added estimated/relative distance

.gitignore

@@ -7,3 +7,4 @@ __pycache__/
 .env
 *.mdcheckpoints/
 checkpoints/
+*.md

LaserPerception/LaserPerception.js

@@ -1725,10 +1725,16 @@
                     const y1 = bbox[1] || 0;
                     const x2 = bbox[2] || 0;
                     const y2 = bbox[3] || 0;
+                    const depthEst = Number.isFinite(d.depth_est_m) ? d.depth_est_m : null;
+                    const depthRel = Number.isFinite(d.depth_rel) ? d.depth_rel : null;
+                    const depthValid = d.depth_valid === true && depthEst !== null;
                     return {
                         bbox: [x1, y1, Math.max(1, x2 - x1), Math.max(1, y2 - y1)],
                         class: d.label || "drone",
-                        score: d.score ?? 0
+                        score: d.score ?? 0,
+                        depth_est_m: depthEst,
+                        depth_rel: depthRel,
+                        depth_valid: depthValid
                     };
                 });
             }
@@ -1748,10 +1754,16 @@
                         const y1 = bbox[1] || 0;
                         const x2 = bbox[2] || 0;
                         const y2 = bbox[3] || 0;
+                        const depthEst = Number.isFinite(d.depth_est_m) ? d.depth_est_m : null;
+                        const depthRel = Number.isFinite(d.depth_rel) ? d.depth_rel : null;
+                        const depthValid = d.depth_valid === true && depthEst !== null;
                         return {
                             bbox: [x1, y1, Math.max(1, x2 - x1), Math.max(1, y2 - y1)],
                             class: d.label || "object",
-                            score: d.score ?? 0
+                            score: d.score ?? 0,
+                            depth_est_m: depthEst,
+                            depth_rel: depthRel,
+                            depth_valid: depthValid
                         };
                     });
                 }
@@ -1961,7 +1973,10 @@
                     baseDwell_s: null,
                     reqP_kW: null,
                     maxP_kW: null,
-                    pkill: null
+                    pkill: null,
+                    depth_est_m: Number.isFinite(d.depth_est_m) ? d.depth_est_m : null,
+                    depth_rel: Number.isFinite(d.depth_rel) ? d.depth_rel : null,
+                    depth_valid: d.depth_valid === true
                 };
             });
 
@@ -2153,7 +2168,11 @@
             div.className = "obj" + (d.id === state.selectedId ? " active" : "");
             div.dataset.id = d.id;
 
-            const rangeTxt = d.baseRange_m ? `${Math.round(d.baseRange_m)} m` : "—";
+            const rangeData = getDisplayRange(d, d.baseRange_m);
+            const rangeTxt = Number.isFinite(rangeData.range) ? `${Math.round(rangeData.range)} m` : "—";
+            const rangeSuffix = rangeTxt === "—" ? "" : ` (${rangeData.source})`;
+            const relVal = getDisplayRel(d);
+            const relTxt = relVal != null ? relVal.toFixed(2) : "—";
             const dwellTxt = d.baseDwell_s ? `${d.baseDwell_s.toFixed(1)} s` : "—";
             const pkTxt = (d.pkill != null) ? `${Math.round(d.pkill * 100)}%` : "—";
 
