Lab032: evaluate FEC block parameters

PROJECT_LOG.md

@@ -33,3 +33,133 @@
 
 ```text
 git version 2.51.1.windows.1
+```
+
+---
+
+# Запись 002
+
+## Дата
+
+27 июля 2026 года
+
+## Тема
+
+Завершение Lab028: пакетирование синхронного BASE + ROI.
+
+## Выполнено
+
+- Реализован фиксированный бинарный заголовок размером 32 байта.
+- Добавлены packet CRC32 для заголовка и payload и object CRC32 для полного JPEG.
+- Исследованы размеры payload 64, 128, 256, 512 и 1024 байта.
+- Размер payload 512 байт принят как рабочий кандидат.
+- Окончательный выбор размера пакета перенесён в Lab029.
+
+---
+
+# Запись 003
+
+## Дата
+
+27 июля 2026 года
+
+## Тема
+
+Завершение Lab029: моделирование потерь и ошибок видеопакетов.
+
+## Выполнено
+
+- Исследованы независимые потери пакетов и независимые битовые ошибки.
+- Проверены короткие, средние и длинные серии потерь по модели Gilbert–Elliott.
+- Выполнено сравнение payload 256, 512 и 1024 байта.
+- Подтверждены packet CRC32, изоляция соседних кадров и атомарная сборка BASE + ROI.
+- Зафиксировано ограничение пакетной временной шкалы Lab029.
+- Сравнение помех одинаковой физической длительности перенесено в Lab029B.
+
+---
+
+# Запись 004
+
+## Дата
+
+27 июля 2026 года
+
+## Тема
+
+Завершение Lab029B: временная модель серийных потерь.
+
+## Выполнено
+
+- Помехи смоделированы на непрерывной временной шкале.
+- Контрольная скорость передачи установлена равной 300 кбит/с.
+- Исследованы средние длительности Bad 10, 50, 200 и 1000 мс.
+- Payload 512 байт выбран для дальнейшей разработки.
+- Payload 1024 байта оставлен резервным вариантом.
+- Подтверждено, что без исправления ошибок возможны длительные прерывания видеопотока.
+
+---
+
+# Запись 005
+
+## Дата
+
+29 июля 2026 года
+
+## Тема
+
+Завершение Lab030: блочное исправление стираний.
+
+## Выполнено
+
+- Реализовано блочное исправление стираний над GF(256).
+- Проверены режимы без исправления, 8+1, 8+2 и 8+4.
+- Режим 8+2 выбран основным рабочим режимом.
+- Режим 8+4 оставлен контрольным.
+- Подтверждено, что без перемежения продолжительные серии потерь не исправляются.
+- Следующая лабораторная посвящена перемежению пакетов.
+
+---
+
+# Запись 006
+
+## Дата
+
+29 июля 2026 года
+
+## Тема
+
+Завершение Lab031: перемежение блоков исправления ошибок.
+
+## Выполнено
+
+- Исследовано перемежение блоков исправления ошибок.
+- Проверены глубины D=1, 2, 4 и 8.
+- Подтверждено, что глубокое перемежение повышает задержку сильнее, чем полезность для операторского видеопотока.
+- D=1 оставлен основным режимом.
+- D=2 сохранён как резервный вариант.
+- D=4 и D=8 исключены из основной линии разработки.
+- Следующая лабораторная подбирает размер блока и количество проверочных пакетов.
+
+---
+
+# Запись 007
+
+## Дата
+
+29 июля 2026 года
+
+## Тема
+
+Завершение Lab032: параметры блочного исправления потерянных пакетов.
+
+## Выполнено
+
+- Исследованы параметры блочного исправления потерянных пакетов.
+- Сравнивались режимы без исправления, 4+1, 8+2, 12+3, 6+2, 8+3, 4+2 и 8+4.
+- Режим 12+3 выбран основным.
+- Его транспортный поток составляет 226,951 кбит/с.
+- Запас до контрольных 300 кбит/с составляет 73,049 кбит/с.
+- Режим 8+4 оставлен усиленным экспериментальным вариантом.
+- Режим 8+3 не принят из-за отсутствия устойчивого преимущества.
+- Подтверждено, что продолжительные помехи нельзя компенсировать только увеличением числа проверочных пакетов.
+- Следующий этап посвящён совместной передаче команд, телеметрии и видео с приоритетным обслуживанием.

data/processed/lab025/lab025_report.txt

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+Lab025. Приём и программная WFM-демодуляция
+
+URI Pluto+: ip:192.168.2.1
+Частота станции: 100100000 Гц
+RX LO: 100350000 Гц
+Цифровое смещение: +250000 Гц
+Частота дискретизации RX: 2400000 Гц
+Полоса RX: 1500000 Гц
+Количество рабочих буферов: 128
+Количество IQ-сэмплов: 8388608
+Длительность IQ-записи: 3.495253 с
+Частота канального сигнала после децимации: 240000 Гц
+Длительность итогового WAV: 3.445250 с
+Частота WAV: 48000 Гц
+Тип PCM: signed PCM16, mono
+RMS итогового аудио: 0.389148
+Пиковая амплитуда: 0.974792
+Отсчёты на границе PCM16: 0.000000 %
+
+Выходные файлы:
+WAV: data\processed\lab025\lab025_wfm_audio_100_1mhz.wav
+Радиоспектр: data\processed\lab025\lab025_rf_spectrum.png
+Звуковая волна: data\processed\lab025\lab025_audio_waveform.png
+Спектр звука: data\processed\lab025\lab025_audio_spectrum.png
+Отчёт: data\processed\lab025\lab025_report.txt
+
+Использован только приёмный канал RX1.
+Передатчики TX1 и TX2 не использовались.
+Необработанные IQ-сэмплы на диск не сохранялись.

data/processed/lab026/lab026_profiles.csv

@@ -0,0 +1,33 @@
+experiment,profile_name,width,height,target_fps,actual_fps,color_mode,jpeg_quality,source_duration_s,selected_frames,total_bytes,mean_frame_bytes,median_frame_bytes,p95_frame_bytes,max_frame_bytes,payload_bitrate_bps,payload_bitrate_kbps,source_file_bitrate_kbps,reduction_ratio,percent_of_source,mean_psnr_db
+fps_sweep,fps_30,640,360,30.000000,30.000000,grayscale,50,20.766667,623,10219569,16403.803,16282.000,18471.500,21081,3936912.616,3936.912616,3001.342536,0.762359,131.171720,37.349661
+fps_sweep,fps_10,640,360,10.000000,10.016051,grayscale,50,20.766667,208,3641634,17507.856,17509.500,18958.400,21081,1402876.661,1402.876661,3001.342536,2.139420,46.741638,36.369592
+fps_sweep,fps_5,640,360,5.000000,5.008026,grayscale,50,20.766667,104,1822387,17522.952,17547.000,18910.400,21081,702043.146,702.043146,3001.342536,4.275154,23.390970,36.352519
+fps_sweep,fps_2,640,360,2.000000,2.022472,grayscale,50,20.766667,42,737435,17557.976,17476.500,18926.800,21081,284084.109,284.084109,3001.342536,10.564979,9.465234,36.319782
+fps_sweep,fps_1,640,360,1.000000,1.011236,grayscale,50,20.766667,21,369317,17586.524,17483.000,18935.000,21081,142273.002,142.273002,3001.342536,21.095658,4.740312,36.287711
+fps_sweep,fps_0_5,640,360,0.500000,0.529695,grayscale,50,20.766667,11,191626,17420.545,17040.000,19774.000,21081,73820.610,73.820610,3001.342536,40.657244,2.459586,36.371684
+fps_sweep,fps_0_2,640,360,0.200000,0.240770,grayscale,50,20.766667,5,91496,18299.200,18467.000,20651.800,21081,35247.255,35.247255,3001.342536,85.151100,1.174383,35.860330
+resolution_sweep,resolution_1280x720,1280,720,5.000000,5.008026,grayscale,50,20.766667,104,5506628,52948.346,52634.000,57821.150,73994,2121333.419,2121.333419,3001.342536,1.414838,70.679484,39.607731
+resolution_sweep,resolution_960x540,960,540,5.000000,5.008026,grayscale,50,20.766667,104,3411900,32806.731,32634.500,35501.600,41897,1314375.602,1314.375602,3001.342536,2.283474,43.792922,38.632041
+resolution_sweep,resolution_640x360,640,360,5.000000,5.008026,grayscale,50,20.766667,104,1822387,17522.952,17547.000,18910.400,21081,702043.146,702.043146,3001.342536,4.275154,23.390970,36.352519
+resolution_sweep,resolution_480x270,480,270,5.000000,5.008026,grayscale,50,20.766667,104,1120944,10778.308,10786.000,11463.200,12395,431824.334,431.824334,3001.342536,6.950378,14.387706,36.172087
+resolution_sweep,resolution_320x180,320,180,5.000000,5.008026,grayscale,50,20.766667,104,590018,5673.250,5679.000,5995.750,6191,227294.254,227.294254,3001.342536,13.204656,7.573086,35.069392
+resolution_sweep,resolution_160x90,160,90,5.000000,5.008026,grayscale,50,20.766667,104,210050,2019.712,2017.000,2103.400,2156,80918.138,80.918138,3001.342536,37.091097,2.696065,33.585930
+quality_sweep,quality_color_q90,640,360,5.000000,5.008026,color,90,20.766667,104,5486654,52756.288,52645.500,57012.750,66227,2113638.780,2113.638780,3001.342536,1.419988,70.423111,39.694424
+quality_sweep,quality_color_q70,640,360,5.000000,5.008026,color,70,20.766667,104,2901304,27897.154,27815.500,30080.600,33877,1117677.303,1117.677303,3001.342536,2.685339,37.239245,36.029412
+quality_sweep,quality_color_q50,640,360,5.000000,5.008026,color,50,20.766667,104,2137169,20549.702,20514.000,22026.250,24396,823307.480,823.307480,3001.342536,3.645470,27.431307,34.439250
+quality_sweep,quality_color_q30,640,360,5.000000,5.008026,color,30,20.766667,104,1572112,15116.462,15105.500,16167.600,17386,605629.021,605.629021,3001.342536,4.955744,20.178604,32.766254
+quality_sweep,quality_color_q20,640,360,5.000000,5.008026,color,20,20.766667,104,1224535,11774.375,11797.000,12633.050,13098,471730.979,471.730979,3001.342536,6.362403,15.717332,31.298703
+quality_sweep,quality_grayscale_q90,640,360,5.000000,5.008026,grayscale,90,20.766667,104,4697004,45163.500,44959.000,48937.750,57535,1809439.743,1809.439743,3001.342536,1.658714,60.287679,42.574562
+quality_sweep,quality_grayscale_q70,640,360,5.000000,5.008026,grayscale,70,20.766667,104,2484781,23892.125,23853.000,25744.950,29385,957219.005,957.219005,3001.342536,3.135482,31.893028,38.031656
+quality_sweep,quality_grayscale_q50,640,360,5.000000,5.008026,grayscale,50,20.766667,104,1822387,17522.952,17547.000,18910.400,21081,702043.146,702.043146,3001.342536,4.275154,23.390970,36.352519
+quality_sweep,quality_grayscale_q30,640,360,5.000000,5.008026,grayscale,30,20.766667,104,1328179,12770.952,12821.500,13834.150,14903,511658.042,511.658042,3001.342536,5.865915,17.047639,34.701951
+quality_sweep,quality_grayscale_q20,640,360,5.000000,5.008026,grayscale,20,20.766667,104,1017957,9788.048,9832.500,10597.450,11027,392150.369,392.150369,3001.342536,7.653550,13.065832,33.304362
+candidate_profiles,candidate_640x360_gray_5fps_q50,640,360,5.000000,5.008026,grayscale,50,20.766667,104,1822387,17522.952,17547.000,18910.400,21081,702043.146,702.043146,3001.342536,4.275154,23.390970,36.352519
+candidate_profiles,candidate_640x360_gray_2fps_q40,640,360,2.000000,2.022472,grayscale,40,20.766667,42,639531,15226.929,15187.500,16381.750,18122,246368.283,246.368283,3001.342536,12.182341,8.208603,35.588581
+candidate_profiles,candidate_320x180_color_5fps_q50,320,180,5.000000,5.008026,color,50,20.766667,104,717676,6900.731,6919.500,7309.850,7475,276472.295,276.472295,3001.342536,10.855853,9.211621,32.413850
+candidate_profiles,candidate_320x180_gray_5fps_q50,320,180,5.000000,5.008026,grayscale,50,20.766667,104,590018,5673.250,5679.000,5995.750,6191,227294.254,227.294254,3001.342536,13.204656,7.573086,35.069392
+candidate_profiles,candidate_320x180_gray_2fps_q40,320,180,2.000000,2.022472,grayscale,40,20.766667,42,208403,4961.976,4965.000,5224.700,5400,80283.660,80.283660,3001.342536,37.384227,2.674925,34.362114
+candidate_profiles,candidate_320x180_gray_1fps_q35,320,180,1.000000,1.011236,grayscale,35,20.766667,21,96733,4606.333,4611.000,4836.000,4992,37264.719,37.264719,3001.342536,80.541129,1.241602,34.035117
+candidate_profiles,candidate_320x180_gray_0_5fps_q35,320,180,0.500000,0.529695,grayscale,35,20.766667,11,50124,4556.727,4493.000,4914.000,4992,19309.406,19.309406,3001.342536,155.434223,0.643359,34.165852
+candidate_profiles,candidate_320x180_gray_0_2fps_q35,320,180,0.200000,0.240770,grayscale,35,20.766667,5,23618,4723.600,4815.000,4960.800,4992,9098.427,9.098427,3001.342536,329.874884,0.303145,33.741044
+candidate_profiles,candidate_160x90_gray_1fps_q30,160,90,1.000000,1.011236,grayscale,30,20.766667,21,32743,1559.190,1561.000,1623.000,1632,12613.676,12.613676,3001.342536,237.943530,0.420268,32.031480

data/processed/lab026/lab026_report.txt

@@ -0,0 +1,82 @@
+Lab026. Исследование уменьшения видеопотока для радиоуправления ровером
+
+Цель: исследовать уменьшение полезной нагрузки видеоканала для передачи через ретранслятор.
+Исходный файл: data\raw\lab026_rover_source.mp4
+Размер исходного файла: 7790985 байт
+Исходное разрешение: 1280x720
+Исходный FPS: 30.000000
+Число кадров: 623
+Длительность: 20.766667 с
+Приблизительный исходный файловый битрейт: 3001.343 кбит/с
+
+Исследуется независимое покадровое JPEG-сжатие. JPEG хранится и декодируется только в памяти.
+Рассчитанный bitrate учитывает только JPEG payload.
+Не учитываются заголовки радиопакетов, CRC, FEC, преамбула, интервалы, повторы и команды управления.
+
+Результаты fps_sweep:
+fps_30: 640x360, 30 кадр/с, grayscale, Q=50, кадров=623, payload=3936.913 кбит/с, PSNR=37.350 дБ, уменьшение=0.76x
+fps_10: 640x360, 10 кадр/с, grayscale, Q=50, кадров=208, payload=1402.877 кбит/с, PSNR=36.370 дБ, уменьшение=2.14x
+fps_5: 640x360, 5 кадр/с, grayscale, Q=50, кадров=104, payload=702.043 кбит/с, PSNR=36.353 дБ, уменьшение=4.28x
+fps_2: 640x360, 2 кадр/с, grayscale, Q=50, кадров=42, payload=284.084 кбит/с, PSNR=36.320 дБ, уменьшение=10.56x
+fps_1: 640x360, 1 кадр/с, grayscale, Q=50, кадров=21, payload=142.273 кбит/с, PSNR=36.288 дБ, уменьшение=21.10x
+fps_0_5: 640x360, 0.5 кадр/с, grayscale, Q=50, кадров=11, payload=73.821 кбит/с, PSNR=36.372 дБ, уменьшение=40.66x
+fps_0_2: 640x360, 0.2 кадр/с, grayscale, Q=50, кадров=5, payload=35.247 кбит/с, PSNR=35.860 дБ, уменьшение=85.15x
+
+Результаты resolution_sweep:
+resolution_1280x720: 1280x720, 5 кадр/с, grayscale, Q=50, кадров=104, payload=2121.333 кбит/с, PSNR=39.608 дБ, уменьшение=1.41x
+resolution_960x540: 960x540, 5 кадр/с, grayscale, Q=50, кадров=104, payload=1314.376 кбит/с, PSNR=38.632 дБ, уменьшение=2.28x
+resolution_640x360: 640x360, 5 кадр/с, grayscale, Q=50, кадров=104, payload=702.043 кбит/с, PSNR=36.353 дБ, уменьшение=4.28x
+resolution_480x270: 480x270, 5 кадр/с, grayscale, Q=50, кадров=104, payload=431.824 кбит/с, PSNR=36.172 дБ, уменьшение=6.95x
+resolution_320x180: 320x180, 5 кадр/с, grayscale, Q=50, кадров=104, payload=227.294 кбит/с, PSNR=35.069 дБ, уменьшение=13.20x
+resolution_160x90: 160x90, 5 кадр/с, grayscale, Q=50, кадров=104, payload=80.918 кбит/с, PSNR=33.586 дБ, уменьшение=37.09x
+
+Результаты quality_sweep:
+quality_color_q90: 640x360, 5 кадр/с, color, Q=90, кадров=104, payload=2113.639 кбит/с, PSNR=39.694 дБ, уменьшение=1.42x
+quality_color_q70: 640x360, 5 кадр/с, color, Q=70, кадров=104, payload=1117.677 кбит/с, PSNR=36.029 дБ, уменьшение=2.69x
+quality_color_q50: 640x360, 5 кадр/с, color, Q=50, кадров=104, payload=823.307 кбит/с, PSNR=34.439 дБ, уменьшение=3.65x
+quality_color_q30: 640x360, 5 кадр/с, color, Q=30, кадров=104, payload=605.629 кбит/с, PSNR=32.766 дБ, уменьшение=4.96x
+quality_color_q20: 640x360, 5 кадр/с, color, Q=20, кадров=104, payload=471.731 кбит/с, PSNR=31.299 дБ, уменьшение=6.36x
+quality_grayscale_q90: 640x360, 5 кадр/с, grayscale, Q=90, кадров=104, payload=1809.440 кбит/с, PSNR=42.575 дБ, уменьшение=1.66x
+quality_grayscale_q70: 640x360, 5 кадр/с, grayscale, Q=70, кадров=104, payload=957.219 кбит/с, PSNR=38.032 дБ, уменьшение=3.14x
+quality_grayscale_q50: 640x360, 5 кадр/с, grayscale, Q=50, кадров=104, payload=702.043 кбит/с, PSNR=36.353 дБ, уменьшение=4.28x
+quality_grayscale_q30: 640x360, 5 кадр/с, grayscale, Q=30, кадров=104, payload=511.658 кбит/с, PSNR=34.702 дБ, уменьшение=5.87x
+quality_grayscale_q20: 640x360, 5 кадр/с, grayscale, Q=20, кадров=104, payload=392.150 кбит/с, PSNR=33.304 дБ, уменьшение=7.65x
+
+Результаты candidate_profiles:
+candidate_640x360_gray_5fps_q50: 640x360, 5 кадр/с, grayscale, Q=50, кадров=104, payload=702.043 кбит/с, PSNR=36.353 дБ, уменьшение=4.28x
+candidate_640x360_gray_2fps_q40: 640x360, 2 кадр/с, grayscale, Q=40, кадров=42, payload=246.368 кбит/с, PSNR=35.589 дБ, уменьшение=12.18x
+candidate_320x180_color_5fps_q50: 320x180, 5 кадр/с, color, Q=50, кадров=104, payload=276.472 кбит/с, PSNR=32.414 дБ, уменьшение=10.86x
+candidate_320x180_gray_5fps_q50: 320x180, 5 кадр/с, grayscale, Q=50, кадров=104, payload=227.294 кбит/с, PSNR=35.069 дБ, уменьшение=13.20x
+candidate_320x180_gray_2fps_q40: 320x180, 2 кадр/с, grayscale, Q=40, кадров=42, payload=80.284 кбит/с, PSNR=34.362 дБ, уменьшение=37.38x
+candidate_320x180_gray_1fps_q35: 320x180, 1 кадр/с, grayscale, Q=35, кадров=21, payload=37.265 кбит/с, PSNR=34.035 дБ, уменьшение=80.54x
+candidate_320x180_gray_0_5fps_q35: 320x180, 0.5 кадр/с, grayscale, Q=35, кадров=11, payload=19.309 кбит/с, PSNR=34.166 дБ, уменьшение=155.43x
+candidate_320x180_gray_0_2fps_q35: 320x180, 0.2 кадр/с, grayscale, Q=35, кадров=5, payload=9.098 кбит/с, PSNR=33.741 дБ, уменьшение=329.87x
+candidate_160x90_gray_1fps_q30: 160x90, 1 кадр/с, grayscale, Q=30, кадров=21, payload=12.614 кбит/с, PSNR=32.031 дБ, уменьшение=237.94x
+
+Candidate-профили с payload bitrate не более 100 кбит/с:
+candidate_320x180_gray_2fps_q40: 320x180, 2 кадр/с, grayscale, Q=40, кадров=42, payload=80.284 кбит/с, PSNR=34.362 дБ, уменьшение=37.38x
+candidate_320x180_gray_1fps_q35: 320x180, 1 кадр/с, grayscale, Q=35, кадров=21, payload=37.265 кбит/с, PSNR=34.035 дБ, уменьшение=80.54x
+candidate_320x180_gray_0_5fps_q35: 320x180, 0.5 кадр/с, grayscale, Q=35, кадров=11, payload=19.309 кбит/с, PSNR=34.166 дБ, уменьшение=155.43x
+candidate_320x180_gray_0_2fps_q35: 320x180, 0.2 кадр/с, grayscale, Q=35, кадров=5, payload=9.098 кбит/с, PSNR=33.741 дБ, уменьшение=329.87x
+candidate_160x90_gray_1fps_q30: 160x90, 1 кадр/с, grayscale, Q=30, кадров=21, payload=12.614 кбит/с, PSNR=32.031 дБ, уменьшение=237.94x
+
+Candidate-профили с payload bitrate не более 50 кбит/с:
+candidate_320x180_gray_1fps_q35: 320x180, 1 кадр/с, grayscale, Q=35, кадров=21, payload=37.265 кбит/с, PSNR=34.035 дБ, уменьшение=80.54x
+candidate_320x180_gray_0_5fps_q35: 320x180, 0.5 кадр/с, grayscale, Q=35, кадров=11, payload=19.309 кбит/с, PSNR=34.166 дБ, уменьшение=155.43x
+candidate_320x180_gray_0_2fps_q35: 320x180, 0.2 кадр/с, grayscale, Q=35, кадров=5, payload=9.098 кбит/с, PSNR=33.741 дБ, уменьшение=329.87x
+candidate_160x90_gray_1fps_q30: 160x90, 1 кадр/с, grayscale, Q=30, кадров=21, payload=12.614 кбит/с, PSNR=32.031 дБ, уменьшение=237.94x
+
+Candidate-профили с payload bitrate не более 20 кбит/с:
+candidate_320x180_gray_0_5fps_q35: 320x180, 0.5 кадр/с, grayscale, Q=35, кадров=11, payload=19.309 кбит/с, PSNR=34.166 дБ, уменьшение=155.43x
+candidate_320x180_gray_0_2fps_q35: 320x180, 0.2 кадр/с, grayscale, Q=35, кадров=5, payload=9.098 кбит/с, PSNR=33.741 дБ, уменьшение=329.87x
+candidate_160x90_gray_1fps_q30: 160x90, 1 кадр/с, grayscale, Q=30, кадров=21, payload=12.614 кбит/с, PSNR=32.031 дБ, уменьшение=237.94x
+
+Candidate-профили с payload bitrate не более 10 кбит/с:
+candidate_320x180_gray_0_2fps_q35: 320x180, 0.2 кадр/с, grayscale, Q=35, кадров=5, payload=9.098 кбит/с, PSNR=33.741 дБ, уменьшение=329.87x
+
+Профиль с минимальным измеренным битрейтом:
+candidate_320x180_gray_0_2fps_q35: 320x180, 0.2 кадр/с, grayscale, Q=35, кадров=5, payload=9.098 кбит/с, PSNR=33.741 дБ, уменьшение=329.87x
+
+Автоматические метрики не заменяют визуальную оценку пригодности изображения для управления ровером.
+Сравнительное изображение: data\processed\lab026\lab026_candidate_profiles.png
+Следующий шаг: пользователь должен визуально выбрать пригодные candidate-профили.

