feat(perception): add mixed-route vegetation review
This commit is contained in:
DCCONSTRUCTIONS
@@ -79,6 +79,33 @@ export interface VegetationRouteVideo {
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validFovMaskSha256: string | null;
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}
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export interface VegetationMixedRouteCase {
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caseId: string;
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phase: "rural" | "transition" | "urban";
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sourceSequence: number;
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sessionSeconds: number;
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assets: Readonly<Record<"source" | "city" | "vegetation" | "tgs", string>>;
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tgs: {
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groundCells: number;
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occupiedCells: number;
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rejectedCells: number;
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unobservedCells: number;
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};
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}
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export interface VegetationMixedRouteReview {
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sourceId: "RAVNOVES004TREE";
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sessionId: string;
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packId: string;
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frameCount: 10;
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models: {
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city: { name: string; inferenceFps: number; endToEndP95Ms: number };
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vegetation: { name: string; latencyP95Ms: number };
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tgs: { name: string; latencyP95Ms: number; cellSizeM: number; radiusM: number };
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};
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cases: readonly VegetationMixedRouteCase[];
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}
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export interface VegetationShadowResult {
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resultId: string;
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createdAtUtc: string;
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@@ -88,6 +115,7 @@ export interface VegetationShadowResult {
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routeCases: readonly VegetationVisualCase[];
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validationCases: readonly VegetationVisualCase[];
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routeVideo: VegetationRouteVideo | null;
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routeReview: VegetationMixedRouteReview | null;
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limitations: readonly string[];
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visualShadowReady: true;
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missionPolicyReadyForConfiguration: true;
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@@ -423,6 +451,100 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
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};
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}
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function mixedRouteReviewValue(
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value: unknown,
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resultId: string,
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endpointRoot: string,
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): VegetationMixedRouteReview | null {
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if (value === null || value === undefined) return null;
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const row = objectValue(value, "vegetation.route_review");
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exact(row.source_id, "RAVNOVES004TREE", "vegetation.route_review.source_id");
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exact(row.frame_count, 10, "vegetation.route_review.frame_count");
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exact(row.ground_truth, false, "vegetation.route_review.ground_truth");
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exact(
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row.selection_policy,
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"same-scene-camera-lidar-aligned-review-islands/v1",
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"vegetation.route_review.selection_policy",
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);
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const packId = textValue(row.pack_id, "vegetation.route_review.pack_id");
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if (!/^mixed-route-review-pack-[a-f0-9]{64}$/.test(packId)) {
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throw new VegetationShadowContractError("vegetation.route_review.pack_id: identity invalid.");
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}
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const models = objectValue(row.models, "vegetation.route_review.models");
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const city = objectValue(models.city, "vegetation.route_review.models.city");
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const vegetation = objectValue(models.vegetation, "vegetation.route_review.models.vegetation");
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const tgsModel = objectValue(models.tgs, "vegetation.route_review.models.tgs");
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exact(city.frames, 10, "vegetation.route_review.models.city.frames");
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exact(vegetation.frames, 10, "vegetation.route_review.models.vegetation.frames");
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exact(tgsModel.frames, 10, "vegetation.route_review.models.tgs.frames");
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const cases = arrayValue(row.cases, "vegetation.route_review.cases").map((raw, index) => {
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const item = objectValue(raw, `vegetation.route_review.cases[${index}]`);
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const caseId = textValue(item.case_id, `vegetation.route_review.cases[${index}].case_id`);
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if (caseId !== `route-${String(index + 1).padStart(2, "0")}`) {
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throw new VegetationShadowContractError("vegetation.route_review.case order changed.");
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}
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const phaseValue = item.phase;
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if (phaseValue !== "rural" && phaseValue !== "transition" && phaseValue !== "urban") {
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throw new VegetationShadowContractError("vegetation.route_review.phase changed.");
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}
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const phase: VegetationMixedRouteCase["phase"] = phaseValue;
