformPoint([x, y, bounds[1]]);
|
||||
zBounds.push(Math.min(bottom[2], top[2]), Math.max(bottom[2], top[2]));
|
||||
}
|
||||
});
|
||||
return {
|
||||
centersBodyXyM: Float32Array.from(centers),
|
||||
zBoundsM: Float32Array.from(zBounds),
|
||||
stateCodes: Uint8Array.from(tgsAnchor.costmap.stateCodes),
|
||||
};
|
||||
}, [spatialEvidence.frame?.bodyFrame, tgsAnchor, tgsReferenceEvidence.frame?.bodyFrame]);
|
||||
if (!currentBody || !anchorBody) return undefined;
|
||||
return canonicalRecordedLabPackedTgsCells(tgsAnchor.costmap, anchorBody, currentBody);
|
||||
}, [
|
||||
spatialEvidence.frame?.bodyFrame,
|
||||
tgsAnchor,
|
||||
tgsReferenceEvidence.frame?.bodyFrame,
|
||||
tgsWithinEvidenceWindow,
|
||||
]);
|
||||
|
||||
const semanticOverlay = showCameraSemantic ? {
|
||||
src: vegetationFullRouteMaskUrl(resultId, semanticLayer, sequenceIndex),
|
||||
prefetchSrcs,
|
||||
classes: semantic.classes,
|
||||
palette: semantic.palette,
|
||||
opacity: 0.76,
|
||||
opacity: 0.46,
|
||||
ariaLabel: `${layer.name} semantic prediction frame ${sequence}`,
|
||||
} : undefined;
|
||||
|
||||
@@ -464,7 +360,11 @@ function FullRouteReviewEvidence({
|
||||
? spatialEvidence.frame.localSlamBodyXyzM
|
||||
: []}
|
||||
obstacles={[]}
|
||||
rig={{ lengthM: 1, widthM: 0.8, nominalSensorHeightM: 0.4 }}
|
||||
rig={{
|
||||
lengthM: 1,
|
||||
widthM: 0.8,
|
||||
nominalSensorHeightM: spatialEvidence.frame.sensorHeight.meters,
|
||||
}}
|
||||
corridor={{ forwardLengthM: 12, rearMarginM: 1, halfWidthM: 0.4 }}
|
||||
occupiedVoxelSizeM={tgsAnchor?.costmap.cellSizeM ?? 0.45}
|
||||
mode={spatialMode}
|
||||
@@ -487,7 +387,9 @@ function FullRouteReviewEvidence({
|
||||
<div className="m4-replay-threat-visual__pane-status" role="status">
|
||||
{tgsAnchorError ?? linkedReviewError ?? (tgsAnchorLoading
|
||||
? `Открываем sealed TGS anchor ${selectedTgsCase.sourceSequence}; source/SLAM и общий clock продолжаются.`
|
||||
: `TGS anchor ${selectedTgsCase.sourceSequence} из 10; source/SLAM и общий clock продолжаются.`)}
|
||||
: tgsWithinEvidenceWindow
|
||||
? `TGS anchor ${selectedTgsCase.sourceSequence} из 10; source/SLAM и общий clock продолжаются.`
|
||||
: `TGS anchor ${selectedTgsCase.sourceSequence} старше доказанного окна 1 с; слой скрыт, playback продолжается.`)}
|
||||
</div>
|
||||
) : null}
|
||||
</>
|
||||
@@ -597,12 +499,12 @@ function FullRouteReviewEvidence({
|
||||
</div>
|
||||
<div>
|
||||
<span>Spatial evidence</span>
|
||||
<strong>{showTgs && selectedTgsCase
|
||||
<strong>{showTgs && selectedTgsCase && tgsWithinEvidenceWindow
|
||||
? `TGS anchor ${selectedTgsCase.sourceSequence} · ${selectedTgsCase.tgs.occupiedCells} occupied`
|
||||
: "source RRD · points + SLAM"}</strong>
|
||||
: "source RRD · points + bounded Local SLAM"}</strong>
|
||||
<small>{showTgs
|
||||
? "latest causal of 10 sealed anchors · continuous playback retained"
|
||||
: "causal 1 s view · grayscale intensity · recorded source identity"}</small>
|
||||
? "TGS visible only inside sealed 1 s evidence window · playback retained"
|
||||
: "5 s bounded Local SLAM · ground-rebased recorded source"}</small>
|
||||
</div>
|
||||
</div>
|
||||
);
|
||||
@@ -673,7 +575,7 @@ function FullRouteReviewResult({
|
||||
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."
|
||||
description="Общий recorded-LAB шаблон воспроизводит запись с травой и оврагами: RIGHT camera, исходное облако, ограниченный Local SLAM, два независимых semantic-слоя и десять реально просчитанных TGS-якорей."