data/processed/lab026b/lab026b_profiles.csv

@@ -0,0 +1,31 @@
+experiment,profile_name,mode,width,height,pixel_count,target_fps,actual_fps,bits_per_pixel_before_compression,maximum_gray_levels,maximum_colors,selected_frames,total_payload_bytes,mean_frame_bytes,median_frame_bytes,p95_frame_bytes,max_frame_bytes,payload_bitrate_bps,payload_bitrate_kbps,baseline_bitrate_kbps,difference_from_baseline_kbps,percent_of_baseline_bitrate,compression_ratio_from_unpacked_source,mean_psnr_db,header_bytes_per_frame,palette_bytes_per_frame,notes
+four_bit_resolution_sweep,320x180_gray8_jpeg_2fps,gray8_jpeg,320,180,57600,2.000000,2.022472,8,256,0,42,208403,4961.976,4965.000,5224.700,5400,80283.660,80.283660,80.283660,-0.000000,100.000000,11.608278,34.362114,0,0,"Grayscale 8 bit, JPEG quality 40."
+four_bit_resolution_sweep,320x180_gray4_jpeg_2fps,gray4_jpeg,320,180,57600,2.000000,2.022472,4,16,0,42,229518,5464.714,5466.000,5727.250,5822,88417.849,88.417849,80.283660,8.134189,110.131812,10.540350,32.588941,0,0,"Grayscale quantized to 16 levels, restored to uint8, JPEG quality 40."
+four_bit_resolution_sweep,320x180_gray4_packed_zlib_2fps,gray4_packed_zlib,320,180,57600,2.000000,2.022472,4,16,0,42,441074,10501.762,10444.000,11194.300,12317,169916.148,169.916148,80.283660,89.632488,211.644745,5.484794,34.397012,16,0,"Two 4-bit grayscale indices per byte, zlib level 9, 16-byte frame header."
+four_bit_resolution_sweep,320x180_color16_png_2fps,color16_png,320,180,57600,2.000000,2.022472,4,0,16,42,371520,8845.714,8607.500,10578.350,10794,143121.669,143.121669,80.283660,62.838009,178.269986,19.534884,25.384724,0,0,"Pillow palette image, maximum 16 colors, no dithering, optimized indexed PNG."
+four_bit_resolution_sweep,320x180_color16_packed_zlib_2fps,color16_packed_zlib,320,180,57600,2.000000,2.022472,4,0,16,42,364892,8687.905,8452.000,10414.800,10652,140568.347,140.568347,80.283660,60.284687,175.089609,19.889721,25.384724,16,48,"Two 4-bit palette indices per byte, zlib level 9, 16-byte header and fixed 48-byte palette."
+four_bit_resolution_sweep,400x225_gray8_jpeg_2fps,gray8_jpeg,400,225,90000,2.000000,2.022472,8,256,0,42,297273,7077.929,7063.500,7473.000,7841,114519.294,114.519294,80.283660,34.235634,142.643340,12.715585,34.942886,0,0,"Grayscale 8 bit, JPEG quality 40."
+four_bit_resolution_sweep,400x225_gray4_jpeg_2fps,gray4_jpeg,400,225,90000,2.000000,2.022472,4,16,0,42,332268,7911.143,7920.500,8353.700,8554,128000.514,128.000514,80.283660,47.716854,159.435324,11.376359,32.883090,0,0,"Grayscale quantized to 16 levels, restored to uint8, JPEG quality 40."
+four_bit_resolution_sweep,400x225_gray4_packed_zlib_2fps,gray4_packed_zlib,400,225,90000,2.000000,2.022472,4,16,0,42,636862,15163.381,15120.500,16266.050,18356,245340.096,245.340096,80.283660,165.056436,305.591569,5.935352,34.399552,16,0,"Two 4-bit grayscale indices per byte, zlib level 9, 16-byte frame header."
+four_bit_resolution_sweep,400x225_color16_png_2fps,color16_png,400,225,90000,2.000000,2.022472,4,0,16,42,528261,12577.643,12153.000,15191.650,16128,203503.435,203.503435,80.283660,123.219775,253.480515,21.466661,25.344339,0,0,"Pillow palette image, maximum 16 colors, no dithering, optimized indexed PNG."
+four_bit_resolution_sweep,400x225_color16_packed_zlib_2fps,color16_packed_zlib,400,225,90000,2.000000,2.022472,4,0,16,42,520725,12398.214,11977.000,15015.100,15966,200600.321,200.600321,80.283660,120.316661,249.864444,21.777330,25.344339,16,48,"Two 4-bit palette indices per byte, zlib level 9, 16-byte header and fixed 48-byte palette."
+four_bit_resolution_sweep,448x252_gray8_jpeg_2fps,gray8_jpeg,448,252,112896,2.000000,2.022472,8,256,0,42,353578,8418.524,8413.000,8885.950,9512,136209.823,136.209823,80.283660,55.926163,169.660705,13.410427,35.301071,0,0,"Grayscale 8 bit, JPEG quality 40."
+four_bit_resolution_sweep,448x252_gray4_jpeg_2fps,gray4_jpeg,448,252,112896,2.000000,2.022472,4,16,0,42,397126,9455.381,9467.500,9996.400,10450,152985.939,152.985939,80.283660,72.702279,190.556757,11.939868,33.060439,0,0,"Grayscale quantized to 16 levels, restored to uint8, JPEG quality 40."
+four_bit_resolution_sweep,448x252_gray4_packed_zlib_2fps,gray4_packed_zlib,448,252,112896,2.000000,2.022472,4,16,0,42,762082,18144.810,18111.500,19504.750,22433,293578.941,293.578941,80.283660,213.295281,365.677076,6.221945,34.399841,16,0,"Two 4-bit grayscale indices per byte, zlib level 9, 16-byte frame header."
+four_bit_resolution_sweep,448x252_color16_png_2fps,color16_png,448,252,112896,2.000000,2.022472,4,0,16,42,626516,14917.048,14409.500,18239.600,18695,241354.478,241.354478,80.283660,161.070818,300.627149,22.704761,25.369963,0,0,"Pillow palette image, maximum 16 colors, no dithering, optimized indexed PNG."
+four_bit_resolution_sweep,448x252_color16_packed_zlib_2fps,color16_packed_zlib,448,252,112896,2.000000,2.022472,4,0,16,42,618164,14718.190,14221.500,18022.000,18517,238137.014,238.137014,80.283660,157.853354,296.619529,23.011524,25.369963,16,48,"Two 4-bit palette indices per byte, zlib level 9, 16-byte header and fixed 48-byte palette."
+four_bit_resolution_sweep,480x270_gray8_jpeg_2fps,gray8_jpeg,480,270,129600,2.000000,2.022472,8,256,0,42,393752,9375.048,9365.500,9919.950,10678,151686.164,151.686164,80.283660,71.402504,188.937779,13.823930,35.412999,0,0,"Grayscale 8 bit, JPEG quality 40."
+four_bit_resolution_sweep,480x270_gray4_jpeg_2fps,gray4_jpeg,480,270,129600,2.000000,2.022472,4,16,0,42,443419,10557.595,10575.500,11152.550,11737,170819.518,170.819518,80.283660,90.535858,212.769969,12.275523,33.099458,0,0,"Grayscale quantized to 16 levels, restored to uint8, JPEG quality 40."
+four_bit_resolution_sweep,480x270_gray4_packed_zlib_2fps,gray4_packed_zlib,480,270,129600,2.000000,2.022472,4,16,0,42,854354,20341.762,20276.500,21857.900,25369,329125.136,329.125136,80.283660,248.841476,409.952830,6.371130,34.401420,16,0,"Two 4-bit grayscale indices per byte, zlib level 9, 16-byte frame header."
+four_bit_resolution_sweep,480x270_color16_png_2fps,color16_png,480,270,129600,2.000000,2.022472,4,0,16,42,701871,16711.214,16249.500,20469.850,21005,270383.692,270.383692,80.283660,190.100032,336.785458,23.265814,25.368870,0,0,"Pillow palette image, maximum 16 colors, no dithering, optimized indexed PNG."
+four_bit_resolution_sweep,480x270_color16_packed_zlib_2fps,color16_packed_zlib,480,270,129600,2.000000,2.022472,4,0,16,42,693190,16504.524,16007.500,20249.750,20809,267039.486,267.039486,80.283660,186.755826,332.619971,23.557178,25.368870,16,48,"Two 4-bit palette indices per byte, zlib level 9, 16-byte header and fixed 48-byte palette."
+four_bit_resolution_sweep,560x315_gray8_jpeg_2fps,gray8_jpeg,560,315,176400,2.000000,2.022472,8,256,0,42,507535,12084.167,12068.500,12860.900,13999,195519.101,195.519101,80.283660,115.235441,243.535361,14.597614,35.954946,0,0,"Grayscale 8 bit, JPEG quality 40."
+four_bit_resolution_sweep,560x315_gray4_jpeg_2fps,gray4_jpeg,560,315,176400,2.000000,2.022472,4,16,0,42,575350,13698.810,13674.500,14558.450,15458,221643.660,221.643660,80.283660,141.360000,276.075679,12.877031,33.337152,0,0,"Grayscale quantized to 16 levels, restored to uint8, JPEG quality 40."
+four_bit_resolution_sweep,560x315_gray4_packed_zlib_2fps,gray4_packed_zlib,560,315,176400,2.000000,2.022472,4,16,0,42,1093024,26024.381,25851.500,28055.650,33171,421068.636,421.068636,80.283660,340.784976,524.476133,6.778259,34.403027,16,0,"Two 4-bit grayscale indices per byte, zlib level 9, 16-byte frame header."
+four_bit_resolution_sweep,560x315_color16_png_2fps,color16_png,560,315,176400,2.000000,2.022472,4,0,16,42,894967,21308.738,20851.500,25906.100,27345,344770.594,344.770594,80.283660,264.486934,429.440554,24.834882,25.323519,0,0,"Pillow palette image, maximum 16 colors, no dithering, optimized indexed PNG."
+four_bit_resolution_sweep,560x315_color16_packed_zlib_2fps,color16_packed_zlib,560,315,176400,2.000000,2.022472,4,0,16,42,885156,21075.143,20622.000,25686.650,27166,340991.075,340.991075,80.283660,260.707415,424.732848,25.110150,25.323519,16,48,"Two 4-bit palette indices per byte, zlib level 9, 16-byte header and fixed 48-byte palette."
+four_bit_resolution_sweep,640x360_gray8_jpeg_2fps,gray8_jpeg,640,360,230400,2.000000,2.022472,8,256,0,42,639531,15226.929,15187.500,16381.750,18122,246368.283,246.368283,80.283660,166.084623,306.872261,15.131088,35.588581,0,0,"Grayscale 8 bit, JPEG quality 40."
+four_bit_resolution_sweep,640x360_gray4_jpeg_2fps,gray4_jpeg,640,360,230400,2.000000,2.022472,4,16,0,42,726335,17293.690,17220.500,18557.350,19938,279808.026,279.808026,80.283660,199.524366,348.524252,13.322778,33.048695,0,0,"Grayscale quantized to 16 levels, restored to uint8, JPEG quality 40."
+four_bit_resolution_sweep,640x360_gray4_packed_zlib_2fps,gray4_packed_zlib,640,360,230400,2.000000,2.022472,4,16,0,42,1394769,33208.786,32974.500,35959.800,43514,537310.690,537.310690,80.283660,457.027030,669.265315,6.937923,34.404228,16,0,"Two 4-bit grayscale indices per byte, zlib level 9, 16-byte frame header."
+four_bit_resolution_sweep,640x360_color16_png_2fps,color16_png,640,360,230400,2.000000,2.022472,4,0,16,42,1140488,27154.476,26267.500,33424.950,36017,439353.323,439.353323,80.283660,359.069663,547.251237,25.454367,25.259621,0,0,"Pillow palette image, maximum 16 colors, no dithering, optimized indexed PNG."
+four_bit_resolution_sweep,640x360_color16_packed_zlib_2fps,color16_packed_zlib,640,360,230400,2.000000,2.022472,4,0,16,42,1128711,26874.071,25978.500,33021.450,35603,434816.437,434.816437,80.283660,354.532777,541.600167,25.719958,25.259621,16,48,"Two 4-bit palette indices per byte, zlib level 9, 16-byte header and fixed 48-byte palette."

data/processed/lab026b/lab026b_report.txt

@@ -0,0 +1,90 @@
+Lab026B. Увеличение разрешения кадра за счёт глубины цвета 4 бита
+
+Цель: проверить увеличение разрешения при битрейте, близком к контрольным 80.283660 кбит/с.
+Исходное видео: data\raw\lab026_rover_source.mp4
+Размер исходного видео: 7790985 байт
+Исходное разрешение: 1280×720
+Исходный FPS: 30.000000
+Число кадров: 623
+Длительность: 20.766667 с
+
+4-битная яркость: индекс 0...15, то есть 16 уровней серого на пиксель.
+4-битный индексированный цвет: один индекс 0...15 на пиксель и палитра максимум из 16 RGB-цветов.
+Это не RGB444: RGB444 требует по 4 бита на каждый из трёх каналов, то есть 12 бит на пиксель.
+
+Режимы:
+gray8_jpeg — контрольный grayscale JPEG Q40.
+gray4_jpeg — 16 уровней серого, восстановление uint8, JPEG Q40.
+gray4_packed_zlib — 4-битные индексы, два на байт, zlib level 9 и заголовок 16 байт.
+color16_png — палитра максимум 16 цветов, без дизеринга, индексированный PNG в памяти.
+color16_packed_zlib — 4-битные индексы, zlib level 9, заголовок 16 байт и фиксированная палитра 48 байт.
+
+Контрольный baseline: 80.283660 кбит/с.
+CRC, FEC, радиозаголовки и пакетирование пока не учтены.
+Статические метрики не учитывают задержку видеоканала.
+
+Полные результаты 30 профилей:
+320x180_gray8_jpeg_2fps: mode=gray8_jpeg, 320x180, frames=42, actual_fps=2.022472, total=208403 bytes, mean=4961.976, median=4965.000, p95=5224.700, max=5400, bitrate=80.283660 kbit/s, baseline_diff=-0.000000, baseline_percent=100.000%, compression=11.608x, PSNR=34.362114 dB
+320x180_gray4_jpeg_2fps: mode=gray4_jpeg, 320x180, frames=42, actual_fps=2.022472, total=229518 bytes, mean=5464.714, median=5466.000, p95=5727.250, max=5822, bitrate=88.417849 kbit/s, baseline_diff=8.134189, baseline_percent=110.132%, compression=10.540x, PSNR=32.588941 dB
+320x180_gray4_packed_zlib_2fps: mode=gray4_packed_zlib, 320x180, frames=42, actual_fps=2.022472, total=441074 bytes, mean=10501.762, median=10444.000, p95=11194.300, max=12317, bitrate=169.916148 kbit/s, baseline_diff=89.632488, baseline_percent=211.645%, compression=5.485x, PSNR=34.397012 dB
+320x180_color16_png_2fps: mode=color16_png, 320x180, frames=42, actual_fps=2.022472, total=371520 bytes, mean=8845.714, median=8607.500, p95=10578.350, max=10794, bitrate=143.121669 kbit/s, baseline_diff=62.838009, baseline_percent=178.270%, compression=19.535x, PSNR=25.384724 dB
+320x180_color16_packed_zlib_2fps: mode=color16_packed_zlib, 320x180, frames=42, actual_fps=2.022472, total=364892 bytes, mean=8687.905, median=8452.000, p95=10414.800, max=10652, bitrate=140.568347 kbit/s, baseline_diff=60.284687, baseline_percent=175.090%, compression=19.890x, PSNR=25.384724 dB
+400x225_gray8_jpeg_2fps: mode=gray8_jpeg, 400x225, frames=42, actual_fps=2.022472, total=297273 bytes, mean=7077.929, median=7063.500, p95=7473.000, max=7841, bitrate=114.519294 kbit/s, baseline_diff=34.235634, baseline_percent=142.643%, compression=12.716x, PSNR=34.942886 dB
+400x225_gray4_jpeg_2fps: mode=gray4_jpeg, 400x225, frames=42, actual_fps=2.022472, total=332268 bytes, mean=7911.143, median=7920.500, p95=8353.700, max=8554, bitrate=128.000514 kbit/s, baseline_diff=47.716854, baseline_percent=159.435%, compression=11.376x, PSNR=32.883090 dB
+400x225_gray4_packed_zlib_2fps: mode=gray4_packed_zlib, 400x225, frames=42, actual_fps=2.022472, total=636862 bytes, mean=15163.381, median=15120.500, p95=16266.050, max=18356, bitrate=245.340096 kbit/s, baseline_diff=165.056436, baseline_percent=305.592%, compression=5.935x, PSNR=34.399552 dB
+400x225_color16_png_2fps: mode=color16_png, 400x225, frames=42, actual_fps=2.022472, total=528261 bytes, mean=12577.643, median=12153.000, p95=15191.650, max=16128, bitrate=203.503435 kbit/s, baseline_diff=123.219775, baseline_percent=253.481%, compression=21.467x, PSNR=25.344339 dB
+400x225_color16_packed_zlib_2fps: mode=color16_packed_zlib, 400x225, frames=42, actual_fps=2.022472, total=520725 bytes, mean=12398.214, median=11977.000, p95=15015.100, max=15966, bitrate=200.600321 kbit/s, baseline_diff=120.316661, baseline_percent=249.864%, compression=21.777x, PSNR=25.344339 dB
+448x252_gray8_jpeg_2fps: mode=gray8_jpeg, 448x252, frames=42, actual_fps=2.022472, total=353578 bytes, mean=8418.524, median=8413.000, p95=8885.950, max=9512, bitrate=136.209823 kbit/s, baseline_diff=55.926163, baseline_percent=169.661%, compression=13.410x, PSNR=35.301071 dB
+448x252_gray4_jpeg_2fps: mode=gray4_jpeg, 448x252, frames=42, actual_fps=2.022472, total=397126 bytes, mean=9455.381, median=9467.500, p95=9996.400, max=10450, bitrate=152.985939 kbit/s, baseline_diff=72.702279, baseline_percent=190.557%, compression=11.940x, PSNR=33.060439 dB
+448x252_gray4_packed_zlib_2fps: mode=gray4_packed_zlib, 448x252, frames=42, actual_fps=2.022472, total=762082 bytes, mean=18144.810, median=18111.500, p95=19504.750, max=22433, bitrate=293.578941 kbit/s, baseline_diff=213.295281, baseline_percent=365.677%, compression=6.222x, PSNR=34.399841 dB
+448x252_color16_png_2fps: mode=color16_png, 448x252, frames=42, actual_fps=2.022472, total=626516 bytes, mean=14917.048, median=14409.500, p95=18239.600, max=18695, bitrate=241.354478 kbit/s, baseline_diff=161.070818, baseline_percent=300.627%, compression=22.705x, PSNR=25.369963 dB
+448x252_color16_packed_zlib_2fps: mode=color16_packed_zlib, 448x252, frames=42, actual_fps=2.022472, total=618164 bytes, mean=14718.190, median=14221.500, p95=18022.000, max=18517, bitrate=238.137014 kbit/s, baseline_diff=157.853354, baseline_percent=296.620%, compression=23.012x, PSNR=25.369963 dB
+480x270_gray8_jpeg_2fps: mode=gray8_jpeg, 480x270, frames=42, actual_fps=2.022472, total=393752 bytes, mean=9375.048, median=9365.500, p95=9919.950, max=10678, bitrate=151.686164 kbit/s, baseline_diff=71.402504, baseline_percent=188.938%, compression=13.824x, PSNR=35.412999 dB
+480x270_gray4_jpeg_2fps: mode=gray4_jpeg, 480x270, frames=42, actual_fps=2.022472, total=443419 bytes, mean=10557.595, median=10575.500, p95=11152.550, max=11737, bitrate=170.819518 kbit/s, baseline_diff=90.535858, baseline_percent=212.770%, compression=12.276x, PSNR=33.099458 dB
+480x270_gray4_packed_zlib_2fps: mode=gray4_packed_zlib, 480x270, frames=42, actual_fps=2.022472, total=854354 bytes, mean=20341.762, median=20276.500, p95=21857.900, max=25369, bitrate=329.125136 kbit/s, baseline_diff=248.841476, baseline_percent=409.953%, compression=6.371x, PSNR=34.401420 dB
+480x270_color16_png_2fps: mode=color16_png, 480x270, frames=42, actual_fps=2.022472, total=701871 bytes, mean=16711.214, median=16249.500, p95=20469.850, max=21005, bitrate=270.383692 kbit/s, baseline_diff=190.100032, baseline_percent=336.785%, compression=23.266x, PSNR=25.368870 dB
+480x270_color16_packed_zlib_2fps: mode=color16_packed_zlib, 480x270, frames=42, actual_fps=2.022472, total=693190 bytes, mean=16504.524, median=16007.500, p95=20249.750, max=20809, bitrate=267.039486 kbit/s, baseline_diff=186.755826, baseline_percent=332.620%, compression=23.557x, PSNR=25.368870 dB
+560x315_gray8_jpeg_2fps: mode=gray8_jpeg, 560x315, frames=42, actual_fps=2.022472, total=507535 bytes, mean=12084.167, median=12068.500, p95=12860.900, max=13999, bitrate=195.519101 kbit/s, baseline_diff=115.235441, baseline_percent=243.535%, compression=14.598x, PSNR=35.954946 dB
+560x315_gray4_jpeg_2fps: mode=gray4_jpeg, 560x315, frames=42, actual_fps=2.022472, total=575350 bytes, mean=13698.810, median=13674.500, p95=14558.450, max=15458, bitrate=221.643660 kbit/s, baseline_diff=141.360000, baseline_percent=276.076%, compression=12.877x, PSNR=33.337152 dB
+560x315_gray4_packed_zlib_2fps: mode=gray4_packed_zlib, 560x315, frames=42, actual_fps=2.022472, total=1093024 bytes, mean=26024.381, median=25851.500, p95=28055.650, max=33171, bitrate=421.068636 kbit/s, baseline_diff=340.784976, baseline_percent=524.476%, compression=6.778x, PSNR=34.403027 dB
+560x315_color16_png_2fps: mode=color16_png, 560x315, frames=42, actual_fps=2.022472, total=894967 bytes, mean=21308.738, median=20851.500, p95=25906.100, max=27345, bitrate=344.770594 kbit/s, baseline_diff=264.486934, baseline_percent=429.441%, compression=24.835x, PSNR=25.323519 dB
+560x315_color16_packed_zlib_2fps: mode=color16_packed_zlib, 560x315, frames=42, actual_fps=2.022472, total=885156 bytes, mean=21075.143, median=20622.000, p95=25686.650, max=27166, bitrate=340.991075 kbit/s, baseline_diff=260.707415, baseline_percent=424.733%, compression=25.110x, PSNR=25.323519 dB
+640x360_gray8_jpeg_2fps: mode=gray8_jpeg, 640x360, frames=42, actual_fps=2.022472, total=639531 bytes, mean=15226.929, median=15187.500, p95=16381.750, max=18122, bitrate=246.368283 kbit/s, baseline_diff=166.084623, baseline_percent=306.872%, compression=15.131x, PSNR=35.588581 dB
+640x360_gray4_jpeg_2fps: mode=gray4_jpeg, 640x360, frames=42, actual_fps=2.022472, total=726335 bytes, mean=17293.690, median=17220.500, p95=18557.350, max=19938, bitrate=279.808026 kbit/s, baseline_diff=199.524366, baseline_percent=348.524%, compression=13.323x, PSNR=33.048695 dB
+640x360_gray4_packed_zlib_2fps: mode=gray4_packed_zlib, 640x360, frames=42, actual_fps=2.022472, total=1394769 bytes, mean=33208.786, median=32974.500, p95=35959.800, max=43514, bitrate=537.310690 kbit/s, baseline_diff=457.027030, baseline_percent=669.265%, compression=6.938x, PSNR=34.404228 dB
+640x360_color16_png_2fps: mode=color16_png, 640x360, frames=42, actual_fps=2.022472, total=1140488 bytes, mean=27154.476, median=26267.500, p95=33424.950, max=36017, bitrate=439.353323 kbit/s, baseline_diff=359.069663, baseline_percent=547.251%, compression=25.454x, PSNR=25.259621 dB
+640x360_color16_packed_zlib_2fps: mode=color16_packed_zlib, 640x360, frames=42, actual_fps=2.022472, total=1128711 bytes, mean=26874.071, median=25978.500, p95=33021.450, max=35603, bitrate=434.816437 kbit/s, baseline_diff=354.532777, baseline_percent=541.600%, compression=25.720x, PSNR=25.259621 dB
+
+Профили 70–90 кбит/с:
+320x180_gray8_jpeg_2fps: mode=gray8_jpeg, 320x180, frames=42, actual_fps=2.022472, total=208403 bytes, mean=4961.976, median=4965.000, p95=5224.700, max=5400, bitrate=80.283660 kbit/s, baseline_diff=-0.000000, baseline_percent=100.000%, compression=11.608x, PSNR=34.362114 dB
+320x180_gray4_jpeg_2fps: mode=gray4_jpeg, 320x180, frames=42, actual_fps=2.022472, total=229518 bytes, mean=5464.714, median=5466.000, p95=5727.250, max=5822, bitrate=88.417849 kbit/s, baseline_diff=8.134189, baseline_percent=110.132%, compression=10.540x, PSNR=32.588941 dB
+
+Профили до baseline:
+320x180_gray8_jpeg_2fps: mode=gray8_jpeg, 320x180, frames=42, actual_fps=2.022472, total=208403 bytes, mean=4961.976, median=4965.000, p95=5224.700, max=5400, bitrate=80.283660 kbit/s, baseline_diff=-0.000000, baseline_percent=100.000%, compression=11.608x, PSNR=34.362114 dB
+
+Профили до 100 кбит/с:
+320x180_gray8_jpeg_2fps: mode=gray8_jpeg, 320x180, frames=42, actual_fps=2.022472, total=208403 bytes, mean=4961.976, median=4965.000, p95=5224.700, max=5400, bitrate=80.283660 kbit/s, baseline_diff=-0.000000, baseline_percent=100.000%, compression=11.608x, PSNR=34.362114 dB
+320x180_gray4_jpeg_2fps: mode=gray4_jpeg, 320x180, frames=42, actual_fps=2.022472, total=229518 bytes, mean=5464.714, median=5466.000, p95=5727.250, max=5822, bitrate=88.417849 kbit/s, baseline_diff=8.134189, baseline_percent=110.132%, compression=10.540x, PSNR=32.588941 dB
+
+Цветные color16-профили до 100 кбит/с:
+Нет.
