fix(lab): restore canonical vegetation evidence layers

2026-08-29 20:33:52 +03:00
parent 5179e93f4a
commit c30d77572e
7 changed files with 191 additions and 521 deletions
@@ -215,12 +215,24 @@ export function M49TgsFullShadowEvidence({
      controlLabel: semanticOverride.controlLabel ?? "ПРИРОДА · DDRNet",
    }] : []),
  ], [semantic, semanticOverride]);
+  const spatialSemantic = useMemo<M4ReplayThreatSemanticLayer | undefined>(() => (
+    semantic ? {
+      id: "spatial-urban",
+      controlLabel: "SEMANTICS",
+      resultId: semantic.resultId,
+      spatialResultId: semantic.resultId,
+      taxonomy: semantic.taxonomy,
+      label: "EoMT Cityscapes semantic · point-aligned E47",
+      maskAriaLabel: "EoMT urban semantic prediction",
+    } : undefined
+  ), [semantic]);

  return (
    <>
      <M4ReplayThreatVisual
        resultId={result.source.linkedVisualResultId}
        semanticLayers={semanticLayers}
+        spatialSemantic={spatialSemantic}
        initialSemanticLayerId={semanticOverride ? "vegetation" : "urban"}
        showReviewAnchorBoxes={false}
        reviewLabel="4 489 source-paced TGS frames"
@@ -159,6 +159,7 @@ export function M4ReplayThreatVisual({
  resultId,
  semantic,
  semanticLayers,
+  spatialSemantic,
  initialSemanticLayerId,
  reviewAnchors = EMPTY_REVIEW_ANCHORS,
  showReviewAnchorBoxes = true,
@@ -174,6 +175,7 @@ export function M4ReplayThreatVisual({
  resultId: string;
  semantic?: M4ReplayThreatSemanticLayer;
  semanticLayers?: readonly M4ReplayThreatSemanticLayer[];
+  spatialSemantic?: M4ReplayThreatSemanticLayer;
  initialSemanticLayerId?: string;
  reviewAnchors?: readonly M4ReplayThreatReviewAnchor[];
  showReviewAnchorBoxes?: boolean;
@@ -235,11 +237,12 @@ export function M4ReplayThreatVisual({
  const activeSemantic = availableSemanticLayers.find(
    (layer, index) => (layer.id ?? `${layer.resultId}:${index}`) === selectedSemanticLayerId,
  ) ?? availableSemanticLayers[0];
+  const activeSpatialSemantic = spatialSemantic ?? activeSemantic;
  const evidenceDemand = useMemo(() => laboratoryRecordedEvidenceDemand({
    mediaMode,
    spatialMode,
    showMediaSemantic: Boolean(activeSemantic) && showMediaSemantic,
-    showSpatialSemantic: Boolean(activeSemantic) && showSpatialSemantic,
+    showSpatialSemantic: Boolean(activeSpatialSemantic) && showSpatialSemantic,
    showMediaPoints,
    classifiedSpatialMode: !classifiedSpatialLayer
      ? "none"
@@ -248,6 +251,7 @@ export function M4ReplayThreatVisual({
        : "overlay",
  }), [
    activeSemantic,
+    activeSpatialSemantic,
    classifiedSpatialLayer,
    mediaMode,
    showMediaPoints,
@@ -362,21 +366,21 @@ export function M4ReplayThreatVisual({
    sequence: frame?.sequence ?? null,
    endpointRoot: timelineEndpointRoot,
  });
-  const semanticSpatialResultId = activeSemantic
-    ? activeSemantic.spatialResultId === undefined
-      ? activeSemantic.resultId
-      : activeSemantic.spatialResultId
+  const semanticSpatialResultId = activeSpatialSemantic
+    ? activeSpatialSemantic.spatialResultId === undefined
+      ? activeSpatialSemantic.resultId
+      : activeSpatialSemantic.spatialResultId
    : null;
  const spatialSemanticTaxonomy = useMemo<readonly E47SemanticClass[]>(
-    () => semanticSpatialResultId && activeSemantic
-      ? activeSemantic.taxonomy.map((item) => ({
+    () => semanticSpatialResultId && activeSpatialSemantic
+      ? activeSpatialSemantic.taxonomy.map((item) => ({
          classId: item.classId,
          label: item.label,
          disposition: item.disposition === "ambiguous" ? "ambiguous" : "labeled",
          colorRgb: item.colorRgb,
        }))
      : [],
-    [activeSemantic, semanticSpatialResultId],
+    [activeSpatialSemantic, semanticSpatialResultId],
  );
  const semanticTimeline = useE47SemanticTimelineFrame({
    resultId: semanticSpatialResultId,
@@ -473,6 +477,27 @@ export function M4ReplayThreatVisual({
    })) ?? [],
    [activeSemantic?.taxonomy],
  );
+  const spatialSemanticClasses = useMemo<readonly RecordedEvidenceSemanticClass[]>(
+    () => activeSpatialSemantic?.taxonomy.map((item) => ({
+      id: item.classId,
+      label: `semantic: ${item.label}`,
+    })) ?? [],
+    [activeSpatialSemantic?.taxonomy],
+  );
+  const spatialSemanticPalette = useMemo<readonly RecordedEvidenceSemanticPaletteEntry[]>(
+    () => activeSpatialSemantic?.taxonomy.map((item) => ({
+      classId: item.classId,
+      color: item.disposition === "undefined"
+        ? { kind: "transparent" as const }
+        : item.disposition === "ambiguous"
+        ? { kind: "token" as const, token: "--nodedc-warning-rgb" as const }
+        : { kind: "diagnostic" as const, rgb: item.colorRgb },
+      opacity: item.disposition === "undefined"
+        ? 0
+        : item.disposition === "ambiguous" ? 0.52 : 0.92,
+    })) ?? [],
+    [activeSpatialSemantic?.taxonomy],
+  );
  const semanticFrame = semanticTimeline.activeFrame?.sequence === frame?.sequence
    ? semanticTimeline.activeFrame
    : null;
@@ -489,7 +514,7 @@ export function M4ReplayThreatVisual({
      && lastSpatialSemanticFrameRef.current.frame.sequence === spatialFrame?.sequence
      ? lastSpatialSemanticFrameRef.current.frame
      : null;
-  const semanticIntegrityError = activeSemantic && spatialFrame && spatialSemanticFrame && (
+  const semanticIntegrityError = activeSpatialSemantic && spatialFrame && spatialSemanticFrame && (
    spatialSemanticFrame.sourcePointCount !== spatialFrame.pointCloudSourceCount
    || spatialFrame.pointCloudSampleCount !== spatialFrame.pointCloudSourceCount
    || spatialFrame.pointCloudBodyXyzM.length !== spatialFrame.pointCloudSourceCount
@@ -498,7 +523,7 @@ export function M4ReplayThreatVisual({
    : null;
  const alignedSemanticPointIds = useMemo<readonly (number | null)[] | undefined>(() => {
    if (
-      !activeSemantic
+      !activeSpatialSemantic
      || !showSpatialSemantic
      || !spatialFrame
      || !spatialSemanticFrame
@@ -508,7 +533,7 @@ export function M4ReplayThreatVisual({
      const status = spatialSemanticFrame.statusCodes[index];
      return status === 2 || status === 3 ? classId : null;
    });
-  }, [activeSemantic, semanticIntegrityError, showSpatialSemantic, spatialFrame, spatialSemanticFrame]);
+  }, [activeSpatialSemantic, semanticIntegrityError, showSpatialSemantic, spatialFrame, spatialSemanticFrame]);
  const activeSpatialFrame = spatialFrame?.sequence === timelineFrame.activeSequence
    ? spatialFrame
    : null;
@@ -1200,10 +1225,10 @@ export function M4ReplayThreatVisual({
            : alignedSemanticPointIds}
          semanticClasses={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
            ? displayedClassifiedSpatialFrame.classes
-            : semanticClasses}
+            : spatialSemanticClasses}
          semanticPalette={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
            ? displayedClassifiedSpatialFrame.palette
-            : semanticPalette}
+            : spatialSemanticPalette}
          classifiedCells={classifiedCellsBody}
          classifiedPackedCells={classifiedPackedCellsBody}
          classifiedCellSizeM={displayedClassifiedSpatialFrame?.cellSizeM}
@@ -1,9 +1,5 @@
-import { useCallback, useEffect, useMemo, useRef, useState } from "react";
-import { Icon, IconButton, StatusBadge } from "@nodedc/ui-react";
+import { useEffect, useState } from "react";

