feat(perception): add mixed-route vegetation review

2026-08-28 23:13:48 +03:00
parent e10b96b546
commit af1e530162
12 changed files with 2332 additions and 17 deletions
@@ -1,5 +1,7 @@
 import { useEffect, useState } from "react";
+import { Icon, IconButton, StatusBadge } from "@nodedc/ui-react";

+import { LaboratoryEvidenceViewer } from "../../components/laboratory/LaboratoryEvidenceViewer";
 import {
  LaboratoryEvidence,
  LaboratoryResultSummary,
@@ -8,6 +10,7 @@ import {
 } from "../../components/laboratory/LaboratoryPresentation";
 import {
  vegetationVideoMaskUrl,
+  type VegetationMixedRouteReview,
  type VegetationShadowResult,
 } from "../../core/laboratory/vegetationShadow";
 import {
@@ -21,6 +24,128 @@ function decimal(value: number, digits = 1): string {
  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
 }

+const MIXED_ROUTE_MODES = [
+  { value: "source", label: "SOURCE" },
+  { value: "city", label: "ГОРОД · EoMT" },
+  { value: "vegetation", label: "ПРИРОДА · DDRNet" },
+  { value: "tgs", label: "TGS" },
+] as const;
+
+function MixedRouteReviewEvidence({ review }: { review: VegetationMixedRouteReview }) {
+  const [index, setIndex] = useState(0);
+  const [mode, setMode] = useState<typeof MIXED_ROUTE_MODES[number]["value"]>("vegetation");
+  const [expanded, setExpanded] = useState(false);
+  const item = review.cases[index]!;
+  return (
+    <LaboratoryEvidenceViewer
+      label="RAVNOVES004TREE mixed route review"
+      className="m48-atlas-visual"
+      mode={mode}
+      modes={MIXED_ROUTE_MODES}
+      expanded={expanded}
+      onModeChange={setMode}
+      onExpandedChange={setExpanded}
+      chromeLayout="stacked"
+      actions={(
+        <>
+          <IconButton label="Предыдущая сцена" onClick={() => setIndex((index - 1 + review.cases.length) % review.cases.length)}>
+            <Icon name="chevron-left" size={16} />
+          </IconButton>
+          <IconButton label="Следующая сцена" onClick={() => setIndex((index + 1) % review.cases.length)}>
+            <Icon name="chevron-right" size={16} />
+          </IconButton>
+        </>
+      )}
+      overlay={(
+        <div className="m48-atlas-visual__case">
+          <StatusBadge tone={item.phase === "urban" ? "accent" : item.phase === "transition" ? "warning" : "neutral"}>
+            {item.phase.toUpperCase()} · {index + 1}/{review.cases.length}
+          </StatusBadge>
+          <strong>sequence {item.sourceSequence} · +{decimal(item.sessionSeconds, 2)} s</strong>
+          <small>
+            TGS: {item.tgs.groundCells} ground · {item.tgs.occupiedCells} occupied · {item.tgs.unobservedCells} unobserved
+          </small>
+        </div>
+      )}
+    >
+      <div className="recorded-evidence-image-scene">
+        <img src={item.assets[mode]} alt="" draggable={false} />
+      </div>
+    </LaboratoryEvidenceViewer>
+  );
+}
+
+function MixedRouteReviewResult({
+  rigLabel,
+  review,
+}: {
+  rigLabel: string;
+  review: VegetationMixedRouteReview;
+}) {
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="LAB V1 · RAVNOVES004TREE · село → город"
+          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."
+          status="BOUNDED RECORDED REVIEW · truth отсутствует · commands OFF"
+          statusTone="warning"
+          facts={[
+            { label: "Источник", value: `${review.sourceId} · ${review.frameCount} camera/LiDAR islands` },
+            { label: "Переход", value: "5 rural · 1 transition · 4 urban" },
+            { label: "Слои", value: "SOURCE · EoMT CITY · DDRNet VEGETATION · causal TGS" },
+            { label: "Authority", value: `${rigLabel} · VISUAL REVIEW ONLY · commands OFF` },
+          ]}
+          brief={{
+            question: "Сохраняются ли городская семантика, растительность и геометрия при переходе из сельской среды в город?",
+            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.",
+            principalResult: "Все 10 сцен обработаны EoMT, DDRNet и causal TGS. Слои можно переключать без наложения цветов и без зависимости LAB от воркера.",
+            limitation: "Это bounded islands без ручной truth. DDRNet шумит по подтипам растительности; TGS не доказывает обнаружение кювета или отрицательного препятствия.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "ai-inference",