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const assets = objectValue(item.assets, `vegetation.route_review.cases[${index}].assets`);
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const projected = Object.fromEntries(["source", "city", "vegetation", "tgs"].map((key) => {
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const descriptor = objectValue(assets[key], `vegetation.route_review.assets.${key}`);
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const path = textValue(descriptor.path, `vegetation.route_review.assets.${key}.path`);
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const digest = textValue(descriptor.sha256, `vegetation.route_review.assets.${key}.sha256`);
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if (!SHA256.test(digest) || !path.startsWith(`route-review/${caseId}/`)) {
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throw new VegetationShadowContractError(`vegetation.route_review.assets.${key}: proof invalid.`);
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}
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return [key, `${endpointRoot}/${encodeURIComponent(resultId)}/assets/${path
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.split("/").map(encodeURIComponent).join("/")}`];
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})) as Record<"source" | "city" | "vegetation" | "tgs", string>;
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const tgs = objectValue(item.tgs, `vegetation.route_review.cases[${index}].tgs`);
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const groundCells = integerValue(tgs.ground_cells, "vegetation.route_review.tgs.ground");
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const occupiedCells = integerValue(tgs.occupied_cells, "vegetation.route_review.tgs.occupied");
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const rejectedCells = integerValue(tgs.rejected_cells, "vegetation.route_review.tgs.rejected");
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const unobservedCells = integerValue(tgs.unobserved_cells, "vegetation.route_review.tgs.unobserved");
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if (groundCells + occupiedCells + rejectedCells + unobservedCells !== 2244) {
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throw new VegetationShadowContractError("vegetation.route_review.tgs cell accounting changed.");
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}
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return {
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caseId,
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phase,
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sourceSequence: integerValue(item.source_sequence, "vegetation.route_review.source_sequence"),
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sessionSeconds: numberValue(item.session_seconds, "vegetation.route_review.session_seconds"),
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assets: projected,
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tgs: { groundCells, occupiedCells, rejectedCells, unobservedCells },
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};
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});
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if (cases.length !== 10) {
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throw new VegetationShadowContractError("vegetation.route_review.cases: expected 10 aligned islands.");
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}
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return {
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sourceId: "RAVNOVES004TREE",
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sessionId: textValue(row.session_id, "vegetation.route_review.session_id"),
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packId,
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frameCount: 10,
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models: {
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city: {
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name: textValue(city.name, "vegetation.route_review.models.city.name"),
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inferenceFps: numberValue(city.inference_fps, "vegetation.route_review.models.city.fps"),
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endToEndP95Ms: numberValue(city.end_to_end_p95_ms, "vegetation.route_review.models.city.p95"),
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},
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vegetation: {
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name: textValue(vegetation.name, "vegetation.route_review.models.vegetation.name"),
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latencyP95Ms: numberValue(vegetation.latency_p95_ms, "vegetation.route_review.models.vegetation.p95"),
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},
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tgs: {
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name: textValue(tgsModel.name, "vegetation.route_review.models.tgs.name"),
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latencyP95Ms: numberValue(tgsModel.latency_p95_ms, "vegetation.route_review.models.tgs.p95"),
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cellSizeM: numberValue(tgsModel.cell_size_m, "vegetation.route_review.models.tgs.cell"),
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radiusM: numberValue(tgsModel.radius_m, "vegetation.route_review.models.tgs.radius"),
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},
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},
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cases,
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};
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}
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function parseResult(
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value: unknown,
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resultId: string,
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@@ -466,7 +588,11 @@ function parseResult(
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.map((item) => visualCaseValue(item, resultId, "ravnoves", endpointRoot));
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const validationCases = arrayValue(catalogs.goose, "vegetation.catalogs.goose")
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.map((item) => visualCaseValue(item, resultId, "goose", endpointRoot));
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if (routeCases.length !== 0 || validationCases.length !== 12) {
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const routeReview = mixedRouteReviewValue(payload.route_review, resultId, endpointRoot);
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if (
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routeCases.length !== 0
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|| (routeReview ? validationCases.length !== 0 : validationCases.length !== 12)
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) {
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throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 truth-backed GOOSE случаев без route viewer.");
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}
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return {
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@@ -478,6 +604,7 @@ function parseResult(
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routeCases,
