fix(perception): stabilize replay body frame

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

@@ -32,6 +32,15 @@ export interface M4ThreatReplayResult {
       providerLatencyP95Ms: number;
       providerLatencyMaxMs: number;
     };
+    bodyFrame: {
+      available: number;
+      qualified: number;
+      rejected: number;
+      cameraForwardAlignmentDeg: {
+        p95: number;
+        maximum: number;
+      };
+    };
     reasonCounts: Readonly<Record<string, number>>;
   };
   configuration: {
@@ -39,6 +48,11 @@ export interface M4ThreatReplayResult {
     nominalSensorHeightM: number;
     forwardCorridorM: number;
     predictionHorizonSeconds: number;
+    bodyFrame: {
+      origin: "local-surface-vertical-projection";
+      up: "vendor-slam-map-gravity-axis";
+      forward: "smoothed-slam-trajectory-validated-by-camera-axis";
+    };
   };
   limitations: readonly string[];
 }
@@ -254,7 +268,13 @@ export async function fetchM4ThreatReplayResult({
   const evidence = object(metrics.evidence, "M4.6 evidence");
   const fixtures = object(metrics.fixtures, "M4.6 fixtures");
   const runtime = object(metrics.runtime, "M4.6 runtime");
+  const bodyFrame = object(metrics.body_frame, "M4.6 body frame");
+  const cameraAlignment = object(
+    bodyFrame.camera_forward_alignment_deg,
+    "M4.6 camera alignment",
+  );
   const configuration = object(item.configuration, "M4.6 configuration");
+  const configuredBodyFrame = object(configuration.body_frame, "M4.6 configured body frame");
   const sourceResultIds = object(item.source_result_ids, "M4.6 sources");
   return {
     resultId: resultId(item.result_id),
@@ -290,6 +310,15 @@ export async function fetchM4ThreatReplayResult({
         providerLatencyP95Ms: number(runtime.provider_latency_p95_ms, "M4.6 p95"),
         providerLatencyMaxMs: number(runtime.provider_latency_max_ms, "M4.6 max"),
       },
+      bodyFrame: {
+        available: integer(bodyFrame.available, "M4.6 available body frames"),
+        qualified: integer(bodyFrame.qualified, "M4.6 qualified body frames"),
+        rejected: integer(bodyFrame.rejected, "M4.6 rejected body frames"),
+        cameraForwardAlignmentDeg: {
+          p95: number(cameraAlignment.p95, "M4.6 body frame camera alignment p95"),
+          maximum: number(cameraAlignment.maximum, "M4.6 body frame camera alignment maximum"),
+        },
+      },
       reasonCounts: Object.fromEntries(
         Object.entries(object(metrics.reason_counts, "M4.6 reasons")).map(
           ([key, value]) => [key, integer(value, `M4.6 ${key}`)],
@@ -301,6 +330,23 @@ export async function fetchM4ThreatReplayResult({
       nominalSensorHeightM: number(configuration.nominal_sensor_height_m, "M4.6 height"),
       forwardCorridorM: number(configuration.forward_corridor_m, "M4.6 corridor"),
       predictionHorizonSeconds: number(configuration.prediction_horizon_seconds, "M4.6 horizon"),
+      bodyFrame: {
+        origin: exact(
+          configuredBodyFrame.origin,
+          "local-surface-vertical-projection",
+          "M4.6 body frame origin",
+        ),
+        up: exact(
+          configuredBodyFrame.up,
+          "vendor-slam-map-gravity-axis",
+          "M4.6 body frame up",
+        ),
+        forward: exact(
+          configuredBodyFrame.forward,
+          "smoothed-slam-trajectory-validated-by-camera-axis",
+          "M4.6 body frame forward",
+        ),
+      },
     },
     limitations: array(item.limitations, "M4.6 limitations").map((value) => text(value, "M4.6 limitation")),
   };