+
+Профили больше 320x180 и не выше baseline:
+Нет.
+
+Максимальное разрешение до baseline:
+320x180_gray8_jpeg_2fps: mode=gray8_jpeg, 320x180, frames=42, actual_fps=2.022472, total=208403 bytes, mean=4961.976, median=4965.000, p95=5224.700, max=5400, bitrate=80.283660 kbit/s, baseline_diff=-0.000000, baseline_percent=100.000%, compression=11.608x, PSNR=34.362114 dB
+
+Максимальное разрешение до 100 кбит/с:
+320x180_gray8_jpeg_2fps: mode=gray8_jpeg, 320x180, frames=42, actual_fps=2.022472, total=208403 bytes, mean=4961.976, median=4965.000, p95=5224.700, max=5400, bitrate=80.283660 kbit/s, baseline_diff=-0.000000, baseline_percent=100.000%, compression=11.608x, PSNR=34.362114 dB
+320x180_gray4_jpeg_2fps: mode=gray4_jpeg, 320x180, frames=42, actual_fps=2.022472, total=229518 bytes, mean=5464.714, median=5466.000, p95=5727.250, max=5822, bitrate=88.417849 kbit/s, baseline_diff=8.134189, baseline_percent=110.132%, compression=10.540x, PSNR=32.588941 dB
+
+Сравнение gray4 и color16:
+Минимальный gray4 bitrate: 88.417849 кбит/с.
+Минимальный color16 bitrate: 140.568347 кбит/с.
+Размер палитры packed color16: 48 байт на кадр.
+Размер компактного заголовка packed-режимов: 16 байт на кадр.
+
+Нельзя автоматически объявлять профиль безопасным для управления ровером по одной статической метрике.
+Сравнительное изображение: data\processed\lab026b\lab026b_equal_bitrate_candidates.png
+Следующий шаг: ручная визуальная оценка пользователем.

data/processed/lab027/lab027_profiles.csv

@@ -0,0 +1,10 @@
+profile_name,base_width,base_height,base_fps,base_quality,roi_enabled,roi_x_min,roi_y_min,roi_x_max,roi_y_max,roi_width,roi_height,roi_fps,roi_quality,source_duration_s,selected_base_frames,selected_roi_frames,actual_base_fps,actual_roi_fps,total_base_bytes,total_roi_bytes,total_payload_bytes,mean_base_frame_bytes,mean_roi_frame_bytes,p95_base_frame_bytes,p95_roi_frame_bytes,max_base_frame_bytes,max_roi_frame_bytes,base_bitrate_kbps,roi_bitrate_kbps,total_payload_bitrate_kbps,baseline_bitrate_kbps,difference_from_baseline_kbps,percent_of_baseline,mean_base_jpeg_psnr_db,mean_roi_jpeg_psnr_db,mean_reconstructed_full_psnr_db,mean_reconstructed_roi_psnr_db
+baseline_320x180_gray_2fps_q40,320,180,2.000000,40,0,0.000000,0.000000,0.000000,0.000000,0,0,0.000000,0,20.766667,42,0,2.022472,0.000000,208368,0,208368,4961.143,0.000,5226.950,0.000,5390,0,80.270177,0.000000,80.270177,80.283660,-0.013483,99.983205,34.364165,,20.757991,
+base240_1fps_q25_roi320_2fps_q35,240,135,1.000000,25,1,0.200000,0.420000,0.800000,1.000000,320,180,2.000000,35,20.766667,21,42,1.011236,2.022472,50858,191270,242128,2421.810,4554.048,2554.000,5044.500,2569,5172,19.592167,73.683467,93.275634,80.283660,12.991974,116.182588,32.370927,34.103745,19.657187,19.574377
+base240_0_5fps_q25_roi320_2fps_q35,240,135,0.500000,25,1,0.200000,0.420000,0.800000,1.000000,320,180,2.000000,35,20.766667,11,42,0.529695,2.022472,26348,191270,217618,2395.273,4554.048,2561.500,5044.500,2569,5172,10.150112,73.683467,83.833579,80.283660,3.549919,104.421721,32.474572,34.103745,18.613817,19.574377
+base160_1fps_q25_roi320_2fps_q35,160,90,1.000000,25,1,0.200000,0.420000,0.800000,1.000000,320,180,2.000000,35,20.766667,21,42,1.011236,2.022472,29882,191270,221152,1422.952,4554.048,1484.000,5044.500,1492,5172,11.511525,73.683467,85.194992,80.283660,4.911332,106.117474,31.458773,34.103745,19.701304,19.574377
+base240_1fps_q25_roi448_1fps_q30,240,135,1.000000,25,1,0.200000,0.420000,0.800000,1.000000,448,252,1.000000,30,20.766667,21,21,1.011236,1.011236,50858,147787,198645,2421.810,7037.476,2554.000,7860.000,2569,8507,19.592167,56.932392,76.524559,80.283660,-3.759101,95.317725,32.370927,34.666932,19.098790,17.871555
+base240_0_5fps_q25_roi448_1fps_q30,240,135,0.500000,25,1,0.200000,0.420000,0.800000,1.000000,448,252,1.000000,30,20.766667,11,21,0.529695,1.011236,26348,147787,174135,2395.273,7037.476,2561.500,7860.000,2569,8507,10.150112,56.932392,67.082504,80.283660,-13.201156,83.556858,32.474572,34.666932,18.113877,17.871555
+base320_1fps_q30_roi320_1fps_q35,320,180,1.000000,30,1,0.200000,0.420000,0.800000,1.000000,320,180,1.000000,35,20.766667,21,21,1.011236,1.011236,87901,95367,183268,4185.762,4541.286,4391.000,5048.000,4537,5172,33.862343,36.738491,70.600835,80.283660,-9.682825,87.939233,33.539230,34.103514,19.121457,17.888190
+base240_1fps_q20_roi320_1fps_q30,240,135,1.000000,20,1,0.200000,0.420000,0.800000,1.000000,320,180,1.000000,30,20.766667,21,21,1.011236,1.011236,44598,86458,131056,2123.714,4117.048,2231.000,4551.000,2251,4614,17.180610,33.306453,50.487063,80.283660,-29.796597,62.885851,31.643522,33.598412,19.107784,17.873870
+base160_0_5fps_q20_roi320_2fps_q30,160,90,0.500000,20,1,0.200000,0.420000,0.800000,1.000000,320,180,2.000000,30,20.766667,11,42,0.529695,2.022472,13820,173455,187275,1256.364,4129.881,1326.000,4548.450,1347,4614,5.323917,66.820546,72.144462,80.283660,-8.139198,89.861950,30.823518,33.595566,18.664976,19.549559

data/processed/lab027/lab027_report.txt

@@ -0,0 +1,74 @@
+Lab027. Многомасштабная передача изображения: общий кадр и область интереса
+
+Цель: проверить совместную передачу общего кадра и фиксированной ROI при payload около 80–100 кбит/с.
+Исходное видео: data\raw\lab026_rover_source.mp4
+Размер файла: 7790985 байт
+Исходное разрешение: 1280×720
+Исходный FPS: 30.000000
+Число кадров: 623
+Длительность: 20.766667 с
+
+BASE: полный grayscale-кадр пониженного разрешения с собственной частотой и JPEG quality.
+ROI: фиксированная центральная нижняя область исходного grayscale-кадра с независимыми разрешением, частотой и JPEG quality.
+Нормализованные координаты ROI: x=0.20...0.80, y=0.42...1.00.
+Пиксельные координаты ROI исходного кадра: x=256...1024, y=302...720.
+
+Контрольный профиль: 320×180 grayscale, 2 fps, JPEG Q40.
+Контрольный baseline: 80.283660 кбит/с.
+
+Результаты всех девяти профилей:
+baseline_320x180_gray_2fps_q40: BASE=320x180, 2.000 fps, Q40, base_frames=42, base=80.270177 kbit/s; ROI=0x0, 0.000 fps, Q0, roi_frames=0, roi=0.000000 kbit/s; total=80.270177 kbit/s, baseline_diff=-0.013483, baseline_percent=99.983%, BASE_JPEG_PSNR=34.364165 dB, ROI_JPEG_PSNR=нет dB, full_reconstructed_PSNR=20.757991 dB, ROI_reconstructed_PSNR=нет dB
+base240_1fps_q25_roi320_2fps_q35: BASE=240x135, 1.000 fps, Q25, base_frames=21, base=19.592167 kbit/s; ROI=320x180, 2.000 fps, Q35, roi_frames=42, roi=73.683467 kbit/s; total=93.275634 kbit/s, baseline_diff=12.991974, baseline_percent=116.183%, BASE_JPEG_PSNR=32.370927 dB, ROI_JPEG_PSNR=34.103745 dB, full_reconstructed_PSNR=19.657187 dB, ROI_reconstructed_PSNR=19.574377 dB
+base240_0_5fps_q25_roi320_2fps_q35: BASE=240x135, 0.500 fps, Q25, base_frames=11, base=10.150112 kbit/s; ROI=320x180, 2.000 fps, Q35, roi_frames=42, roi=73.683467 kbit/s; total=83.833579 kbit/s, baseline_diff=3.549919, baseline_percent=104.422%, BASE_JPEG_PSNR=32.474572 dB, ROI_JPEG_PSNR=34.103745 dB, full_reconstructed_PSNR=18.613817 dB, ROI_reconstructed_PSNR=19.574377 dB
+base160_1fps_q25_roi320_2fps_q35: BASE=160x90, 1.000 fps, Q25, base_frames=21, base=11.511525 kbit/s; ROI=320x180, 2.000 fps, Q35, roi_frames=42, roi=73.683467 kbit/s; total=85.194992 kbit/s, baseline_diff=4.911332, baseline_percent=106.117%, BASE_JPEG_PSNR=31.458773 dB, ROI_JPEG_PSNR=34.103745 dB, full_reconstructed_PSNR=19.701304 dB, ROI_reconstructed_PSNR=19.574377 dB
+base240_1fps_q25_roi448_1fps_q30: BASE=240x135, 1.000 fps, Q25, base_frames=21, base=19.592167 kbit/s; ROI=448x252, 1.000 fps, Q30, roi_frames=21, roi=56.932392 kbit/s; total=76.524559 kbit/s, baseline_diff=-3.759101, baseline_percent=95.318%, BASE_JPEG_PSNR=32.370927 dB, ROI_JPEG_PSNR=34.666932 dB, full_reconstructed_PSNR=19.098790 dB, ROI_reconstructed_PSNR=17.871555 dB
+base240_0_5fps_q25_roi448_1fps_q30: BASE=240x135, 0.500 fps, Q25, base_frames=11, base=10.150112 kbit/s; ROI=448x252, 1.000 fps, Q30, roi_frames=21, roi=56.932392 kbit/s; total=67.082504 kbit/s, baseline_diff=-13.201156, baseline_percent=83.557%, BASE_JPEG_PSNR=32.474572 dB, ROI_JPEG_PSNR=34.666932 dB, full_reconstructed_PSNR=18.113877 dB, ROI_reconstructed_PSNR=17.871555 dB
+base320_1fps_q30_roi320_1fps_q35: BASE=320x180, 1.000 fps, Q30, base_frames=21, base=33.862343 kbit/s; ROI=320x180, 1.000 fps, Q35, roi_frames=21, roi=36.738491 kbit/s; total=70.600835 kbit/s, baseline_diff=-9.682825, baseline_percent=87.939%, BASE_JPEG_PSNR=33.539230 dB, ROI_JPEG_PSNR=34.103514 dB, full_reconstructed_PSNR=19.121457 dB, ROI_reconstructed_PSNR=17.888190 dB
+base240_1fps_q20_roi320_1fps_q30: BASE=240x135, 1.000 fps, Q20, base_frames=21, base=17.180610 kbit/s; ROI=320x180, 1.000 fps, Q30, roi_frames=21, roi=33.306453 kbit/s; total=50.487063 kbit/s, baseline_diff=-29.796597, baseline_percent=62.886%, BASE_JPEG_PSNR=31.643522 dB, ROI_JPEG_PSNR=33.598412 dB, full_reconstructed_PSNR=19.107784 dB, ROI_reconstructed_PSNR=17.873870 dB
+base160_0_5fps_q20_roi320_2fps_q30: BASE=160x90, 0.500 fps, Q20, base_frames=11, base=5.323917 kbit/s; ROI=320x180, 2.000 fps, Q30, roi_frames=42, roi=66.820546 kbit/s; total=72.144462 kbit/s, baseline_diff=-8.139198, baseline_percent=89.862%, BASE_JPEG_PSNR=30.823518 dB, ROI_JPEG_PSNR=33.595566 dB, full_reconstructed_PSNR=18.664976 dB, ROI_reconstructed_PSNR=19.549559 dB
+
+Профили до 80.283660 кбит/с:
+baseline_320x180_gray_2fps_q40: BASE=320x180, 2.000 fps, Q40, base_frames=42, base=80.270177 kbit/s; ROI=0x0, 0.000 fps, Q0, roi_frames=0, roi=0.000000 kbit/s; total=80.270177 kbit/s, baseline_diff=-0.013483, baseline_percent=99.983%, BASE_JPEG_PSNR=34.364165 dB, ROI_JPEG_PSNR=нет dB, full_reconstructed_PSNR=20.757991 dB, ROI_reconstructed_PSNR=нет dB
+base240_1fps_q25_roi448_1fps_q30: BASE=240x135, 1.000 fps, Q25, base_frames=21, base=19.592167 kbit/s; ROI=448x252, 1.000 fps, Q30, roi_frames=21, roi=56.932392 kbit/s; total=76.524559 kbit/s, baseline_diff=-3.759101, baseline_percent=95.318%, BASE_JPEG_PSNR=32.370927 dB, ROI_JPEG_PSNR=34.666932 dB, full_reconstructed_PSNR=19.098790 dB, ROI_reconstructed_PSNR=17.871555 dB
+base240_0_5fps_q25_roi448_1fps_q30: BASE=240x135, 0.500 fps, Q25, base_frames=11, base=10.150112 kbit/s; ROI=448x252, 1.000 fps, Q30, roi_frames=21, roi=56.932392 kbit/s; total=67.082504 kbit/s, baseline_diff=-13.201156, baseline_percent=83.557%, BASE_JPEG_PSNR=32.474572 dB, ROI_JPEG_PSNR=34.666932 dB, full_reconstructed_PSNR=18.113877 dB, ROI_reconstructed_PSNR=17.871555 dB
+base320_1fps_q30_roi320_1fps_q35: BASE=320x180, 1.000 fps, Q30, base_frames=21, base=33.862343 kbit/s; ROI=320x180, 1.000 fps, Q35, roi_frames=21, roi=36.738491 kbit/s; total=70.600835 kbit/s, baseline_diff=-9.682825, baseline_percent=87.939%, BASE_JPEG_PSNR=33.539230 dB, ROI_JPEG_PSNR=34.103514 dB, full_reconstructed_PSNR=19.121457 dB, ROI_reconstructed_PSNR=17.888190 dB
+base240_1fps_q20_roi320_1fps_q30: BASE=240x135, 1.000 fps, Q20, base_frames=21, base=17.180610 kbit/s; ROI=320x180, 1.000 fps, Q30, roi_frames=21, roi=33.306453 kbit/s; total=50.487063 kbit/s, baseline_diff=-29.796597, baseline_percent=62.886%, BASE_JPEG_PSNR=31.643522 dB, ROI_JPEG_PSNR=33.598412 dB, full_reconstructed_PSNR=19.107784 dB, ROI_reconstructed_PSNR=17.873870 dB
+base160_0_5fps_q20_roi320_2fps_q30: BASE=160x90, 0.500 fps, Q20, base_frames=11, base=5.323917 kbit/s; ROI=320x180, 2.000 fps, Q30, roi_frames=42, roi=66.820546 kbit/s; total=72.144462 kbit/s, baseline_diff=-8.139198, baseline_percent=89.862%, BASE_JPEG_PSNR=30.823518 dB, ROI_JPEG_PSNR=33.595566 dB, full_reconstructed_PSNR=18.664976 dB, ROI_reconstructed_PSNR=19.549559 dB
+
+Профили до 100 кбит/с:
+baseline_320x180_gray_2fps_q40: BASE=320x180, 2.000 fps, Q40, base_frames=42, base=80.270177 kbit/s; ROI=0x0, 0.000 fps, Q0, roi_frames=0, roi=0.000000 kbit/s; total=80.270177 kbit/s, baseline_diff=-0.013483, baseline_percent=99.983%, BASE_JPEG_PSNR=34.364165 dB, ROI_JPEG_PSNR=нет dB, full_reconstructed_PSNR=20.757991 dB, ROI_reconstructed_PSNR=нет dB
+base240_1fps_q25_roi320_2fps_q35: BASE=240x135, 1.000 fps, Q25, base_frames=21, base=19.592167 kbit/s; ROI=320x180, 2.000 fps, Q35, roi_frames=42, roi=73.683467 kbit/s; total=93.275634 kbit/s, baseline_diff=12.991974, baseline_percent=116.183%, BASE_JPEG_PSNR=32.370927 dB, ROI_JPEG_PSNR=34.103745 dB, full_reconstructed_PSNR=19.657187 dB, ROI_reconstructed_PSNR=19.574377 dB
+base240_0_5fps_q25_roi320_2fps_q35: BASE=240x135, 0.500 fps, Q25, base_frames=11, base=10.150112 kbit/s; ROI=320x180, 2.000 fps, Q35, roi_frames=42, roi=73.683467 kbit/s; total=83.833579 kbit/s, baseline_diff=3.549919, baseline_percent=104.422%, BASE_JPEG_PSNR=32.474572 dB, ROI_JPEG_PSNR=34.103745 dB, full_reconstructed_PSNR=18.613817 dB, ROI_reconstructed_PSNR=19.574377 dB
+base160_1fps_q25_roi320_2fps_q35: BASE=160x90, 1.000 fps, Q25, base_frames=21, base=11.511525 kbit/s; ROI=320x180, 2.000 fps, Q35, roi_frames=42, roi=73.683467 kbit/s; total=85.194992 kbit/s, baseline_diff=4.911332, baseline_percent=106.117%, BASE_JPEG_PSNR=31.458773 dB, ROI_JPEG_PSNR=34.103745 dB, full_reconstructed_PSNR=19.701304 dB, ROI_reconstructed_PSNR=19.574377 dB
+base240_1fps_q25_roi448_1fps_q30: BASE=240x135, 1.000 fps, Q25, base_frames=21, base=19.592167 kbit/s; ROI=448x252, 1.000 fps, Q30, roi_frames=21, roi=56.932392 kbit/s; total=76.524559 kbit/s, baseline_diff=-3.759101, baseline_percent=95.318%, BASE_JPEG_PSNR=32.370927 dB, ROI_JPEG_PSNR=34.666932 dB, full_reconstructed_PSNR=19.098790 dB, ROI_reconstructed_PSNR=17.871555 dB
+base240_0_5fps_q25_roi448_1fps_q30: BASE=240x135, 0.500 fps, Q25, base_frames=11, base=10.150112 kbit/s; ROI=448x252, 1.000 fps, Q30, roi_frames=21, roi=56.932392 kbit/s; total=67.082504 kbit/s, baseline_diff=-13.201156, baseline_percent=83.557%, BASE_JPEG_PSNR=32.474572 dB, ROI_JPEG_PSNR=34.666932 dB, full_reconstructed_PSNR=18.113877 dB, ROI_reconstructed_PSNR=17.871555 dB
+base320_1fps_q30_roi320_1fps_q35: BASE=320x180, 1.000 fps, Q30, base_frames=21, base=33.862343 kbit/s; ROI=320x180, 1.000 fps, Q35, roi_frames=21, roi=36.738491 kbit/s; total=70.600835 kbit/s, baseline_diff=-9.682825, baseline_percent=87.939%, BASE_JPEG_PSNR=33.539230 dB, ROI_JPEG_PSNR=34.103514 dB, full_reconstructed_PSNR=19.121457 dB, ROI_reconstructed_PSNR=17.888190 dB
+base240_1fps_q20_roi320_1fps_q30: BASE=240x135, 1.000 fps, Q20, base_frames=21, base=17.180610 kbit/s; ROI=320x180, 1.000 fps, Q30, roi_frames=21, roi=33.306453 kbit/s; total=50.487063 kbit/s, baseline_diff=-29.796597, baseline_percent=62.886%, BASE_JPEG_PSNR=31.643522 dB, ROI_JPEG_PSNR=33.598412 dB, full_reconstructed_PSNR=19.107784 dB, ROI_reconstructed_PSNR=17.873870 dB
+base160_0_5fps_q20_roi320_2fps_q30: BASE=160x90, 0.500 fps, Q20, base_frames=11, base=5.323917 kbit/s; ROI=320x180, 2.000 fps, Q30, roi_frames=42, roi=66.820546 kbit/s; total=72.144462 kbit/s, baseline_diff=-8.139198, baseline_percent=89.862%, BASE_JPEG_PSNR=30.823518 dB, ROI_JPEG_PSNR=33.595566 dB, full_reconstructed_PSNR=18.664976 dB, ROI_reconstructed_PSNR=19.549559 dB
+
+Профиль с максимальным ROI-разрешением до 100 кбит/с:
+base240_1fps_q25_roi448_1fps_q30: BASE=240x135, 1.000 fps, Q25, base_frames=21, base=19.592167 kbit/s; ROI=448x252, 1.000 fps, Q30, roi_frames=21, roi=56.932392 kbit/s; total=76.524559 kbit/s, baseline_diff=-3.759101, baseline_percent=95.318%, BASE_JPEG_PSNR=32.370927 dB, ROI_JPEG_PSNR=34.666932 dB, full_reconstructed_PSNR=19.098790 dB, ROI_reconstructed_PSNR=17.871555 dB
+
+Профиль с максимальным ROI PSNR до 100 кбит/с:
+base240_1fps_q25_roi320_2fps_q35: BASE=240x135, 1.000 fps, Q25, base_frames=21, base=19.592167 kbit/s; ROI=320x180, 2.000 fps, Q35, roi_frames=42, roi=73.683467 kbit/s; total=93.275634 kbit/s, baseline_diff=12.991974, baseline_percent=116.183%, BASE_JPEG_PSNR=32.370927 dB, ROI_JPEG_PSNR=34.103745 dB, full_reconstructed_PSNR=19.657187 dB, ROI_reconstructed_PSNR=19.574377 dB
+
+Профиль с максимальным full-frame PSNR до 100 кбит/с:
+baseline_320x180_gray_2fps_q40: BASE=320x180, 2.000 fps, Q40, base_frames=42, base=80.270177 kbit/s; ROI=0x0, 0.000 fps, Q0, roi_frames=0, roi=0.000000 kbit/s; total=80.270177 kbit/s, baseline_diff=-0.013483, baseline_percent=99.983%, BASE_JPEG_PSNR=34.364165 dB, ROI_JPEG_PSNR=нет dB, full_reconstructed_PSNR=20.757991 dB, ROI_reconstructed_PSNR=нет dB
+
+Разделение битрейта BASE/ROI:
+baseline_320x180_gray_2fps_q40: BASE=80.270177 кбит/с, ROI=0.000000 кбит/с, total=80.270177 кбит/с.
+base240_1fps_q25_roi320_2fps_q35: BASE=19.592167 кбит/с, ROI=73.683467 кбит/с, total=93.275634 кбит/с.
+base240_0_5fps_q25_roi320_2fps_q35: BASE=10.150112 кбит/с, ROI=73.683467 кбит/с, total=83.833579 кбит/с.
+base160_1fps_q25_roi320_2fps_q35: BASE=11.511525 кбит/с, ROI=73.683467 кбит/с, total=85.194992 кбит/с.
+base240_1fps_q25_roi448_1fps_q30: BASE=19.592167 кбит/с, ROI=56.932392 кбит/с, total=76.524559 кбит/с.
+base240_0_5fps_q25_roi448_1fps_q30: BASE=10.150112 кбит/с, ROI=56.932392 кбит/с, total=67.082504 кбит/с.
