feat: explain local surface residuals

apps/control-station/src/core/lidar/localSurface.ts

@@ -118,6 +118,7 @@ export interface LidarLocalSurfaceFrame {
   };
   surface: {
     planeCoefficientsMap: [number, number, number, number];
+    localRadiusM: number;
     sensorHeightM: number;
     slopeDeg: number;
     roughnessM: number;
@@ -140,6 +141,19 @@ export interface LidarLocalSurfaceFrame {
     residualP50M: number;
     residualP95M: number;
     inlierFraction: number;
+    evidence: {
+      available: boolean;
+      basis: "current-lower-cell-observations";
+      coordinateFrame: "map";
+      distanceUnit: "m";
+      currentFrameExcludedFromPlane: true;
+      surfaceInlierBandM: number;
+      priorPlaneCoefficientsMap: [number, number, number, number];
+      cellPointsXyzM: Array<[number, number, number]>;
+      cellSignedResidualM: number[];
+      cellInlier: number[];
+      groundTruth: false;
+    };
   };
   temporal: {
     compared: boolean;
@@ -670,7 +684,7 @@ export function parseLidarLocalSurfaceFrame(
 ): LidarLocalSurfaceFrame {
   const source = record(value, "LiDAR local-surface frame");
   if (
-    source.schema_version !== `${LOCAL_SURFACE_SCHEMA_PREFIX}-frame/v1`
+    source.schema_version !== `${LOCAL_SURFACE_SCHEMA_PREFIX}-frame/v2`
     || source.access !== "read-only"
     || source.ground_truth !== false
     || source.coordinate_frame !== "map"
@@ -731,6 +745,7 @@ export function parseLidarLocalSurfaceFrame(
   const pose = record(source.pose, "pose");
   const surface = record(source.surface, "surface");
   const prediction = record(source.prediction, "prediction");
+  const evidence = record(prediction.evidence, "prediction.evidence");
   const temporal = record(source.temporal, "temporal");
   const counts = record(source.counts, "counts");
   const parsedCounts = {
@@ -764,6 +779,12 @@ export function parseLidarLocalSurfaceFrame(
     4,
     "surface.plane_coefficients_map",
   );
+  const localRadiusM = finite(surface.local_radius_m, "surface.local_radius_m");
+  if (localRadiusM <= 0) {
+    throw new LidarLocalSurfaceContractError(
+      "Local-surface radius несовместим",
+    );
+  }
   if (prediction.current_frame_excluded !== true) {
     throw new LidarLocalSurfaceContractError(
       "Текущий кадр попал в prediction input",
@@ -778,6 +799,82 @@ export function parseLidarLocalSurfaceFrame(
       "Prediction inlier fraction несовместим",
     );
   }
+  if (
+    evidence.basis !== "current-lower-cell-observations"
+    || evidence.coordinate_frame !== "map"
+    || evidence.distance_unit !== "m"
+    || evidence.current_frame_excluded_from_plane !== true
+    || evidence.ground_truth !== false
+  ) {
+    throw new LidarLocalSurfaceContractError(
+      "Prediction evidence несовместим",
+    );
+  }
+  const evidenceAvailable = boolean(evidence.available, "evidence.available");
+  const surfaceInlierBandM = finite(
+    evidence.surface_inlier_band_m,
+    "evidence.surface_inlier_band_m",
+  );
+  if (surfaceInlierBandM <= 0) {
+    throw new LidarLocalSurfaceContractError(
+      "Prediction evidence band несовместим",
+    );
+  }
+  const priorPlane = tuple(
+    evidence.prior_plane_coefficients_map,
+    4,
+    "evidence.prior_plane_coefficients_map",
+  );
+  const evidencePoints = array(
+    evidence.cell_points_xyz_m,
+    "evidence.cell_points_xyz_m",
+  ).map((item, index): [number, number, number] => {
+    const values = tuple(item, 3, `evidence.cell_points_xyz_m[${index}]`);
+    return [values[0], values[1], values[2]];
+  });
+  const evidenceResiduals = array(
+    evidence.cell_signed_residual_m,
+    "evidence.cell_signed_residual_m",
+  ).map((item, index) => finite(
+    item,
+    `evidence.cell_signed_residual_m[${index}]`,
+  ));
+  const evidenceInlier = array(
+    evidence.cell_inlier,
+    "evidence.cell_inlier",
+  ).map((item, index) => {
+    const parsed = integer(item, `evidence.cell_inlier[${index}]`);
+    if (parsed > 1) {
+      throw new LidarLocalSurfaceContractError(
+        "Prediction evidence mask несовместим",
+      );
+    }
+    return parsed;
+  });
+  if (
+    evidencePoints.length !== evidenceResiduals.length
+    || evidencePoints.length !== evidenceInlier.length
+    || evidenceInlier.some(
+      (item, index) =>
+        item !== (Math.abs(evidenceResiduals[index]) <= surfaceInlierBandM ? 1 : 0),
+    )
+    || (
+      evidenceAvailable
+        ? !boolean(prediction.available, "prediction.available")
+          || evidencePoints.length !== integer(
+            prediction.cell_count,
+            "prediction.cell_count",
+          )
+        : evidencePoints.length !== 0
+          || evidenceResiduals.length !== 0
+          || evidenceInlier.length !== 0
+          || priorPlane.some((value) => value !== 0)
+    )
+  ) {
+    throw new LidarLocalSurfaceContractError(
+      "Prediction evidence arrays расходятся",
+    );
+  }
   return {
     modelId: text(source.model_id, "model_id", SAFE_MODEL_ID),
     sourcePackId: text(source.source_pack_id, "source_pack_id", SAFE_PACK_ID),
@@ -808,6 +905,7 @@ export function parseLidarLocalSurfaceFrame(
     },
     surface: {
       planeCoefficientsMap: [plane[0], plane[1], plane[2], plane[3]],
+      localRadiusM,
       sensorHeightM: finite(surface.sensor_height_m, "surface.sensor_height_m"),
       slopeDeg: finite(surface.slope_deg, "surface.slope_deg"),
       roughnessM: finite(surface.roughness_m, "surface.roughness_m"),
@@ -836,6 +934,24 @@ export function parseLidarLocalSurfaceFrame(
         "prediction.residual_p95_m",
       ),
       inlierFraction: predictionInlierFraction,
+      evidence: {
+        available: evidenceAvailable,
+        basis: "current-lower-cell-observations",
+        coordinateFrame: "map",
+        distanceUnit: "m",
+        currentFrameExcludedFromPlane: true,
+        surfaceInlierBandM,
+        priorPlaneCoefficientsMap: [
+          priorPlane[0],
+          priorPlane[1],
+          priorPlane[2],
+          priorPlane[3],
+        ],
+        cellPointsXyzM: evidencePoints,
+        cellSignedResidualM: evidenceResiduals,
+        cellInlier: evidenceInlier,
+        groundTruth: false,
+      },
     },
     temporal: {
       compared: boolean(temporal.compared, "temporal.compared"),