-import { LaboratoryEvidenceViewer } from "../../components/laboratory/LaboratoryEvidenceViewer";
-import { LaboratoryRecordedClipPlayer } from "../../components/laboratory/LaboratoryRecordedClipPlayer";
-import { RerunViewport } from "../../components/RerunViewport";
 import {
  LaboratoryEvidence,
  LaboratoryResultSummary,
@@ -11,457 +7,22 @@ import {
  LaboratoryWorkTemplate,
 } from "../../components/laboratory/LaboratoryPresentation";
 import {
-  RecordedEvidenceSemanticMaskOverlay,
-  type RecordedEvidenceSemanticClass,
-  type RecordedEvidenceSemanticPaletteEntry,
-} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
-import {
-  vegetationFullRouteMaskUrl,
  vegetationVideoMaskUrl,
-  type VegetationFullRouteLayer,
-  type VegetationFullRouteReview,
-  type VegetationMixedRouteReview,
  type VegetationShadowResult,
 } from "../../core/laboratory/vegetationShadow";
-import { recordedObservationSources } from "../../core/observation/recordedObservationSources";
-import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
-import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
-import {
-  recordedSessionRerunProfile,
-  type RerunPlaybackController,
-} from "../../core/observation/viewerProfile";
-import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
 import {
  fetchM49TgsFullShadowResult,
  type M49TgsFullShadowResult,
 } from "../../core/laboratory/m49TgsFullShadow";
-import { M4ReplayThreatVisual } from "./M4ReplayThreatVisual";
 import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
-import {
-  M48EvidenceModeRail,
-  type M48BlindEvidenceMode,
-} from "./annotation/M48EvidenceModeControls";