+base320_1fps_q30_roi320_1fps_q35: BASE=33.862343 кбит/с, ROI=36.738491 кбит/с, total=70.600835 кбит/с.
+base240_1fps_q20_roi320_1fps_q30: BASE=17.180610 кбит/с, ROI=33.306453 кбит/с, total=50.487063 кбит/с.
+base160_0_5fps_q20_roi320_2fps_q30: BASE=5.323917 кбит/с, ROI=66.820546 кбит/с, total=72.144462 кбит/с.
+
+Фиксированная ROI не гарантирует попадания препятствия в область интереса.
+PSNR не заменяет ручную оценку пригодности изображения.
+Нельзя автоматически объявлять профиль безопасным для управления ровером.
+Радиопротокол, радиозаголовки, CRC, FEC, фрагментация и повторные передачи не учтены.
+Сравнительное изображение: data\processed\lab027\lab027_candidate_profiles.png
+Следующий шаг: ручная оценка пользователем.

data/processed/lab027c/lab027c_preview_profiles.csv

@@ -0,0 +1,5 @@
+profile_name,update_mode,base_width,base_height,base_fps,base_quality,roi_width,roi_height,roi_fps,roi_quality,source_duration_s,selected_base_frames,selected_roi_frames,synchronized_composite_frames,total_base_bytes,total_roi_bytes,total_payload_bytes,mean_base_frame_bytes,mean_roi_frame_bytes,mean_composite_frame_bytes,p95_composite_frame_bytes,max_composite_frame_bytes,base_bitrate_kbps,roi_bitrate_kbps,total_payload_bitrate_kbps,timestamp_mismatch_count,frame_id_mismatch_count
+async_reference,asynchronous,240,135,1.000000,25,320,180,2.000000,35,20.766667,21,42,N/A,50858,191270,242128,2421.810,4554.048,5764.952,7477.600,7741,19.592167,73.683467,93.275634,N/A,N/A
+sync_base160_q25_roi320_q35,synchronous,160,90,2.000000,25,320,180,2.000000,35,20.766667,42,42,42,59958,191270,251228,1427.571,4554.048,5981.619,6519.900,6656,23.097785,73.683467,96.781252,0,0
+sync_base240_q20_roi320_q30,synchronous,240,135,2.000000,20,320,180,2.000000,30,20.766667,42,42,42,89696,173455,263151,2135.619,4129.881,6265.500,6780.400,6842,34.553836,66.820546,101.374382,0,0
+sync_base240_q25_roi320_q35,synchronous,240,135,2.000000,25,320,180,2.000000,35,20.766667,42,42,42,102283,191270,293553,2435.310,4554.048,6989.357,7572.350,7741,39.402761,73.683467,113.086228,0,0

data/processed/lab027c/lab027c_preview_report.txt

@@ -0,0 +1,44 @@
+Lab027C. Динамическое сравнение асинхронного и синхронного BASE + ROI
+
+Цель: визуально сравнить ранее выбранный асинхронный профиль BASE 1 fps + ROI 2 fps с тремя синхронными профилями BASE 2 fps + ROI 2 fps.
+
+Исходное видео: data\raw\lab026_rover_source.mp4
+Исходное разрешение: 1280x720
+Исходный FPS: 30.000000
+Число кадров: 623
+Длительность: 20.766667 с
+ROI: x=0.20...0.80, y=0.42...1.00; пиксели x=256...1024, y=302...720.
+
+Результат ручной оценки предыдущей Lab027:
+- пользователь выбрал вариант B;
+- граница ROI не мешает;
+- обновление BASE один раз в секунду мешает;
+- рассинхронное движение BASE и ROI мешает;
+- принято решение сравнить с синхронным обновлением 2 fps.
+
+async_reference: BASE и ROI обновляются независимо. Единого logical_frame_id нет; используются отдельные BASE ID и ROI ID. Mismatch для этого режима неприменим.
+Синхронные профили: BASE и ROI формируются из одного source frame, получают единые composite ID и timestamp и атомарно заменяют отображаемый составной кадр.
+
+Фактические результаты четырёх профилей:
+async_reference: mode=asynchronous, BASE=240x135, 1.000 fps, Q25, base_frames=21, base_bytes=50858, base_bitrate=19.592167 kbit/s; ROI=320x180, 2.000 fps, Q35, roi_frames=42, roi_bytes=191270, roi_bitrate=73.683467 kbit/s; total_bytes=242128, total_bitrate=93.275634 kbit/s, sync_frames=N/A, timestamp_mismatch=N/A, frame_id_mismatch=N/A
+sync_base160_q25_roi320_q35: mode=synchronous, BASE=160x90, 2.000 fps, Q25, base_frames=42, base_bytes=59958, base_bitrate=23.097785 kbit/s; ROI=320x180, 2.000 fps, Q35, roi_frames=42, roi_bytes=191270, roi_bitrate=73.683467 kbit/s; total_bytes=251228, total_bitrate=96.781252 kbit/s, sync_frames=42, timestamp_mismatch=0, frame_id_mismatch=0
+sync_base240_q20_roi320_q30: mode=synchronous, BASE=240x135, 2.000 fps, Q20, base_frames=42, base_bytes=89696, base_bitrate=34.553836 kbit/s; ROI=320x180, 2.000 fps, Q30, roi_frames=42, roi_bytes=173455, roi_bitrate=66.820546 kbit/s; total_bytes=263151, total_bitrate=101.374382 kbit/s, sync_frames=42, timestamp_mismatch=0, frame_id_mismatch=0
+sync_base240_q25_roi320_q35: mode=synchronous, BASE=240x135, 2.000 fps, Q25, base_frames=42, base_bytes=102283, base_bitrate=39.402761 kbit/s; ROI=320x180, 2.000 fps, Q35, roi_frames=42, roi_bytes=191270, roi_bitrate=73.683467 kbit/s; total_bytes=293553, total_bitrate=113.086228 kbit/s, sync_frames=42, timestamp_mismatch=0, frame_id_mismatch=0
+
+Количество обновлений:
+async_reference: BASE=21, ROI=42, synchronized=N/A.
+sync_base160_q25_roi320_q35: BASE=42, ROI=42, synchronized=42.
+sync_base240_q20_roi320_q30: BASE=42, ROI=42, synchronized=42.
+sync_base240_q25_roi320_q35: BASE=42, ROI=42, synchronized=42.
+
+Mismatch-проверка:
+async_reference: timestamp=N/A, frame_id=N/A.
+sync_base160_q25_roi320_q35: timestamp=0, frame_id=0.
+sync_base240_q20_roi320_q30: timestamp=0, frame_id=0.
+sync_base240_q25_roi320_q35: timestamp=0, frame_id=0.
+
+Preview: data\raw\lab027c_previews\lab027c_synchronous_roi_preview.mp4
+Формат: MP4/mp4v.
+Радиопротокол, CRC, FEC, фрагментация и служебный трафик пока не учитываются.
+Программа не выбирает лучший профиль и не объявляет режим безопасным автоматически.
+Следующий шаг: ручной выбор пользователем после просмотра preview-видео.

data/processed/lab027d/lab027d_profiles.csv

@@ -0,0 +1,5 @@
+profile_name,base_width,base_height,fps,base_quality,roi_width,roi_height,roi_quality,source_duration_s,selected_base_frames,selected_roi_frames,synchronized_composite_frames,total_base_bytes,total_roi_bytes,total_payload_bytes,mean_base_frame_bytes,mean_roi_frame_bytes,mean_composite_frame_bytes,p95_composite_frame_bytes,max_composite_frame_bytes,base_bitrate_kbps,roi_bitrate_kbps,total_payload_bitrate_kbps,channel_rate_fec_2_3_kbps,channel_rate_fec_1_2_kbps,timestamp_mismatch_count,frame_id_mismatch_count
+sync_2fps_base_q20_roi_q30,240,135,2.000000,20,320,180,30,20.766667,42,42,42,89696,173455,263151,2135.619,4129.881,6265.500,6780.400,6842,34.553836,66.820546,101.374382,167.267730,223.023640,0,0
+sync_3fps_base_q20_roi_q30,240,135,3.000000,20,320,180,30,20.766667,63,63,63,133076,249436,382512,2112.317,3959.302,6071.619,6640.800,6842,51.265233,96.090915,147.356148,243.137644,324.183525,0,0
+sync_3fps_base_q23_roi_q33,240,135,3.000000,23,320,180,33,20.766667,63,63,63,144649,264895,409544,2296.016,4204.683,6500.698,7125.400,7383,55.723531,102.046228,157.769759,260.320103,347.093470,0,0
+sync_3fps_base_q25_roi_q35,240,135,3.000000,25,320,180,35,20.766667,63,63,63,151516,274486,426002,2405.016,4356.921,6761.937,7421.700,7741,58.368925,105.740995,164.109920,270.781368,361.041823,0,0

data/processed/lab027d/lab027d_report.txt

@@ -0,0 +1,37 @@
+Lab027D. Синхронный BASE + ROI при 2 и 3 fps
+
+Цель: сравнить текущий синхронный профиль 2 fps с тремя профилями 3 fps при разных JPEG Quality.
+
+Результат ручной оценки Lab027C:
+- лучший из показанных вариантов — нижний левый;
+- синхронизация BASE и ROI устранила рассогласование;
+- 2 fps недостаточно;
+- BASE 160x90 слишком грубый;
+- BASE 240x135 Q20 немного недостаточен по качеству.
+
+Причина повышения FPS: ручная оценка показала, что синхронное обновление устраняет рассогласование, но частота 2 fps недостаточна для динамической сцены.
+
+Исходное видео: data\raw\lab026_rover_source.mp4
+Разрешение: 1280x720
+FPS: 30.000000
+Кадров: 623
+Длительность: 20.766667 с
+ROI: x=0.20...0.80, y=0.42...1.00; пиксели x=256...1024, y=302...720.
+
+Все профили синхронные: BASE и ROI формируются из одного source frame, получают единый timestamp и composite frame ID и публикуются атомарно.
+
+Фактические результаты:
+sync_2fps_base_q20_roi_q30: 2.000 fps; BASE=240x135, Q20, frames=42, bytes=89696, bitrate=34.553836 kbit/s; ROI=320x180, Q30, frames=42, bytes=173455, bitrate=66.820546 kbit/s; total_bytes=263151, payload=101.374382 kbit/s; channel FEC 2/3=167.267730 kbit/s; channel FEC 1/2=223.023640 kbit/s; sync_frames=42; timestamp_mismatch=0; frame_id_mismatch=0
+sync_3fps_base_q20_roi_q30: 3.000 fps; BASE=240x135, Q20, frames=63, bytes=133076, bitrate=51.265233 kbit/s; ROI=320x180, Q30, frames=63, bytes=249436, bitrate=96.090915 kbit/s; total_bytes=382512, payload=147.356148 kbit/s; channel FEC 2/3=243.137644 kbit/s; channel FEC 1/2=324.183525 kbit/s; sync_frames=63; timestamp_mismatch=0; frame_id_mismatch=0
+sync_3fps_base_q23_roi_q33: 3.000 fps; BASE=240x135, Q23, frames=63, bytes=144649, bitrate=55.723531 kbit/s; ROI=320x180, Q33, frames=63, bytes=264895, bitrate=102.046228 kbit/s; total_bytes=409544, payload=157.769759 kbit/s; channel FEC 2/3=260.320103 kbit/s; channel FEC 1/2=347.093470 kbit/s; sync_frames=63; timestamp_mismatch=0; frame_id_mismatch=0
+sync_3fps_base_q25_roi_q35: 3.000 fps; BASE=240x135, Q25, frames=63, bytes=151516, bitrate=58.368925 kbit/s; ROI=320x180, Q35, frames=63, bytes=274486, bitrate=105.740995 kbit/s; total_bytes=426002, payload=164.109920 kbit/s; channel FEC 2/3=270.781368 kbit/s; channel FEC 1/2=361.041823 kbit/s; sync_frames=63; timestamp_mismatch=0; frame_id_mismatch=0
+
+Оценки channel rate иллюстративны: к payload добавлено 10% служебных данных, затем применена оценка FEC 2/3 или FEC 1/2.
+Эти значения не являются окончательной архитектурой радиоканала.
+
+Preview: data\raw\lab027d_previews\lab027d_fps_quality_preview.mp4
+Формат: MP4/mp4v.
+
+Предупреждение: оценки пока не включают окончательную модуляцию, полосу сигнала, интерливинг, повторы и команды управления.
+Программа не выбирает лучший профиль автоматически.
+Следующий шаг: ручной выбор пользователя после просмотра preview-видео.

data/processed/lab027e/lab027e_profile.csv

@@ -0,0 +1,2 @@
+profile_name,playback_speed_factor,source_width,source_height,source_fps,source_frames,source_duration_s,output_width,output_height,output_fps,output_frames,output_duration_s,composite_fps,base_width,base_height,base_quality,roi_width,roi_height,roi_quality,selected_composite_frames,total_base_bytes,total_roi_bytes,total_payload_bytes,mean_base_frame_bytes,mean_roi_frame_bytes,mean_composite_frame_bytes,p95_composite_frame_bytes,max_composite_frame_bytes,base_bitrate_kbps,roi_bitrate_kbps,total_payload_bitrate_kbps,channel_rate_fec_2_3_kbps,channel_rate_fec_1_2_kbps,timestamp_mismatch_count,frame_id_mismatch_count
+sync_3fps_base240_q23_roi320_q33_speed_0_5x,0.500000,1280,720,30.000000,623,20.766667,1280,720,30.000000,1246,41.533333,3.000000,240,135,23,320,180,33,125,286715,524962,811677,2293.720,4199.696,6493.416,7125.400,7890,55.226003,101.116276,156.342279,257.964761,343.953014,0,0

data/processed/lab027e/lab027e_report.txt

@@ -0,0 +1,50 @@
+Lab027E. Операторское preview при playback 0.5x
+
+Результаты ручной оценки Lab027D:
+- 3 fps достаточно на исходном быстром видео;
+- Q20/Q30 приемлем;
+- Q23/Q33 приемлем;
+- разница Q23/Q33 и Q25/Q35 практически отсутствует.
+
+Предварительно выбран профиль Q23/Q33.
+От Q25/Q35 предварительно отказались, поскольку визуальный выигрыш почти отсутствует.
+Профиль не считается окончательно утверждённым до ручного просмотра этого preview.
+
+Исходная сцена замедлена для имитации более медленного движения ровера и оценки удобства управления.
+Коэффициент playback: 0.500x.
+Предупреждение: реальная скорость исходного автомобиля неизвестна.
+
+Исходное видео:
+- путь: data\raw\lab026_rover_source.mp4;
+- разрешение: 1280x720;
+- FPS: 30.000000;
+- кадров: 623;
+- длительность: 20.766667 с.
+
+Выходное preview:
+- разрешение: 1280x720;
+- FPS: 30.000000;
+- кадров: 1246;
+- длительность: 41.533333 с;
+- composite FPS: 3.000000.
+
+Профиль:
+- BASE 240x135 Q23;
+- ROI 320x180 Q33;
+- составных обновлений: 125.
+
+Фактические скорости:
+- BASE: 55.226003 kbit/s;
+- ROI: 101.116276 kbit/s;
+- total payload: 156.342279 kbit/s;
+- channel rate FEC 2/3: 257.964761 kbit/s;
+- channel rate FEC 1/2: 343.953014 kbit/s.
+
+Оценки канальной скорости иллюстративны и не являются окончательной архитектурой радиоканала.
+Mismatch-проверка:
+- timestamp mismatch: 0;
+- frame ID mismatch: 0.
+
+Preview: data\raw\lab027e_previews\lab027e_operator_view_0_5x.mp4
+Формат: MP4/mp4v.
+Следующий шаг: ручная оценка удобства управления пользователем.

data/processed/lab028/lab028_packet_payload_results.csv

@@ -0,0 +1,6 @@
+max_payload_bytes,composite_frames,mean_base_packets_per_frame,mean_roi_packets_per_frame,mean_total_packets_per_frame,max_total_packets_per_frame,packets_per_second,jpeg_payload_bytes,jpeg_payload_bitrate_kbps,header_bytes_per_second,header_bitrate_kbps,wire_bytes,wire_bitrate_kbps,service_data_percent,efficiency_percent,mean_wire_packet_bytes,p95_wire_packet_bytes,max_wire_packet_bytes
+64,63,36.428571,66.174603,102.603175,117,311.268058,409544,157.769759,9960.577849,79.684623,616392,237.454382,33.557866,66.442134,95.357673,96.000000,96
+128,63,18.428571,33.269841,51.698413,59,156.837881,409544,157.769759,5018.812199,40.150498,513768,197.920257,20.286199,79.713801,157.742708,160.000000,160
+256,63,9.428571,16.920635,26.349206,30,79.935795,409544,157.769759,2557.945425,20.463563,462664,178.233323,11.481334,88.518666,278.713253,288.000000,288
+512,63,5.000000,8.682540,13.682540,15,41.508828,409544,157.769759,1328.282504,10.626260,437128,168.396019,6.310280,93.689720,507.109049,544.000000,544
+1024,63,3.000000,4.587302,7.587302,8,23.017657,409544,157.769759,736.565008,5.892520,424840,163.662279,3.600414,96.399586,888.786611,1056.000000,1056

data/processed/lab028/lab028_report.txt

@@ -0,0 +1,52 @@
+Lab028. Пакетирование синхронного BASE + ROI
+
+Профиль и исходные данные
+- Видео: data\raw\lab026_rover_source.mp4
+- Источник: 1280x720, 30.000000 fps, 623 кадров, 20.766667 с.
+- ROI: x=0.20...0.80, y=0.42...1.00; пиксели x=256...1024, y=302...720.
+- Синхронные составные кадры: 63 при 3.000 fps.
+- BASE: 240x135, grayscale JPEG Q23; средний размер 2296.016 B, min/max 2122/2476 B.
+- ROI: 320x180, grayscale JPEG Q33; средний размер 4204.683 B, min/max 3457/4938 B.
+- BASE и ROI формируются из одного source frame и имеют общий composite_frame_id.
+
+Бинарный заголовок
+- struct format: !4sBBHIHHHHIII
+- Размер: 32 байта; network byte order; padding нет.
+- Layout: magic[4] @0, version:u8 @4, object_type:u8 @5, header_size:u16 @6, composite_frame_id:u32 @8, fragment_index:u16 @12, fragment_count:u16 @14, payload_length:u16 @16, flags:u16 @18, jpeg_size:u32 @20, object_crc32:u32 @24, packet_crc32:u32 @28.
+- object_type: 1=BASE, 2=ROI; flags зарезервирован и равен 0.
+
+CRC32
+- object_crc32 = zlib.crc32(полный JPEG) & 0xFFFFFFFF; значение помещается во все фрагменты объекта и проверяется после полной сборки.
+- packet_crc32: сначала поле packet_crc32 заголовка обнуляется, затем CRC считается как zlib.crc32(header_with_zero_crc + payload) & 0xFFFFFFFF.
+- Таким образом packet CRC защищает все поля заголовка и payload.
+
+Функциональные проверки
+- PASS header_serialization_round_trip: fixed 32-byte header round trip is exact
+- PASS ordered_lossless_transfer: BASE and ROI match original JPEG bytes
+- PASS random_packet_order: arbitrary packet order reconstructed correctly
+- PASS exact_duplicate_packets: 2 exact duplicates ignored
+- PASS packet_crc_corruption: payload bit flip rejected; composite not emitted
+- PASS missing_fragment: ROI fragment 10 reported missing
+- PASS object_crc_corruption: valid packet CRCs still failed full-object CRC
+- PASS adjacent_frame_isolation: two interleaved frame IDs remained independent
+- PASS base_without_roi_atomicity: complete BASE retained while composite stayed unpublished
+
+Результаты размеров packet payload
+payload | BASE pkt/frame | ROI pkt/frame | all pkt/frame | max pkt/frame | pkt/s | JPEG kbit/s | headers B/s | wire kbit/s | service % | efficiency % | packet mean/p95/max
+-------:|---------------:|--------------:|--------------:|--------------:|------:|------------:|------------:|------------:|----------:|-------------:|--------------------:
+64 | 36.429 | 66.175 | 102.603 | 117 | 311.268 | 157.770 | 9960.578 | 237.454 | 33.558 | 66.442 | 95.4/96.0/96
+128 | 18.429 | 33.270 | 51.698 | 59 | 156.838 | 157.770 | 5018.812 | 197.920 | 20.286 | 79.714 | 157.7/160.0/160
+256 | 9.429 | 16.921 | 26.349 | 30 | 79.936 | 157.770 | 2557.945 | 178.233 | 11.481 | 88.519 | 278.7/288.0/288
+512 | 5.000 | 8.683 | 13.683 | 15 | 41.509 | 157.770 | 1328.283 | 168.396 | 6.310 | 93.690 | 507.1/544.0/544
+1024 | 3.000 | 4.587 | 7.587 | 8 | 23.018 | 157.770 | 736.565 | 163.662 | 3.600 | 96.400 | 888.8/1056.0/1056
+
+JPEG payload bitrate одинаков для всех строк, потому что исходные JPEG не меняются при выборе размера фрагмента.
+Wire bitrate включает только JPEG payload и 32-байтные заголовки каждого пакета.
+Wire bitrate пока НЕ включает FEC, преамбулу, синхронизацию, модуляцию, интервалы, повторные передачи, команды управления и телеметрию.
+Лучший размер packet payload автоматически не выбирается: таблица показывает только транспортный компромисс.
+
+Артефакты
+- CSV: data\processed\lab028\lab028_packet_payload_results.csv
+- Overhead/efficiency: data\processed\lab028\lab028_overhead_efficiency.png
+- Packet count/wire bitrate: data\processed\lab028\lab028_packets_wire_bitrate.png
+- Промежуточные JPEG и пакеты сохранялись только в памяти; бинарные дампы не создавались.

data/processed/lab029/lab029_report.txt

@@ -0,0 +1,95 @@
+Lab029. Прохождение видеопакетов через канал с потерями и ошибками
+
+Исходные данные и неизменный транспорт Lab028
+- Видео: data\raw\lab026_rover_source.mp4
+- Источник: 1280x720, 30.000000 fps, 623 кадров, 20.766667 с.
+- Реальных синхронных JPEG-пар: 63; BASE 240x135 grayscale Q23, ROI 320x180 grayscale Q33, 3 composite fps.
+- Использован protocol/video_packet.py без изменения: 32-byte header, packet CRC32, object CRC32, отдельные BASE/ROI и атомарная выдача CompositeReassembler.
+- Payload: 256, 512, 1024 байт.
+- Пакетов в одном проходе: 256 B=1660, 512 B=862, 1024 B=478.
+
+Методика Monte Carlo
+- Повторов на каждую строку: 200.
+- Master seed: 29029; independent seeds 29029...29034; BER seeds 30029...30034; burst seeds 31029...31031.
+- Для одинакового параметра один seed повторно используется для payload 256/512/1024, чтобы сравнение было коррелированным и воспроизводимым.
+- packet_delivery_rate = (received - CRC rejected) / transmitted.
+- effective delivered JPEG bitrate учитывает BASE+ROI bytes только атомарно выданных составных кадров и полное симулированное время.
+- Потерянный фрагмент — физически потерянный пакет или пакет, отклонённый проверкой транспорта.
+- FEC, ARQ, повторные передачи и интерливинг не применяются.
+
+Модели канала
+- Independent loss: каждый пакет теряется независимо с заданной вероятностью.
+- BER: число независимых битовых ошибок выбирается binomial по полной длине пакета в битах, включая 32-byte header; выбранные биты физически инвертируются перед reassembler.
+- Gilbert-Elliott: Good доставляет все пакеты, Bad теряет все. Начальное состояние выбирается из стационарного распределения.
+- В Lab029 длительность состояния Bad и серии потерь задаётся количеством пакетов, а не физическим временем.
+- Серия из одинакового количества пакетов имеет разную физическую длительность для payload 256, 512 и 1024 байта, поскольку различается время передачи пакета.
+- Доля успешно восстановленных кадров не показывает длительность непрерывного отсутствия нового изображения.
+- Поэтому burst-loss результаты Lab029 не являются окончательным сравнением размеров payload; для временного сравнения предназначена Lab029B.
+  - short: короткие серии потерь; P(G->B)=0.010204082, P(B->G)=0.500000000, stationary loss=2.000%, expected mean burst=2.0.
+  - medium: средние серии потерь; P(G->B)=0.004081633, P(B->G)=0.200000000, stationary loss=2.000%, expected mean burst=5.0.
+  - long: длинные серии потерь; P(G->B)=0.001020408, P(B->G)=0.050000000, stationary loss=2.000%, expected mean burst=20.0.