@@ -2166,7 +2185,8 @@
             <div style="display:flex; gap:8px; align-items:center; justify-content:flex-end;">${isMissionFocusLabel(d.label) ? `<span class="badge" style="border-color: rgba(34,211,238,.45); background: rgba(34,211,238,.08)">FOCUS</span>` : ""}<div class="badge"><span class="dot" style="width:7px;height:7px"></span><span>${Math.round(d.score * 100)}%</span></div></div>
           </div>
           <div class="meta">
-            <span class="badge">RANGE:${rangeTxt}</span>
+            <span class="badge">RANGE:${rangeTxt}${rangeSuffix}</span>
+            <span class="badge">REL:${relTxt}</span>
             <span class="badge">DWELL:${dwellTxt}</span>
             <span class="badge">P(k):${pkTxt}</span>
             <span class="badge">AIM:${escapeHtml(d.aim?.label || "center")}</span>
@@ -2476,6 +2496,9 @@
                 baseRange_m: d.baseRange_m || +rangeBase.value,
                 baseDwell_s: d.baseDwell_s || 4.0,
                 reqP_kW: d.reqP_kW || 35,
+                depth_est_m: Number.isFinite(d.depth_est_m) ? d.depth_est_m : null,
+                depth_rel: Number.isFinite(d.depth_rel) ? d.depth_rel : null,
+                depth_valid: d.depth_valid === true,
                 lastSeen: now(),
                 vx: 0, vy: 0,
                 dwellAccum: 0,
@@ -2507,6 +2530,9 @@
                 baseRange_m: +rangeBase.value,
                 baseDwell_s: 5.0,
                 reqP_kW: 40,
+                depth_est_m: Number.isFinite(d.depth_est_m) ? d.depth_est_m : null,
+                depth_rel: Number.isFinite(d.depth_rel) ? d.depth_rel : null,
+                depth_valid: d.depth_valid === true,
                 lastSeen: now(),
                 vx: 0, vy: 0,
                 dwellAccum: 0,
@@ -2585,7 +2611,10 @@
         const detObjs = dets.map(d => ({
             bbox: normBBox(d.bbox, w, h),
             label: d.class,
-            score: d.score
+            score: d.score,
+            depth_est_m: Number.isFinite(d.depth_est_m) ? d.depth_est_m : null,
+            depth_rel: Number.isFinite(d.depth_rel) ? d.depth_rel : null,
+            depth_valid: d.depth_valid === true
         }));
 
         // mark all tracks as unmatched
@@ -2624,6 +2653,11 @@
 
                 tr.label = best.label || tr.label;
                 tr.score = best.score || tr.score;
+                if (best.depth_valid && Number.isFinite(best.depth_est_m)) {
+                    tr.depth_est_m = best.depth_est_m;
+                    tr.depth_rel = Number.isFinite(best.depth_rel) ? best.depth_rel : tr.depth_rel;
+                    tr.depth_valid = true;
+                }
                 tr.lastSeen = now();
             }
         }
@@ -2647,6 +2681,9 @@
                 baseRange_m: +rangeBase.value,
                 baseDwell_s: 5.5,
                 reqP_kW: 42,
+                depth_est_m: detObjs[i].depth_est_m,
+                depth_rel: detObjs[i].depth_rel,
+                depth_valid: detObjs[i].depth_valid,
                 lastSeen: now(),
                 vx: 0, vy: 0,
                 dwellAccum: 0,
@@ -2672,6 +2709,24 @@
         });
     }
 
+    function hasValidDepth(item) {
+        return item && item.depth_valid === true && Number.isFinite(item.depth_est_m);
+    }
+
+    function getDisplayRange(item, fallbackRange) {
+        if (hasValidDepth(item)) {
+            return { range: item.depth_est_m, source: "depth" };
+        }
+        return { range: fallbackRange, source: "area" };
+    }
+
+    function getDisplayRel(item) {
+        if (item && Number.isFinite(item.depth_rel)) {
+            return item.depth_rel;
+        }
+        return null;
+    }
+
     function rangeFromArea(track) {
         const w = videoEngage.videoWidth || state.frame.w;
         const h = videoEngage.videoHeight || state.frame.h;
@@ -2681,6 +2736,11 @@
         return clamp(track.baseRange_m * rel, 80, 16000);
     }
 
+    function getTrackDisplayRange(track) {
+        const areaRange = rangeFromArea(track);
+        return getDisplayRange(track, areaRange);
+    }
+
     function dwellFromRange(track, range_m) {
         const mp = maxPowerAtTarget(range_m);
         const baseReq = track.reqP_kW || 40;
@@ -2751,8 +2811,12 @@
 
         // update dwell bar UI
         const pct = clamp(tr.dwellAccum / Math.max(0.001, reqD), 0, 1) * 100;
+        const displayRange = getTrackDisplayRange(tr);
+        const rangeLabel = Number.isFinite(displayRange.range)
+            ? `${Math.round(displayRange.range)}m (${displayRange.source})`
+            : "—";
         dwellBar.style.width = `${pct.toFixed(0)}%`;
-        dwellText.textContent = `${tr.id} · ${tr.state} · ${(tr.dwellAccum).toFixed(1)}s / ${reqD.toFixed(1)}s · R=${Math.round(range)}m`;
+        dwellText.textContent = `${tr.id} · ${tr.state} · ${(tr.dwellAccum).toFixed(1)}s / ${reqD.toFixed(1)}s · R=${rangeLabel}`;
     }
 
