feat(lab): seal full RAVNOVES004TREE semantic review

experiments/perception/worker/Invoke-E4FullSessionSegmentation.ps1

@@ -187,12 +187,15 @@ Write-Output "PHASE=e4-preflight-complete"
 $runToken = [Guid]::NewGuid().ToString("N")
 $workRoot = Join-Path $tmpRoot ("{0}-e4-{1}" -f $job.job_id, $runToken)
 $framesRoot = Join-Path $workRoot "frames"
+$decodedFramesRoot = Join-Path $workRoot "decoded-by-pts"
 $streamPath = Join-Path $workRoot "camera.mp4"
-$ptsPath = Join-Path $workRoot "pts.json"
+$packetsPath = Join-Path $workRoot "packets.csv"
+$decodeRepairPath = Join-Path $workRoot "decode-repair.json"
 $timelinePath = Join-Path $workRoot "timeline.jsonl"
 $publishRoot = Join-Path $derivedRoot (".{0}-e4-{1}.publish" -f $job.job_id, $runToken)
 $stagingRoot = Join-Path $publishRoot "output"
 $null = New-Item -ItemType Directory -Path $framesRoot
+$null = New-Item -ItemType Directory -Path $decodedFramesRoot
 $null = New-Item -ItemType Directory -Path $publishRoot
 $totalWatch = [Diagnostics.Stopwatch]::StartNew()
 $completed = $false
@@ -230,29 +233,69 @@ try {
 
     $extractWatch = [Diagnostics.Stopwatch]::StartNew()
     Write-Output "PHASE=e4-frame-extraction-start"
-    & ffmpeg -hide_banner -loglevel fatal -i $streamPath -map 0:v:0 -fps_mode passthrough -frames:v $activeFrameCount (Join-Path $framesRoot "frame-%06d.png")
+    & ffprobe -v error -select_streams v:0 -show_packets -show_entries packet=pts,flags -of csv=p=0 -o $packetsPath $streamPath
+    Assert-LastExitCode "LAB E4 packet timestamp probe"
+    $packetRows = @(Get-Content -LiteralPath $packetsPath | Select-Object -First $activeFrameCount)
+    if ($packetRows.Count -ne $activeFrameCount) {
+        throw "LAB E4 packet count differs from the requested camera epoch"
+    }
+
+    & ffmpeg -hide_banner -loglevel error `
+        -hwaccel cuda -hwaccel_output_format cuda -c:v h264_cuvid `
+        -err_detect ignore_err -flags +output_corrupt -copyts `
+        -i $streamPath -map 0:v:0 -vf "hwdownload,format=nv12" `
+        -fps_mode passthrough -enc_time_base demux -frames:v $activeFrameCount `
+        -frame_pts 1 (Join-Path $decodedFramesRoot "frame-%d.png")
     Assert-LastExitCode "LAB E4 camera extraction"
-    & ffprobe -v error -select_streams v:0 -show_entries frame=best_effort_timestamp_time -of json $streamPath | Set-Content -LiteralPath $ptsPath -Encoding utf8
-    Assert-LastExitCode "LAB E4 camera timestamp probe"
+
+    $decodedCount = @(Get-ChildItem -LiteralPath $decodedFramesRoot -File -Filter "frame-*.png").Count
+    $repairs = @()
+    $packetPts = @()
+    for ($index = 0; $index -lt $activeFrameCount; $index++) {
+        $columns = ([string]$packetRows[$index]).Split(",")
+        if ($columns.Count -lt 2) {
+            throw "LAB E4 packet timestamp row is malformed"
+        }
+        $pts = [int64]::Parse($columns[0].Trim(), [Globalization.CultureInfo]::InvariantCulture)
+        $packetPts += $pts
+        $decodedPath = Join-Path $decodedFramesRoot ("frame-{0}.png" -f $pts)
+        $canonicalPath = Join-Path $framesRoot ("frame-{0:D6}.png" -f ($index + 1))
+        if (Test-Path -LiteralPath $decodedPath -PathType Leaf) {
+            Move-Item -LiteralPath $decodedPath -Destination $canonicalPath
+            continue
+        }
+        if ($index -eq 0 -or $repairs.Count -ge 1) {
+            throw "LAB E4 source contains more than one recoverable decoder gap"
+        }
+        $previousPath = Join-Path $framesRoot ("frame-{0:D6}.png" -f $index)
+        Copy-Item -LiteralPath $previousPath -Destination $canonicalPath
+        $repairs += [ordered]@{
+            sequence = $index + 1
+            packet_pts = $pts
+            method = "duplicate-previous-decoded-frame"
+        }
+    }
 
     $decodedFrames = @(Get-ChildItem -LiteralPath $framesRoot -File -Filter "frame-*.png")
-    $ptsDocument = Get-Content -LiteralPath $ptsPath -Raw | ConvertFrom-Json
-    $pts = @($ptsDocument.frames)
-    if ($decodedFrames.Count -ne $activeFrameCount -or $pts.Count -lt $activeFrameCount) {
+    if ($decodedFrames.Count -ne $activeFrameCount) {
         throw "Decoded LAB E4 frame count differs from the requested camera epoch"
     }
-    $firstEpochSeconds = [double]::Parse(
-        ([string]$pts[0].best_effort_timestamp_time).Trim(),
-        [Globalization.CultureInfo]::InvariantCulture
-    )
+    $decodeRepair = [ordered]@{
+        schema_version = "missioncore.recorded-video-decode-repair/v1"
+        decoder = "ffmpeg-h264_cuvid-output-corrupt"
+        packets_requested = $activeFrameCount
+        frames_decoded = $decodedCount
+        repaired_frame_count = $repairs.Count
+        repairs = $repairs
+    }
+    $decodeRepair | ConvertTo-Json -Depth 8 | Set-Content -LiteralPath $decodeRepairPath -Encoding utf8
+
+    $firstPacketPts = [int64]$packetPts[0]
     $previousEpochSeconds = -1.0
     $timelineWriter = [IO.StreamWriter]::new($timelinePath, $false, [Text.UTF8Encoding]::new($false))
     try {
         for ($index = 0; $index -lt $activeFrameCount; $index++) {
-            $epochSeconds = [double]::Parse(
-                ([string]$pts[$index].best_effort_timestamp_time).Trim(),
-                [Globalization.CultureInfo]::InvariantCulture
-            ) - $firstEpochSeconds
+            $epochSeconds = ([int64]$packetPts[$index] - $firstPacketPts) / 90000.0
             if ($epochSeconds -le $previousEpochSeconds -or $epochSeconds -gt ($timelineDuration + 0.001)) {
                 throw "Decoded LAB E4 timestamps are not strictly monotonic inside the camera timeline"
             }
@@ -313,6 +356,7 @@ try {
     Write-Output ("PHASE=e4-inference-start FRAMES={0}" -f $activeFrameCount)
     & docker @runArgs
     Assert-LastExitCode "LAB E4 semantic inference"
+    Copy-Item -LiteralPath $decodeRepairPath -Destination (Join-Path $stagingRoot "decode-repair.json")
     $freeBytesPostInference = Assert-FreeSpace "post-inference"
     Write-Output "PHASE=e4-inference-complete"