+
+Функциональные проверки
+- PASS zero_impairment_100_percent: all payloads delivered 100% packets and composite frames
+- PASS packet_crc_rejects_bit_error: payload bit flip was rejected by packet CRC32
+- PASS adjacent_frame_isolation: two interleaved neighboring frames remained independent
+- PASS atomic_incomplete_frame: missing ROI fragment prevented atomic publication
+- PASS fixed_seed_reproducibility: identical seed produced byte-for-byte equal result fields
+
+1. Independent packet loss — atomic composite success
+parameter | payload 256 | payload 512 | payload 1024
+---------:|------------:|------------:|-------------:
+0.0% | 100.000% | 100.000% | 100.000%
+0.1% | 97.397% | 98.651% | 99.214%
+0.5% | 87.294% | 93.357% | 96.254%
+1.0% | 76.405% | 87.008% | 92.206%
+2.0% | 58.937% | 76.516% | 86.286%
+5.0% | 25.698% | 48.738% | 67.198%
+
+2. BER — atomic composite success
+parameter | payload 256 | payload 512 | payload 1024
+---------:|------------:|------------:|-------------:
+0 | 100.000% | 100.000% | 100.000%
+1e-07 | 99.413% | 99.524% | 99.357%
+3e-07 | 98.222% | 98.476% | 98.492%
+1e-06 | 94.111% | 94.714% | 94.754%
+3e-06 | 83.905% | 84.373% | 85.397%
+1e-05 | 55.357% | 56.722% | 57.770%
+
+3. Burst-loss
+scenario | payload | expected loss | observed loss | mean/max burst | composite success | burst distribution
+--------:|--------:|--------------:|--------------:|---------------:|------------------:|:------------------
+short | 256 | 2.000% | 1.932% | 1.972/12 | 76.111% | 1:1628;2:822;3-4:635;5-8:155;9-16:12;17-32:0;33+:0
+short | 512 | 2.000% | 1.853% | 1.903/11 | 86.484% | 1:861;2:429;3-4:318;5-8:67;9-16:3;17-32:0;33+:0
+short | 1024 | 2.000% | 1.891% | 1.899/8 | 91.714% | 1:475;2:263;3-4:171;5-8:43;9-16:0;17-32:0;33+:0
+medium | 256 | 2.000% | 2.007% | 4.991/30 | 88.333% | 1:258;2:226;3-4:324;5-8:306;9-16:180;17-32:41;33+:0
+medium | 512 | 2.000% | 1.909% | 4.890/27 | 93.317% | 1:124;2:121;3-4:178;5-8:142;9-16:87;17-32:21;33+:0
+medium | 1024 | 2.000% | 2.016% | 5.084/27 | 95.357% | 1:77;2:57;3-4:100;5-8:77;9-16:53;17-32:15;33+:0
+long | 256 | 2.000% | 1.975% | 19.061/116 | 95.405% | 1:22;2:10;3-4:22;5-8:58;9-16:84;17-32:83;33+:65
+long | 512 | 2.000% | 1.983% | 19.311/124 | 96.762% | 1:14;2:4;3-4:13;5-8:32;9-16:39;17-32:40;33+:35
+long | 1024 | 2.000% | 2.192% | 20.350/124 | 97.198% | 1:12;2:1;3-4:8;5-8:15;9-16:24;17-32:21;33+:22
+
+4. Сравнение payload 256/512/1024
+payload | loss 1% success | BER 1e-6 success | medium burst success | Lab028 wire kbit/s
+-------:|----------------:|-----------------:|---------------------:|--------------------:
+256 | 76.405% | 94.111% | 88.333% | 178.233
+512 | 87.008% | 94.714% | 93.317% | 168.396
+1024 | 92.206% | 94.754% | 95.357% | 163.662
+
+Интерпретация
+- При фиксированной вероятности потери пакета крупный payload уменьшает число обязательных фрагментов. Поскольку потеря любого фрагмента делает объект неполным, меньшее число пакетов обычно повышает шанс полного кадра.
+- При фиксированном BER длинный отдельный пакет чаще повреждается: P(error)=1-(1-BER)^(packet_bits). Одновременно крупный payload уменьшает число 32-byte headers и общую длину wire-потока, поэтому итоговый composite success определяется обоими эффектами.
+- Атомарная сборка требует одновременной готовности BASE и ROI. Даже полностью собранный BASE не даёт полезного составного кадра без ROI, поэтому composite success ниже успеха каждого объекта отдельно.
+- Burst-loss особенно опасен без интерливинга: соседние фрагменты и иногда соседние кадры теряются одной серией, а CRC только обнаруживает ошибку и не восстанавливает данные.
+- Payload 256 B даёт наименьшую длину отдельного пакета и наименьшую вероятность BER-повреждения одного пакета, но требует больше всего фрагментов и headers.
+- Payload 512 B остаётся умеренным рабочим кандидатом между packet count и длиной отдельного пакета.
+- Payload 1024 B даёт минимум пакетов и header overhead в этих моделях, но каждый пакет длиннее и при его потере пропадает более крупный фрагмент JPEG.
+- Окончательный packet payload автоматически не выбирается; для решения нужны Lab029 и последующие данные реального радиоканала, FEC/ARQ и задержек.
+
+Артефакты
+- CSV: data\processed\lab029\lab029_results.csv
+- Independent loss plot: data\processed\lab029\lab029_independent_loss_success.png
+- BER plot: data\processed\lab029\lab029_ber_success.png
+- Burst plot: data\processed\lab029\lab029_burst_loss_results.png
+- Payload comparison: data\processed\lab029\lab029_payload_comparison.png
+- JPEG, пакеты и бинарные дампы на диск не сохранялись.

data/processed/lab029/lab029_results.csv

@@ -0,0 +1,46 @@
+model,parameter_name,parameter_value,scenario,payload_size,monte_carlo_repetitions,seed,good_to_bad_probability,bad_to_good_probability,expected_loss_probability,expected_mean_loss_burst,observed_loss_probability,transmitted_packets,received_packets,lost_packets,crc_rejected_packets,packet_delivery_rate,base_objects_completed,roi_objects_completed,atomic_composite_frames_completed,base_only_frames,roi_only_frames,incomplete_frames,composite_success_rate,effective_delivered_jpeg_bitrate_kbps,mean_lost_fragments_per_frame,p95_lost_fragments_per_frame,mean_loss_burst_length,max_loss_burst_length,loss_burst_distribution
+independent_loss,packet_loss_probability,0,,256,200,29029,0,0,0,0,0,332000,332000,0,0,1,12600,12600,12600,0,0,0,1,157.76975923,0,0,0,0,1:0;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0,,512,200,29029,0,0,0,0,0,172400,172400,0,0,1,12600,12600,12600,0,0,0,1,157.76975923,0,0,0,0,1:0;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0,,1024,200,29029,0,0,0,0,0,95600,95600,0,0,1,12600,12600,12600,0,0,0,1,157.76975923,0,0,0,0,1:0;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.001,,256,200,29030,0,0,0.001,1.001001001,0.00101807228916,332000,331662,338,0,0.998981927711,12468,12398,12272,196,126,328,0.973968253968,153.639124238,0.0268253968254,0,1,1,1:338;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.001,,512,200,29030,0,0,0.001,1.001001001,0.000991879350348,172400,172229,171,0,0.99900812065,12530,12499,12430,100,69,170,0.986507936508,155.629063242,0.0135714285714,0,1,1,1:171;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.001,,1024,200,29030,0,0,0.001,1.001001001,0.00103556485356,95600,95501,99,0,0.998964435146,12563,12538,12501,62,37,99,0.992142857143,156.519451685,0.00785714285714,0,1,1,1:99;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.005,,256,200,29031,0,0,0.005,1.00502512563,0.00515361445783,332000,330289,1711,0,0.994846385542,11987,11558,10999,988,559,1601,0.872936507937,137.693897913,0.135793650794,1,1.00765606596,2,1:1685;2:13;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.005,,512,200,29031,0,0,0.005,1.00502512563,0.00505220417633,172400,171529,871,0,0.994947795824,12302,12046,11763,539,283,837,0.933571428571,147.277529374,0.069126984127,1,1.01044083527,2,1:853;2:9;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.005,,1024,200,29031,0,0,0.005,1.00502512563,0.00503138075314,95600,95119,481,0,0.994968619247,12408,12317,12128,280,189,472,0.96253968254,151.818947673,0.0381746031746,0,1.01050420168,2,1:471;2:5;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.01,,256,200,29032,0,0,0.01,1.0101010101,0.0101746987952,332000,328622,3378,0,0.989825301205,11449,10592,9627,1822,965,2973,0.764047619048,120.432163724,0.268095238095,1,1.00775656325,2,1:3326;2:26;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.01,,512,200,29032,0,0,0.01,1.0101010101,0.0100928074246,172400,170660,1740,0,0.989907192575,11993,11526,10963,1030,563,1637,0.870079365079,137.210552167,0.138095238095,1,1.00752750434,2,1:1714;2:13;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.01,,1024,200,29032,0,0,0.01,1.0101010101,0.0105962343096,95600,94587,1013,0,0.98940376569,12198,12003,11618,580,385,982,0.922063492063,145.437291814,0.0803968253968,1,1.007960199,2,1:997;2:8;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.02,,256,200,29033,0,0,0.02,1.02040816327,0.0198795180723,332000,325400,6600,0,0.980120481928,10436,8989,7426,3010,1563,5174,0.589365079365,92.8966767255,0.52380952381,2,1.01946246525,3,1:6350;2:122;3-4:2;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.02,,512,200,29033,0,0,0.02,1.02040816327,0.0195649651972,172400,169027,3373,0,0.980435034803,11432,10607,9641,1791,966,2959,0.765158730159,120.639628892,0.267698412698,1,1.0178032589,3,1:3256;2:57;3-4:1;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.02,,1024,200,29033,0,0,0.02,1.02040816327,0.0192573221757,95600,93759,1841,0,0.980742677824,11880,11536,10872,1008,664,1728,0.862857142857,136.121568539,0.146111111111,1,1.01712707182,3,1:1780;2:29;3-4:1;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.05,,256,200,29034,0,0,0.05,1.05263157895,0.0503072289157,332000,315298,16702,0,0.949692771084,7774,5198,3238,4536,1960,9362,0.256984126984,40.4080507223,1.32555555556,3,1.05189570475,4,1:15094;2:746;3-4:38;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.05,,512,200,29034,0,0,0.05,1.05263157895,0.0510266821346,172400,163603,8797,0,0.948973317865,9647,8012,6141,3506,1871,6459,0.487380952381,76.7984243981,0.698174603175,2,1.05139237481,4,1:7961;2:383;3-4:23;5-8:0;9-16:0;17-32:0;33+:0
+independent_loss,packet_loss_probability,0.05,,1024,200,29034,0,0,0.05,1.05263157895,0.0507949790795,95600,90744,4856,0,0.949205020921,10780,9911,8467,2313,1444,4133,0.671984126984,105.919342536,0.385396825397,2,1.0492653414,4,1:4415;2:199;3-4:14;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,0,,256,200,30029,0,0,0,0,0,332000,332000,0,0,1,12600,12600,12600,0,0,0,1,157.76975923,0,0,0,0,1:0;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,0,,512,200,30029,0,0,0,0,0,172400,172400,0,0,1,12600,12600,12600,0,0,0,1,157.76975923,0,0,0,0,1:0;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,0,,1024,200,30029,0,0,0,0,0,95600,95600,0,0,1,12600,12600,12600,0,0,0,1,157.76975923,0,0,0,0,1:0;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,1e-07,,256,200,30030,0,0,0,0,0.000225903614458,332000,332000,0,75,0.999774096386,12570,12556,12526,44,30,74,0.994126984127,156.829585233,0.00595238095238,0,1,1,1:75;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,1e-07,,512,200,30030,0,0,0,0,0.000348027842227,172400,172400,0,60,0.999651972158,12578,12562,12540,38,22,60,0.995238095238,157.006054575,0.0047619047619,0,1,1,1:60;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,1e-07,,1024,200,30030,0,0,0,0,0.000847280334728,95600,95600,0,81,0.999152719665,12569,12550,12519,50,31,81,0.993571428571,156.742861637,0.00642857142857,0,1,1,1:81;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,3e-07,,256,200,30031,0,0,0,0,0.000680722891566,332000,332000,0,226,0.999319277108,12514,12461,12376,138,85,224,0.982222222222,154.967524238,0.0179365079365,0,1,1,1:226;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,3e-07,,512,200,30031,0,0,0,0,0.00111368909513,172400,172400,0,192,0.998886310905,12530,12478,12408,122,70,192,0.984761904762,155.35917496,0.0152380952381,0,1,1,1:192;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,3e-07,,1024,200,30031,0,0,0,0,0.00199790794979,95600,95600,0,191,0.99800209205,12532,12478,12410,122,68,190,0.984920634921,155.39185618,0.0151587301587,0,1,1,1:191;2:0;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,1e-06,,256,200,30032,0,0,0,0,0.00229819277108,332000,332000,0,763,0.997701807229,12337,12111,11858,479,253,742,0.941111111111,148.434593258,0.0605555555556,1,1.00131233596,2,1:761;2:1;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,1e-06,,512,200,30032,0,0,0,0,0.00396171693735,172400,172400,0,683,0.996038283063,12345,12182,11934,411,248,666,0.947142857143,149.411587801,0.0542063492063,1,1.0058910162,2,1:675;2:4;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,1e-06,,1024,200,30032,0,0,0,0,0.00713389121339,95600,95600,0,682,0.992866108787,12371,12157,11939,432,218,661,0.94753968254,149.447597432,0.054126984127,1,1.0118694362,3,1:667;2:6;3-4:1;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,3e-06,,256,200,30033,0,0,0,0,0.00661445783133,332000,332000,0,2196,0.993385542169,11810,11280,10572,1238,708,2028,0.839047619048,132.241321348,0.174285714286,1,1.00687757909,2,1:2166;2:15;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,3e-06,,512,200,30033,0,0,0,0,0.0122563805104,172400,172400,0,2113,0.98774361949,11848,11321,10631,1217,690,1969,0.84373015873,133.045201926,0.167698412698,1,1.0114887506,2,1:2065;2:24;3-4:0;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,3e-06,,1024,200,30033,0,0,0,0,0.0204916317992,95600,95600,0,1959,0.979508368201,11923,11387,10760,1163,627,1840,0.853968253968,134.696365329,0.155476190476,1,1.02404600105,3,1:1868;2:44;3-4:1;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,1e-05,,256,200,30034,0,0,0,0,0.0222018072289,332000,332000,0,7371,0.977798192771,10234,8590,6975,3259,1615,5625,0.553571428571,87.1395390048,0.585,2,1.01950207469,4,1:7095;2:130;3-4:5;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,1e-05,,512,200,30034,0,0,0,0,0.0407192575406,172400,172400,0,7020,0.959280742459,10313,8706,7147,3166,1559,5453,0.567222222222,89.3745245586,0.557142857143,2,1.03984594875,4,1:6492;2:250;3-4:9;5-8:0;9-16:0;17-32:0;33+:0
+ber,bit_error_rate,1e-05,,1024,200,30034,0,0,0,0,0.0692573221757,95600,95600,0,6621,0.930742677824,10300,8931,7279,3021,1652,5321,0.577698412698,91.0087704655,0.525476190476,2,1.07066623545,4,1:5779;2:376;3-4:29;5-8:0;9-16:0;17-32:0;33+:0
+burst,gilbert_elliott_scenario,0,short,256,200,31029,0.0102040816327,0.5,0.02,2,0.0193162650602,332000,325587,6413,0,0.98068373494,11365,10541,9590,1775,951,3010,0.761111111111,119.954532905,0.508968253968,3,1.97201722017,12,1:1628;2:822;3-4:635;5-8:155;9-16:12;17-32:0;33+:0
+burst,gilbert_elliott_scenario,0,short,512,200,31029,0.0102040816327,0.5,0.02,2,0.0185266821346,172400,169206,3194,0,0.981473317865,11907,11463,10897,1010,566,1703,0.864841269841,136.370440449,0.253492063492,2,1.90345649583,11,1:861;2:429;3-4:318;5-8:67;9-16:3;17-32:0;33+:0
+burst,gilbert_elliott_scenario,0,short,1024,200,31029,0.0102040816327,0.5,0.02,2,0.0189121338912,95600,93792,1808,0,0.981087866109,12097,11940,11556,541,384,1044,0.917142857143,144.700911717,0.143492063492,1,1.89915966387,8,1:475;2:263;3-4:171;5-8:43;9-16:0;17-32:0;33+:0
+burst,gilbert_elliott_scenario,1,medium,256,200,31030,0.00408163265306,0.2,0.02,5,0.0200692771084,332000,325337,6663,0,0.979930722892,11962,11552,11130,832,422,1470,0.883333333333,139.320930337,0.52880952381,4,4.99101123596,30,1:258;2:226;3-4:324;5-8:306;9-16:180;17-32:41;33+:0
+burst,gilbert_elliott_scenario,1,medium,512,200,31030,0.00408163265306,0.2,0.02,5,0.0190893271462,172400,169109,3291,0,0.980910672854,12172,11987,11758,414,229,842,0.933174603175,147.194698555,0.26119047619,2,4.89004457652,27,1:124;2:121;3-4:178;5-8:142;9-16:87;17-32:21;33+:0
+burst,gilbert_elliott_scenario,1,medium,1024,200,31030,0.00408163265306,0.2,0.02,5,0.0201569037657,95600,93673,1927,0,0.979843096234,12256,12154,12015,241,139,585,0.953571428571,150.407112039,0.152936507937,0,5.08443271768,27,1:77;2:57;3-4:100;5-8:77;9-16:53;17-32:15;33+:0
+burst,gilbert_elliott_scenario,2,long,256,200,31031,0.00102040816327,0.05,0.02,20,0.01975,332000,325443,6557,0,0.98025,12247,12146,12021,226,125,579,0.954047619048,150.526746067,0.520396825397,0,19.0610465116,116,1:22;2:10;3-4:22;5-8:58;9-16:84;17-32:83;33+:65
+burst,gilbert_elliott_scenario,2,long,512,200,31031,0.00102040816327,0.05,0.02,20,0.0198259860789,172400,168982,3418,0,0.980174013921,12301,12253,12192,109,61,408,0.967619047619,152.666767897,0.27126984127,0,19.3107344633,124,1:14;2:4;3-4:13;5-8:32;9-16:39;17-32:40;33+:35
+burst,gilbert_elliott_scenario,2,long,1024,200,31031,0.00102040816327,0.05,0.02,20,0.0219246861925,95600,93504,2096,0,0.978075313808,12305,12279,12247,58,32,353,0.971984126984,153.307654575,0.166349206349,0,20.3495145631,124,1:12;2:1;3-4:8;5-8:15;9-16:24;17-32:21;33+:22

data/processed/lab029b/lab029b_report.txt

@@ -0,0 +1,74 @@
+Lab029B. Временная модель серийных потерь видеопакетов
+
+Исходные данные и транспорт
+- Видео: data\raw\lab026_rover_source.mp4
+- Источник: 1280x720, 30.000000 fps, 623 кадров, 20.766667 с.
+- Использованы все 63 реальные пары: BASE 240x135 grayscale JPEG Q23, ROI 320x180 grayscale JPEG Q33, 3 составных кадра/с.
+- Формат Lab028 не изменён: заголовок 32 байта, packet CRC32, object CRC32, отдельные BASE/ROI, атомарный CompositeReassembler.
+- Порядок передачи внутри кадра: сначала все BASE-фрагменты, затем все ROI-фрагменты. Поэтому длительная помеха может затрагивать объекты несимметрично.
+
+Временная модель передачи
+- Контрольная скорость: 300 кбит/с. Это параметр лабораторной, а не выбранная скорость радиоканала.
+- Длительность пакета = фактическая длина (32-byte header + фактический payload) × 8 / 300000.
+- Кадр доступен в момент frame_id / 3. Пакеты BASE и ROI передаются подряд; искусственных межпакетных интервалов нет. Остаток периода до следующего кадра является естественным idle.
+- Payload 256: packets=1660, timeline=20.881627 с, packet duration min/max=0.986667/7.680000 мс.
+- Payload 512: packets=862, timeline=20.869680 с, packet duration min/max=1.093333/14.506667 мс.
+- Payload 1024: packets=478, timeline=20.863707 с, packet duration min/max=1.093333/28.160000 мс.
+
+Временная модель канала
+- Good пропускает пакеты, Bad теряет пакеты. Длительности состояний независимы и экспоненциально распределены.
+- Целевая стационарная доля Bad: 2.0%.
+- mean Good = mean Bad × (1-0.02)/0.02 = 49 × mean Bad.
+- Консервативное допущение: пакет считается потерянным, если хотя бы часть его передачи пересекается с Bad.
+- Monte Carlo: 200 повторов на условие; master seed=290290; seeds 290290...290293.
+- Один seed для одинаковой длительности повторно используется для payload 256/512/1024.
+
+Параметры состояний
+mean Bad | mean Good | target Bad
+--------:|----------:|----------:
+10 мс | 490 мс | 2.0%
+50 мс | 2450 мс | 2.0%
+200 мс | 9800 мс | 2.0%
+1000 мс | 49000 мс | 2.0%
+
+Функциональные проверки
+- PASS zero_bad_state_100_percent: all 63 composite frames restored for all payloads
+- PASS fixed_seed_reproducibility: identical seed produced identical aggregate fields
+- PASS adjacent_frame_isolation: two interleaved neighboring frames remained independent
+- PASS atomic_incomplete_frame: missing ROI fragment prevented atomic publication
+- PASS stationary_bad_fraction: all observed Bad fractions are within 0.323 percentage points of 2%
+- PASS longer_bad_longer_outage: mean held-image interval increased from 0.819350 to 1.295846 s
+- PASS actual_packet_transmission_time: duration equals actual wire bits / 300000 for full and short final packets
+
+Полная сравнительная таблица
+Bad ms | payload | Bad actual | tx/rx/lost packets | packet delivery | BASE | ROI | composite | BASE-only | ROI-only | incomplete | lost burst mean/p95/max | incomplete run mean/p95/max | no image mean/p95/max s | recovery mean/p95/max s | video kbit/s
+------:|--------:|-----------:|-------------------:|----------------:|-----:|----:|----------:|----------:|---------:|-----------:|-----------------------:|----------------------------:|-------------------------:|------------------------:|------------:
+10 | 256 | 2.016% | 332000/320339/11661 | 96.488% | 84.611% | 75.659% | 65.357% | 2426 | 1298 | 4365 | 2.27/5.0/13 | 1.52/3.0/10 | 0.831/1.350/3.650 | 0.547/1.180/3.364 | 102.487
+10 | 512 | 2.008% | 172400/164214/8186 | 95.252% | 85.183% | 77.008% | 66.968% | 2295 | 1265 | 4162 | 1.72/3.0/8 | 1.48/3.0/10 | 0.815/1.343/3.651 | 0.521/1.131/3.353 | 105.043
+10 | 1024 | 2.022% | 95600/89121/6479 | 93.223% | 85.595% | 76.984% | 67.397% | 2293 | 1208 | 4108 | 1.43/3.0/6 | 1.47/3.0/10 | 0.812/1.339/3.651 | 0.513/1.115/3.348 | 105.783
+50 | 256 | 2.041% | 332000/324191/7809 | 97.648% | 95.333% | 92.960% | 90.405% | 621 | 322 | 1209 | 6.43/17.3/37 | 1.10/2.0/3 | 0.694/1.001/1.348 | 0.441/0.727/1.207 | 141.796
+50 | 512 | 2.083% | 172400/167870/4530 | 97.372% | 95.492% | 93.198% | 90.889% | 580 | 291 | 1148 | 3.94/10.0/19 | 1.10/2.0/3 | 0.693/1.000/1.348 | 0.428/0.714/1.196 | 142.643
+50 | 1024 | 2.046% | 95600/92757/2843 | 97.026% | 95.619% | 93.421% | 91.095% | 570 | 293 | 1122 | 2.55/6.0/12 | 1.10/2.0/3 | 0.691/1.000/1.348 | 0.422/0.702/1.191 | 143.006
+200 | 256 | 1.854% | 332000/325460/6540 | 98.030% | 97.540% | 96.762% | 96.230% | 165 | 67 | 475 | 17.82/49.0/80 | 1.32/3.0/4 | 0.765/1.312/1.657 | 0.547/0.970/1.468 | 150.968
+200 | 512 | 1.854% | 172400/168900/3500 | 97.970% | 97.579% | 96.857% | 96.333% | 157 | 66 | 462 | 9.72/26.0/41 | 1.31/3.0/4 | 0.761/1.158/1.657 | 0.536/0.959/1.456 | 151.215
+200 | 1024 | 1.854% | 95600/93582/2018 | 97.889% | 97.627% | 96.905% | 96.381% | 157 | 66 | 456 | 5.70/15.0/24 | 1.31/3.0/4 | 0.762/1.228/1.658 | 0.531/0.954/1.451 | 151.334
+1000 | 256 | 1.678% | 332000/326429/5571 | 98.322% | 98.143% | 98.008% | 97.802% | 43 | 26 | 277 | 59.27/172.4/403 | 2.98/7.4/16 | 1.302/2.809/5.665 | 1.087/2.487/5.585 | 153.470
+1000 | 512 | 1.678% | 172400/169489/2911 | 98.311% | 98.143% | 98.048% | 97.841% | 38 | 26 | 272 | 31.30/91.6/210 | 2.96/7.5/16 | 1.295/2.826/5.665 | 1.077/2.476/5.576 | 153.618
+1000 | 1024 | 1.677% | 95600/93965/1635 | 98.290% | 98.143% | 98.079% | 97.873% | 34 | 26 | 268 | 17.77/50.9/116 | 2.95/7.5/16 | 1.291/2.843/5.665 | 1.071/2.471/5.571 | 153.712
+
+Допущения и ограничения
+- Не моделируются FEC, интерливинг, ARQ, повторные передачи, искусственные межпакетные интервалы, преамбула физического уровня, управление и телеметрия.