apps/control-station/src/styles/workspaces.css

@@ -3108,6 +3108,40 @@
   line-height: 1.45;
 }
 
+.lidar-local-surface__view-switch {
+  display: flex;
+  align-items: center;
+  gap: 0.32rem;
+}
+
+.lidar-local-surface__view-switch button {
+  border: 0;
+  border-radius: 999px;
+  background: rgb(255 255 255 / 0.035);
+  color: var(--nodedc-text-muted);
+  padding: 0.38rem 0.58rem;
+  font-size: 0.56rem;
+}
+
+.lidar-local-surface__view-switch button:hover,
+.lidar-local-surface__view-switch button:focus-visible,
+.lidar-local-surface__view-switch button[aria-pressed="true"] {
+  outline: 0;
+  background: rgb(255 255 255 / 0.09);
+  color: var(--nodedc-text-primary);
+}
+
+.lidar-local-surface__view-switch button:disabled {
+  opacity: 0.35;
+  cursor: default;
+}
+
+.lidar-local-surface__view-switch span {
+  margin-left: auto;
+  color: var(--nodedc-text-muted);
+  font-size: 0.56rem;
+}
+
 .lidar-local-surface__stage {
   display: grid;
   overflow: hidden;
@@ -3189,6 +3223,22 @@
   background: #a85061;
 }
 