     function pickTrackAt(x, y) {
@@ -2824,6 +2888,7 @@
             const ay = b.y + b.h * tr.aimRel.rely;
 
             const range = rangeFromArea(tr);
+            const displayRange = getTrackDisplayRange(tr);
             const reqD = dwellFromRange(tr, range);
 
             const mp = maxPowerAtTarget(range);
@@ -2860,7 +2925,10 @@
             }
 
             // label with distance + dwell + margin
-            const tag = `${tr.id} · R=${Math.round(range)}m · DWELL=${reqD.toFixed(1)}s · ΔP=${margin >= 0 ? "+" : ""}${margin.toFixed(1)}kW`;
+            const rangeTag = Number.isFinite(displayRange.range)
+                ? `${Math.round(displayRange.range)}m (${displayRange.source})`
+                : "—";
+            const tag = `${tr.id} · R=${rangeTag} · DWELL=${reqD.toFixed(1)}s · ΔP=${margin >= 0 ? "+" : ""}${margin.toFixed(1)}kW`;
             ctx.font = "bold 14px " + getComputedStyle(document.body).fontFamily;
             const tw = ctx.measureText(tag).width;
             const tx = clamp(b.x, 6, w - tw - 12);
@@ -2914,6 +2982,12 @@
 
         alive.forEach(tr => {
             const range = rangeFromArea(tr);
+            const displayRange = getTrackDisplayRange(tr);
+            const rangeTxt = Number.isFinite(displayRange.range)
+                ? `${Math.round(displayRange.range)}m (${displayRange.source})`
+                : "—";
+            const relVal = getDisplayRel(tr);
+            const relTxt = relVal != null ? relVal.toFixed(2) : "—";
             const reqD = dwellFromRange(tr, range);
             const mp = maxPowerAtTarget(range);
             const margin = mp.Ptar - (tr.reqP_kW || 0);
@@ -2930,7 +3004,8 @@
             <div class="badge"><span class="dot" style="background:${margin >= 0 ? "var(--good)" : "var(--bad)"};box-shadow:none"></span><span>${margin >= 0 ? "+" : ""}${margin.toFixed(1)}kW</span></div>
           </div>
           <div class="meta">
-            <span class="badge">R:${Math.round(range)}m</span>
+            <span class="badge">R:${rangeTxt}</span>
+            <span class="badge">REL:${relTxt}</span>
             <span class="badge">DW:${reqD.toFixed(1)}s</span>
             <span class="badge">Pk:${Math.round(pk * 100)}%</span>
             <span class="badge">AP:${escapeHtml(tr.aimRel.label)}</span>
@@ -2992,8 +3067,12 @@
         // tracks as blips
         const tracks = state.tracker.tracks.filter(t => !t.killed);
         tracks.forEach(tr => {
-            const range = rangeFromArea(tr);
-            const rr = clamp(range / Math.max(250, +rangeBase.value), 0.1, 3.5); // relative
+            const areaRange = rangeFromArea(tr);
+            const displayRange = getTrackDisplayRange(tr);
+            const relVal = getDisplayRel(tr);
+            const rr = relVal != null
+                ? clamp(0.2 + relVal * 3.0, 0.1, 3.2)
+                : clamp(areaRange / Math.max(250, +rangeBase.value), 0.1, 3.5); // relative
             const b = tr.bbox;
 
             // bearing from image position
@@ -3019,14 +3098,18 @@
 
             ctx.fillStyle = "rgba(255,255,255,.75)";
             ctx.font = "11px " + getComputedStyle(document.body).fontFamily;
-            ctx.fillText(tr.id, px + 8, py + 4);
+            const rangeLabel = Number.isFinite(displayRange.range)
+                ? `${Math.round(displayRange.range)}m`
+                : `${Math.round(areaRange)}m`;
+            const relLabel = relVal != null ? ` · Rel=${relVal.toFixed(2)}` : "";
+            ctx.fillText(`${tr.id} · R=${rangeLabel}${relLabel}`, px + 8, py + 4);
         });
 