+- Bad-интервалы не зависят от границ пакетов; любое частичное пересечение уничтожает пакет целиком.
+- no-new-image duration для серии невосстановленных кадров измеряется от публикации предыдущего полного кадра до публикации следующего; при краевых сериях используются начало и конец временной шкалы.
+- interference-to-next-frame измеряется от начала каждого Bad-интервала до первого следующего опубликованного составного кадра или до конца шкалы.
+- Эффективный видеопоток учитывает JPEG bytes только атомарно восстановленных BASE+ROI и полную длительность расписания.
+- Результаты зависят от порядка BASE затем ROI и от контрольной скорости 300 кбит/с.
+- Окончательный размер payload автоматически не выбирается.
+
+Артефакты
+- CSV: data\processed\lab029b\lab029b_results.csv
+- Composite success: data\processed\lab029b\lab029b_composite_success.png
+- No-new-image duration: data\processed\lab029b\lab029b_no_image_duration.png
+- Missing frame runs: data\processed\lab029b\lab029b_missing_frame_runs.png
+- Payload comparison: data\processed\lab029b\lab029b_payload_comparison.png
+- JPEG, пакеты и бинарные дампы не сохранялись.

data/processed/lab029b/lab029b_results.csv

@@ -0,0 +1,13 @@
+payload_size,mean_bad_duration_ms,mean_good_duration_ms,target_bad_time_fraction,actual_bad_time_fraction,control_stream_bitrate_kbps,schedule_duration_seconds,monte_carlo_repetitions,seed,transmitted_packets,received_packets,lost_packets,packet_delivery_rate,base_objects_completed,base_object_success_rate,roi_objects_completed,roi_object_success_rate,atomic_composite_frames_completed,composite_success_rate,base_only_frames,roi_only_frames,incomplete_frames,mean_lost_packet_burst,p95_lost_packet_burst,max_lost_packet_burst,mean_consecutive_incomplete_frames,p95_consecutive_incomplete_frames,max_consecutive_incomplete_frames,mean_no_new_image_duration_seconds,p95_no_new_image_duration_seconds,max_no_new_image_duration_seconds,mean_interference_to_next_frame_seconds,p95_interference_to_next_frame_seconds,max_interference_to_next_frame_seconds,effective_delivered_video_bitrate_kbps,bad_interval_count,actual_mean_bad_duration_ms,actual_p95_bad_duration_ms,actual_max_bad_duration_ms
+256,10,490,0.02,0.0201609958077,300,20.8816266667,200,290290,332000,320339,11661,0.964876506024,10661,0.846111111111,9533,0.756587301587,8235,0.653571428571,2426,1298,4365,2.27442949093,5,13,1.52409217877,3,10,0.831002299814,1.35024,3.64970666667,0.546677484673,1.18029690393,3.36407888773,102.486509991,8442,9.97380686292,29.8125428395,83.5331876125
+512,10,490,0.02,0.0200817045481,300,20.86968,200,290290,172400,164214,8186,0.952517401392,10733,0.851825396825,9703,0.770079365079,8438,0.669682539683,2295,1265,4162,1.72409435552,3,8,1.47903340441,3,10,0.814651021085,1.34314,3.65056,0.521191488299,1.13097049803,3.3529855544,105.043418011,8411,9.96549156518,29.9160688622,83.5331876125
+1024,10,490,0.02,0.0202168068758,300,20.8637066667,200,290290,95600,89121,6479,0.932228033473,10785,0.855952380952,9700,0.769841269841,8492,0.673968253968,2293,1208,4108,1.43467670505,3,6,1.46976744186,3,10,0.812397042338,1.33936,3.65141333333,0.512839823089,1.11539721678,3.3478655544,105.78281392,8446,9.98810154849,29.7582896487,83.5331876125
+256,50,2450,0.02,0.0204084786408,300,20.8816266667,200,290291,332000,324191,7809,0.976478915663,12012,0.953333333333,11713,0.929603174603,11391,0.904047619048,621,322,1209,6.42716049383,17.3,37,1.10209662716,2,3,0.693585900942,1.00062933333,1.34818666667,0.440632357759,0.727111920855,1.20734749202,141.795746436,1677,50.8243568053,152.864106144,405.431274995
+512,50,2450,0.02,0.0208318699816,300,20.86968,200,290291,172400,167870,4530,0.973723897912,12032,0.954920634921,11743,0.931984126984,11452,0.908888888889,580,291,1148,3.93913043478,10,19,1.1027857829,2,3,0.693375395453,1.00016,1.34818666667,0.427559832342,0.714012825361,1.19625415869,142.643151213,1691,51.4198060694,156.002187328,405.431274995
+1024,50,2450,0.02,0.0204619230445,300,20.8637066667,200,290291,95600,92757,2843,0.970261506276,12048,0.95619047619,11771,0.934206349206,11478,0.910952380952,570,293,1122,2.54749103943,6,12,1.095703125,2,3,0.691450052083,1.00014,1.34818666667,0.422249750197,0.702414015204,1.19113415869,143.006280124,1677,50.913722151,152.938028086,405.431274995
+256,200,9800,0.02,0.0185410363364,300,20.8816266667,200,290292,332000,325460,6540,0.980301204819,12290,0.975396825397,12192,0.967619047619,12125,0.962301587302,165,67,475,17.8201634877,49,80,1.32311977716,3,4,0.765005088208,1.312048,1.65677333333,0.546872959401,0.96963489665,1.46756878424,150.967631513,414,187.037197483,563.305764922,989.194024493
+512,200,9800,0.02,0.0185430633718,300,20.86968,200,290292,172400,168900,3500,0.97969837587,12295,0.975793650794,12204,0.968571428571,12138,0.963333333333,157,66,462,9.72222222222,26,41,1.3125,3,4,0.761154924242,1.15764533333,1.65677333333,0.536053764553,0.95939489665,1.45647545091,151.21462907,414,186.950627434,563.305764922,989.194024493
+1024,200,9800,0.02,0.01854407776,300,20.8637066667,200,290292,95600,93582,2018,0.978891213389,12301,0.97626984127,12210,0.969047619048,12144,0.96380952381,157,66,456,5.70056497175,15,24,1.31412103746,3,4,0.761923535062,1.227696,1.65762666667,0.530838949739,0.95427489665,1.45135545091,151.334042912,414,186.90734241,563.305764922,989.194024493
+256,1000,49000,0.02,0.0167841318375,300,20.8816266667,200,290293,332000,326429,5571,0.983219879518,12366,0.981428571429,12349,0.980079365079,12323,0.978015873016,43,26,277,59.2659574468,172.45,403,2.97849462366,7.4,16,1.30231827957,2.80936533333,5.66493333333,1.08734051838,2.48701382037,5.58511553493,153.469720111,97,722.639123618,2207.25170213,5246.24764036
+512,1000,49000,0.02,0.0167765665288,300,20.86968,200,290293,172400,169489,2911,0.983114849188,12366,0.981428571429,12354,0.980476190476,12328,0.978412698413,38,26,272,31.3010752688,91.6,210,2.95652173913,7.45,16,1.29471797101,2.82593466667,5.66493333333,1.07655508883,2.47643248703,5.57572886827,153.618205933,97,721.900154546,2207.25170213,5246.24764036
+1024,1000,49000,0.02,0.0167727806255,300,20.8637066667,200,290293,95600,93965,1635,0.98289748954,12366,0.981428571429,12358,0.980793650794,12332,0.97873015873,34,26,268,17.7717391304,50.85,116,2.94505494505,7.5,16,1.2905010989,2.84318666667,5.66493333333,1.07132952182,2.47131248703,5.57060886827,153.711503485,97,721.53067001,2207.25170213,5246.24764036

data/processed/lab030/lab030_report.txt

@@ -0,0 +1,87 @@
+Lab030. Пакетное избыточное кодирование стираний
+
+Исходный профиль и неизменный внутренний транспорт
+- Видео: data\raw\lab026_rover_source.mp4
+- 63 реальных пар BASE/ROI, 3 fps; BASE 240x135 grayscale JPEG Q23, ROI 320x180 grayscale JPEG Q33.
+- Внутренний Lab028 packet не изменён: payload 512 байт, 32-byte header, packet CRC32 и object CRC32.
+
+GF(256) и блочный код
+- Примитивный полином: 0x11D (x^8+x^4+x^3+x^2+1).
+- Матрица Вандермонда n×k умножается на обратную верхнюю k×k матрицу и становится систематической.
+- Любые k доступных строк систематической генераторной матрицы восстанавливают k исходных символов.
+- Нулевое дополнение используется только в математике; восстановленный внутренний пакет обрезается по payload_length Lab028 и проходит собственный CRC.
+
+Внешний пакет FEC
+- struct: !4sBBHIHHHHHHII
+- Размер: 32 байта, network byte order, padding отсутствует.
+- Layout: magic[4]@0, version:u8@4, flags:u8@5, header_size:u16@6, block_id:u32@8, symbol_index:u16@12, k:u16@14, r:u16@16, symbol_size:u16@18, data_length:u16@20, reserved16:u16@22, reserved32:u32@24, outer_crc32:u32@28.
+- flags bit0: parity. CRC32 вычисляется по заголовку с нулевым outer_crc32 и данным внешнего символа.
+
+Формирование блоков и передача
+- Последовательный поток внутренних пакетов BASE→ROI делится на k=8; блок может пересекать границу кадра.
+- Сначала передаются systematic symbols, затем parity symbols этого блока; перемежение отсутствует.
+- Последний блок содержит 6 исходных пакетов. Для него r_last=max(1, ceil(k_last*r/8)): режимы 8+1, 8+2, 8+4 получают соответственно 1, 2 и 3 parity.
+- Режим Без FEC передаёт исходные Lab028 packets без внешней обёртки; остальные режимы используют внешний заголовок.
+- FIFO учитывает время генерации кадра, все внешние пакеты, фактический размер и скорость 300 кбит/с. Очередь не сбрасывается на границах кадров.
+
+Скорость, избыточность и очередь
+mode | source packets | parity packets | last block k+r | JPEG kbit/s | inner kbit/s | outer kbit/s | overhead | queue mean/max | timeline s
+----:|---------------:|---------------:|---------------:|------------:|-------------:|-------------:|---------:|---------------:|----------:
+Без FEC | 862 | 0 | none | 157.770 | 168.396 | 168.396 | 6.310% | 13.717/15 | 20.869680
+8+1 | 862 | 108 | 6+1 | 157.770 | 168.396 | 202.987 | 22.276% | 15.452/18 | 20.928560
+8+2 | 862 | 216 | 6+2 | 157.770 | 168.396 | 226.951 | 30.483% | 17.210/21 | 20.974640
+8+4 | 862 | 431 | 6+3 | 157.770 | 168.396 | 274.659 | 42.558% | 20.859/26 | 21.051440
+
+Временная модель
+- Экспоненциальные Good/Bad интервалы Lab029B, Bad≈2%, mean Bad 10/50/200/1000 мс, 200 повторов, fixed seeds 300300...300303.
+- Пакет теряется при любом пересечении его передачи с Bad.
+- FEC исправляет стирания; CRC обнаруживает повреждения, но битовые ошибки отдельно не добавляются.
+
+Функциональные проверки
+- PASS gf256_arithmetic: inverse, division, and distributivity passed
+- PASS fec_without_loss: systematic 8+4 block is byte-exact without loss
+- PASS recover_any_r_erasures: all 549 exact-r erasure combinations recovered
+- PASS r_plus_one_not_guaranteed: 8+2 correctly rejected seven available symbols
+- PASS restored_inner_packet_and_crc: restored Lab028 packets are byte-exact and CRC-valid
+- PASS outer_crc_detection: outer payload bit flip rejected by outer CRC32
+- PASS zero_bad_100_percent: all modes restored all 63 frames without Bad
+- PASS fixed_seed_reproducibility: identical seed produced identical result fields
+- PASS atomic_incomplete_composite: missing ROI fragment prevented atomic publication
+- PASS queue_counts_parity: 431 parity packets included in FIFO timing and queue metrics
+
+Результаты Monte Carlo
+Bad ms | mode | Bad actual | lost src/parity | recovered pkt | blocks recovered/failed | block recovery | composite | BASE-only/ROI-only | no image mean/p95/max s | delay mean/p95/max s | video kbit/s
+------:|-----:|-----------:|----------------:|--------------:|------------------------:|---------------:|----------:|------------------:|-------------------------:|----------------------:|------------:
+10 | Без FEC | 2.024% | 8130/0 | 0 | 0/0 | 0.000% | 66.960% | 2341/1207 | 0.814/1.346/3.008 | 0.185/0.203/0.210 | 105.091
+10 | 8+1 | 2.038% | 8457/1121 | 2390 | 2390/2725 | 46.725% | 78.873% | 1471/776 | 0.767/1.317/2.360 | 0.231/0.364/0.451 | 123.422
+10 | 8+2 | 2.055% | 8451/2229 | 5560 | 4070/1028 | 79.835% | 91.286% | 600/295 | 0.731/1.017/1.798 | 0.260/0.395/0.466 | 142.607
+10 | 8+4 | 1.990% | 8364/4311 | 7797 | 4860/144 | 97.122% | 98.698% | 84/36 | 0.710/1.017/1.069 | 0.308/0.410/0.496 | 153.620
+50 | Без FEC | 1.914% | 4062/0 | 0 | 0/0 | 0.000% | 91.452% | 529/296 | 0.693/0.998/1.687 | 0.185/0.203/0.210 | 143.553
+50 | 8+1 | 1.929% | 4255/562 | 325 | 325/1216 | 21.090% | 91.762% | 542/263 | 0.709/1.004/1.994 | 0.223/0.245/0.451 | 143.615
+50 | 8+2 | 1.995% | 4326/1104 | 971 | 658/905 | 42.099% | 93.333% | 423/214 | 0.713/1.010/1.632 | 0.248/0.275/0.465 | 145.767
+50 | 8+4 | 2.035% | 4506/2275 | 2062 | 979/520 | 65.310% | 95.532% | 261/141 | 0.749/1.057/1.406 | 0.298/0.339/0.495 | 148.638
+200 | Без FEC | 2.117% | 3877/0 | 0 | 0/0 | 0.000% | 96.071% | 146/83 | 0.786/1.325/2.333 | 0.185/0.203/0.210 | 150.881
+200 | 8+1 | 2.169% | 3983/513 | 74 | 74/734 | 9.158% | 95.865% | 162/91 | 0.810/1.332/2.334 | 0.221/0.244/0.448 | 150.129
+200 | 8+2 | 1.945% | 3573/908 | 144 | 101/602 | 14.367% | 96.302% | 149/80 | 0.837/1.339/2.334 | 0.246/0.275/0.467 | 150.483
+200 | 8+4 | 1.940% | 3550/1777 | 375 | 160/522 | 23.460% | 96.310% | 153/90 | 0.900/1.348/2.334 | 0.296/0.337/0.466 | 149.944
+1000 | Без FEC | 1.722% | 3014/0 | 0 | 0/0 | 0.000% | 97.976% | 27/10 | 1.403/3.050/4.327 | 0.185/0.203/0.210 | 153.809
+1000 | 8+1 | 1.720% | 3003/374 | 13 | 13/423 | 2.982% | 97.921% | 33/13 | 1.437/3.040/4.311 | 0.221/0.244/0.250 | 153.287
+1000 | 8+2 | 1.763% | 3079/781 | 25 | 16/427 | 3.612% | 97.833% | 39/15 | 1.466/3.048/4.295 | 0.246/0.275/0.450 | 152.807
+1000 | 8+4 | 1.719% | 3004/1509 | 64 | 27/400 | 6.323% | 97.817% | 47/21 | 1.533/3.095/4.275 | 0.296/0.337/0.465 | 152.233
+
+Допущения и ограничения
+- Не реализованы перемежение, ARQ, повторные передачи, команды управления, телеметрия и реальный SDR.
+- Любое частичное пересечение Bad уничтожает весь внешний или базовый внутренний пакет.
+- Принятые systematic packets немедленно поступают reassembler; восстановленные стирания становятся доступны при получении k символов блока.
+- Publication delay измеряется от frame_id/3 до атомарной выдачи BASE+ROI.
+- Queue length измеряется в моменты генерации пакетов и включает ожидающие и обслуживаемый пакет.
+- Окончательный режим FEC автоматически не выбирается.
+
+Артефакты
+- CSV: data\processed\lab030\lab030_results.csv
+- Composite success: data\processed\lab030\lab030_composite_success.png
+- No-image duration: data\processed\lab030\lab030_no_image_duration.png
+- Stream rate/overhead: data\processed\lab030\lab030_stream_rate_overhead.png
+- Delay/queue: data\processed\lab030\lab030_delay_queue.png
+- Mode comparison: data\processed\lab030\lab030_mode_comparison.png
+- JPEG, внутренние/внешние packets и бинарные дампы не сохранялись.

data/processed/lab030/lab030_results.csv

@@ -0,0 +1,17 @@
+mode,source_block_size,nominal_parity_count,mean_bad_duration_ms,mean_good_duration_ms,target_bad_time_fraction,actual_bad_time_fraction,monte_carlo_repetitions,seed,source_jpeg_bitrate_kbps,inner_packet_stream_bitrate_kbps,outer_fec_stream_bitrate_kbps,service_and_parity_percent,control_stream_bitrate_kbps,schedule_duration_seconds,mean_queue_length_packets,max_queue_length_packets,mean_publication_delay_seconds,p95_publication_delay_seconds,max_publication_delay_seconds,transmitted_source_packets,transmitted_parity_packets,lost_source_packets,lost_parity_packets,recovered_source_packets,fec_recovered_blocks,fec_unrecoverable_blocks,fec_affected_block_recovery_rate,base_objects_completed,roi_objects_completed,atomic_composite_frames_completed,composite_success_rate,base_only_frames,roi_only_frames,incomplete_frames,mean_no_new_image_duration_seconds,p95_no_new_image_duration_seconds,max_no_new_image_duration_seconds,mean_consecutive_incomplete_frames,p95_consecutive_incomplete_frames,max_consecutive_incomplete_frames,effective_delivered_video_bitrate_kbps
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data/processed/lab031/lab031_report.txt

@@ -0,0 +1,93 @@
+Lab031. Перемежение пакетов между FEC-блоками
+
+Исходные данные и неизменные слои
+- Видео: data\raw\lab026_rover_source.mp4
+- 63 реальных синхронных пар BASE/ROI, 3 fps; длительность источника 20.766667 с.
+- BASE 240x135 grayscale JPEG Q23; ROI 320x180 grayscale JPEG Q33.
+- Внутренний транспорт Lab028: payload 512 байт, packet CRC32, object CRC32, атомарная публикация BASE+ROI.
+- Внешний формат и GF(256) Lab030 используются без изменений; k=8, parity r=2 или r=4.
+
+Точное правило перестановки
+- Последовательные готовые FEC-блоки делятся на группы не более D блоков.
+- Для symbol_index=0,1,2,... передаётся символ с этим индексом блока 0, затем блока 1, ... блока D-1.
+- Если блок короче, отсутствующий symbol_index пропускается. Внутри блока сохраняется порядок systematic, затем parity.
+- Перестановка не изменяет байты, block_id или symbol_index и не добавляет пакеты.
+
+Формирование и буферизация групп
+- Полная группа D>1 выпускается после готовности D-го последовательного блока; все её пакеты получают это время доступности перед FIFO-передатчиком.
+- Неполная последняя группа выпускается в момент окончания видеопотока; синтетические блоки и символы не добавляются.
+- D=1 сохраняет порядок и времена доступности Lab030 и имеет нулевую добавочную задержку ожидания группы.
+- Размер группы формируется в порядке возрастания block_id; полные группы имеют D блоков, последняя — остаток.
+- Средний буфер — среднее заполнение после каждого прихода готового блока (1..размер группы); максимум включает момент непосредственно перед выпуском группы.
+
+Семь фиксированных режимов и статические метрики
+mode | k+r | D | groups | final group | source/parity packets | outer kbit/s | overhead | wait mean/max s | buffer mean/max | queue mean/max | symbol gap/span ms
+----:|----:|--:|-------:|------------:|----------------------:|-------------:|---------:|----------------:|----------------:|---------------:|-------------------:
+Без FEC | none | 1 | 0 | 0 | 862/0 | 168.396 | 6.310% | 0.000000/0.000000 | 0.000/0 | 13.717/15 | 0.000/0.000
+8+2, D=1 | 8+2 | 1 | 108 | 1 | 862/216 | 226.951 | 30.483% | 0.000000/0.000000 | 1.000/1 | 17.210/21 | 19.547/175.558
+8+2, D=2 | 8+2 | 2 | 54 | 2 | 862/216 | 226.951 | 30.483% | 0.098765/0.333333 | 1.500/2 | 20.635/38 | 29.178/262.058
+8+2, D=4 | 8+2 | 4 | 27 | 4 | 862/216 | 226.951 | 30.483% | 0.290123/0.666667 | 2.500/4 | 39.929/40 | 58.283/523.467
+8+2, D=8 | 8+2 | 8 | 14 | 4 | 862/216 | 226.951 | 30.483% | 0.651852/1.666667 | 4.426/8 | 79.506/80 | 114.400/1027.482
+8+4, D=1 | 8+4 | 1 | 108 | 1 | 862/431 | 274.659 | 42.558% | 0.000000/0.000000 | 1.000/1 | 20.859/26 | 16.379/179.710
+8+4, D=4 | 8+4 | 4 | 27 | 4 | 862/431 | 274.659 | 42.558% | 0.290123/0.666667 | 2.500/4 | 51.026/57 | 58.817/645.351
+
+Временная модель и статистика
+- Непрерывные чередующиеся экспоненциальные Good/Bad интервалы Lab029B, средняя доля Bad около 2%.
+- Средние Bad: 10, 50, 200, 1000 мс; 200 повторов на условие; seeds 310310...310313.
+- Пакет теряется при любом пересечении интервала его передачи с Bad; скорость FIFO 300 кбит/с.
+- Учитываются фактическая длина каждого внутреннего и внешнего пакета, ожидание группы и накопление очереди.
+- Приёмник группирует внешние символы по block_id, декодирует после любых k принятых символов и передаёт восстановленные внутренние пакеты в CompositeReassembler.
+- Соседние composite_frame_id не смешиваются; неполный BASE+ROI кадр не публикуется.
+
+Результаты при средней Bad 200 мс
+mode | composite | no-image mean/p95/max s | publication mean/p95/max s | affected blocks | all blocks | unrecoverable | delivered kbit/s | incomplete run mean/p95/max
+----:|----------:|------------------------:|-------------------------:|----------------:|-----------:|--------------:|----------------:|------------------------:
+Без FEC | 0.960079 | 0.780292/1.322480/2.001440 | 0.185041/0.203013/0.209680 | 0.000000 | 0.000000 | 0.000000 | 150.735 | 1.393/3.000/5
+8+2, D=1 | 0.963095 | 0.827615/1.346867/2.032160 | 0.246248/0.275067/0.464720 | 0.152235 | 0.971898 | 0.028102 | 150.452 | 1.520/3.000/5
+8+2, D=2 | 0.957143 | 1.026629/1.727381/2.670480 | 0.509783/0.670480/0.933093 | 0.225694 | 0.969028 | 0.030972 | 147.820 | 2.134/4.000/7
+8+2, D=4 | 0.958333 | 1.387432/2.317012/3.306267 | 0.923445/1.134053/1.536720 | 0.408333 | 0.967130 | 0.032870 | 147.993 | 3.017/5.000/10
+8+2, D=8 | 0.964921 | 2.088808/3.261775/4.919493 | 1.724311/2.252480/2.735360 | 0.644555 | 0.970231 | 0.029769 | 145.481 | 3.946/6.000/10
+8+4, D=1 | 0.964048 | 0.875715/1.383067/2.062880 | 0.295702/0.336507/0.481920 | 0.247453 | 0.976065 | 0.023935 | 150.049 | 1.647/3.000/5
+8+4, D=4 | 0.974841 | 1.338860/1.827840/2.774213 | 0.966677/1.152507/1.665707 | 0.669316 | 0.980741 | 0.019259 | 148.676 | 2.805/4.000/7
+
+Когда 8+2 с перемежением превосходит 8+4 без него
+- Критерий ниже: строго более высокая доля атомарно восстановленных составных кадров; задержки приведены рядом как цена перемежения.
+- Bad 50 мс, 8+2, D=4: composite 0.972063 > 0.958175; P95 no-image 1.660629 с против 1.017307 с; P95 публикации 1.150264 с против 0.338693 с.