 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;
-
-const FULL_ROUTE_MODES = [
-  { value: "source", label: "SOURCE" },
-  { value: "city", label: "ГОРОД · EoMT" },
-  { value: "vegetation", label: "ПРИРОДА · DDRNet" },
-] as const;
-
-function semanticPresentation(layer: VegetationFullRouteLayer): {
-  classes: readonly RecordedEvidenceSemanticClass[];
-  palette: readonly RecordedEvidenceSemanticPaletteEntry[];
-} {
-  return {
-    classes: layer.taxonomy.map((item) => ({ id: item.classId, label: item.label })),
-    palette: layer.taxonomy.map((item) => ({
-      classId: item.classId,
-      color: item.classId === 0
-        ? { kind: "transparent" as const }
-        : { kind: "diagnostic" as const, rgb: item.colorRgb },
-    })),
-  };
-}
-
-function FullRouteReviewEvidence({
-  resultId,
-  review,
-}: {
-  resultId: string;
-  review: VegetationFullRouteReview;
-}) {
-  const [sequence, setSequence] = useState(1);
-  const [playing, setPlaying] = useState(false);
-  const [playbackRate, setPlaybackRate] = useState(1);
-  const [mode, setMode] = useState<typeof FULL_ROUTE_MODES[number]["value"]>("vegetation");
-  const [expanded, setExpanded] = useState(false);
-  const [evidenceMode, setEvidenceMode] = useState<M48BlindEvidenceMode>("3d");
-  const [cameraVisible, setCameraVisible] = useState(true);
-  const [videoSource, setVideoSource] = useState<ObservationSourceDescriptor | null>(null);
-  const [replayLaunch, setReplayLaunch] = useState<ObservationSessionReplayLaunch | null>(null);
-  const [videoError, setVideoError] = useState<string | null>(null);
-  const spatialControllerRef = useRef<RerunPlaybackController | null>(null);
-  const frames = useMemo(
-    () => review.frameSourceTimesNs.map((sourceTimeNs, index) => ({
-      sequence: index + 1,
-      sourceTimeNs,
-    })),
-    [review.frameSourceTimesNs],
-  );
-  const layer = mode === "source" ? null : review[mode];
-  const semantic = useMemo(() => layer ? semanticPresentation(layer) : null, [layer]);
-  const maskSequence = sequence - 1;
-  const prefetchSrcs = useMemo(() => layer
-    ? Array.from({ length: 8 }, (_, offset) => maskSequence + offset + 1)
-      .filter((candidate) => candidate < review.frameCount)
-      .map((candidate) => vegetationFullRouteMaskUrl(resultId, mode as "city" | "vegetation", candidate))
-    : [], [layer, maskSequence, mode, resultId, review.frameCount]);
-
-  useEffect(() => {
-    const controller = new AbortController();
-    setVideoSource(null);
-    setReplayLaunch(null);
-    setVideoError(null);
-    void resolveObservationSessionReplay(review.sessionId, { signal: controller.signal })
-      .then((launch) => {
-        const source = recordedObservationSources(launch).find((candidate) => (
-          candidate.id === review.recordedMediaSourceId
-          && candidate.modality === "video"
-          && candidate.semanticChannelId === "camera.video.recorded"
-          && candidate.delivery?.kind === "recorded-fmp4-manifest"
-          && candidate.delivery.manifestGenerationSha256 === review.recordedMediaGenerationSha256
-          && candidate.delivery.timelineStartSeconds === review.timelineStartSeconds
-          && candidate.delivery.timelineEndSeconds >= review.timelineEndSeconds
-        ));
-        if (!source) {
-          throw new Error("RIGHT-видео не совпало с sealed RAVNOVES004TREE timeline.");
-        }
-        if (!controller.signal.aborted) {
-          setVideoSource(source);
-          setReplayLaunch(launch);
-        }
-      })
-      .catch((caught: unknown) => {
-        if (!controller.signal.aborted) {
-          setVideoError(caught instanceof Error ? caught.message : "Записанное видео недоступно.");
-        }
-      });
-    return () => controller.abort();
-  }, [
-    review.recordedMediaGenerationSha256,
-    review.recordedMediaSourceId,
-    review.sessionId,
-    review.timelineEndSeconds,
-    review.timelineStartSeconds,
-  ]);
-
-  const spatialProfile = useMemo(() => replayLaunch ? recordedSessionRerunProfile({
-    sourceUrl: replayLaunch.viewerSourceUrl,
-    artifact: {
-      sourceUrl: replayLaunch.sourceUrl,
-      viewerSourceUrl: replayLaunch.viewerSourceUrl,
-      byteLength: replayLaunch.byteLength,
-      sha256: replayLaunch.sha256,
-    },
-    autoplayWhenReady: false,
-    presentationGate: "ready",
-    expectedTimelineStartSeconds: replayLaunch.timelineStartSeconds,
