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feat(perception): integrate vegetation policy review

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DCCONSTRUCTIONS
2026-08-28 11:22:00 +03:00
parent 30080c51aa
commit c4c2392c79
17 changed files with 2388 additions and 105 deletions
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apps/control-station/src/core/laboratory/vegetationShadow.ts
+76 -14
View File
@@ -55,7 +55,9 @@ export interface VegetationVideoSemanticClass {
classId: number;
label: string;
colorRgb: readonly [number, number, number];
disposition: "prediction" | "undefined";
disposition: "labeled" | "ambiguous" | "prediction" | "undefined";
materialClass: string | null;
evidenceState: string | null;
}
export interface VegetationRouteVideo {
@@ -67,8 +69,12 @@ export interface VegetationRouteVideo {
height: 600;
centerCropXyxy: readonly [100, 0, 700, 600];
outsideCropState: "undefined";
viewKind: "fine-semantic-prediction" | "coarse-material-policy-review";
linkedTgsResultId: string | null;
taxonomy: readonly VegetationVideoSemanticClass[];
aggregatePredictionPixels: readonly number[];
policyPresets: Readonly<Record<string, Readonly<Record<string, string>>>> | null;
fusionMode: "synchronised-multilayer-review" | null;
}
export interface VegetationShadowResult {
@@ -257,6 +263,9 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
"vegetation.route_video.m47_reference_graph_result_id",
);
const baseM4ResultId = textValue(row.base_m4_result_id, "vegetation.route_video.base_m4_result_id");
const viewKind = row.view_kind === undefined
? "fine-semantic-prediction"
: textValue(row.view_kind, "vegetation.route_video.view_kind");
if (
!/^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/.test(workerResultId)
|| !/^m47-reference-graph-lab-[a-f0-9]{64}$/.test(m47ReferenceGraphResultId)
@@ -264,6 +273,15 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
) {
throw new VegetationShadowContractError("vegetation.route_video: identity invalid.");
}
if (viewKind !== "fine-semantic-prediction" && viewKind !== "coarse-material-policy-review") {
throw new VegetationShadowContractError("vegetation.route_video: view kind invalid.");
}
const linkedTgsResultId = viewKind === "coarse-material-policy-review"
? textValue(row.linked_tgs_result_id, "vegetation.route_video.linked_tgs_result_id")
: null;
if (linkedTgsResultId && !/^m49-tgs-full-shadow-[a-f0-9]{64}$/.test(linkedTgsResultId)) {
throw new VegetationShadowContractError("vegetation.route_video: TGS identity invalid.");
}
exact(row.frame_count, 4489, "vegetation.route_video.frame_count");
exact(row.width, 800, "vegetation.route_video.width");
exact(row.height, 600, "vegetation.route_video.height");
@@ -279,11 +297,9 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
throw new VegetationShadowContractError("vegetation.route_video: crop contract changed.");
}
const taxonomy = objectValue(row.taxonomy, "vegetation.route_video.taxonomy");
exact(
taxonomy.schema_version,
"missioncore.lab-v1-vegetation-taxonomy/v1",
"vegetation.route_video.taxonomy.schema",
);
exact(taxonomy.schema_version, viewKind === "coarse-material-policy-review"
? "missioncore.lab-v1-terrain-policy-taxonomy/v1"
: "missioncore.lab-v1-vegetation-taxonomy/v1", "vegetation.route_video.taxonomy.schema");
const classes = arrayValue(taxonomy.classes, "vegetation.route_video.taxonomy.classes")
.map((value, expectedId): VegetationVideoSemanticClass => {
const item = objectValue(value, `vegetation.route_video.taxonomy[${expectedId}]`);
@@ -296,36 +312,78 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
if (color.length !== 3 || color.some((channel) => channel > 255)) {
throw new VegetationShadowContractError("vegetation.route_video: taxonomy color invalid.");
}
const disposition: VegetationVideoSemanticClass["disposition"] = expectedId === 0
? "undefined"
: "prediction";
if (item.disposition !== disposition) {
