feat(lab): add bounded local SLAM surface

apps/control-station/src/workspaces/laboratory/M4ReplayThreatVisual.tsx

@@ -18,6 +18,7 @@ import type {
   M4ThreatCameraProposal,
   M4ThreatTimelineFrame,
 } from "../../core/laboratory/m4ReplayThreat";
+import { buildM4LocalSurface } from "../../core/laboratory/m4LocalSurface";
 import { recordedObservationSources } from "../../core/observation/recordedObservationSources";
 import { replayObservationSession } from "../../core/observation/sessionArchive";
 import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
@@ -68,6 +69,7 @@ export function M4ReplayThreatVisual({ resultId }: { resultId: string }) {
   const [mode, setMode] = useState<M4ThreatViewMode>("video");
   const [spatialMode, setSpatialMode] = useState<LaboratoryMetricSceneMode>("3d");
   const [showCurrentIncrement, setShowCurrentIncrement] = useState(true);
+  const [showLocalSurface, setShowLocalSurface] = useState(true);
   const [showRollingMap, setShowRollingMap] = useState(true);
   const [expanded, setExpanded] = useState(false);
   const metricSceneRef = useRef<LaboratoryMetricEvidenceSceneHandle | null>(null);
@@ -161,6 +163,16 @@ export function M4ReplayThreatVisual({ resultId }: { resultId: string }) {
     .map((item) => item.assessment.closestApproachM)
     .filter((value): value is number => value !== null)
     .sort((left, right) => left - right)[0] ?? null;
+  const localSurface = useMemo(() => buildM4LocalSurface(
+    timelineFrame.availableFrames,
+    frame,
+    metadata.timeline?.localSurfaceVisualization ?? {
+      windowSeconds: 2,
+      voxelSizeM: 0.1,
+      radiusM: 12,
+      pointLimit: 20_000,
+    },
+  ), [frame, metadata.timeline, timelineFrame.availableFrames]);
 
   const seek = (seconds: number) => playbackController.seek(seconds);
   const handleModeChange = (next: M4ThreatViewMode) => {
@@ -206,7 +218,17 @@ export function M4ReplayThreatVisual({ resultId }: { resultId: string }) {
             aria-pressed={showCurrentIncrement}
             onClick={() => setShowCurrentIncrement((visible) => !visible)}
           >
-            CURRENT INCREMENT
+            CURRENT
+          </button>
+          <button
+            type="button"
+            className="nodedc-segmented__item"
+            data-active={showLocalSurface ? "true" : undefined}
+            aria-pressed={showLocalSurface}
+            title="Bounded local SLAM surface · visual-derived"
+            onClick={() => setShowLocalSurface((visible) => !visible)}
+          >
+            LOCAL SLAM
           </button>
           <button
             type="button"
@@ -215,7 +237,7 @@ export function M4ReplayThreatVisual({ resultId }: { resultId: string }) {
             aria-pressed={showRollingMap}
             onClick={() => setShowRollingMap((visible) => !visible)}
           >
-            ROLLING MAP
+            ROLLING
           </button>
         </div>
       ) : null}
@@ -250,7 +272,7 @@ export function M4ReplayThreatVisual({ resultId }: { resultId: string }) {
         </strong>
         <small>
           {frame.spatialAvailable
-            ? `${frame.pointCloudSampleCount}/${frame.pointCloudSourceCount} exact lio_pcl increment`
+            ? `${frame.pointCloudSampleCount}/${frame.pointCloudSourceCount} exact · ${localSurface.pointsBodyXyzM.length} local SLAM / ${localSurface.sourceFrameCount} frames`
             : "body frame / current increment unavailable"}
         </small>
       </div>
@@ -328,13 +350,15 @@ export function M4ReplayThreatVisual({ resultId }: { resultId: string }) {
             <LaboratoryMetricEvidenceScene
               ref={metricSceneRef}
               pointCloudBodyXyzM={frame.pointCloudBodyXyzM}
+              localSurfaceBodyXyzM={localSurface.pointsBodyXyzM}
               obstacles={sceneObstacles}
               rig={timeline.rig}
               corridor={timeline.corridor}
               occupiedVoxelSizeM={timeline.occupiedVoxelSizeM}
               mode={spatialMode}
-              label="M4.6 recorded-realtime current increment and rolling occupancy"
+              label="M4.6 exact current increment, bounded local SLAM surface and rolling occupancy"
               showCurrentIncrement={showCurrentIncrement}
+              showLocalSurface={showLocalSurface}
               showRollingMap={showRollingMap}
             />
           ) : null}

apps/control-station/src/workspaces/laboratory/useM4ThreatTimeline.ts

@@ -146,10 +146,18 @@ export function useM4ThreatTimelineFrame({
       (frame) => frame.sequence === activeSequence,
     ) ?? null;
   }, [activeChunkStart, activeSequence, chunks]);
+  const availableFrames = useMemo(() => {
+    const unique = new Map<number, M4ThreatTimelineFrame>();
+    for (const chunk of chunks.values()) {
+      for (const frame of chunk.frames) unique.set(frame.sequence, frame);
+    }
+    return [...unique.values()].sort((left, right) => left.sequence - right.sequence);
+  }, [chunks]);
 
   return {
     activeSequence,
     activeFrame,
+    availableFrames,
     loading: error === null && Boolean(timeline) && !activeFrame,
     error,
   };