-    expectedTimelineEndSeconds: replayLaunch.timelineEndSeconds,
-    initialPlaybackStartSeconds: review.timelineStartSeconds,
-    view: "spatial",
-    viewResetGeneration: 0,
-    followTrajectory: false,
-    perceptionLayers: {
-      enabled: false,
-      detections2d: false,
-      segmentation: false,
-      cuboids3d: false,
-    },
-    perceptionRetryGeneration: 0,
-    lockPerceptionCameraInteraction: false,
-  }) : null, [replayLaunch, review.timelineStartSeconds]);
-  const activeFrame = frames.find((candidate) => candidate.sequence === sequence)
-    ?? frames[0]
-    ?? null;
-  const activeSourceTimeNsRef = useRef(activeFrame?.sourceTimeNs ?? null);
-  activeSourceTimeNsRef.current = activeFrame?.sourceTimeNs ?? null;
-  const handleSpatialControllerChange = useCallback((controller: RerunPlaybackController | null) => {
-    spatialControllerRef.current = controller;
-    const sourceTimeNs = activeSourceTimeNsRef.current;
-    if (!controller || sourceTimeNs === null) return;
-    controller.setPlaying(false);
-    controller.seek(sourceTimeNs);
-  }, []);
-
-  useEffect(() => {
-    const controller = spatialControllerRef.current;
-    if (!controller || !activeFrame) return;
-    controller.setPlaying(false);
-    controller.seek(activeFrame.sourceTimeNs);
-  }, [activeFrame]);
-
-  const cameraPresentation = evidenceMode === "camera"
-    ? "primary"
-    : cameraVisible ? "companion" : "hidden";
-
-  return (
-    <LaboratoryEvidenceViewer
-      label="RAVNOVES004TREE full recorded review"
-      className="m48-atlas-visual"
-      mode={mode}
-      modes={FULL_ROUTE_MODES}
-      expanded={expanded}
-      onModeChange={setMode}
-      onExpandedChange={setExpanded}
-      chromeLayout="stacked"
-    >
-      <div className="m48-evidence-stage">
-        {videoSource ? (
-          <LaboratoryRecordedClipPlayer
-            source={videoSource}
-            segmentCount={review.frameCount}
-            frames={frames}
-            sequence={sequence}
-            playing={playing}
-            playbackRate={playbackRate}
-            cameraPresentation={cameraPresentation}
-            continuousPlayback
-            sourceCount={2}
-            onSequenceChange={setSequence}
-            onPlayingChange={setPlaying}
-            onPlaybackRateChange={setPlaybackRate}
-            alternativeScene={spatialProfile ? (
-              <RerunViewport
-                profile={spatialProfile}
-                onPlaybackControllerChange={handleSpatialControllerChange}
-              />
-            ) : (
-              <div className="m4-replay-threat-visual__pane-status" role="status">
-                Открываем sealed RRD и point-cloud evidence…
-              </div>
-            )}
-            cameraOverlay={(
-              <>
-                <div className="m48-clip-player__pane-label" data-pane="camera">
-                  {mode === "source" ? "SOURCE" : `${mode === "city" ? "EoMT CITY" : "DDRNet NATURE"} · КАДР ${sequence}/${review.frameCount}`}
-                </div>
-                {layer && semantic ? (
-                  <div className="m48-clip-player__overlay">
-                    <RecordedEvidenceSemanticMaskOverlay
-                      src={vegetationFullRouteMaskUrl(resultId, mode as "city" | "vegetation", maskSequence)}
-                      prefetchSrcs={prefetchSrcs}
-                      imageWidth={review.width}
-                      imageHeight={review.height}
-                      classes={semantic.classes}
-                      palette={semantic.palette}
-                      opacity={0.76}
-                      ariaLabel={`${layer.name} semantic prediction`}
-                    />
-                  </div>
-                ) : null}
-              </>
-            )}
-          />
-        ) : (
-          <div className="m4-replay-threat-visual__pane-status" role={videoError ? "alert" : "status"}>
-            {videoError ?? "Открываем автономный recorded source…"}
-          </div>
-        )}
-        {videoSource ? (
-          <M48EvidenceModeRail
-            mode={evidenceMode}
-            cameraVisible={cameraVisible}
-            spatialAvailable={Boolean(spatialProfile)}
-            planAvailable={false}
-            onModeChange={setEvidenceMode}
-            onCameraVisibleChange={setCameraVisible}
-          />
-        ) : null}