const disposition = item.disposition;
if (
disposition !== "labeled"
&& disposition !== "ambiguous"
&& disposition !== "prediction"
&& disposition !== "undefined"
) {
throw new VegetationShadowContractError("vegetation.route_video: taxonomy disposition changed.");
}
if (
viewKind === "fine-semantic-prediction"
&& disposition !== (expectedId === 0 ? "undefined" : "prediction")
) {
throw new VegetationShadowContractError("vegetation.route_video: fine taxonomy disposition changed.");
}
const materialClass = item.material_class === null || item.material_class === undefined
? null
: textValue(item.material_class, `vegetation.route_video.material[${expectedId}]`);
const evidenceState = item.evidence_state === null || item.evidence_state === undefined
? null
: textValue(item.evidence_state, `vegetation.route_video.evidence[${expectedId}]`);
return {
classId,
label: textValue(item.label, `vegetation.route_video.label[${expectedId}]`),
colorRgb: color as unknown as readonly [number, number, number],
disposition,
materialClass,
evidenceState,
};
});
if (classes.length !== 64) {
throw new VegetationShadowContractError("vegetation.route_video: taxonomy must contain 64 classes.");
const expectedClassCount = viewKind === "coarse-material-policy-review" ? 9 : 64;
if (classes.length !== expectedClassCount) {
throw new VegetationShadowContractError("vegetation.route_video: taxonomy size changed.");
}
const aggregatePredictionPixels = arrayValue(
row.aggregate_prediction_pixels,
"vegetation.route_video.aggregate_prediction_pixels",
).map((value, index) => integerValue(value, `vegetation.route_video.pixels[${index}]`));
if (aggregatePredictionPixels.length !== 64) {
if (aggregatePredictionPixels.length !== expectedClassCount) {
throw new VegetationShadowContractError("vegetation.route_video: class accounting changed.");
}
const maskArchive = objectValue(row.mask_archive, "vegetation.route_video.mask_archive");
exact(maskArchive.path, "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
exact(maskArchive.path, viewKind === "coarse-material-policy-review"
? "video/coarse-material-policy-masks.zip"
: "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
const archiveSha256 = textValue(maskArchive.sha256, "vegetation.route_video.mask_archive.sha256");
if (!SHA256.test(archiveSha256)) {
throw new VegetationShadowContractError("vegetation.route_video: archive digest invalid.");
}
integerValue(maskArchive.byte_length, "vegetation.route_video.mask_archive.byte_length");
let policyPresets: VegetationRouteVideo["policyPresets"] = null;
let fusionMode: VegetationRouteVideo["fusionMode"] = null;
if (viewKind === "coarse-material-policy-review") {
const policy = objectValue(row.policy, "vegetation.route_video.policy");
const presets = objectValue(policy.presets, "vegetation.route_video.policy.presets");
policyPresets = Object.fromEntries(Object.entries(presets).map(([presetId, rawRules]) => {
const rules = objectValue(rawRules, `vegetation.route_video.policy.${presetId}`);
return [presetId, Object.fromEntries(Object.entries(rules).map(([material, action]) => [
material,
textValue(action, `vegetation.route_video.policy.${presetId}.${material}`),
]))];
}));
const fusion = objectValue(row.fusion, "vegetation.route_video.fusion");
exact(fusion.pixel_raster_fusion, false, "vegetation.route_video.fusion.pixel_raster_fusion");
exact(fusion.camera_semantic_temporal_filter, "none", "vegetation.route_video.fusion.camera_filter");
exact(
fusion.mode,
"synchronised-multilayer-review",
"vegetation.route_video.fusion.mode",
);
fusionMode = "synchronised-multilayer-review";
}
return {
workerResultId,
m47ReferenceGraphResultId,
@@ -335,8 +393,12 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
height: 600,
centerCropXyxy: [100, 0, 700, 600],
outsideCropState: "undefined",
viewKind,
linkedTgsResultId,
taxonomy: classes,
aggregatePredictionPixels,
policyPresets,
fusionMode,
};
}