refactor(lab): перевести RAV004 на канонический Rerun pipeline
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DCCONSTRUCTIONS
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import { useEffect, useMemo, useState } from "react";
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import { Button, Icon, SegmentedControl } from "@nodedc/ui-react";
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import { ObservationTimeline } from "../../components/ObservationTimeline";
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import {
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RerunViewport,
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type RecordedPerceptionLoadState,
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type RerunPlaybackController,
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type RerunPlaybackState,
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} from "../../components/RerunViewport";
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import {
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CanonicalRecordedLabReplay,
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useCanonicalRecordedLabReplayState,
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} from "../../components/laboratory/CanonicalRecordedLabReplay";
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import type { VegetationFullRouteReview } from "../../core/laboratory/vegetationShadow";
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import { recordedSessionRerunProfile } from "../../core/observation/viewerProfile";
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import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
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import { defaultSceneSettings } from "../../sceneSettings";
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type MediaMode = "video" | "camera";
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type SpatialMode = "3d" | "plan";
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type SpatialLayer = "source" | "local" | "tgs" | "semantic";
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type SemanticLayer = "city" | "vegetation";
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const EMPTY_PERCEPTION_LOAD: RecordedPerceptionLoadState = {
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phase: "idle",
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receivedBytes: 0,
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totalBytes: null,
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progress: null,
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message: "",
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};
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export function CanonicalVegetationRerunReplay({
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resultId,
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review,
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}: {
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resultId: string;
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review: VegetationFullRouteReview;
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}) {
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const {
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mediaMode,
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spatialMode,
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splitPrimarySize,
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splitOrientation,
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expanded,
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onMediaModeChange,
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onSpatialModeChange,
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onSplitPrimarySizeChange,
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onExpandedChange,
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} = useCanonicalRecordedLabReplayState<MediaMode, SpatialMode>({
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initialMediaMode: "video",
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initialSpatialMode: "3d",
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});
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const [semanticLayer, setSemanticLayer] = useState<SemanticLayer>("vegetation");
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const [showSemantics, setShowSemantics] = useState(true);
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const [spatialLayer, setSpatialLayer] = useState<SpatialLayer>("source");
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const [viewResetGeneration, setViewResetGeneration] = useState<0 | 1>(0);
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const [playback, setPlayback] = useState<RerunPlaybackState | null>(null);
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const [playbackController, setPlaybackController] =
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useState<RerunPlaybackController | null>(null);
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const [perceptionLoad, setPerceptionLoad] =
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useState<RecordedPerceptionLoadState>(EMPTY_PERCEPTION_LOAD);
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const [launch, setLaunch] = useState<Awaited<ReturnType<typeof resolveObservationSessionReplay>> | null>(null);
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const [launchError, setLaunchError] = useState<string | null>(null);
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useEffect(() => {
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const controller = new AbortController();
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setLaunch(null);
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setLaunchError(null);
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void resolveObservationSessionReplay(review.sessionId, {
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signal: controller.signal,
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maximumWaitMs: 30 * 60 * 1000,
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onUpdate: () => undefined,
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}).then((value) => {
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if (!controller.signal.aborted) setLaunch(value);
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}).catch((caught: unknown) => {
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if (!controller.signal.aborted) {
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setLaunchError(
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caught instanceof Error ? caught.message : "Каноническая запись RAV004 недоступна.",
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);
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}
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});
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return () => controller.abort();
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}, [review.sessionId]);
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const splitView = mediaMode !== null && spatialMode !== null;
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const sceneSettings = useMemo(() => ({
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...defaultSceneSettings,
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accumulationSeconds: spatialLayer === "local" ? 5 : 0,
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showPoints: spatialMode !== null,
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showTrajectory: spatialMode !== null,
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showGrid: spatialMode !== null,
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pointSize: 2.2,
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}), [spatialLayer, spatialMode]);
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const profile = launch ? recordedSessionRerunProfile({
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sourceUrl: launch.sourceUrl,
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artifact: {
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sourceUrl: launch.sourceUrl,
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viewerSourceUrl: launch.viewerSourceUrl,
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byteLength: launch.byteLength,
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sha256: launch.sha256,
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},
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autoplayWhenReady: false,
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presentationGate: "ready",
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expectedTimelineStartSeconds: launch.timelineStartSeconds,
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expectedTimelineEndSeconds: launch.timelineEndSeconds,
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initialPlaybackStartSeconds: review.timelineStartSeconds,
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view: mediaMode !== null ? "perception" : "spatial",
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viewResetGeneration,
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followTrajectory: false,
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perceptionSourceUrl:
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`/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}` +
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"/canonical-overlay.rrd",
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semanticLayer,
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unifiedPerception: splitView,
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planView: spatialMode === "plan",