-      </div>
-    </LaboratoryEvidenceViewer>
-  );
-}
-
-function FullRouteReviewResult({
-  rigLabel,
-  resultId,
-  review,
-}: {
-  rigLabel: string;
-  resultId: string;
-  review: VegetationFullRouteReview;
-}) {
-  return (
-    <LaboratoryWorkTemplate
-      summary={(
-        <LaboratorySummary
-          title="LAB V1 · RAVNOVES004TREE · полный маршрут"
-          description="Существующий M4.7-шаблон воспроизводит всю запись и переключает два независимых sealed semantic-слоя: городской EoMT и природный DDRNet. Worker для открытия результата не нужен."
-          status="FULL RECORDED REVIEW · truth отсутствует · commands OFF"
-          statusTone="warning"
-          facts={[
-            { label: "Источник", value: `${review.sourceId} · ${review.frameCount}/${review.frameCount} frames` },
-            { label: "Город", value: `${review.city.name} · ${decimal(review.city.inferenceFps, 2)} fps` },
-            { label: "Природа", value: `${review.vegetation.name} · ${decimal(review.vegetation.inferenceFps, 2)} fps` },
-            { label: "Authority", value: `${rigLabel} · VISUAL REVIEW ONLY · commands OFF` },
-          ]}
-          brief={{
-            question: "Как оба semantic-кандидата ведут себя на полном переходе от сельской среды к городской?",
-            approach: "Все 6830 позиции одной recorded timeline последовательно прогнаны на Worker 006 и сохранены двумя независимыми архивами масок. В M4.7 переключается только видимый слой.",
-            principalResult: "Полная временная шкала доступна локально в SOURCE / EoMT CITY / DDRNet NATURE без обращения к Worker.",
-            limitation: "Ручной truth отсутствует. Один повреждённый H.264-пакет на позиции 6092 представлен предыдущим декодированным кадром и явно зафиксирован в proof. Полный TGS и кюветы этим прогоном не проверялись.",
-          }}
-          method={{
-            completeness: "complete",
-            executionClass: "ai-inference",
-            pipelineId: "ravnoves004tree-full-eomt-ddrnet-recorded-review/v1",
-            components: [
-              { kind: "model", name: review.city.name, version: "sealed Worker 006 run", role: "urban semantic review", identitySha256: null },
-              { kind: "model", name: review.vegetation.name, version: "GOOSE DDRNet-39", role: "vegetation semantic review", identitySha256: null },
-            ],
-          }}
-        />
-      )}
-      evidence={(
-        <LaboratoryEvidence
-          eyebrow="M4.7 TEMPLATE · RAVNOVES004TREE FULL VIDEO"
-          title="SOURCE / EoMT CITY / DDRNet NATURE · 6830/6830 · TRUTH отсутствует"
-          kind="recorded-replay"
-          resizable
-        >
-          <FullRouteReviewEvidence resultId={resultId} review={review} />
-        </LaboratoryEvidence>
-      )}
-      result={(
-        <LaboratoryResultSummary
-          title="Полный двухслойный visual review собран; управление не авторизовано"
-          status="Recorded evidence ready · navigation/actuation OFF"
-          statusTone="warning"
-          metrics={[
-            { label: "Route masks", value: "6830/6830 × 2", hint: "sealed local archives · Worker не требуется" },
-            { label: "EoMT p95", value: `${decimal(review.city.latencyP95Ms, 2)} ms`, hint: "последовательный изолированный прогон" },
-            { label: "DDRNet p95", value: `${decimal(review.vegetation.latencyP95Ms, 2)} ms`, hint: "последовательный изолированный прогон" },
-            { label: "Decode repair", value: "1/6830", hint: "sequence 6092 · previous frame · sealed proof" },
-          ]}
-          conclusion={{
-            proved: "Городской EoMT и природный DDRNet воспроизводимо обработали полную запись и доступны в одном существующем M4.7 viewer.",
-            notProved: "Не доказаны truth accuracy, одновременный realtime-load, полный TGS, отрицательные препятствия и безопасное управление ровером.",
-            decision: "Использовать результат только как визуальную диагностику. Navigation/actuation оставить OFF; следующий gate — оценка временной стабильности и независимый person/vehicle STOP.",
-          }}
-        />
-      )}
-    />
-  );
-}
-
-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 linkedTgsResultId = route.linkedTgsResultId;
  const [tgs, setTgs] = useState<M49TgsFullShadowResult | null>(null);
  const [tgsError, setTgsError] = useState<string | null>(null);