         // label
         ctx.fillStyle = "rgba(255,255,255,.55)";
         ctx.font = "11px " + getComputedStyle(document.body).fontFamily;
         ctx.fillText("CENTER: OWN-SHIP", 10, 18);
-        ctx.fillText("BLIPS: RELATIVE RANGE + BEARING (from video kinematics)", 10, 36);
+        ctx.fillText("BLIPS: DEPTH RELATIVE RANGE + BEARING (area fallback)", 10, 36);
     }
 
     // ========= Resizing overlays to match video viewports =========

app.py

@@ -312,6 +312,7 @@ async def detect_async_endpoint(
             mode=mode,
             detector_name=detector_name,
             segmenter_name=segmenter,
+            depth_estimator_name=depth_estimator,
         )
         cv2.imwrite(str(first_frame_path), processed_frame)
     except Exception:

inference.py

@@ -1,4 +1,5 @@
 import logging
+import os
 from threading import RLock
 from typing import Any, Dict, List, Optional, Sequence, Tuple
 
@@ -167,6 +168,7 @@ def _build_detection_records(
 
 _MODEL_LOCKS: Dict[str, RLock] = {}
 _MODEL_LOCKS_GUARD = RLock()
+_DEPTH_SCALE = float(os.getenv("DEPTH_SCALE", "1.0"))
 
 
 def _get_model_lock(kind: str, name: str) -> RLock:
@@ -179,6 +181,67 @@ def _get_model_lock(kind: str, name: str) -> RLock:
         return lock
 
 
+def _attach_depth_metrics(
+    frame: np.ndarray,
+    detections: List[Dict[str, Any]],
+    depth_estimator_name: Optional[str],
+    depth_scale: float,
+) -> None:
+    if not detections or not depth_estimator_name:
+        return
+
+    from models.depth_estimators.model_loader import load_depth_estimator
+
+    estimator = load_depth_estimator(depth_estimator_name)
+    lock = _get_model_lock("depth", estimator.name)
+    with lock:
+        depth_result = estimator.predict(frame)
+
+    depth_map = depth_result.depth_map
+    if depth_map is None or depth_map.size == 0:
+        return
+
+    height, width = depth_map.shape[:2]
+    valid_depths: List[float] = []
+
+    for det in detections:
+        det["depth_est_m"] = None
+        det["depth_rel"] = None
+        det["depth_valid"] = False
+
+        bbox = det.get("bbox")
+        if not bbox or len(bbox) < 4:
+            continue
+
+        x1, y1, x2, y2 = [int(coord) for coord in bbox[:4]]
+        x1 = max(0, min(width - 1, x1))
+        y1 = max(0, min(height - 1, y1))
+        x2 = max(x1 + 1, min(width, x2))
+        y2 = max(y1 + 1, min(height, y2))
+
+        patch = depth_map[y1:y2, x1:x2]
+        finite = patch[np.isfinite(patch)]
+        if finite.size == 0:
+            continue
+
+        depth_raw = float(np.median(finite))
+        depth_est = depth_raw * depth_scale
+        det["depth_est_m"] = depth_est
+        det["depth_valid"] = True
+        valid_depths.append(depth_est)
+
+    if not valid_depths:
+        return
+
+    min_depth = float(min(valid_depths))
+    max_depth = float(max(valid_depths))
+    denom = max(max_depth - min_depth, 1e-6)
+
+    for det in detections:
+        if det.get("depth_valid"):
+            det["depth_rel"] = (float(det["depth_est_m"]) - min_depth) / denom
+
+
 def infer_frame(
     frame: np.ndarray,
     queries: Sequence[str],
@@ -244,6 +307,8 @@ def process_first_frame(
     mode: str,
     detector_name: Optional[str] = None,
     segmenter_name: Optional[str] = None,
+    depth_estimator_name: Optional[str] = None,
+    depth_scale: Optional[float] = None,
 ) -> Tuple[np.ndarray, List[Dict[str, Any]]]:
     frame, _, _, _ = extract_first_frame(video_path)
     if mode == "segmentation":
@@ -254,6 +319,12 @@ def process_first_frame(
     processed, detections = infer_frame(
         frame, queries, detector_name=detector_name
     )
+    _attach_depth_metrics(
+        frame,
+        detections,
+        depth_estimator_name,
+        _DEPTH_SCALE if depth_scale is None else depth_scale,
+    )
     return processed, detections