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validationCases,
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routeVideo: routeVideoValue(payload.route_video),
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routeReview,
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limitations: arrayValue(payload.limitations, "vegetation.limitations")
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.map((item, index) => textValue(item, `vegetation.limitations[${index}]`)),
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visualShadowReady: true,
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@@ -1,5 +1,7 @@
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import { useEffect, useState } from "react";
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import { Icon, IconButton, StatusBadge } from "@nodedc/ui-react";
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import { LaboratoryEvidenceViewer } from "../../components/laboratory/LaboratoryEvidenceViewer";
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import {
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LaboratoryEvidence,
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LaboratoryResultSummary,
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@@ -8,6 +10,7 @@ import {
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} from "../../components/laboratory/LaboratoryPresentation";
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import {
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vegetationVideoMaskUrl,
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type VegetationMixedRouteReview,
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type VegetationShadowResult,
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} from "../../core/laboratory/vegetationShadow";
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import {
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@@ -21,6 +24,128 @@ function decimal(value: number, digits = 1): string {
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return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
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}
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const MIXED_ROUTE_MODES = [
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{ value: "source", label: "SOURCE" },
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{ value: "city", label: "ГОРОД · EoMT" },
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{ value: "vegetation", label: "ПРИРОДА · DDRNet" },
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{ value: "tgs", label: "TGS" },
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] as const;
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function MixedRouteReviewEvidence({ review }: { review: VegetationMixedRouteReview }) {
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const [index, setIndex] = useState(0);
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const [mode, setMode] = useState<typeof MIXED_ROUTE_MODES[number]["value"]>("vegetation");
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const [expanded, setExpanded] = useState(false);
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const item = review.cases[index]!;
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return (
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<LaboratoryEvidenceViewer
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label="RAVNOVES004TREE mixed route review"
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className="m48-atlas-visual"
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mode={mode}
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modes={MIXED_ROUTE_MODES}
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expanded={expanded}
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onModeChange={setMode}
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onExpandedChange={setExpanded}
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chromeLayout="stacked"
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actions={(
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<>
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<IconButton label="Предыдущая сцена" onClick={() => setIndex((index - 1 + review.cases.length) % review.cases.length)}>
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<Icon name="chevron-left" size={16} />
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</IconButton>
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<IconButton label="Следующая сцена" onClick={() => setIndex((index + 1) % review.cases.length)}>
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<Icon name="chevron-right" size={16} />
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</IconButton>
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</>
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)}
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overlay={(
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<div className="m48-atlas-visual__case">
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<StatusBadge tone={item.phase === "urban" ? "accent" : item.phase === "transition" ? "warning" : "neutral"}>
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{item.phase.toUpperCase()} · {index + 1}/{review.cases.length}
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</StatusBadge>
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<strong>sequence {item.sourceSequence} · +{decimal(item.sessionSeconds, 2)} s</strong>
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<small>
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TGS: {item.tgs.groundCells} ground · {item.tgs.occupiedCells} occupied · {item.tgs.unobservedCells} unobserved
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</small>
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</div>
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)}
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>
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<div className="recorded-evidence-image-scene">
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<img src={item.assets[mode]} alt="" draggable={false} />
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</div>
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</LaboratoryEvidenceViewer>
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);
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}
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function MixedRouteReviewResult({
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rigLabel,
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review,
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}: {
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rigLabel: string;
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review: VegetationMixedRouteReview;
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}) {
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return (
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<LaboratoryWorkTemplate
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summary={(
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<LaboratorySummary
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title="LAB V1 · RAVNOVES004TREE · село → город"
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description="Существующий LAB-шаблон показывает 10 синхронных camera/LiDAR сцен одной записи. EoMT и DDRNet остаются независимыми слоями; TGS показывает отдельную геометрию и не может быть очищен семантической маской."