|
||||
status="FULL RECORDED REVIEW · truth отсутствует · commands OFF"
|
||||
statusTone="warning"
|
||||
facts={[
|
||||
@@ -686,7 +588,7 @@ function FullRouteReviewResult({
|
||||
]}
|
||||
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.",
|
||||
approach: "Одна recorded timeline открывается общим LAB viewer. Camera и RRD синхронизированы; EoMT/DDRNet переключаются на камере, source points и 5-секундный Local SLAM — в 3D, TGS — только в доказанном окне десяти запечатанных якорей.",
|
||||
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.",
|
||||
}}
|
||||
@@ -695,7 +597,7 @@ function FullRouteReviewResult({
|
||||
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: "algorithm", name: "Recorded source points + bounded Local SLAM", version: "source-paced-ground-v2", 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 },
|
||||
@@ -725,7 +627,7 @@ function FullRouteReviewResult({
|
||||
{ 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.",
|
||||
proved: "Полный RAV004 открывается в каноническом recorded viewer с camera, source points, bounded Local SLAM, 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.",
|
||||
}}
|
||||
|
||||
@@ -0,0 +1,78 @@
|
||||
import assert from "node:assert/strict";
|
||||
import { readFile } from "node:fs/promises";
|
||||
import { after, before, test } from "node:test";
|
||||
|
||||
import { createServer } from "vite";
|
||||
|
||||
let server;
|
||||
let canonicalMapGravityLocalPointToBodyGround;
|
||||
let canonicalRecordedLabPackedTgsCells;
|
||||
let canonicalRecordedLabTgsIsCurrent;
|
||||
|
||||
before(async () => {
|
||||
server = await createServer({
|
||||
appType: "custom",
|
||||
logLevel: "silent",
|
||||
server: { middlewareMode: true },
|
||||
});
|
||||
({
|
||||
canonicalMapGravityLocalPointToBodyGround,
|
||||
canonicalRecordedLabPackedTgsCells,
|
||||
canonicalRecordedLabTgsIsCurrent,
|
||||
} = await server.ssrLoadModule("/src/core/laboratory/canonicalRecordedLab.ts"));
|
||||
});
|
||||
|
||||
after(async () => {
|
||||
await server?.close();
|
||||
});
|
||||
|
||||
const identity = [
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, 1],
|
||||
];
|
||||
|
||||
test("canonical TGS validity never retains a sparse anchor beyond its sealed history", () => {
|
||||
assert.equal(canonicalRecordedLabTgsIsCurrent(2_000_000_000, 1_000_000_000), true);
|
||||
assert.equal(canonicalRecordedLabTgsIsCurrent(2_000_000_001, 1_000_000_000), false);
|
||||
assert.equal(canonicalRecordedLabTgsIsCurrent(999_999_999, 1_000_000_000), false);
|
||||
});
|
||||
|
||||
test("map-gravity-local TGS uses sensor translation and current ground body exactly once", () => {
|
||||
const anchor = {
|
||||
originMapXyzM: [10, 20, 0.68],
|
||||
sensorOriginMapXyzM: [10, 20, 1],
|
||||
basisMapFromBody: identity,
|
||||
};
|
||||
const current = {
|
||||
originMapXyzM: [8, 20, 0],
|
||||
sensorOriginMapXyzM: [8, 20, 0.32],
|
||||
basisMapFromBody: identity,
|
||||
};
|
||||
assert.deepEqual(
|
||||
canonicalMapGravityLocalPointToBodyGround([1, 2, -1], anchor, current),
|
||||
[3, 2, 0],
|
||||
);
|
||||
const packed = canonicalRecordedLabPackedTgsCells({
|
||||
centersXyM: [[1, 2]],
|
||||
stateCodes: [2],
|
||||
zBoundsM: [[-1, 0]],
|
||||
}, anchor, current);
|
||||
assert.deepEqual([...packed.centersBodyXyM], [3, 2]);
|
||||
assert.deepEqual([...packed.zBoundsM], [0, 1]);
|
||||
assert.deepEqual([...packed.stateCodes], [2]);
|
||||
});
|
||||
|
||||
test("recorded LAB spatial loading is shared, profile-bound and experiment-neutral", async () => {
|
||||
const [contract, scheduler, vegetation] = await Promise.all([
|
||||
readFile(new URL("../src/core/laboratory/canonicalRecordedLabSpatial.ts", import.meta.url), "utf8"),
|
||||
readFile(new URL("../src/components/laboratory/useCanonicalRecordedLabSpatialFrame.ts", import.meta.url), "utf8"),
|
||||
readFile(new URL("../src/core/laboratory/vegetationShadow.ts", import.meta.url), "utf8"),
|
||||
]);
|
||||
assert.match(contract, /CANONICAL_RECORDED_LAB_SPATIAL_PROFILE/);
|
||||
assert.match(contract, /profile: CANONICAL_RECORDED_LAB_SPATIAL_PROFILE/);
|
||||
assert.match(scheduler, /Shared latest-request-wins scheduler/);
|
||||
