feat(lab): add bounded local SLAM surface

apps/control-station/src/components/laboratory/LaboratoryMetricEvidenceScene.tsx

@@ -104,6 +104,7 @@ export const LaboratoryMetricEvidenceScene = forwardRef<
 LaboratoryMetricEvidenceSceneHandle,
 {
   pointCloudBodyXyzM: readonly LaboratoryMetricPoint3[];
+  localSurfaceBodyXyzM: readonly LaboratoryMetricPoint3[];
   obstacles: readonly LaboratoryMetricObstacleVisual[];
   rig: LaboratoryMetricRigVisual;
   corridor: LaboratoryMetricCorridorVisual;
@@ -111,10 +112,12 @@ LaboratoryMetricEvidenceSceneHandle,
   mode: LaboratoryMetricSceneMode;
   label: string;
   showCurrentIncrement: boolean;
+  showLocalSurface: boolean;
   showRollingMap: boolean;
 }
 >(function LaboratoryMetricEvidenceScene({
   pointCloudBodyXyzM,
+  localSurfaceBodyXyzM,
   obstacles,
   rig,
   corridor,
@@ -122,6 +125,7 @@ LaboratoryMetricEvidenceSceneHandle,
   mode,
   label,
   showCurrentIncrement,
+  showLocalSurface,
   showRollingMap,
 }, ref) {
   const hostRef = useRef<HTMLDivElement | null>(null);
@@ -211,6 +215,25 @@ LaboratoryMetricEvidenceSceneHandle,
     if (!host || !content) return;
     clearGroup(content);
 
+    if (showLocalSurface) {
+      const localSurfaceGeometry = new THREE.BufferGeometry();
+      localSurfaceGeometry.setAttribute(
+        "position",
+        new THREE.BufferAttribute(positions(localSurfaceBodyXyzM), 3),
+      );
+      content.add(new THREE.Points(
+        localSurfaceGeometry,
+        new THREE.PointsMaterial({
+          color: tokenColor(host, "--nodedc-accent-rgb", [247, 248, 244]),
+          size: 1.3,
+          sizeAttenuation: false,
+          transparent: true,
+          opacity: 0.42,
+          depthWrite: false,
+        }),
+      ));
+    }
+
     if (showCurrentIncrement) {
       const contextGeometry = new THREE.BufferGeometry();
       contextGeometry.setAttribute(
@@ -296,8 +319,10 @@ LaboratoryMetricEvidenceSceneHandle,
   }, [
     obstacles,
     occupiedVoxelSizeM,
+    localSurfaceBodyXyzM,
     pointCloudBodyXyzM,
     showCurrentIncrement,
+    showLocalSurface,
     showRollingMap,
   ]);
 
@@ -396,6 +421,7 @@ LaboratoryMetricEvidenceSceneHandle,
         <span data-decision="not-threat">Вне коридора</span>
         <span data-decision="unknown">Неизвестно</span>
         <span data-decision="context">Current increment</span>
+        <span data-decision="local-surface">Local SLAM surface</span>
         <span data-decision="rolling">Rolling-map occupied</span>
       </div>
     </div>