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status="BOUNDED RECORDED REVIEW · truth отсутствует · commands OFF"
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statusTone="warning"
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facts={[
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{ label: "Источник", value: `${review.sourceId} · ${review.frameCount} camera/LiDAR islands` },
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{ label: "Переход", value: "5 rural · 1 transition · 4 urban" },
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{ label: "Слои", value: "SOURCE · EoMT CITY · DDRNet VEGETATION · causal TGS" },
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{ label: "Authority", value: `${rigLabel} · VISUAL REVIEW ONLY · commands OFF` },
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]}
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brief={{
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question: "Сохраняются ли городская семантика, растительность и геометрия при переходе из сельской среды в город?",
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approach: "Выбраны десять соседних с исходными сцен camera-кадров, каждый синхронизирован с LiDAR в пределах 100 мс. Все три вычислительных слоя прогнаны на Worker 006 и запечатаны локально.",
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principalResult: "Все 10 сцен обработаны EoMT, DDRNet и causal TGS. Слои можно переключать без наложения цветов и без зависимости LAB от воркера.",
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limitation: "Это bounded islands без ручной truth. DDRNet шумит по подтипам растительности; TGS не доказывает обнаружение кювета или отрицательного препятствия.",
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}}
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method={{
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completeness: "complete",
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executionClass: "ai-inference",
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pipelineId: "ravnoves004tree-eomt-ddrnet-causal-tgs-review/v1",
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components: [
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{ kind: "model", name: review.models.city.name, version: "sealed Worker run", role: "urban semantic review", identitySha256: null },
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{ kind: "model", name: review.models.vegetation.name, version: "GOOSE DDRNet-39", role: "vegetation semantic review", identitySha256: null },
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{ kind: "algorithm", name: review.models.tgs.name, version: "TRAVEL compatibility runner", role: "independent local geometry", identitySha256: null },
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],
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}}
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/>
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)}
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evidence={(
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<LaboratoryEvidence
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eyebrow="M4.7 TEMPLATE · RAVNOVES004TREE"
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title="SOURCE / ГОРОД / ПРИРОДА / TGS · 10/10 · TRUTH отсутствует"
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kind="diagnostic-model"
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resizable
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>
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<MixedRouteReviewEvidence review={review} />
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</LaboratoryEvidence>
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)}
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result={(
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<LaboratoryResultSummary
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title="Переход село → город воспроизведён; safety gate не закрыт"
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status="Review ready · navigation/actuation OFF"
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statusTone="warning"
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metrics={[
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{ label: "Aligned scenes", value: "10/10", hint: "camera + LiDAR + pose · автономный archive" },
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{ label: "EoMT end-to-end p95", value: `${decimal(review.models.city.endToEndP95Ms, 2)} ms`, hint: `${decimal(review.models.city.inferenceFps, 2)} fps в изолированном прогоне` },
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{ label: "DDRNet inference p95", value: `${decimal(review.models.vegetation.latencyP95Ms, 2)} ms`, hint: "candidate review · не совместный realtime stack" },
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{ label: "TGS p95", value: `${decimal(review.models.tgs.latencyP95Ms, 2)} ms`, hint: `${review.models.tgs.cellSizeM} m cells · ${review.models.tgs.radiusM} m radius` },
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]}
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conclusion={{
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proved: "Оба semantic слоя и causal TGS воспроизводимо работают на сельской, переходной и городской части новой записи.",
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notProved: "Не доказаны accuracy без truth, временная стабильность по всему видео, детект кюветов и безопасное совместное realtime-управление ровером.",
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decision: "Оставить navigation/actuation OFF. Следующий короткий gate — непрерывный realtime-load двух моделей плюс независимый person/vehicle STOP; кюветы проверять отдельной записью.",
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}}
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/>