@@ -469,8 +30,8 @@ function VegetationRouteEvidence({ result }: { result: VegetationShadowResult })
    const controller = new AbortController();
    setTgs(null);
    setTgsError(null);
-    if (!route.linkedTgsResultId) return () => controller.abort();
-    void fetchM49TgsFullShadowResult(route.linkedTgsResultId, {
+    if (!linkedTgsResultId) return () => controller.abort();
+    void fetchM49TgsFullShadowResult(linkedTgsResultId, {
      signal: controller.signal,
    }).then((next) => {
      if (controller.signal.aborted) return;
@@ -484,7 +45,11 @@ function VegetationRouteEvidence({ result }: { result: VegetationShadowResult })
      }
    });
    return () => controller.abort();
-  }, [route.baseM4ResultId, route.linkedTgsResultId]);
+  }, [linkedTgsResultId, route.baseM4ResultId]);
+
+  if (!linkedTgsResultId) {
+    throw new Error("Vegetation LAB result has no linked canonical M4.9 TGS evidence.");
+  }

  const semantic = {
    id: "vegetation",
@@ -497,16 +62,14 @@ function VegetationRouteEvidence({ result }: { result: VegetationShadowResult })
    maskAriaLabel: "DDRNet vegetation material prediction",
  } as const;

-  if (route.linkedTgsResultId && tgs) {
+  if (tgsError) {
    return (
-      <M49TgsFullShadowEvidence
-        result={tgs}
-        semanticOverride={semantic}
-        evidenceLabel="LAB V1 · EoMT + DDRNet + YOLOX + TGS"
-      />
+      <div className="m4-replay-threat-visual__pane-status" role="alert">
+        Канонический M4.9 TGS слой недоступен: {tgsError}
+      </div>
    );
  }
-  if (route.linkedTgsResultId && !tgsError) {
+  if (!tgs) {
    return (
      <div className="m4-replay-threat-visual__pane-status" role="status">
        Открываем sealed EoMT, TGS и coarse vegetation timeline…
@@ -514,20 +77,11 @@ function VegetationRouteEvidence({ result }: { result: VegetationShadowResult })
    );
  }
  return (
-    <>
-      <M4ReplayThreatVisual
-        resultId={route.baseM4ResultId}
-        evidenceLabel="LAB V1 · DDRNet"
-        showReferenceMediaLayers
-        showSpatialOverlaySummary={false}
-        semantic={semantic}
-      />
-      {tgsError ? (
-        <div className="m4-replay-threat-visual__pane-status" role="alert">
-          TGS слой недоступен: {tgsError}
-        </div>
-      ) : null}
-    </>
+    <M49TgsFullShadowEvidence
+      result={tgs}
+      semanticOverride={semantic}
+      evidenceLabel="LAB V1 · EoMT + DDRNet + YOLOX + TGS"
+    />
  );
 }

@@ -538,18 +92,11 @@ export function VegetationShadowResultView({
  rigLabel: string;
  result: VegetationShadowResult;
 }) {
-  if (result.routeFullReview) {
-    return (
-      <FullRouteReviewResult
-        rigLabel={rigLabel}
-        resultId={result.resultId}
-        review={result.routeFullReview}
-      />
+  if (!result.routeVideo?.linkedTgsResultId) {
+    throw new Error(
+      "Vegetation LAB result has no canonical M4 source timeline and linked M4.9 TGS evidence.",
    );
  }
-  if (result.routeReview) {
-    return <MixedRouteReviewResult rigLabel={rigLabel} review={result.routeReview} />;
-  }
  const route = result.routeVideo;
  const selected = result.candidates.find(
    (candidate) => candidate.candidate === result.selectedCandidate,
@@ -561,9 +108,7 @@ export function VegetationShadowResultView({
        <LaboratorySummary
          title="LAB V1 · карта ровера · город + растительность"
          description="Один recorded-контур RAVNOVES00 синхронно показывает городской EoMT, природный DDRNet, frozen YOLOX detections и causal TGS. Семантические маски переключаются, чтобы их цвета не скрывали друг друга; геометрическое veto остаётся независимым."
-          status={route
-            ? "MULTILAYER RECORDED REVIEW · commands OFF · route truth отсутствует"
-            : "ROUTE EVIDENCE MISSING · commands OFF"}
+          status="MULTILAYER RECORDED REVIEW · commands OFF · route truth отсутствует"
          statusTone="warning"
          facts={[
            { label: "Источник", value: "RAVNOVES00 · sensor.camera.right · 4489 recorded frames" },
@@ -574,14 +119,12 @@ export function VegetationShadowResultView({
          ]}
          brief={{
            question: "Можно ли одновременно видеть городской и природный semantic stack, не теряя независимую геометрическую защиту?",
-            approach: "EoMT и DDRNet сохранены как два независимых sealed слоя на одной M4 timeline. В штатном M4.7 viewer пользователь переключает только отображаемую маску; YOLOX и TGS остаются активными слоями evidence.",
-            principalResult: route
-              ? "Оба semantic archive доступны в одном viewer. Это не пиксельный fusion и не единая новая модель: городской и природный ответы остаются раздельными."
-              : "Route archive для этой immutable identity отсутствует.",
+            approach: "EoMT и DDRNet сохранены как два независимых sealed слоя на одной M4 timeline. В штатном M4.9 viewer пользователь переключает только отображаемую маску; YOLOX и TGS остаются активными слоями evidence.",
+            principalResult: "Оба semantic archive доступны в одном viewer. Это не пиксельный fusion и не единая новая модель: городской и природный ответы остаются раздельными.",
            limitation: "RAVNOVES00 не имеет ручной truth. DDRNet заметно прыгает между HIGH GRASS, WOODY и UNKNOWN; поэтому subtype нельзя подавать напрямую в planner. Отсутствие класса никогда не означает свободный путь.",
          }}
          method={{
-            completeness: route ? "complete" : "legacy-partial",
+            completeness: "complete",
            executionClass: "ai-inference",
            pipelineId: "ravnoves-eomt-ddrnet-yolox-causal-tgs-recorded-review/v1",
            components: [
@@ -610,25 +153,15 @@ export function VegetationShadowResultView({
          }}
        />
      )}
-      evidence={route ? (
+      evidence={(
        <LaboratoryEvidence
-          eyebrow="M4.7 · RAVNOVES00 FULL VIDEO"
+          eyebrow="M4.9 · RAVNOVES00 FULL VIDEO"
          title="EoMT CITY / DDRNet VEGETATION + YOLOX + CAUSAL TGS · 4489/4489 · TRUTH отсутствует"
          kind="diagnostic-model"
          resizable
        >
          <VegetationRouteEvidence result={result} />
        </LaboratoryEvidence>
-      ) : (
-        <LaboratoryEvidence
-          eyebrow="M4.7 · RAVNOVES00 FULL VIDEO"
-          title="ROUTE ARCHIVE отсутствует"
-          kind="diagnostic-model"
-        >
-          <div className="m4-replay-threat-visual__pane-status" role="alert">
-            Для этой immutable identity нет полного route video evidence.
-          </div>
-        </LaboratoryEvidence>
      )}
      result={(
        <LaboratoryResultSummary
@@ -638,12 +171,12 @@ export function VegetationShadowResultView({
          metrics={[
            {
              label: "Route masks",
-              value: route ? `${route.frameCount}/${route.frameCount}` : "0/4489",
+              value: `${route.frameCount}/${route.frameCount}`,
              hint: "sealed local playback · Worker для открытия не нужен",
            },
            {
              label: "Semantic sources",
-              value: route ? "2 independent layers" : "0",
+              value: "2 independent layers",
              hint: "EoMT CITY / DDRNet VEGETATION · display switches, evidence does not fuse",
            },
            {
@@ -81,6 +81,9 @@ test("M4 keeps independent semantic controls in media and spatial panes", async
  );
  assert.match(source, /showMediaSemantic/);
  assert.match(source, /showSpatialSemantic/);
+  assert.match(source, /activeSpatialSemantic = spatialSemantic \?\? activeSemantic/);
+  assert.match(source, /spatialSemanticClasses/);
+  assert.match(source, /spatialSemanticPalette/);
  assert.match(source, /activeSemantic && evidenceDemand\.selectedSemanticMask && frame/);
  assert.match(source, /Array\.from\(\{ length: 12 \}, \(_, index\) => index \+ 1\)/);
  assert.match(source, /\|\| !showSpatialSemantic/);
@@ -365,7 +365,7 @@ test("vegetation GOOSE benchmark opens through its separate archival endpoint",
 });