+.lidar-local-surface__legend i[data-class="residual-inlier"] {
+  background: #9ebd7d;
+}
+
+.lidar-local-surface__legend i[data-class="prior-plane"] {
+  background: rgb(158 189 125 / 0.32);
+}
+
+.lidar-local-surface__legend i[data-class="residual-above"] {
+  background: #f57d3b;
+}
+
+.lidar-local-surface__legend i[data-class="residual-below"] {
+  background: #b85c80;
+}
+
 .lidar-fallback-review {
   display: grid;
   overflow: hidden;

apps/control-station/src/workspaces/LidarGroundPointCloud.tsx

@@ -10,7 +10,8 @@ export type LidarGroundViewMode =
   | "candidate-disagreement"
   | "semantic"
   | "ground-truth"
-  | "local-surface";
+  | "local-surface"
+  | "prediction-residual";
 
 export interface LidarGroundPointCloudFrame {
   pointCount: number;
@@ -29,6 +30,12 @@ export interface LidarGroundPointCloudFrame {
     localSurfaceClass?: number[];
     localStepCandidate?: number[];
   };
+  predictionEvidence?: {
+    pointsXyzM: Array<[number, number, number]>;
+    signedResidualM: number[];
+    inlierBandM: number;
+    priorPlaneCoefficientsMap: [number, number, number, number];
+  };
 }
 
 interface LidarGroundPointCloudProps {
@@ -70,7 +77,9 @@ function frameColors(
     const current = frame.masks.currentGround[index] === 1;
     const candidate = frame.masks.candidateGround[index] === 1;
     const candidateAssigned = frame.masks.candidateAssigned[index] === 1;
-    if (mode === "local-surface") {
+    if (mode === "prediction-residual") {
+      setRgb(colors, offset, 0.22, 0.23, 0.22);
+    } else if (mode === "local-surface") {
       const localClass = frame.masks.localSurfaceClass?.[index] ?? 0;
       const stepCandidate = frame.masks.localStepCandidate?.[index] === 1;
       if (stepCandidate) {
@@ -162,6 +171,24 @@ function frameColors(
   return colors;
 }
 
+function predictionEvidenceColors(
+  signedResidualM: number[],
+  inlierBandM: number,
+): Float32Array {
+  const colors = new Float32Array(signedResidualM.length * 3);
+  signedResidualM.forEach((residual, index) => {
+    const offset = index * 3;
+    if (Math.abs(residual) <= inlierBandM) {
+      setRgb(colors, offset, 0.62, 0.74, 0.49);
+    } else if (residual > 0) {
+      setRgb(colors, offset, 0.96, 0.49, 0.23);
+    } else {
+      setRgb(colors, offset, 0.72, 0.36, 0.5);
+    }
+  });
+  return colors;
+}
+
 export function LidarGroundPointCloud({
   frame,
   mode,
@@ -171,6 +198,12 @@ export function LidarGroundPointCloud({
   const hostRef = useRef<HTMLDivElement | null>(null);
   const geometryRef = useRef<THREE.BufferGeometry | null>(null);
   const materialRef = useRef<THREE.PointsMaterial | null>(null);
+  const evidenceGeometryRef = useRef<THREE.BufferGeometry | null>(null);
+  const evidenceMaterialRef = useRef<THREE.PointsMaterial | null>(null);
+  const evidencePointsRef = useRef<THREE.Points | null>(null);
+  const priorPlaneGeometryRef = useRef<THREE.BufferGeometry | null>(null);
+  const priorPlaneMaterialRef = useRef<THREE.MeshBasicMaterial | null>(null);
+  const priorPlaneMeshRef = useRef<THREE.Mesh | null>(null);
   const cameraRef = useRef<THREE.PerspectiveCamera | null>(null);
   const controlsRef = useRef<OrbitControls | null>(null);
   const fogRef = useRef<THREE.FogExp2 | null>(null);
@@ -238,6 +271,47 @@ export function LidarGroundPointCloud({
     materialRef.current = material;
     scene.add(new THREE.Points(geometry, material));
 
