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refactor(lab): canonicalize recorded spatial replay

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DCCONSTRUCTIONS
2026-08-29 23:38:17 +03:00
parent bd2892140f
commit 74da6437e9
12 changed files with 919 additions and 293 deletions
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apps/control-station/test/vegetationShadow.test.mjs
+29 -5
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@@ -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/);