 test("vegetation realtime LAB and archival benchmark use separate admitted instruments", async () => {
-  const [resultSource, benchmarkSource] = await Promise.all([
+  const [resultSource, benchmarkSource, m49Source] = await Promise.all([
    readFile(
      new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
      "utf8",
@@ -374,21 +374,24 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr
      new URL("../src/workspaces/laboratory/VegetationBenchmarkResult.tsx", import.meta.url),
      "utf8",
    ),
+    readFile(
+      new URL("../src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx", import.meta.url),
+      "utf8",
+    ),
  ]);
  assert.doesNotMatch(resultSource, /M48MaskComparisonVisual/);
-  assert.match(resultSource, /M4ReplayThreatVisual/);
  assert.match(resultSource, /M49TgsFullShadowEvidence/);
  assert.match(resultSource, /semanticOverride/);
  assert.match(resultSource, /EoMT CITY \/ DDRNet VEGETATION/);
-  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 4);
-  assert.match(resultSource, /RAVNOVES004TREE mixed route review/);
-  assert.match(resultSource, /RAVNOVES004TREE full recorded review/);
-  assert.match(resultSource, /LaboratoryRecordedClipPlayer/);
-  assert.match(resultSource, /RerunViewport/);
-  assert.match(resultSource, /M48EvidenceModeRail/);
-  assert.match(resultSource, /planAvailable=\{false\}/);
-  assert.match(resultSource, /kind="recorded-replay"/);
-  assert.match(resultSource, /className="m48-clip-player__overlay"/);
+  assert.match(m49Source, /spatialSemantic=\{spatialSemantic\}/);
+  assert.match(m49Source, /controlLabel: "SEMANTICS"/);
+  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 1);
+  assert.doesNotMatch(resultSource, /RAVNOVES004TREE mixed route review/);
+  assert.doesNotMatch(resultSource, /RAVNOVES004TREE full recorded review/);
+  assert.doesNotMatch(resultSource, /LaboratoryRecordedClipPlayer/);
+  assert.doesNotMatch(resultSource, /RerunViewport/);
+  assert.doesNotMatch(resultSource, /M48EvidenceModeRail/);
+  assert.match(resultSource, /linked canonical M4\.9 TGS evidence/);
  assert.match(resultSource, /linkedTgsResultId/);
  assert.match(benchmarkSource, /M48MaskComparisonVisual/);
  assert.doesNotMatch(benchmarkSource, /M49TgsFullShadowEvidence/);
@@ -75,6 +75,8 @@ _E37_RESULT_ID = re.compile(r"^e37-ravnoves-acceptance-[a-f0-9]{64}$")
 _E38_RESULT_ID = re.compile(r"^e38-perception-baseline-[a-f0-9]{64}$")
 _E39_RESULT_ID = re.compile(r"^e39-perception-refinement-[a-f0-9]{64}$")
 _E40_RESULT_ID = re.compile(r"^e40-perception-product-gate-[a-f0-9]{64}$")
+_M4_RESULT_ID = re.compile(r"^m4-threat-replay-[a-f0-9]{64}$")
+_M49_TGS_RESULT_ID = re.compile(r"^m49-tgs-full-shadow-[a-f0-9]{64}$")