+    const evidenceGeometry = new THREE.BufferGeometry();
+    evidenceGeometryRef.current = evidenceGeometry;
+    const evidenceMaterial = new THREE.PointsMaterial({
+      size: 0.075,
+      sizeAttenuation: true,
+      vertexColors: true,
+      transparent: true,
+      opacity: 1,
+      depthWrite: true,
+      fog: false,
+    });
+    evidenceMaterialRef.current = evidenceMaterial;
+    const evidencePoints = new THREE.Points(
+      evidenceGeometry,
+      evidenceMaterial,
+    );
+    evidencePoints.visible = false;
+    evidencePoints.renderOrder = 1;
+    evidencePointsRef.current = evidencePoints;
+    scene.add(evidencePoints);
+
+    const priorPlaneGeometry = new THREE.BufferGeometry();
+    priorPlaneGeometryRef.current = priorPlaneGeometry;
+    const priorPlaneMaterial = new THREE.MeshBasicMaterial({
+      color: 0x9ebd7d,
+      transparent: true,
+      opacity: 0.18,
+      depthWrite: false,
+      side: THREE.DoubleSide,
+      fog: false,
+    });
+    priorPlaneMaterialRef.current = priorPlaneMaterial;
+    const priorPlaneMesh = new THREE.Mesh(
+      priorPlaneGeometry,
+      priorPlaneMaterial,
+    );
+    priorPlaneMesh.visible = false;
+    priorPlaneMesh.renderOrder = 0;
+    priorPlaneMeshRef.current = priorPlaneMesh;
+    scene.add(priorPlaneMesh);
+
     const grid = new THREE.GridHelper(10, 40, 0x454846, 0x252725);
     gridRef.current = grid;
     const gridMaterials = Array.isArray(grid.material)
@@ -278,6 +352,10 @@ export function LidarGroundPointCloud({
       controls.dispose();
       geometry.dispose();
       material.dispose();
+      evidenceGeometry.dispose();
+      evidenceMaterial.dispose();
+      priorPlaneGeometry.dispose();
+      priorPlaneMaterial.dispose();
       grid.geometry.dispose();
       gridMaterials.forEach((gridMaterial) => gridMaterial.dispose());
       axes.geometry.dispose();
@@ -289,6 +367,12 @@ export function LidarGroundPointCloud({
       renderer.domElement.remove();
       geometryRef.current = null;
       materialRef.current = null;
+      evidenceGeometryRef.current = null;
+      evidenceMaterialRef.current = null;
+      evidencePointsRef.current = null;
+      priorPlaneGeometryRef.current = null;
+      priorPlaneMaterialRef.current = null;
+      priorPlaneMeshRef.current = null;
       cameraRef.current = null;
       controlsRef.current = null;
       fogRef.current = null;
@@ -302,11 +386,24 @@ export function LidarGroundPointCloud({
   useEffect(() => {
     const geometry = geometryRef.current;
     const material = materialRef.current;
+    const evidenceGeometry = evidenceGeometryRef.current;
+    const evidenceMaterial = evidenceMaterialRef.current;
+    const priorPlaneGeometry = priorPlaneGeometryRef.current;
     const camera = cameraRef.current;
     const controls = controlsRef.current;
     const fog = fogRef.current;
     const grid = gridRef.current;
-    if (!geometry || !material || !camera || !controls || !fog || !grid) return;
+    if (
+      !geometry
+      || !material
+      || !evidenceGeometry
+      || !evidenceMaterial
+      || !priorPlaneGeometry
+      || !camera
+      || !controls
+      || !fog
+      || !grid
+    ) return;
 