+- Bad 50 мс, 8+2, D=8: composite 0.989603 > 0.958175; P95 no-image 2.456107 с против 1.017307 с; P95 публикации 2.271840 с против 0.338693 с.
+- Bad 200 мс, 8+2, D=8: composite 0.964921 > 0.964048; P95 no-image 3.261775 с против 1.383067 с; P95 публикации 2.252480 с против 0.336507 с.
+
+Функциональные проверки
+- PASS d1_matches_lab030: D=1 wire order is byte-identical to Lab030
+- PASS permutation_preserves_packets: all 1078 packets preserved
+- PASS each_packet_once: every protected-mode packet appears exactly once
+- PASS identifiers_preserved: block_id and symbol_index survived permutation
+- PASS inverse_distribution: inverse grouping passed for D=[2, 4, 8]
+- PASS decoded_inner_byte_exact: decoded inner packets are byte-exact
+- PASS inner_outer_crc: outer and recovered Lab028 CRC32 checks passed
+- PASS zero_bad_100_percent: all seven modes restored 100% of frames without Bad
+- PASS fixed_seed_reproducibility: identical seed produced identical result fields
+- PASS atomic_incomplete_composite: missing final ROI fragment prevented publication
+- PASS depth_increases_symbol_distance: D=1/2/4/8 strictly increase intrablock symbol spacing
+- PASS group_wait_in_publication_delay: D=4 group wait 0.290123 s is reflected in publication delay
+- PASS final_partial_group: final 4-block group emitted 38 packets at end of stream
+
+Допущения модели
+- Видеопрофиль конечный и детерминированный; JPEG кодируются в памяти один раз перед Monte Carlo.
+- Устройство знает конец потока и только тогда выпускает неполную последнюю группу D>1.
+- Время готовности FEC-блока равно максимальному времени генерации его исходных пакетов; вычислительная задержка GF(256) считается нулевой.
+- D=1 определён как точный режим Lab030; поэтому он не ждёт завершения блока перед отправкой уже готовых systematic symbols.
+- Передатчик и канал общие FIFO; параллельные радиоканалы, ARQ, повторные передачи, команды, телеметрия, модуляция и реальный SDR не моделируются.
+- Потеря является стиранием полного внешнего пакета; отдельные битовые ошибки не добавляются.
+- Publication delay считается от frame_id/3 до конца пакета, завершившего атомарную сборку; no-image включает время до следующего опубликованного кадра или конца расписания.
+- Intrablock symbol gap измеряется между временами конца последовательных symbol_index; span — от первого до последнего символа блока.
+
+Артефакты
+- CSV: data\processed\lab031\lab031_results.csv
+- Отчёт: data\processed\lab031\lab031_report.txt
+- Доля восстановленных кадров: data\processed\lab031\lab031_composite_success.png
+- Отсутствие нового изображения: data\processed\lab031\lab031_no_image_duration.png
+- Задержка публикации: data\processed\lab031\lab031_publication_delay.png
+- Доля восстановленных блоков: data\processed\lab031\lab031_block_recovery.png
+- Устойчивость/задержка от D: data\processed\lab031\lab031_depth_tradeoff.png
+- Итоговое сравнение: data\processed\lab031\lab031_mode_comparison.png
+- JPEG, внешние пакеты и бинарные дампы на диск не сохранялись.

data/processed/lab031/lab031_results.csv

@@ -0,0 +1,29 @@
+mode,label,source_block_size,nominal_parity_count,interleaving_depth,mean_bad_duration_ms,mean_good_duration_ms,target_bad_time_fraction,actual_bad_time_fraction,monte_carlo_repetitions,seed,source_jpeg_bitrate_kbps,inner_packet_stream_bitrate_kbps,outer_fec_stream_bitrate_kbps,service_and_parity_percent,control_stream_bitrate_kbps,schedule_duration_seconds,interleaving_group_count,final_group_block_count,mean_group_wait_delay_seconds,p95_group_wait_delay_seconds,max_group_wait_delay_seconds,mean_queue_length_packets,max_queue_length_packets,mean_buffered_blocks,max_buffered_blocks,mean_intrablock_symbol_gap_seconds,mean_intrablock_symbol_span_seconds,max_intrablock_symbol_span_seconds,transmitted_source_packets,transmitted_parity_packets,lost_source_packets,lost_parity_packets,recovered_source_packets,fec_recovered_blocks,fec_unrecoverable_blocks,fec_affected_block_recovery_rate,fec_all_block_success_rate,fec_unrecoverable_block_rate,base_objects_completed,roi_objects_completed,atomic_composite_frames_completed,composite_success_rate,base_only_frames,roi_only_frames,incomplete_frames,effective_delivered_video_bitrate_kbps,mean_publication_delay_seconds,p95_publication_delay_seconds,max_publication_delay_seconds,mean_no_new_image_duration_seconds,p95_no_new_image_duration_seconds,max_no_new_image_duration_seconds,mean_consecutive_incomplete_frames,p95_consecutive_incomplete_frames,max_consecutive_incomplete_frames
+none,Без FEC,8,0,1,10.0,490.0,0.02,0.019635234668464615,200,310310,157.76975922953451,168.39601926163724,168.39601926163724,6.3102798265039075,300.0,20.869679999999992,0,0,0.0,0.0,0.0,13.7169373549884,15,0.0,0,0.0,0.0,0.0,172400,0,7830,0,0,0,0,0.0,0.0,0.0,10803,9768,8554,0.6788888888888889,2249,1214,4046,106.50128607625994,0.184895562310024,0.20301333333332394,0.20967999999999998,0.8071357862085417,1.3423520000000007,2.6819999999999897,1.4481030780243378,3.0,7
+8+2_D1,"8+2, D=1",8,2,1,10.0,490.0,0.02,0.01989276611622791,200,310310,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,20.974640000000022,108,1,0.0,0.0,0.0,17.209647495361782,21,1.0,1,0.0195466666666667,0.1755580246913583,0.2513600000000018,172400,43200,8234,2146,5581,4099,951,0.8116831683168317,0.9559722222222222,0.04402777777777778,12107,11879,11591,0.9199206349206349,516,288,1009,143.66791706556094,0.26030441549478167,0.3947733333333314,0.466560000000003,0.7235130475086914,1.0172773333333234,1.8285600000000155,1.1691772885283893,2.0,4
+8+2_D2,"8+2, D=2",8,2,2,10.0,490.0,0.02,0.020419285815139677,200,310310,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.216053333333374,54,2,0.09876543209876544,0.3333333333333339,0.3333333333333357,20.634508348794064,38,1.5,2,0.029177621993127328,0.2620582716049399,0.27303999999999107,172400,43200,8513,2185,7407,6267,424,0.9366312957704379,0.9803703703703703,0.01962962962962963,12377,12258,12143,0.9637301587301588,234,115,457,148.79314028873705,0.5255043553213112,0.67048,0.9482399999999895,0.7850378666666681,1.1956960000000163,1.693359999999986,1.406153846153846,2.0,4
+8+2_D4,"8+2, D=4",8,2,4,10.0,490.0,0.02,0.020419285815139677,200,310310,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.216053333333374,27,4,0.29012345679012347,0.666666666666667,0.6666666666666679,39.929499072356215,40,2.5,4,0.05828288659793857,0.5234666666666705,0.5352533333333276,172400,43200,8403,2263,7823,6862,242,0.9659346846846847,0.9887962962962963,0.011203703703703704,12453,12398,12316,0.9774603174603175,137,82,284,150.92200183006048,0.955103273790194,1.1987733333333424,1.5428266666666461,0.7946769333333339,1.3154093333333325,1.825786666666668,1.42,2.0,3
+8+2_D8,"8+2, D=8",8,2,8,10.0,490.0,0.02,0.019783831729573317,200,310310,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.729893333333457,14,4,0.6518518518518518,1.333333333333334,1.666666666666666,79.50649350649351,80,4.425925925925926,8,0.11440010996563674,1.0274824691358113,1.0638933333334109,172400,43200,8326,2151,7778,6865,228,0.9678556323135485,0.9894444444444445,0.010555555555555556,12465,12402,12335,0.9789682539682539,130,67,265,147.5914653975897,1.7776782315903348,2.299730666666638,2.73535999999996,0.6972641975308679,1.7551626666666769,2.463786666666663,1.402116402116402,2.0,3
+8+4_D1,"8+4, D=1",8,4,1,10.0,490.0,0.02,0.020272932566179635,200,310310,157.76975922953451,168.39601926163724,274.6586195826645,42.55787075997801,300.0,21.051440000000028,108,1,0.0,0.0,0.0,20.85924207269915,26,1.0,1,0.016378644163150546,0.17971012345679074,0.2513600000000018,172400,86200,8349,4418,7753,4836,157,0.9685559783697176,0.9927314814814815,0.007268518518518519,12505,12460,12416,0.9853968253968254,89,44,184,153.336186028129,0.3085311168384899,0.4101333333333308,0.4960266666666602,0.7172980645161281,1.0115039999999988,1.0841333333333387,1.1870967741935483,2.0,2
+8+4_D4,"8+4, D=4",8,4,4,10.0,490.0,0.02,0.02028471209220386,200,310310,157.76975922953451,168.39601926163724,274.6586195826645,42.55787075997801,300.0,21.48064000000025,27,4,0.29012345679012347,0.666666666666667,0.6666666666666679,51.02552204176334,57,2.5,4,0.05881681012658274,0.6453511111111162,0.6581333333333261,172400,86200,8379,4498,8345,7029,9,0.9987212276214834,0.9995833333333334,0.0004166666666666667,12593,12593,12589,0.9991269841269841,4,4,11,152.39649470406664,0.9972173421240931,1.2425066666666575,1.6595999999999744,0.6450566666666556,1.2836946666666527,1.5891466666666396,1.375,2.6499999999999995,3
+none,Без FEC,8,0,1,50.0,2450.0,0.02,0.01904752893886233,200,310311,157.76975922953451,168.39601926163724,168.39601926163724,6.3102798265039075,300.0,20.869679999999992,0,0,0.0,0.0,0.0,13.7169373549884,15,0.0,0,0.0,0.0,0.0,172400,0,4146,0,0,0,0,0.0,0.0,0.0,12068,11771,11478,0.910952380952381,590,293,1122,143.00240540343697,0.1850171179647958,0.20301333333332394,0.20967999999999998,0.695712680514342,1.0000266666666668,1.3480800000000013,1.1097922848664687,2.0,3
+8+2_D1,"8+2, D=1",8,2,1,50.0,2450.0,0.02,0.019583724988700386,200,310311,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,20.974640000000022,108,1,0.0,0.0,0.0,17.209647495361782,21,1.0,1,0.0195466666666667,0.1755580246913583,0.2513600000000018,172400,43200,4350,1111,964,668,893,0.4279308135810378,0.9586574074074075,0.04134259259259259,12205,11976,11788,0.9355555555555556,417,188,812,146.1207896774389,0.24840877502545095,0.27522666666668627,0.45397333333333023,0.7019893258949336,1.0052693333333333,1.358746666666665,1.1324965132496514,2.0,3
+8+2_D2,"8+2, D=2",8,2,2,50.0,2450.0,0.02,0.020611137780154415,200,310311,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.216053333333374,54,2,0.09876543209876544,0.3333333333333339,0.3333333333333357,20.634508348794064,38,1.5,2,0.029177621993127328,0.2620582716049399,0.27303999999999107,172400,43200,4525,1128,1855,1386,762,0.6452513966480447,0.9647222222222223,0.035277777777777776,12202,12084,11923,0.9462698412698413,279,161,677,146.11615606798344,0.5131737180239886,0.67048,0.9482399999999895,0.8504971698113227,1.2140000000000006,2.1241066666666635,1.596698113207547,2.0,4
+8+2_D4,"8+2, D=4",8,2,4,50.0,2450.0,0.02,0.020611137780154415,200,310311,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.216053333333374,27,4,0.29012345679012347,0.666666666666667,0.6666666666666679,39.929499072356215,40,2.5,4,0.05828288659793857,0.5234666666666705,0.5352533333333276,172400,43200,4598,1155,3293,2645,445,0.8559870550161812,0.9793981481481482,0.02060185185185185,12377,12308,12248,0.9720634920634921,129,60,352,150.10497334094154,0.9336452906597018,1.1502639999999997,1.5428266666666461,1.0794554732510333,1.6606293333333362,3.3212533333333107,2.1728395061728394,3.0,8
+8+2_D8,"8+2, D=8",8,2,8,50.0,2450.0,0.02,0.019261484934125217,200,310311,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.729893333333457,14,4,0.6518518518518518,1.333333333333334,1.666666666666666,79.50649350649351,80,4.425925925925926,8,0.11440010996563674,1.0274824691358113,1.0638933333334109,172400,43200,4342,1090,3932,3450,161,0.9554140127388535,0.9925462962962963,0.007453703703703704,12508,12491,12469,0.9896031746031746,39,22,131,149.20466429655653,1.7412040548560521,2.271839999999967,2.73535999999996,1.0850114553990724,2.4561066666666633,3.22338666666667,1.8450704225352113,5.0,6
+8+4_D1,"8+4, D=1",8,4,1,50.0,2450.0,0.02,0.019588623960636035,200,310311,157.76975922953451,168.39601926163724,274.6586195826645,42.55787075997801,300.0,21.051440000000028,108,1,0.0,0.0,0.0,20.85924207269915,26,1.0,1,0.016378644163150546,0.17971012345679074,0.2513600000000018,172400,86200,4310,2179,2061,996,474,0.6775510204081633,0.9780555555555556,0.021944444444444444,12327,12214,12073,0.9581746031746031,254,141,527,149.08571005118867,0.29811151495071847,0.3386933333333566,0.49543999999999855,0.738907046714174,1.017306666666654,1.3934133333333296,1.2517814726840855,2.0,3
+8+4_D4,"8+4, D=4",8,4,4,50.0,2450.0,0.02,0.018896970593780017,200,310311,157.76975922953451,168.39601926163724,274.6586195826645,42.55787075997801,300.0,21.48064000000025,27,4,0.29012345679012347,0.666666666666667,0.6666666666666679,51.02552204176334,57,2.5,4,0.05881681012658274,0.6453511111111162,0.6581333333333261,172400,86200,4201,2094,3982,2847,49,0.9830801104972375,0.9977314814814815,0.0022685185185185187,12572,12563,12555,0.9964285714285714,17,8,45,151.98650878185947,0.9761674020974541,1.2002133333333127,1.6510666666666776,1.098252631578969,1.6198666666666914,1.6359466666666824,2.3684210526315788,4.0,4
+none,Без FEC,8,0,1,200.0,9800.0,0.02,0.021768052926612245,200,310312,157.76975922953451,168.39601926163724,168.39601926163724,6.3102798265039075,300.0,20.869679999999992,0,0,0.0,0.0,0.0,13.7169373549884,15,0.0,0,0.0,0.0,0.0,172400,0,3950,0,0,0,0,0.0,0.0,0.0,12258,12177,12097,0.9600793650793651,161,80,503,150.73476737544615,0.18504139318287638,0.20301333333332394,0.20967999999999998,0.7802921514312094,1.3224799999999997,2.001439999999989,1.3933518005540166,3.0,5
+8+2_D1,"8+2, D=1",8,2,1,200.0,9800.0,0.02,0.019093901593380775,200,310312,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,20.974640000000022,108,1,0.0,0.0,0.0,17.209647495361782,21,1.0,1,0.0195466666666667,0.1755580246913583,0.2513600000000018,172400,43200,3550,907,161,109,607,0.15223463687150837,0.9718981481481481,0.028101851851851854,12292,12214,12135,0.9630952380952381,157,79,465,150.45183707563024,0.24624820546628343,0.27506666666666346,0.4647199999999989,0.8276151633986941,1.3468666666666853,2.0321599999999878,1.5196078431372548,3.0,5
+8+2_D2,"8+2, D=2",8,2,2,200.0,9800.0,0.02,0.019876605364394936,200,310312,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.216053333333374,54,2,0.09876543209876544,0.3333333333333339,0.3333333333333357,20.634508348794064,38,1.5,2,0.029177621993127328,0.2620582716049399,0.27303999999999107,172400,43200,3716,939,289,195,669,0.22569444444444445,0.9690277777777778,0.030972222222222224,12233,12146,12060,0.9571428571428572,173,86,540,147.81991309725186,0.5097829695964634,0.67048,0.9330933333333231,1.0266287220026378,1.7273813333333339,2.67048,2.1343873517786562,4.0,7
+8+2_D4,"8+2, D=4",8,2,4,200.0,9800.0,0.02,0.019876605364394936,200,310312,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.216053333333374,27,4,0.29012345679012347,0.666666666666667,0.6666666666666679,39.929499072356215,40,2.5,4,0.05828288659793857,0.5234666666666705,0.5352533333333276,172400,43200,3501,985,669,490,710,0.4083333333333333,0.9671296296296297,0.03287037037037037,12225,12144,12075,0.9583333333333334,150,69,525,147.99297450232626,0.9234452472049709,1.1340533333333287,1.5367199999999794,1.3874324904214599,2.3170120000000005,3.306266666666649,3.0172413793103448,5.0,10
+8+2_D8,"8+2, D=8",8,2,8,200.0,9800.0,0.02,0.020349130050647177,200,310312,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.729893333333457,14,4,0.6518518518518518,1.333333333333334,1.666666666666666,79.50649350649351,80,4.425925925925926,8,0.11440010996563674,1.0274824691358113,1.0638933333334109,172400,43200,3769,942,1577,1166,643,0.6445550027639579,0.9702314814814815,0.029768518518518517,12263,12201,12158,0.964920634920635,105,43,442,145.48062208619442,1.7243108340187623,2.252479999999979,2.73535999999996,2.0888080952381114,3.261774666666647,4.919493333333319,3.9464285714285716,6.0,10
+8+4_D1,"8+4, D=1",8,4,1,200.0,9800.0,0.02,0.019604503383780177,200,310312,157.76975922953451,168.39601926163724,274.6586195826645,42.55787075997801,300.0,21.051440000000028,108,1,0.0,0.0,0.0,20.85924207269915,26,1.0,1,0.016378644163150546,0.17971012345679074,0.2513600000000018,172400,86200,3604,1812,413,170,517,0.24745269286754004,0.9760648148148148,0.023935185185185184,12296,12229,12147,0.964047619047619,149,82,453,150.0487852612456,0.295702434071515,0.33650666666666273,0.48192000000000323,0.8757147151515156,1.3830666666666662,2.0628799999999847,1.6472727272727272,3.0,5
+8+4_D4,"8+4, D=4",8,4,4,200.0,9800.0,0.02,0.02040848762305882,200,310312,157.76975922953451,168.39601926163724,274.6586195826645,42.55787075997801,300.0,21.48064000000025,27,4,0.29012345679012347,0.666666666666667,0.6666666666666679,51.02552204176334,57,2.5,4,0.05881681012658274,0.6453511111111162,0.6581333333333261,172400,86200,3708,1890,1660,842,416,0.6693163751987281,0.9807407407407407,0.01925925925925926,12361,12328,12283,0.9748412698412698,78,45,317,148.67567260565622,0.9666773524383458,1.1525066666667954,1.6657066666666411,1.3388604129793618,1.827840000000003,2.7742133333332575,2.8053097345132745,4.0,7
+none,Без FEC,8,0,1,1000.0,49000.0,0.02,0.02189344857431169,200,310313,157.76975922953451,168.39601926163724,168.39601926163724,6.3102798265039075,300.0,20.869679999999992,0,0,0.0,0.0,0.0,13.7169373549884,15,0.0,0,0.0,0.0,0.0,172400,0,3802,0,0,0,0,0.0,0.0,0.0,12305,12289,12269,0.9737301587301588,36,20,331,152.87799908767172,0.18504089113483205,0.20301333333332394,0.20967999999999998,1.468867087719298,3.339362666666659,3.6820266666666566,3.4842105263157896,9.0,10
+8+2_D1,"8+2, D=1",8,2,1,1000.0,49000.0,0.02,0.02188397349572346,200,310313,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,20.974640000000022,108,1,0.0,0.0,0.0,17.209647495361782,21,1.0,1,0.0195466666666667,0.1755580246913583,0.2513600000000018,172400,43200,3809,957,36,26,522,0.04744525547445255,0.9758333333333333,0.024166666666666666,12303,12284,12260,0.973015873015873,43,24,340,152.00213400563712,0.24599688961392194,0.27506666666666346,0.43664000000000414,1.5143336170212773,3.4397426666666786,4.036026666666666,3.617021276595745,9.349999999999994,11
+8+2_D2,"8+2, D=2",8,2,2,1000.0,49000.0,0.02,0.022829618385024127,200,310313,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.216053333333374,54,2,0.09876543209876544,0.3333333333333339,0.3333333333333357,20.634508348794064,38,1.5,2,0.029177621993127328,0.2620582716049399,0.27303999999999107,172400,43200,3980,1016,69,46,557,0.07628524046434494,0.974212962962963,0.025787037037037035,12276,12253,12230,0.9706349206349206,46,23,370,149.90435921478297,0.5096241548105763,0.67048,0.9282666666666639,1.7479460606060633,3.630441333333325,4.003600000000002,4.204545454545454,10.0,11
+8+2_D4,"8+2, D=4",8,2,4,1000.0,49000.0,0.02,0.022829618385024127,200,310313,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.216053333333374,27,4,0.29012345679012347,0.666666666666667,0.6666666666666679,39.929499072356215,40,2.5,4,0.05828288659793857,0.5234666666666705,0.5352533333333276,172400,43200,4007,1050,98,77,615,0.11127167630057803,0.9715277777777778,0.02847222222222222,12259,12218,12198,0.9680952380952381,61,20,402,149.49624183951244,0.9220254096299959,1.1219999999999963,1.4781066666666742,2.195163636363639,4.007194666666669,5.646800000000001,5.220779220779221,10.0,15
+8+2_D8,"8+2, D=8",8,2,8,1000.0,49000.0,0.02,0.022771430179993328,200,310313,157.76975922953451,168.39601926163724,226.95139646869984,30.4830189704105,300.0,21.729893333333457,14,4,0.6518518518518518,1.333333333333334,1.666666666666666,79.50649350649351,80,4.425925925925926,8,0.11440010996563674,1.0274824691358113,1.0638933333334109,172400,43200,4017,1006,164,121,696,0.1481028151774786,0.9677777777777777,0.03222222222222222,12214,12171,12157,0.9648412698412698,57,14,443,145.4897597288397,1.7153148156069298,2.1772533333333026,2.73535999999996,3.137030303030318,4.9471199999999556,7.46471999999997,6.712121212121212,11.75,19
+8+4_D1,"8+4, D=1",8,4,1,1000.0,49000.0,0.02,0.02223910448390382,200,310313,157.76975922953451,168.39601926163724,274.6586195826645,42.55787075997801,300.0,21.051440000000028,108,1,0.0,0.0,0.0,20.85924207269915,26,1.0,1,0.016378644163150546,0.17971012345679074,0.2513600000000018,172400,86200,3857,1938,68,29,507,0.054104477611940295,0.9765277777777778,0.02347222222222222,12299,12278,12246,0.9719047619047619,53,32,354,151.28060028197575,0.2955365735750469,0.33650666666666273,0.34253333333332137,1.566540709219859,3.4289906666666816,4.075946666666653,3.765957446808511,9.349999999999994,11
+8+4_D4,"8+4, D=4",8,4,4,1000.0,49000.0,0.02,0.023171676201598494,200,310313,157.76975922953451,168.39601926163724,274.6586195826645,42.55787075997801,300.0,21.48064000000025,27,4,0.29012345679012347,0.666666666666667,0.6666666666666679,51.02552204176334,57,2.5,4,0.05881681012658274,0.6453511111111162,0.6581333333333261,172400,86200,4013,2044,279,134,568,0.1908831908831909,0.9737037037037037,0.026296296296296297,12272,12248,12223,0.9700793650793651,49,25,377,147.95045399019597,0.9617925004772583,1.1378933333333352,1.6425333333333096,2.2056548356807713,4.033480000000006,5.626773333333361,5.309859154929577,10.0,16

data/processed/lab032/lab032_report.txt

@@ -0,0 +1,101 @@
+Lab032. Подбор параметров блочного исправления потерь
+
+Исходный профиль и неизменные слои
+- Видео: data\raw\lab026_rover_source.mp4
+- 63 реальных пар BASE/ROI, 3 fps; длительность 20.766667 с.
+- BASE 240x135 grayscale JPEG Q23; ROI 320x180 grayscale JPEG Q33.
+- Внутренний Lab028 packet: payload 512 байт; внешний формат и GF(256) Lab030 не изменены.
+- Глубина D=1: systematic symbols блока передаются первыми, затем parity; перемежение отсутствует.
+- Блоки формируются из непрерывного потока внутренних пакетов и могут пересекать composite_frame_id.
+
+Последний неполный блок
+- Используется единое правило:
+  r_last = max(1, ceil(k_last × r / k)).
+- Нулевое дополнение существует только внутри математики GF(256); внешние пакеты синтетически не добавляются.