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)}
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/>
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);
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}
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function VegetationRouteEvidence({ result }: { result: VegetationShadowResult }) {
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const route = result.routeVideo!;
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const [tgs, setTgs] = useState<M49TgsFullShadowResult | null>(null);
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@@ -99,6 +224,9 @@ export function VegetationShadowResultView({
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rigLabel: string;
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result: VegetationShadowResult;
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}) {
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if (result.routeReview) {
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return <MixedRouteReviewResult rigLabel={rigLabel} review={result.routeReview} />;
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}
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const route = result.routeVideo;
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const selected = result.candidates.find(
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(candidate) => candidate.candidate === result.selectedCandidate,
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+14
-14
@@ -1,4 +1,4 @@
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import { useCallback, useEffect, useState, type ReactNode } from "react";
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import { useCallback, useEffect, useMemo, useState, type ReactNode } from "react";
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import type { L34RightYoloxTruthIslandResult } from "../../../core/laboratory/l34RightYoloxTruthIsland";
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import type { L34DResult } from "../../../core/laboratory/l34dCumulativePostprocessing";
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@@ -28,19 +28,19 @@ export function useL34AnnotationCapability({
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}): ReactNode {
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const [open, setOpen] = useState(false);
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const openWorkspace = useCallback(() => setOpen(true), []);
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const available = selectedWorkId === "l34-right-yolox-truth-island-freeze"
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&& l34Result
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? { resultId: l34Result.resultId, workflow: "assisted-candidate" as const }
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: selectedWorkId === "e46-detector-truth-island" && e46Result
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? { resultId: e46Result.resultId, workflow: "independent-blind" as const }
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: selectedWorkId === "e46a-ai-engineering-preannotation" && e46aResult
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? { resultId: e46aResult.resultId, workflow: "engineering-preannotation" as const }
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: selectedWorkId === "l34d-cumulative-postprocessing-candidate"
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&& l34dResult
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? { resultId: l34dResult.resultId, workflow: "prediction-hidden" as const }
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: selectedWorkId === "l34e-self-review-diagnostic" && l34eResult
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? { resultId: l34eResult.resultId, workflow: "adjudication" as const }
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: null;
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const available = useMemo(() => (
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selectedWorkId === "l34-right-yolox-truth-island-freeze" && l34Result
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? { resultId: l34Result.resultId, workflow: "assisted-candidate" as const }
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: selectedWorkId === "e46-detector-truth-island" && e46Result
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? { resultId: e46Result.resultId, workflow: "independent-blind" as const }
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: selectedWorkId === "e46a-ai-engineering-preannotation" && e46aResult
|
||||
? { resultId: e46aResult.resultId, workflow: "engineering-preannotation" as const }
|
||||
: selectedWorkId === "l34d-cumulative-postprocessing-candidate" && l34dResult
|
||||
? { resultId: l34dResult.resultId, workflow: "prediction-hidden" as const }
|
||||
: selectedWorkId === "l34e-self-review-diagnostic" && l34eResult
|
||||
? { resultId: l34eResult.resultId, workflow: "adjudication" as const }
|
||||
: null
|
||||
), [e46Result, e46aResult, l34Result, l34dResult, l34eResult, selectedWorkId]);
|
||||
|
||||
useEffect(() => {
|
||||
if (!available) {
|
||||
|
||||
@@ -271,7 +271,8 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr
|
||||
assert.match(resultSource, /M49TgsFullShadowEvidence/);
|
||||
assert.match(resultSource, /semanticOverride/);
|
||||
assert.match(resultSource, /EoMT CITY \/ DDRNet VEGETATION/);
|
||||
assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
|
||||
assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 3);
|
||||
assert.match(resultSource, /RAVNOVES004TREE mixed route review/);
|
||||
assert.match(resultSource, /linkedTgsResultId/);
|
||||
assert.match(benchmarkSource, /M48MaskComparisonVisual/);
|
||||
assert.doesNotMatch(benchmarkSource, /M49TgsFullShadowEvidence/);
|
||||
|
||||
Reference in New Issue
Block a user