     const positions = new Float32Array(frame.pointCount * 3);
     const sampleStep = Math.max(1, Math.floor(frame.pointCount / 5_000));
@@ -341,6 +438,62 @@ export function LidarGroundPointCloud({
     });
     geometry.setAttribute("position", new THREE.BufferAttribute(positions, 3));
     geometry.computeBoundingSphere();
+    const evidencePositions = new Float32Array(
+      (frame.predictionEvidence?.pointsXyzM.length ?? 0) * 3,
+    );
+    frame.predictionEvidence?.pointsXyzM.forEach(([x, y, z], index) => {
+      const offset = index * 3;
+      evidencePositions[offset] = x - centerX;
+      evidencePositions[offset + 1] = coordinateFrame === "sensor-fixed"
+        ? z + sensorHeightM
+        : z - minimumZ;
+      evidencePositions[offset + 2] = -(y - centerY);
+    });
+    evidenceGeometry.setAttribute(
+      "position",
+      new THREE.BufferAttribute(evidencePositions, 3),
+    );
+    evidenceGeometry.computeBoundingSphere();
+    const evidence = frame.predictionEvidence;
+    const [planeA, planeB, planeC, planeD] = (
+      evidence?.priorPlaneCoefficientsMap ?? [0, 0, 0, 0]
+    );
+    if (evidence && Math.abs(planeC) > 1e-6 && evidence.pointsXyzM.length) {
+      const evidenceX = evidence.pointsXyzM.map((point) => point[0]);
+      const evidenceY = evidence.pointsXyzM.map((point) => point[1]);
+      const planeMinimumX = percentile(evidenceX, 0.02);
+      const planeMaximumX = percentile(evidenceX, 0.98);
+      const planeMinimumY = percentile(evidenceY, 0.02);
+      const planeMaximumY = percentile(evidenceY, 0.98);
+      const corners: Array<[number, number]> = [
+        [planeMinimumX, planeMinimumY],
+        [planeMaximumX, planeMinimumY],
+        [planeMinimumX, planeMaximumY],
+        [planeMaximumX, planeMaximumY],
+      ];
+      const planePositions = new Float32Array(12);
+      corners.forEach(([x, y], index) => {
+        const z = -(planeA * x + planeB * y + planeD) / planeC;
+        const offset = index * 3;
+        planePositions[offset] = x - centerX;
+        planePositions[offset + 1] = coordinateFrame === "sensor-fixed"
+          ? z + sensorHeightM
+          : z - minimumZ;
+        planePositions[offset + 2] = -(y - centerY);
+      });
+      priorPlaneGeometry.setAttribute(
+        "position",
+        new THREE.BufferAttribute(planePositions, 3),
+      );
+      priorPlaneGeometry.setIndex([0, 1, 2, 2, 1, 3]);
+      priorPlaneGeometry.computeVertexNormals();
+    } else {
+      priorPlaneGeometry.setAttribute(
+        "position",
+        new THREE.BufferAttribute(new Float32Array(0), 3),
+      );
+      priorPlaneGeometry.setIndex([]);
+    }
     const radius = Math.max(
       Math.hypot(
         (maximumX - minimumX) / 2,
@@ -351,12 +504,25 @@ export function LidarGroundPointCloud({
     );
     viewRadiusRef.current = radius;
     material.size = THREE.MathUtils.clamp(radius / 155, 0.014, 0.075);
+    evidenceMaterial.size = THREE.MathUtils.clamp(
+      radius / 45,
+      0.08,
+      0.28,
+    );
     fog.density = THREE.MathUtils.clamp(0.18 / radius, 0.0008, 0.035);
     grid.scale.setScalar(Math.max(radius / 5, 0.25));
 
-    const targetHeight = coordinateFrame === "sensor-fixed"
-      ? Math.max(sensorHeightM * 0.35, 0.35)
-      : Math.max((maximumZ - minimumZ) * 0.42, 0.15);
+    const evidenceHeight = frame.predictionEvidence?.pointsXyzM.length
+      ? percentile(
+        frame.predictionEvidence.pointsXyzM.map((point) => point[2]),
+        0.5,
+      ) - minimumZ
+      : 0;
+    const targetHeight = mode === "prediction-residual"
+      ? Math.max(evidenceHeight + 0.45, 0.35)
+      : coordinateFrame === "sensor-fixed"
+        ? Math.max(sensorHeightM * 0.35, 0.35)
+        : Math.max((maximumZ - minimumZ) * 0.42, 0.15);
     const distance = Math.max(radius * 1.15, 0.9);
     viewTargetHeightRef.current = targetHeight;
     camera.near = Math.max(distance / 1_000, 0.005);
@@ -368,16 +534,42 @@ export function LidarGroundPointCloud({
       viewInitializedRef.current = true;
     }
     controls.update();
-  }, [coordinateFrame, frame, sensorHeightM]);
+  }, [coordinateFrame, frame, mode, sensorHeightM]);
 