 RootProvider = Callable[[], Path | None]

@@ -245,6 +247,7 @@ def _advanced_index_item(
        raise ValueError("advanced LAB authority is invalid")
    if document.get("ground_truth") not in (None, False):
        raise ValueError("advanced LAB ground-truth claim is invalid")
+    _validate_product_publication_shape(document, work_id=work_id)
    created_at_utc = document.get("created_at_utc")
    if not isinstance(created_at_utc, str) or not created_at_utc.strip():
        raise ValueError("advanced LAB creation time is invalid")
@@ -256,6 +259,30 @@ def _advanced_index_item(
    }


+def _validate_product_publication_shape(
+    document: dict[str, Any],
+    *,
+    work_id: str,
+) -> None:
+    if work_id != "lab-v1-vegetation-shadow":
+        return
+    route = document.get("route_video")
+    fusion = route.get("fusion") if isinstance(route, dict) else None
+    if (
+        not isinstance(route, dict)
+        or route.get("view_kind") != "coarse-material-policy-review"
+        or _M4_RESULT_ID.fullmatch(str(route.get("base_m4_result_id", ""))) is None
+        or _M49_TGS_RESULT_ID.fullmatch(str(route.get("linked_tgs_result_id", "")))
+        is None
+        or not isinstance(fusion, dict)
+        or fusion.get("mode") != "synchronised-multilayer-review"
+        or fusion.get("pixel_raster_fusion") is not False
+        or document.get("route_review") is not None
+        or document.get("route_full_review") is not None
+    ):
+        raise ValueError("vegetation LAB has no canonical M4/M4.9 publication shape")
+
+
 def _advanced_index(
    specs: tuple[_AdvancedIndexSpec, ...],
 ) -> dict[str, object]:
@@ -1,6 +1,7 @@
 from __future__ import annotations

 import json
+import os
 from pathlib import Path, PurePosixPath
 from types import SimpleNamespace

@@ -151,6 +152,72 @@ def test_advanced_index_projects_one_most_mature_lifecycle_phase(tmp_path: Path)
    ]


+def test_advanced_index_skips_noncanonical_vegetation_viewers(tmp_path: Path) -> None:
+    root = tmp_path / "vegetation"
+
+    def publish(digest: str, *, canonical: bool) -> Path:
+        result_id = f"lab-v1-vegetation-shadow-{digest}"
+        candidate = root / result_id
+        candidate.mkdir(parents=True)
+        route_video = {
+            "view_kind": "coarse-material-policy-review",
+            "base_m4_result_id": f"m4-threat-replay-{'1' * 64}",
+            "linked_tgs_result_id": f"m49-tgs-full-shadow-{'2' * 64}",
+            "fusion": {
+                "mode": "synchronised-multilayer-review",
+                "pixel_raster_fusion": False,
+            },
+        } if canonical else None
+        (candidate / "manifest.json").write_text(
+            json.dumps(
+                {
+                    "schema_version": "missioncore.lab-v1-vegetation-shadow/v1",
+                    "result_id": result_id,
+                    "identity_sha256": digest,
+                    "identity": {
+                        "authority": {
+                            "commands_enabled": False,
+                            "navigation_or_safety_accepted": False,
+                        }
+                    },
+                    "created_at_utc": "2026-08-29T10:00:00Z",
+                    "ground_truth": False,
+                    "route_video": route_video,
+                    "route_review": None,
+                    "route_full_review": None if canonical else {"frame_count": 6830},
+                }
+            ),
+            encoding="utf-8",
+        )
+        return candidate
+
+    canonical = publish("a" * 64, canonical=True)
+    incomplete = publish("b" * 64, canonical=False)
+    os.utime(canonical, ns=(10_000_000_000, 10_000_000_000))
+    os.utime(incomplete, ns=(20_000_000_000, 20_000_000_000))
+    registry = _evidence_registry(
+        root,
+        work_id="lab-v1-vegetation-shadow",
+        result_id_prefix="lab-v1-vegetation-shadow",
+        schema_version="missioncore.lab-v1-vegetation-shadow/v1",
+    )
+    router = build_advanced_laboratory_router(
+        evidence_registry=registry,
+        evidence_runtime_root_provider=lambda: root.parent,
+    )
+
+    index = _endpoint(router, "/api/v1/laboratory/advanced-index")()
+
+    assert index["items"] == [  # type: ignore[index]
+        {
+            "work_id": "lab-v1-vegetation-shadow",
+            "result_id": canonical.name,
+            "created_at_utc": "2026-08-29T10:00:00Z",
+            "access": "read-only",
+        }
+    ]
+
+
 def test_advanced_index_includes_valid_l31_identity(
    tmp_path: Path,
    monkeypatch: MonkeyPatch,