assert.match(scheduler, /identityRef\.current !== requestIdentity/);
|
||||
assert.doesNotMatch(scheduler, /RAVNOVES|vegetation|DDRNet/);
|
||||
assert.doesNotMatch(vegetation, /fetchCanonicalRecordedLabSpatialFrame|CanonicalRecordedLabSpatialFrame/);
|
||||
});
|
||||
@@ -19,13 +19,15 @@ before(async () => {
|
||||
});
|
||||
({
|
||||
fetchVegetationBenchmarkResult,
|
||||
fetchCanonicalRecordedLabSpatialFrame,
|
||||
fetchVegetationShadowResult,
|
||||
fetchVegetationRouteTgsAnchor,
|
||||
vegetationFullRouteMaskUrl,
|
||||
} = await server.ssrLoadModule(
|
||||
"/src/core/laboratory/vegetationShadow.ts",
|
||||
));
|
||||
({ fetchCanonicalRecordedLabSpatialFrame } = await server.ssrLoadModule(
|
||||
"/src/core/laboratory/canonicalRecordedLabSpatial.ts",
|
||||
));
|
||||
});
|
||||
|
||||
after(async () => {
|
||||
@@ -405,16 +407,35 @@ test("canonical recorded LAB spatial frame keeps source, SLAM and body identity
|
||||
fetcher: async (url) => {
|
||||
requestedUrl = String(url);
|
||||
return new Response(JSON.stringify({
|
||||
schema_version: "missioncore.canonical-recorded-lab-spatial-frame/v1",
|
||||
schema_version: "missioncore.canonical-recorded-lab-spatial-frame/v2",
|
||||
target_time_ns: 82_770_000_000,
|
||||
source_time_ns: 82_769_535_708,
|
||||
pose_time_ns: 82_769_535_708,
|
||||
trajectory_time_ns: 82_700_000_000,
|
||||
coordinate_frame: "body-ground",
|
||||
sensor_height: {
|
||||
meters: 0.32,
|
||||
source: "initial-source-cloud-lower-quantile-median",
|
||||
sample_count: 20,
|
||||
mad_m: 0.03,
|
||||
authority: "visual-derived",
|
||||
},
|
||||
spatial_profile: {
|
||||
profile_id: "source-paced-ground-v2",
|
||||
local_slam_history_seconds: 5,
|
||||
local_slam_radius_m: 30,
|
||||
local_slam_voxel_size_m: 0.12,
|
||||
local_slam_point_limit: 27000,
|
||||
},
|
||||
source_point_count: 2,
|
||||
source_points_body_xyz_m: [[1, 2, 3], [4, 5, 6]],
|
||||
local_slam_source_frame_count: 2,
|
||||
local_slam_source_point_count: 4,
|
||||
local_slam_point_count: 2,
|
||||
local_slam_body_xyz_m: [[0, 0, 0], [1, 0, 0]],
|
||||
body_frame: {
|
||||
origin_map_xyz_m: [33, 4, 1],
|
||||
sensor_origin_map_xyz_m: [33, 4, 1.32],
|
||||
basis_map_from_body: [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
|
||||
},
|
||||
}), { status: 200, headers: { "Content-Type": "application/json" } });
|
||||
@@ -422,10 +443,11 @@ test("canonical recorded LAB spatial frame keeps source, SLAM and body identity
|
||||
});
|
||||
assert.equal(
|
||||
requestedUrl,
|
||||
`/api/v1/observation-sessions/session-004/canonical-lab/spatial-frame?generation=${generation}&time_ns=82770000000`,
|
||||
`/api/v1/observation-sessions/session-004/canonical-lab/spatial-frame?generation=${generation}&time_ns=82770000000&profile=source-paced-ground-v2`,
|
||||
);
|
||||
assert.equal(frame.sourcePointCount, 2);
|
||||
assert.equal(frame.localSlamBodyXyzM.length, 2);
|
||||
assert.equal(frame.sensorHeight.meters, 0.32);
|
||||
assert.deepEqual(frame.bodyFrame.originMapXyzM, [33, 4, 1]);
|
||||
});
|
||||
|
||||
@@ -461,11 +483,13 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr
|
||||
assert.match(resultSource, /RecordedEvidenceVideoScene/);
|
||||
assert.match(resultSource, /LaboratoryMetricEvidenceScene/);
|
||||
assert.doesNotMatch(resultSource, /RerunViewport/);
|
||||
assert.match(resultSource, /fetchCanonicalRecordedLabSpatialFrame/);
|
||||
assert.match(resultSource, /useCanonicalRecordedLabSpatialFrame/);
|
||||
assert.doesNotMatch(resultSource, /cacheRef|pumpRef|desiredRef/);
|
||||
assert.match(resultSource, /useCanonicalRecordedLabReplayState/);
|
||||
assert.match(resultSource, /playbackTransport="epoch-stream"/);
|
||||
assert.match(resultSource, /causalTgsCase/);
|
||||
assert.match(resultSource, /latest causal of 10 sealed anchors/);
|
||||
assert.match(resultSource, /TGS visible only inside sealed 1 s evidence window/);
|
||||
assert.match(resultSource, /canonicalRecordedLabPackedTgsCells/);
|
||||
assert.doesNotMatch(resultSource, /LaboratoryRecordedClipPlayer|M48EvidenceModeRail/);
|
||||
assert.doesNotMatch(resultSource, /assets\.tgs|<img/);
|
||||
assert.match(resultSource, /SOURCE POINTS/);
|
||||
|
||||
Reference in New Issue
Block a user