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perceptionLayers: {
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enabled: mediaMode !== null,
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detections2d: mediaMode === "video",
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segmentation: mediaMode === "video" && showSemantics,
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cuboids3d: false,
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},
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perceptionRetryGeneration: 0,
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lockPerceptionCameraInteraction: false,
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}) : null;
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const mediaLayerControls = (
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<div
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className="m4-replay-threat-visual__pane-layer-controls"
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role="group"
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aria-label="Слои камеры и видео"
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>
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<Button
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size="compact"
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shape="pill"
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variant={showSemantics ? "primary" : "secondary"}
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aria-pressed={showSemantics}
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onClick={() => setShowSemantics((visible) => !visible)}
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>
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SEMANTICS
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</Button>
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<SegmentedControl
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value={semanticLayer}
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items={[
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{ value: "city", label: "ГОРОД · EoMT" },
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{ value: "vegetation", label: "ПРИРОДА · DDRNet" },
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]}
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label="Источник семантики"
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onChange={(value) => {
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setSemanticLayer(value);
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setShowSemantics(true);
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}}
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/>
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</div>
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);
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const spatialLayerControls = (
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<div
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className="m4-replay-threat-visual__pane-layer-controls"
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role="group"
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aria-label="Пространственные слои RAV004"
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>
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<SegmentedControl
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value={spatialLayer}
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items={[
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{ value: "source", label: "SOURCE POINTS" },
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{ value: "local", label: "LOCAL SLAM" },
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{ value: "tgs", label: "TGS COSTMAP", disabled: true },
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{ value: "semantic", label: "SEMANTICS", disabled: true },
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]}
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label="Пространственные слои"
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onChange={setSpatialLayer}
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/>
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</div>
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);
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const resetSpatialView = (
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<Button
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size="compact"
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variant="ghost"
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icon={<Icon name="refresh" size={14} />}
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aria-label="Сбросить положение 3D камеры"
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title="Сбросить положение 3D камеры"
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onClick={() => setViewResetGeneration((value) => value === 0 ? 1 : 0)}
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>
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</Button>
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);
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const transport = playback && playbackController ? (
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<ObservationTimeline
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className="m4-replay-threat-visual__timeline"
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active
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sourceCount={3}
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mode="recorded"
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seekable
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synchronization="shared-clock"
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rangeNs={playback.rangeNs}
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currentNs={playback.currentNs}
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playing={playback.playing}
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onSeek={playbackController.seek}
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onPlayingChange={playbackController.setPlaying}
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showJumpToEnd={false}
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/>
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) : undefined;
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const overlayMessage = launchError
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?? (perceptionLoad.phase === "loading" ? perceptionLoad.message : null)
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?? (perceptionLoad.phase === "error" ? perceptionLoad.message : null);
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return (
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<CanonicalRecordedLabReplay
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label="RAVNOVES004TREE · upstream Rerun recorded replay"
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mediaMode={mediaMode ?? "none"}
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mediaModes={[
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{ value: "video", label: "VIDEO" },
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{ value: "camera", label: "CAMERA" },
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]}
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spatialMode={spatialMode ?? "none"}
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spatialModes={[
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{ value: "3d", label: "3D" },
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{ value: "plan", label: "PLAN" },
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]}
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expanded={expanded}
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splitPrimarySize={splitPrimarySize}
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splitOrientation={splitOrientation}
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mediaAriaLabel={mediaMode === "camera" ? "Камера" : "Видео и семантика"}
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spatialAriaLabel={spatialMode === "plan" ? "Вид сверху" : "Трёхмерная сцена"}
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mediaLayerControls={mediaLayerControls}
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spatialLayerControls={spatialLayerControls}
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spatialLeadingControl={resetSpatialView}
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mediaMultiLayer
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unifiedContent={profile ? (
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<RerunViewport
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profile={profile}
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sceneSettings={sceneSettings}
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onPlaybackChange={setPlayback}
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onPlaybackControllerChange={setPlaybackController}
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onPerceptionLoadChange={setPerceptionLoad}
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/>
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) : (
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<div className="l3-visual-audit__state" role={launchError ? "alert" : "status"}>
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{launchError ?? "Открываем каноническую запись RAV004…"}
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</div>
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)}
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emptyMessage="Выберите VIDEO/CAMERA или 3D/PLAN. Общий Rerun-clock останется на месте."
