refactor(lab): перевести RAV004 на канонический Rerun pipeline
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# ADR 0045: Upstream Rerun as the canonical recorded-LAB pipeline
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Date: 2026-08-30
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Status: accepted; RAVNOVES004TREE is the first migrated full-route LAB
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## Context
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The accepted LAB product composition was repeatedly rebuilt over independent
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camera, semantic, point-cloud and TGS transports. The resulting implementation
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had several clocks, LAB-specific caches, a browser MediaSource decoder and a
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separate Three.js spatial renderer. A camera could continue while segmentation
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or the cloud stopped; rewind could expose evidence from different source
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sequences; switching TGS could block both panes. Low host utilization did not
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make that architecture correct: the bottleneck was duplicated admission,
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decoding, scheduling and state ownership.
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The product owner requires the existing LAB UI and interaction grammar to stay
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unchanged. VIDEO/CAMERA, SOURCE POINTS/LOCAL SLAM/TGS COSTMAP/SEMANTICS and
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3D/PLAN remain the canonical controls. Models and evidence providers may
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change, but a LAB may not create another player, clock, splitter, spatial
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renderer, window or status grammar.
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The repository state before this migration is retained by the annotated Git
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tag `baseline/custom-legacy-before-canonical-rerun-2026-08-30`. Its Russian
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stage name is **«Этап перехода от самописного legacy-контура к каноническому
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шаблонному Rerun-пайплайну»**.
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## Decision
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Recorded LAB replay uses the unmodified upstream Rerun SDK and web viewer. The
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first accepted dependency is exactly `rerun-sdk==0.36.3` and
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`@rerun-io/web-viewer@0.36.3`. Mission Core does not patch the package, vendor a
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viewer fork or depend on private viewer source. Product controls are an outer
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adapter which requests an ordinary Rerun blueprint.
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One native Rerun viewer owns:
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- one `session_time` playback clock;
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- the recorded camera and semantic image-space evidence;
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- `/world/points`, `/world/sensor_pose` and `/world/trajectory`;
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- native 3D orbit and top-down plan presentation;
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- seek, play/pause and frame synchronization.
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The canonical K1 RRD remains the source of pose, source points, bounded Local
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SLAM accumulation and trajectory. A LAB may publish one immutable normalized
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RRD sidecar containing only derived evidence absent from that recording, such
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as camera video, semantic masks and diagnostic 2D boxes. The base recording and
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sidecar must have the same application id, recording id and timeline. A sidecar
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does not copy, rotate or re-own world geometry.
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RAVNOVES004TREE uses a digest-bound sidecar cache. Its sealed fMP4 fragments are
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verified, concatenated and transcoded once to an upstream-compatible H.264
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`AssetVideo`. Source PTS are preserved. A fragment without a decodable sample
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holds the latest preceding frame; decoded samples are never renumbered to a
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synthetic fixed-rate clock. Each semantic mask and `VideoFrameReference` is
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logged at the exact immutable LAB `session_time`.
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Profiles control loading rather than creating different viewers:
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- source points use zero accumulation;
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- Local SLAM uses a native five-second visible time range;
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- TGS COSTMAP and 3D SEMANTICS are enabled only when full-route immutable
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artifacts exist and share the recording clock;
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- semantic model buttons select an entity path in the same sidecar;
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- 3D/PLAN changes native eye controls, never point coordinates;
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- layers missing from an immutable result stay visibly disabled and fail
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closed; they are not reconstructed from sparse review anchors.
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The previous fMP4/Three.js LAB transport remains source-retained only for
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explicit legacy comparison. No canonical route selects it, preloads it or lets
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it start background work. Removal is allowed after migrated results pass the
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same acceptance checks and the rollback tag is no longer operationally needed.
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## Acceptance
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A migrated recorded LAB is accepted only when:
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1. the base RRD identity and sidecar identity match exactly;
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2. camera, semantics, point cloud, pose and trajectory follow one Rerun clock;
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3. play, pause, forward seek and backward seek do not remount the viewer;
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4. SOURCE POINTS and Local SLAM are native views of the same sealed geometry;
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5. unavailable TGS or semantic 3D evidence is disabled rather than simulated;
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6. first materialization is cached by source/result/renderer digests and a
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cache hit performs no decode or inference;
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7. the existing LAB page, selectors, report mode, controls and expand behavior
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remain unchanged;
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8. Data replay and live Rerun profiles continue to use their own load policies;
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9. the integrated application remains on `127.0.0.1:8000` and no second Mission
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Core service is introduced.
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The isolated renderer materialized the first real RAVNOVES004TREE sidecar in
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79.5 seconds. Under the live operator service, cold materialization completed
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in approximately seven minutes and produced a 393,203,594-byte RRD; this is too
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slow to treat as an interactive open and should be moved to publication-time
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preparation. With a full SHA-256 recheck on every cache hit, the warm product
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endpoint returned headers in 0.89 seconds and streamed the complete local
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artifact in 2.48 seconds. These measurements establish the local cache behavior,
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not a realtime inference or navigation claim.
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## Consequences
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- Mission Core keeps its product UI without owning media or spatial playback.
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- Rerun can be upgraded through ordinary dependency updates and regression
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tests instead of reapplying a local patch.
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- New models publish entities and annotations into the same recording contract;
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they do not add LAB-specific viewers.
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- SLAM clouds and trajectories stay visible through standard Rerun components.
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- Useful native boxes/cuboids may be added as ordinary entity layers when their
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immutable full-route evidence exists.
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- The migration does not improve DDRNet quality, prove terrain traversability
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or grant navigation/actuation authority. Those remain separate model and
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safety acceptance questions.
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