fix(lab): stabilize replay and densify LiDAR overlay

apps/control-station/src/core/laboratory/m4ReplayThreat.ts

@@ -170,7 +170,8 @@ export interface M4ThreatTimeline {
   pointSampleLimit: number;
   maximumSourcePointsPerFrame: number;
   pointDelivery: "exact-current-increment";
-  cameraPointDelivery: "factory-kb4-projected-current-increment" | null;
+  cameraPointDelivery: "factory-kb4-causal-registered-accumulation" | null;
+  cameraPointWindowSeconds: number;
   cameraPointSampleLimit: number;
   worldStateDelivery: "source-paced-latest-wins" | null;
   worldStateFrameCount: number;
@@ -189,6 +190,21 @@ export interface M4ThreatTimeline {
   corridor: M4ThreatVisualFrame["corridor"];
 }
 
+export interface M4ThreatCameraPointOverlay {
+  resultId: string;
+  sequence: number;
+  sourceTimeNs: number;
+  pointsXyd: readonly (readonly [number, number, number])[];
+  sourceFrameCount: number;
+  sourcePointCount: number;
+  frontPointCount: number;
+  projectedPointCount: number;
+  sampleCount: number;
+  windowSeconds: number;
+  projection: "factory-kb4-causal-registered-accumulation";
+  authority: "visual-derived";
+}
+
 export interface M4ThreatTimelineChunk {
   resultId: string;
   startSequence: number;
@@ -651,9 +667,12 @@ export async function fetchM4ThreatTimeline(
       ? null
       : exact(
           payload.camera_point_delivery,
-          "factory-kb4-projected-current-increment",
+          "factory-kb4-causal-registered-accumulation",
           "M4.6 camera point delivery",
         ),
+    cameraPointWindowSeconds: payload.camera_point_window_seconds === undefined
+      ? 0
+      : number(payload.camera_point_window_seconds, "M4.6 camera point window"),
     cameraPointSampleLimit: payload.camera_point_sample_limit === undefined
       ? 0
       : integer(payload.camera_point_sample_limit, "M4.6 camera point limit"),
@@ -760,6 +779,62 @@ export async function fetchM4ThreatTimelineChunk(
   };
 }
 
+export async function fetchM4ThreatCameraPointOverlay(
+  result: string,
+  sequence: number,
+  {
+    fetcher = fetch,
+    signal,
+    endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    endpointRoot?: string;
+  } = {},
+): Promise<M4ThreatCameraPointOverlay> {
+  const response = await fetcher(
+    `${endpointRoot}/${result}/timeline/frames/${sequence}/camera-points`,
+    { headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M4ThreatContractError(`M4.6 camera points: HTTP ${response.status}.`);
+  }
+  const payload = object(await response.json(), "M4.6 camera points");
+  exact(
+    payload.schema_version,
+    "missioncore.m48s-camera-point-overlay/v1",
+    "M4.6 camera point schema",
+  );
+  exact(payload.result_id, result, "M4.6 camera point result");
+  exact(payload.sequence, sequence, "M4.6 camera point sequence");
+  exact(payload.authority, "visual-derived", "M4.6 camera point authority");
+  const points = array(payload.points_xyd, "M4.6 accumulated camera points").map(
+    (point) => vector(point, 3, "M4.6 accumulated camera point") as [number, number, number],
+  );
+  const sampleCount = integer(payload.sample_count, "M4.6 camera point sample count");
+  if (points.length !== sampleCount) {
+    throw new M4ThreatContractError("M4.6 camera point sample count: нарушен контракт.");
+  }
+  return {
+    resultId: result,
+    sequence,
+    sourceTimeNs: integer(payload.source_time_ns, "M4.6 camera point source time"),
+    pointsXyd: points,
+    sourceFrameCount: integer(payload.source_frame_count, "M4.6 camera source frames"),
+    sourcePointCount: integer(payload.source_point_count, "M4.6 camera source points"),
+    frontPointCount: integer(payload.front_point_count, "M4.6 camera front points"),
+    projectedPointCount: integer(payload.projected_point_count, "M4.6 camera projected points"),
+    sampleCount,
+    windowSeconds: number(payload.window_seconds, "M4.6 camera point window"),
+    projection: exact(
+      payload.projection,
+      "factory-kb4-causal-registered-accumulation",
+      "M4.6 camera point projection",
+    ),
+    authority: "visual-derived",
+  };
+}
+
 function parseTimelineFrame(
   value: unknown,
   result: string,