feat(lab): visualize semantic SLAM shadow

2026-08-06 11:26:46 +03:00
parent 8eaa3ab497
commit 81ae4425cb
18 changed files with 1747 additions and 42 deletions
@@ -0,0 +1,69 @@
+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+import { test } from "node:test";
+
+const component = (name) => new URL(`../src/components/laboratory/${name}`, import.meta.url);
+
+test("semantic evidence mask is decoded, cached, cancelled and object-contained client-side", async () => {
+  const source = await readFile(component("RecordedEvidenceSemanticMaskOverlay.tsx"), "utf8");
+  assert.match(source, /decodedMaskCache/);
+  assert.match(source, /pendingMaskCache/);
+  assert.match(source, /AbortController/);
+  assert.match(source, /getImageData/);
+  assert.match(source, /8-bit grayscale class-id PNG/);
+  assert.match(source, /ResizeObserver/);
+  assert.match(source, /Math\.min\(width \/ imageWidth, height \/ imageHeight\)/);
+  assert.match(source, /decoded\.key !== expectedKey/);
+  assert.match(source, /mask\?\.key === expectedKey/);
+  assert.match(source, /необъявленный class ID/);
+  assert.match(source, /recorded-evidence-semantic-mask-overlay__error/);
+  assert.match(source, /role="alert"/);
+});
+
+test("shared recorded scenes place optional semantic masks beneath boxes", async () => {
+  const [imageScene, videoScene] = await Promise.all([
+    readFile(component("RecordedEvidenceImageScene.tsx"), "utf8"),
+    readFile(component("RecordedEvidenceVideoScene.tsx"), "utf8"),
+  ]);
+  for (const source of [imageScene, videoScene]) {
+    assert.match(source, /semanticOverlay\?: RecordedEvidenceSemanticOverlay/);
+    assert.ok(
+      source.indexOf("<RecordedEvidenceSemanticMaskOverlay")
+      < source.indexOf("<RecordedEvidenceBoxOverlay"),
+    );
+  }
+});
+
+test("metric evidence keeps missing semantic assignments as context and exposes a taxonomy legend", async () => {
+  const source = await readFile(component("LaboratoryMetricEvidenceScene.tsx"), "utf8");
+  assert.match(source, /pointSemanticClassIds\?: readonly \(number \| null\)\[\]/);
+  assert.match(source, /pointSemanticClassIds\.length === pointCloudBodyXyzM\.length/);
+  assert.match(source, /classId === null \? undefined : colorsByClassId\.get\(classId\)/);
+  assert.match(source, /data-decision="semantic"/);
+  assert.match(source, /recordedEvidenceSemanticCssColor/);
+});
+
+test("semantic point alignment is enforced only when M4 exposes the exact spatial increment", async () => {
+  const source = await readFile(
+    new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url),
+    "utf8",
+  );
+  assert.match(source, /semantic && frame\?\.spatialAvailable && semanticFrame/);
+  assert.match(source, /\|\| !frame\.spatialAvailable\s*\|\| !semanticFrame/);
+  assert.match(source, /semanticFrame\.sourcePointCount !== frame\.pointCloudSourceCount/);
+});
+
+test("M4 mounts semantic mask overlays only for the active VIDEO or CAMERA layer", async () => {
+  const source = await readFile(
+    new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url),
+    "utf8",
+  );
+  assert.match(
+    source,
+    /semanticOverlay=\{mode === "video" \? semanticOverlay : undefined\}/,
+  );
+  assert.match(
+    source,
+    /semanticOverlay=\{mode === "camera" \? semanticOverlay : undefined\}/,
+  );
+});