+            pipelineId: "ravnoves004tree-eomt-ddrnet-causal-tgs-review/v1",
+            components: [
+              { kind: "model", name: review.models.city.name, version: "sealed Worker run", role: "urban semantic review", identitySha256: null },
+              { kind: "model", name: review.models.vegetation.name, version: "GOOSE DDRNet-39", role: "vegetation semantic review", identitySha256: null },
+              { kind: "algorithm", name: review.models.tgs.name, version: "TRAVEL compatibility runner", role: "independent local geometry", identitySha256: null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="M4.7 TEMPLATE · RAVNOVES004TREE"
+          title="SOURCE / ГОРОД / ПРИРОДА / TGS · 10/10 · TRUTH отсутствует"
+          kind="diagnostic-model"
+          resizable
+        >
+          <MixedRouteReviewEvidence review={review} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="Переход село → город воспроизведён; safety gate не закрыт"
+          status="Review ready · navigation/actuation OFF"
+          statusTone="warning"
+          metrics={[
+            { label: "Aligned scenes", value: "10/10", hint: "camera + LiDAR + pose · автономный archive" },
+            { 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` },
+            { label: "DDRNet inference p95", value: `${decimal(review.models.vegetation.latencyP95Ms, 2)} ms`, hint: "candidate review · не совместный realtime stack" },
+            { label: "TGS p95", value: `${decimal(review.models.tgs.latencyP95Ms, 2)} ms`, hint: `${review.models.tgs.cellSizeM} m cells · ${review.models.tgs.radiusM} m radius` },
+          ]}
+          conclusion={{
+            proved: "Оба semantic слоя и causal TGS воспроизводимо работают на сельской, переходной и городской части новой записи.",
+            notProved: "Не доказаны accuracy без truth, временная стабильность по всему видео, детект кюветов и безопасное совместное realtime-управление ровером.",
+            decision: "Оставить navigation/actuation OFF. Следующий короткий gate — непрерывный realtime-load двух моделей плюс независимый person/vehicle STOP; кюветы проверять отдельной записью.",
+          }}
+        />
+      )}
+    />
+  );
+}
+
 function VegetationRouteEvidence({ result }: { result: VegetationShadowResult }) {
  const route = result.routeVideo!;
  const [tgs, setTgs] = useState<M49TgsFullShadowResult | null>(null);
@@ -99,6 +224,9 @@ export function VegetationShadowResultView({
  rigLabel: string;
  result: VegetationShadowResult;
 }) {
+  if (result.routeReview) {
+    return <MixedRouteReviewResult rigLabel={rigLabel} review={result.routeReview} />;
+  }
  const route = result.routeVideo;
  const selected = result.candidates.find(
    (candidate) => candidate.candidate === result.selectedCandidate,
@@ -1,4 +1,4 @@
-import { useCallback, useEffect, useState, type ReactNode } from "react";
+import { useCallback, useEffect, useMemo, useState, type ReactNode } from "react";

 import type { L34RightYoloxTruthIslandResult } from "../../../core/laboratory/l34RightYoloxTruthIsland";
 import type { L34DResult } from "../../../core/laboratory/l34dCumulativePostprocessing";
@@ -28,19 +28,19 @@ export function useL34AnnotationCapability({
 }): ReactNode {
  const [open, setOpen] = useState(false);
  const openWorkspace = useCallback(() => setOpen(true), []);
-  const available = selectedWorkId === "l34-right-yolox-truth-island-freeze"
-    && l34Result
-    ? { resultId: l34Result.resultId, workflow: "assisted-candidate" as const }
-    : selectedWorkId === "e46-detector-truth-island" && e46Result
-      ? { resultId: e46Result.resultId, workflow: "independent-blind" as const }
-      : 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;
+  const available = useMemo(() => (
+    selectedWorkId === "l34-right-yolox-truth-island-freeze" && l34Result
+      ? { resultId: l34Result.resultId, workflow: "assisted-candidate" as const }
+      : selectedWorkId === "e46-detector-truth-island" && e46Result
+        ? { resultId: e46Result.resultId, workflow: "independent-blind" as const }
+        : 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) {