   useEffect(() => {
     const geometry = geometryRef.current;
-    if (!geometry) return;
+    const material = materialRef.current;
+    const evidenceGeometry = evidenceGeometryRef.current;
+    const evidencePoints = evidencePointsRef.current;
+    const priorPlaneMesh = priorPlaneMeshRef.current;
+    if (
+      !geometry
+      || !material
+      || !evidenceGeometry
+      || !evidencePoints
+      || !priorPlaneMesh
+    ) return;
     geometry.setAttribute(
       "color",
       new THREE.BufferAttribute(frameColors(frame, mode), 3),
     );
     geometry.attributes.color.needsUpdate = true;
+    material.opacity = mode === "prediction-residual" ? 0.18 : 0.96;
+    const evidence = frame.predictionEvidence;
+    evidencePoints.visible = mode === "prediction-residual"
+      && Boolean(evidence?.pointsXyzM.length);
+    priorPlaneMesh.visible = evidencePoints.visible;
+    const evidenceColors = evidence
+      ? predictionEvidenceColors(
+        evidence.signedResidualM,
+        evidence.inlierBandM,
+      )
+      : new Float32Array(0);
+    evidenceGeometry.setAttribute(
+      "color",
+      new THREE.BufferAttribute(evidenceColors, 3),
+    );
+    evidenceGeometry.attributes.color.needsUpdate = true;
   }, [frame, mode]);
 
   const resetCamera = () => {

apps/control-station/src/workspaces/LidarLocalSurfacePanel.tsx

@@ -42,6 +42,9 @@ export function LidarLocalSurfacePanel({
   const [selectedFrameIndex, setSelectedFrameIndex] = useState<number | null>(
     null,
   );
+  const [surfaceView, setSurfaceView] = useState<
+    "local-surface" | "prediction-residual"
+  >("local-surface");
   const [loading, setLoading] = useState(true);
   const [error, setError] = useState<string | null>(null);
 
@@ -143,10 +146,17 @@ export function LidarLocalSurfacePanel({
 
   const cloudFrame = useMemo(() => {
     if (!frame) return null;
-    const emptyMask = new Array<number>(frame.pointCount).fill(0);
+    const [poseX, poseY] = frame.pose.positionXyzM;
+    const radiusSquared = frame.surface.localRadiusM ** 2;
+    const selectedIndices = frame.pointsXyzM.flatMap(([x, y], index) =>
+      (x - poseX) ** 2 + (y - poseY) ** 2 <= radiusSquared
+        ? [index]
+        : [],
+    );
+    const emptyMask = new Array<number>(selectedIndices.length).fill(0);
     return {
-      pointCount: frame.pointCount,
-      pointsXyzM: frame.pointsXyzM,
+      pointCount: selectedIndices.length,
+      pointsXyzM: selectedIndices.map((index) => frame.pointsXyzM[index]),
       intensity0To255: null,
       masks: {
         currentGround: emptyMask,
@@ -154,9 +164,22 @@ export function LidarLocalSurfacePanel({
         candidateGround: emptyMask,
         candidateAssigned: emptyMask,
         disagreement: emptyMask,
-        localSurfaceClass: frame.pointClass,
-        localStepCandidate: frame.pointStepCandidate,
+        localSurfaceClass: selectedIndices.map(
+          (index) => frame.pointClass[index],
+        ),
+        localStepCandidate: selectedIndices.map(
+          (index) => frame.pointStepCandidate[index],
+        ),
       },
+      predictionEvidence: frame.prediction.evidence.available
+        ? {
+            pointsXyzM: frame.prediction.evidence.cellPointsXyzM,
+            signedResidualM: frame.prediction.evidence.cellSignedResidualM,
+            inlierBandM: frame.prediction.evidence.surfaceInlierBandM,
+            priorPlaneCoefficientsMap:
+              frame.prediction.evidence.priorPlaneCoefficientsMap,
+          }
+        : undefined,
     };
   }, [frame]);
   const selectedReviewItem = useMemo(
@@ -165,6 +188,16 @@ export function LidarLocalSurfacePanel({
     ) ?? null,
     [review, selectedFrameIndex],
   );
+  useEffect(() => {
+    const hasPredictionReason = selectedReviewItem?.reasons.some(
+      (reason) => reason.startsWith("prediction-"),
+    );
+    setSurfaceView(
+      hasPredictionReason && frame?.prediction.evidence.available
+        ? "prediction-residual"
+        : "local-surface",
+    );
+  }, [frame?.prediction.evidence.available, selectedReviewItem]);
 
   if (!model && !loading && !error) {
     return null;
@@ -266,9 +299,38 @@ export function LidarLocalSurfacePanel({
         </>
       ) : null}
 