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deckOverlays={overlayMessage ? (
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<div className="m4-replay-threat-visual__buffering" role="status">
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{perceptionLoad.phase === "loading" ? (
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<span className="busy-indicator" aria-hidden="true" />
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) : (
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<Icon name="alert" size={14} />
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)}
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<span>{overlayMessage}</span>
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</div>
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) : undefined}
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transport={transport}
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onMediaModeChange={onMediaModeChange}
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onSpatialModeChange={onSpatialModeChange}
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onExpandedChange={onExpandedChange}
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onSplitPrimarySizeChange={onSplitPrimarySizeChange}
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/>
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);
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}
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@@ -1,4 +1,4 @@
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import { useEffect, useMemo, useState } from "react";
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import { useEffect, useState } from "react";
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import {
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LaboratoryEvidence,
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@@ -7,7 +7,6 @@ import {
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LaboratoryWorkTemplate,
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} from "../../components/laboratory/LaboratoryPresentation";
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import {
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vegetationFullRouteMaskUrl,
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vegetationVideoMaskUrl,
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type VegetationFullRouteReview,
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type VegetationShadowResult,
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@@ -17,13 +16,7 @@ import {
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type M49TgsFullShadowResult,
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} from "../../core/laboratory/m49TgsFullShadow";
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import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
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import {
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M4ReplayThreatVisual,
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type M4ReplayClassifiedSpatialLayer,
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type M4ReplayThreatSemanticLayer,
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} from "./M4ReplayThreatVisual";
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const VEGETATION_TIMELINE_ENDPOINT = "/api/v1/laboratory/vegetation-shadow";
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import { CanonicalVegetationRerunReplay } from "./CanonicalVegetationRerunReplay";
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function decimal(value: number, digits = 1): string {
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return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
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@@ -36,56 +29,7 @@ function FullRouteReviewEvidence({
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resultId: string;
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review: VegetationFullRouteReview;
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}) {
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const semanticLayers = useMemo<readonly M4ReplayThreatSemanticLayer[]>(() => ([
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{
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id: "city",
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controlLabel: "ГОРОД · EoMT",
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resultId,
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spatialResultId: null,
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taxonomy: review.city.taxonomy,
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maskUrl: (sequence) => vegetationFullRouteMaskUrl(resultId, "city", sequence),
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label: review.city.name,
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maskAriaLabel: "EoMT city semantic prediction",
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},
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{
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id: "vegetation",
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controlLabel: "ПРИРОДА · DDRNet",
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resultId,
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spatialResultId: null,
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taxonomy: review.vegetation.taxonomy,
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maskUrl: (sequence) => vegetationFullRouteMaskUrl(resultId, "vegetation", sequence),
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label: review.vegetation.name,
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maskAriaLabel: "DDRNet nature semantic prediction",
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},
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]), [resultId, review.city, review.vegetation]);
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const sealedSpatialGap = useMemo<M4ReplayClassifiedSpatialLayer>(() => ({
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label: "RAVNOVES004TREE",
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pointLayerLabel: "SOURCE POINTS",
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cellLayerLabel: "TGS COSTMAP",
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cellLayerAvailable: false,
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expectedAtSequence: false,
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frame: null,
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loading: false,
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error: null,
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replacePointCloud: false,
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}), []);
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return (
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<M4ReplayThreatVisual
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resultId={resultId}
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timelineEndpointRoot={VEGETATION_TIMELINE_ENDPOINT}
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semanticLayers={semanticLayers}
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initialSemanticLayerId="vegetation"
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initialSpatialMode="3d"
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classifiedSpatialLayer={sealedSpatialGap}
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evidenceLabel="RAVNOVES004TREE"
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playbackTransport="segmented"
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spatialPlaybackTransport="sealed-binary"
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recoverTimestampStalls
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showReferenceMediaLayers
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showSpatialOverlaySummary
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/>
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);
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return <CanonicalVegetationRerunReplay resultId={resultId} review={review} />;
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}
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function FullRouteReviewResult({
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