+      {frame ? (
+        <div
+          className="lidar-local-surface__view-switch"
+          role="group"
+          aria-label="Режим локальной поверхности"
+        >
+          <button
+            type="button"
+            aria-pressed={surfaceView === "local-surface"}
+            onClick={() => setSurfaceView("local-surface")}
+          >
+            Классы поверхности
+          </button>
+          <button
+            type="button"
+            aria-pressed={surfaceView === "prediction-residual"}
+            disabled={!frame.prediction.evidence.available}
+            onClick={() => setSurfaceView("prediction-residual")}
+          >
+            Residual к prior-plane
+          </button>
+          <span>
+            {frame.prediction.evidence.available
+              ? `${frame.prediction.cellCount.toLocaleString("ru-RU")} проверенных ячеек`
+              : "Для этого кадра нет prior-plane"}
+          </span>
+        </div>
+      ) : null}
+
       <div className="lidar-local-surface__stage">
         {cloudFrame && frame ? (
-          <LidarGroundPointCloud frame={cloudFrame} mode="local-surface" />
+          <LidarGroundPointCloud frame={cloudFrame} mode={surfaceView} />
         ) : (
           <div className="lidar-ground-scene-placeholder">
             <StatusBadge tone={error ? "danger" : "accent"}>
@@ -285,6 +347,10 @@ export function LidarLocalSurfacePanel({
               <small>t = {formatNumber(frame.sessionSeconds)} с</small>
             </div>
             <dl>
+              <div>
+                <dt>Локальный радиус</dt>
+                <dd>{formatNumber(frame.surface.localRadiusM, 1)} м</dd>
+              </div>
               <div>
                 <dt>Высота</dt>
                 <dd>{formatNumber(frame.surface.sensorHeightM)} м</dd>
@@ -333,16 +399,28 @@ export function LidarLocalSurfacePanel({
               </div>
             </dl>
             <div className="lidar-local-surface__legend">
-              <span><i data-class="step" />Перепад / бордюр-кандидат</span>
-              <span><i data-class="surface" />Наблюдаемая поверхность</span>
-              <span><i data-class="occupied" />Выше поверхности</span>
-              <span><i data-class="below" />Нижний выброс</span>
-              <span><i data-class="unknown" />Не классифицировано</span>
+              {surfaceView === "prediction-residual" ? (
+                <>
+                  <span><i data-class="prior-plane" />Prior-plane</span>
+                  <span><i data-class="residual-inlier" />В prior-band</span>
+                  <span><i data-class="residual-above" />Выше prior-plane</span>
+                  <span><i data-class="residual-below" />Ниже prior-plane</span>
+                  <span><i data-class="unknown" />Контекст кадра</span>
+                </>
+              ) : (
+                <>
+                  <span><i data-class="step" />Перепад / бордюр-кандидат</span>
+                  <span><i data-class="surface" />Наблюдаемая поверхность</span>
+                  <span><i data-class="occupied" />Выше поверхности</span>
+                  <span><i data-class="below" />Нижний выброс</span>
+                  <span><i data-class="unknown" />Не классифицировано</span>
+                </>
+              )}
             </div>
             <p>
-              Жёлтый слой — геометрический кандидат, не распознанный бордюр и
-              не ground truth. Пустота остаётся unknown; движение этим слоем
-              не разрешается.
+              {surfaceView === "prediction-residual"
+                ? "Полупрозрачная плоскость построена только по предыдущему TTL-окну. Крупные точки — нижние cell-наблюдения текущего кадра: оранжевое выше, пурпурное ниже; это объяснение residual, не разметка препятствий."
+                : "Жёлтый слой — геометрический кандидат, не распознанный бордюр и не ground truth. Пустота остаётся unknown; движение этим слоем не разрешается."}
             </p>
           </aside>
         ) : null}