+
+Сравнительная таблица восьми режимов
+mode | rate | outer/margin kbit/s | composite 10/50/200/1000 ms | pub p95 200 ms s | no-image p95 200 ms s | block mean/max ms | decode mean ms | queue mean/max
+----:|-----:|----------------------:|----------------------------:|-------------------:|------------------------:|------------------:|---------------:|---------------:
+Без FEC | 1.000000 | 168.396/131.604 | 0.669603/0.914524/0.960714/0.979762 | 0.203013 | 1.325184 | 0.000/0.000 | 0.000 | 13.717/15
+4+1 | 0.800000 | 226.951/73.049 | 0.791429/0.909048/0.959683/0.978175 | 0.274880 | 1.337167 | 92.966/189.840 | 77.606 | 17.171/20
+8+2 | 0.800000 | 226.951/73.049 | 0.912857/0.933333/0.963016/0.978333 | 0.275067 | 1.338747 | 189.723/266.720 | 159.003 | 17.210/21
+12+3 | 0.800000 | 226.951/73.049 | 0.951984/0.951190/0.965714/0.978492 | 0.288773 | 1.339135 | 288.795/337.173 | 242.715 | 17.219/21
+6+2 | 0.750000 | 242.928/57.072 | 0.920873/0.930317/0.961270/0.978254 | 0.294080 | 1.333927 | 142.659/214.293 | 111.939 | 18.337/21
+8+3 | 0.727273 | 250.916/49.084 | 0.963413/0.948810/0.962540/0.978175 | 0.305947 | 1.339067 | 191.857/266.720 | 145.777 | 18.985/24
+4+2 | 0.666667 | 274.659/25.341 | 0.924762/0.924127/0.959048/0.977143 | 0.336320 | 1.349667 | 96.393/159.120 | 65.744 | 20.698/24
+8+4 | 0.666667 | 274.659/25.341 | 0.986984/0.955317/0.963095/0.978175 | 0.336667 | 1.347973 | 193.876/266.720 | 132.578 | 20.859/26
+
+Подробные результаты при средней Bad 200 мс
+mode | BASE/ROI/composite | blocks ok/fail | restored packets | delivered kbit/s | publication mean/p95/max s | no-image mean/p95/max s | incomplete mean/p95/max
+----:|-------------------:|---------------:|-----------------:|-----------------:|--------------------------:|-----------------------:|------------------------:
+Без FEC | 0.972302/0.967302/0.960714 | 0.000000/0.000000 | 0 | 150.881 | 0.185098/0.203013/0.209680 | 0.786259/1.325184/2.333307 | 1.387/3.000/6
+4+1 | 0.973175/0.966905/0.959683 | 0.975972/0.024028 | 92 | 150.067 | 0.246589/0.274880/0.394773 | 0.823033/1.337167/2.349520 | 1.494/3.000/6
+8+2 | 0.974841/0.969365/0.963016 | 0.972130/0.027870 | 144 | 150.483 | 0.246330/0.275067/0.466747 | 0.837464/1.338747/2.334160 | 1.528/3.000/6
+12+3 | 0.975794/0.971270/0.965714 | 0.968403/0.031597 | 260 | 150.899 | 0.246565/0.288773/0.522907 | 0.841596/1.339135/2.380240 | 1.543/3.000/6
+6+2 | 0.973651/0.968571/0.961270 | 0.975243/0.024757 | 188 | 150.202 | 0.262330/0.294080/0.425493 | 0.839718/1.333927/2.364880 | 1.544/3.000/6
+8+3 | 0.974603/0.969524/0.962540 | 0.973981/0.026019 | 249 | 150.081 | 0.271028/0.305947/0.466747 | 0.861515/1.339067/2.334160 | 1.589/3.000/6
+4+2 | 0.973095/0.966429/0.959048 | 0.978287/0.021713 | 236 | 149.535 | 0.296583/0.336320/0.394773 | 0.865525/1.349667/2.364880 | 1.613/3.000/6
+8+4 | 0.975238/0.970238/0.963095 | 0.975833/0.024167 | 375 | 149.944 | 0.295920/0.336667/0.465947 | 0.899563/1.347973/2.334160 | 1.703/3.000/6
+
+Временная модель и очередь
+- Непрерывные чередующиеся экспоненциальные Good/Bad интервалы Lab029B, средняя доля Bad около 2%.
+- Средние Bad 10, 50, 200 и 1000 мс; 200 повторов; fixed seeds 300300...300303.
+- Пакет теряется при любом пересечении передачи с Bad. FIFO учитывает фактическую длину каждого внешнего пакета и скорость 300 кбит/с.
+- Все исследованные режимы остаются ниже 300 кбит/с; положительный запас показан в таблице. Отдельная функциональная проверка ускоряет поток 8+4 вдвое и подтверждает реальное накопление очереди при перегрузке.
+- Block duration измеряется от начала первого до конца последнего символа. Decode-ready без потерь — от начала первого до конца k-го systematic symbol.
+
+1. Одинаковая кодовая скорость 0.8: 4+1, 8+2 и 12+3
+- 4+1: outer 226.951 кбит/с, block mean 92.966 мс, decode-ready 77.606 мс, composite@200 0.959683.
+- 8+2: outer 226.951 кбит/с, block mean 189.723 мс, decode-ready 159.003 мс, composite@200 0.963016.
+- 12+3: outer 226.951 кбит/с, block mean 288.795 мс, decode-ready 242.715 мс, composite@200 0.965714.
+- При одинаковой номинальной code rate длина блока меняет временное окно, в котором одна помеха может собрать несколько стираний. Короткий блок раньше получает k systematic symbols и быстрее допускает декодирование.
+- Длинный блок дольше остаётся открытым и может включить больше потерянных пакетов одной длительной помехи; при этом его больший абсолютный r иногда полезен для рассеянных стираний.
+
+2. Одинаковая code rate 2/3: 4+2 и 8+4
+- 4+2: outer 274.659 кбит/с, composite@200 0.959048, publication P95 0.336320 с, no-image P95 1.349667 с.
+- 8+4: outer 274.659 кбит/с, composite@200 0.963095, publication P95 0.336667 с, no-image P95 1.347973 с.
+- Сравнение изолирует влияние длины блока при одинаковой сильной избыточности: короткий 4+2 быстрее закрывается, длинный 8+4 имеет больше абсолютных parity symbols, но дольше накапливает стирания.
+
+3. Влияние увеличения r
+- Большее r позволяет исправить больше стираний, но увеличивает внешний поток, служебную долю, время передачи блока и публикационную задержку.
+- 8+3: outer 250.916 кбит/с (8+2 226.951, 8+4 274.659); composite@200 0.962540 (8+2 0.963016, 8+4 0.963095); P95 delay 0.305947 с (8+2 0.275067, 8+4 0.336667).
+- Поэтому 8+3 оценивается по фактическому положению между 8+2 и 8+4 сразу по скорости, устойчивости и задержке, без автоматического назначения рабочим режимом.
+
+4. Практическая граница без автоматического выбора
+- Минимальный поток: Без FEC, 168.396 кбит/с.
+- Максимальная composite-устойчивость при Bad 200 мс: 12+3, 0.965714.
+- Минимальная P95-задержка среди защищённых режимов: 4+1, 0.274880 с.
+- Недоминируемые по outer bitrate↓, publication P95↓ и composite success↑ режимы при Bad 200 мс: Без FEC, 8+2, 12+3.
+- Это набор компромиссов, а не автоматический выбор единственного режима.
+
+Функциональные проверки
+- PASS all_k_r_supported: GF(256) generated every requested k+r matrix
+- PASS recover_any_r_erasures: recovered all 1208 exact-r erasure patterns
+- PASS restored_inner_byte_exact: restored Lab028 packets are byte-exact
+- PASS inner_outer_crc: outer and recovered Lab028 CRC32 checks passed
+- PASS final_partial_block_scaling: final blocks: 4+1:2+1, 8+2:6+2, 12+3:10+3, 6+2:4+2, 8+3:6+3, 4+2:2+1, 8+4:6+3
+- PASS zero_bad_100_percent: all eight modes restored 100% of frames without Bad
+- PASS fixed_seed_reproducibility: identical seed produced identical result fields
+- PASS queue_counts_parity: every parity packet is included in FIFO timing
+- PASS overload_grows_queue: 549.317 kbit/s produced queue mean/max 301.733/589
+- PASS atomic_incomplete_composite: missing final ROI fragment prevented publication
+- PASS lab030_8_2_reproduction: 8+2 exactly reproduced Lab030 order and four rows
+
+Допущения модели
+- JPEG кодируются один раз в памяти; вычислительная задержка GF(256) считается нулевой.
+- Стирается весь внешний пакет; отдельные битовые ошибки не моделируются, но оба уровня CRC проверяются.
+- Publication delay считается от frame_id/3 до конца пакета, завершившего атомарную сборку BASE+ROI.
+- No-image заканчивается публикацией следующего полного кадра или концом расписания; неполный кадр не публикуется.
+- ARQ, повторы, глубокое перемежение, команды, телеметрия, модуляция и реальный SDR отсутствуют.
+
+Артефакты
+- Полный CSV: data\processed\lab032\lab032_results.csv
+- Сводный CSV: data\processed\lab032\lab032_summary.csv
+- Отчёт: data\processed\lab032\lab032_report.txt
+- Доля восстановленных кадров: data\processed\lab032\lab032_composite_success.png
+- Скорость и избыточность: data\processed\lab032\lab032_stream_overhead.png
+- Задержка публикации: data\processed\lab032\lab032_publication_delay.png
+- Отсутствие изображения: data\processed\lab032\lab032_no_image_duration.png
+- Влияние размера блока: data\processed\lab032\lab032_block_size_effect.png
+- Практическая граница: data\processed\lab032\lab032_practical_frontier.png
+- JPEG, пакеты и бинарные дампы не сохранялись.

data/processed/lab032/lab032_results.csv

@@ -0,0 +1,33 @@
+mode,label,source_block_size,nominal_parity_count,code_rate,mean_bad_duration_ms,mean_good_duration_ms,target_bad_time_fraction,actual_bad_time_fraction,monte_carlo_repetitions,seed,source_jpeg_bitrate_kbps,inner_packet_stream_bitrate_kbps,outer_fec_stream_bitrate_kbps,margin_to_control_bitrate_kbps,service_and_parity_percent,control_stream_bitrate_kbps,schedule_duration_seconds,fec_block_count,final_block_source_count,final_block_parity_count,mean_block_duration_seconds,max_block_duration_seconds,mean_decode_ready_duration_seconds,mean_queue_length_packets,max_queue_length_packets,transmitted_source_packets,transmitted_parity_packets,lost_source_packets,lost_parity_packets,recovered_source_packets,fec_recovered_blocks,fec_unrecoverable_blocks,fec_affected_block_recovery_rate,fec_all_block_success_rate,fec_unrecoverable_block_rate,base_objects_completed,base_success_rate,roi_objects_completed,roi_success_rate,atomic_composite_frames_completed,composite_success_rate,base_only_frames,roi_only_frames,incomplete_frames,effective_delivered_video_bitrate_kbps,mean_publication_delay_seconds,p95_publication_delay_seconds,max_publication_delay_seconds,mean_no_new_image_duration_seconds,p95_no_new_image_duration_seconds,max_no_new_image_duration_seconds,mean_consecutive_incomplete_frames,p95_consecutive_incomplete_frames,max_consecutive_incomplete_frames
+none,Без FEC,0,0,1.0,10.0,490.0,0.02,0.020237233778310743,200,300300,157.76975922953451,168.39601926163724,168.39601926163724,131.60398073836276,6.3102798265039075,300.0,20.869679999999992,0,0,0,0.0,0.0,0.0,13.7169373549884,15,172400,0,8130,0,0,0,0,0.0,0.0,0.0,10778,0.8553968253968254,9644,0.7653968253968254,8437,0.6696031746031746,2341,1207,4163,105.09054858531616,0.18497208960530362,0.20301333333332394,0.20967999999999998,0.8136578817966899,1.3455733333333306,3.0084000000000004,1.476241134751773,3.0,8
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+12+3,12+3,12,3,0.8,10.0,490.0,0.02,0.02054934259858452,200,300300,157.76975922953451,168.39601926163724,226.95139646869984,73.04860353130016,30.4830189704105,300.0,20.974640000000022,72,10,3,0.2887951851851859,0.33717333333333244,0.24271518518518562,17.21892393320965,21,172400,43200,8382,2249,6633,4195,481,0.8971343028229256,0.9665972222222222,0.03340277777777778,12298,0.976031746031746,12141,0.9635714285714285,11995,0.9519841269841269,303,146,605,148.739525445967,0.27203066166458373,0.43695999999999735,0.5433600000000043,0.7779739823008857,1.130100000000001,1.8652533333333245,1.3384955752212389,2.0,4
+6+2,6+2,6,2,0.75,10.0,490.0,0.02,0.02054934259858452,200,300300,157.76975922953451,168.39601926163724,242.92776886035313,57.072231139646874,35.05486837932128,300.0,20.974640000000022,144,4,2,0.14265870370370404,0.21429333333333744,0.11193870370370387,18.337391304347825,21,172400,57600,8406,2992,5902,4396,959,0.8209150326797385,0.9667013888888889,0.03329861111111111,12165,0.9654761904761905,11882,0.943015873015873,11603,0.9208730158730158,562,279,997,143.8502954043548,0.27183035421873797,0.3794133333333327,0.4374400000000094,0.7170305679592641,1.015386666666668,1.4916266666666544,1.171562867215041,2.0,3
+8+3,8+3,8,3,0.7272727272727273,10.0,490.0,0.02,0.020402467996494884,200,300300,157.76975922953451,168.39601926163724,250.91595505617977,49.08404494382023,37.12246828058022,300.0,21.020720000000026,108,6,3,0.19185679012345724,0.2667200000000012,0.145776790123457,18.984822934232714,24,172400,64800,8524,3269,7148,4741,412,0.9200465748107899,0.980925925925926,0.019074074074074073,12377,0.9823015873015873,12259,0.972936507936508,12139,0.9634126984126984,238,120,461,150.1392511769338,0.28472546338248755,0.410133333333329,0.48210666666667734,0.7119441206030163,1.0108000000000015,1.6533066666666691,1.1582914572864322,2.0,4
+4+2,4+2,4,2,0.6666666666666666,10.0,490.0,0.02,0.020402467996494884,200,300300,157.76975922953451,168.39601926163724,274.6586195826645,25.341380417335472,42.55787075997801,300.0,21.020720000000026,216,2,1,0.09639320987654372,0.1591200000000068,0.06574432098765466,20.698375870069604,24,172400,86200,8475,4327,6317,4860,936,0.8385093167701864,0.9783333333333334,0.021666666666666667,12181,0.9667460317460318,11940,0.9476190476190476,11652,0.9247619047619048,529,288,948,144.11669438534915,0.30090820688866216,0.34253333333332137,0.41933333333331824,0.6944152068696341,1.0002666666666684,1.6533066666666691,1.1100702576112411,2.0,4
+8+4,8+4,8,4,0.6666666666666666,10.0,490.0,0.02,0.019902265840707405,200,300300,157.76975922953451,168.39601926163724,274.6586195826645,25.341380417335472,42.55787075997801,300.0,21.051440000000028,108,6,3,0.1938755555555563,0.2667200000000012,0.13257777777777818,20.85924207269915,26,172400,86200,8364,4311,7797,4860,144,0.9712230215827338,0.9933333333333333,0.006666666666666667,12520,0.9936507936507937,12472,0.9898412698412699,12436,0.986984126984127,84,36,164,153.61973147680135,0.3084344440870609,0.4101333333333308,0.4963199999999981,0.7097399061032867,1.0169693333333332,1.0686133333333285,1.1549295774647887,2.0,2
+none,Без FEC,0,0,1.0,50.0,2450.0,0.02,0.019137425732142044,200,300301,157.76975922953451,168.39601926163724,168.39601926163724,131.60398073836276,6.3102798265039075,300.0,20.869679999999992,0,0,0,0.0,0.0,0.0,13.7169373549884,15,172400,0,4062,0,0,0,0,0.0,0.0,0.0,12052,0.9565079365079365,11819,0.938015873015873,11523,0.9145238095238095,529,296,1077,143.55281729283826,0.18500322485463208,0.20301333333332394,0.20967999999999998,0.6934565404298871,0.9983146666666661,1.6871733333333334,1.1023541453428864,2.0,4
+4+1,4+1,4,1,0.8,50.0,2450.0,0.02,0.020366888699952315,200,300301,157.76975922953451,168.39601926163724,226.95139646869984,73.04860353130016,30.4830189704105,300.0,20.95928000000002,216,2,1,0.09296604938271637,0.18984000000000556,0.07760604938271627,17.17068645640074,20,172400,43200,4404,1111,435,435,1555,0.2185929648241206,0.9640046296296296,0.03599537037037037,12072,0.9580952380952381,11759,0.9332539682539682,11454,0.909047619047619,618,305,1146,142.09415018073125,0.2470573493975917,0.27522666666668627,0.394773333333335,0.714345825703629,1.0041866666666657,1.993706666666668,1.165818921668362,2.0,5
+8+2,8+2,8,2,0.8,50.0,2450.0,0.02,0.019947721301082785,200,300301,157.76975922953451,168.39601926163724,226.95139646869984,73.04860353130016,30.4830189704105,300.0,20.974640000000022,108,6,2,0.18972345679012387,0.2667200000000012,0.15900345679012368,17.209647495361782,21,172400,43200,4326,1104,971,658,905,0.4209852847088932,0.9581018518518518,0.04189814814814815,12183,0.9669047619047619,11974,0.9503174603174603,11760,0.9333333333333333,423,214,840,145.76717025894112,0.24829524943310788,0.27522666666668627,0.46530666666666143,0.7125767765567773,1.009596,1.6315466666666705,1.1538461538461537,2.0,4
+12+3,12+3,12,3,0.8,50.0,2450.0,0.02,0.019947721301082785,200,300301,157.76975922953451,168.39601926163724,226.95139646869984,73.04860353130016,30.4830189704105,300.0,20.974640000000022,72,10,3,0.2887951851851859,0.33717333333333244,0.24271518518518562,17.21892393320965,21,172400,43200,4368,1082,1492,799,598,0.5719398711524696,0.9584722222222222,0.041527777777777775,12273,0.974047619047619,12114,0.9614285714285714,11985,0.9511904761904761,288,129,615,148.55436660653038,0.25108506744541914,0.2925866666666561,0.5421066666666583,0.7189982697201026,1.0041866666666657,1.993706666666668,1.1736641221374047,2.0,5
+6+2,6+2,6,2,0.75,50.0,2450.0,0.02,0.019947721301082785,200,300301,157.76975922953451,168.39601926163724,242.92776886035313,57.072231139646874,35.05486837932128,300.0,20.974640000000022,144,4,2,0.14265870370370404,0.21429333333333744,0.11193870370370387,18.337391304347825,21,172400,57600,4368,1480,994,687,973,0.413855421686747,0.9662152777777778,0.03378472222222222,12172,0.966031746031746,11935,0.9472222222222222,11722,0.9303174603174603,450,213,878,145.30510368711916,0.2636889040550546,0.2962933333333524,0.4374400000000094,0.7177993752788941,1.0114399999999997,1.993706666666668,1.1753681392235609,2.0,5
+8+3,8+3,8,3,0.7272727272727273,50.0,2450.0,0.02,0.019374042379375574,200,300301,157.76975922953451,168.39601926163724,250.91595505617977,49.08404494382023,37.12246828058022,300.0,21.020720000000026,108,6,3,0.19185679012345724,0.2667200000000012,0.145776790123457,18.984822934232714,24,172400,64800,4293,1651,1567,863,658,0.5673898750821827,0.9695370370370371,0.030462962962962963,12280,0.9746031746031746,12107,0.9608730158730159,11955,0.9488095238095238,325,152,645,147.8507529713538,0.2735714953297101,0.3079733333333543,0.4809599999999983,0.7145212903225816,1.0080079999999976,1.3905066666666706,1.1559139784946237,2.0,3
+4+2,4+2,4,2,0.6666666666666666,50.0,2450.0,0.02,0.019374042379375574,200,300301,157.76975922953451,168.39601926163724,274.6586195826645,25.341380417335472,42.55787075997801,300.0,21.020720000000026,216,2,1,0.09639320987654372,0.1591200000000068,0.06574432098765466,20.698375870069604,24,172400,86200,4328,2165,1095,760,1111,0.4061998931052913,0.9742824074074075,0.025717592592592594,12133,0.962936507936508,11923,0.9462698412698413,11644,0.9241269841269841,489,279,956,144.01249053315,0.2971720302301636,0.3366666666666909,0.41933333333331824,0.7232546932006642,1.0119066666666576,1.7137333333333764,1.1890547263681592,2.0,4
+8+4,8+4,8,4,0.6666666666666666,50.0,2450.0,0.02,0.0203533945388834,200,300301,157.76975922953451,168.39601926163724,274.6586195826645,25.341380417335472,42.55787075997801,300.0,21.051440000000028,108,6,3,0.1938755555555563,0.2667200000000012,0.13257777777777818,20.85924207269915,26,172400,86200,4506,2275,2062,979,520,0.6531020680453635,0.975925925925926,0.024074074074074074,12298,0.976031746031746,12178,0.9665079365079365,12037,0.9553174603174603,261,141,563,148.6380960162343,0.29828562377115203,0.3386933333333566,0.49543999999999855,0.7492293986636983,1.0571200000000047,1.4058666666666717,1.2538975501113585,2.0,3
+none,Без FEC,0,0,1.0,200.0,9800.0,0.02,0.02117165511678711,200,300302,157.76975922953451,168.39601926163724,168.39601926163724,131.60398073836276,6.3102798265039075,300.0,20.869679999999992,0,0,0,0.0,0.0,0.0,13.7169373549884,15,172400,0,3877,0,0,0,0,0.0,0.0,0.0,12251,0.9723015873015873,12188,0.9673015873015873,12105,0.9607142857142857,146,83,495,150.88131681942423,0.18509811593005004,0.20301333333332394,0.20967999999999998,0.7862588982259566,1.3251839999999993,2.333306666666667,1.3865546218487395,3.0,6
+4+1,4+1,4,1,0.8,200.0,9800.0,0.02,0.01946372101257088,200,300302,157.76975922953451,168.39601926163724,226.95139646869984,73.04860353130016,30.4830189704105,300.0,20.95928000000002,216,2,1,0.09296604938271637,0.18984000000000556,0.07760604938271627,17.17068645640074,20,172400,43200,3597,915,92,92,1038,0.08141592920353982,0.9759722222222222,0.024027777777777776,12262,0.9731746031746031,12183,0.9669047619047619,12092,0.9596825396825397,170,91,508,150.0674164379691,0.24658850369390367,0.27488000000001733,0.394773333333335,0.8230332549019609,1.3371666666666668,2.34952,1.4941176470588236,3.0,6
+8+2,8+2,8,2,0.8,200.0,9800.0,0.02,0.01945312904270856,200,300302,157.76975922953451,168.39601926163724,226.95139646869984,73.04860353130016,30.4830189704105,300.0,20.974640000000022,108,6,2,0.18972345679012387,0.2667200000000012,0.15900345679012368,17.209647495361782,21,172400,43200,3573,908,144,101,602,0.14366998577524892,0.9721296296296297,0.027870370370370372,12283,0.9748412698412698,12214,0.9693650793650793,12134,0.963015873015873,149,80,466,150.4825408207243,0.2463296192516908,0.27506666666666346,0.4667466666666762,0.8374642185792353,1.3387466666666654,2.3341600000000007,1.5278688524590165,3.0,6
+12+3,12+3,12,3,0.8,200.0,9800.0,0.02,0.01945312904270856,200,300302,157.76975922953451,168.39601926163724,226.95139646869984,73.04860353130016,30.4830189704105,300.0,20.974640000000022,72,10,3,0.2887951851851859,0.33717333333333244,0.24271518518518562,17.21892393320965,21,172400,43200,3579,903,260,131,455,0.2235494880546075,0.9684027777777777,0.03159722222222222,12295,0.9757936507936508,12238,0.9712698412698413,12168,0.9657142857142857,127,70,432,150.89903235526316,0.2465654372123616,0.2887733333333302,0.5229066666666595,0.8415958095238097,1.3391346666666688,2.380239999999999,1.542857142857143,3.0,6
+6+2,6+2,6,2,0.75,200.0,9800.0,0.02,0.01945312904270856,200,300302,157.76975922953451,168.39601926163724,242.92776886035313,57.072231139646874,35.05486837932128,300.0,20.974640000000022,144,4,2,0.14265870370370404,0.21429333333333744,0.11193870370370387,18.337391304347825,21,172400,57600,3609,1180,188,127,713,0.15119047619047618,0.9752430555555556,0.024756944444444446,12268,0.9736507936507937,12204,0.9685714285714285,12112,0.9612698412698413,156,92,488,150.2020516204329,0.2623295794804066,0.29408000000000545,0.42549333333333905,0.8397175527426163,1.3339266666666698,2.3648799999999994,1.5443037974683544,3.0,6
+8+3,8+3,8,3,0.7272727272727273,200.0,9800.0,0.02,0.01942144600871695,200,300302,157.76975922953451,168.39601926163724,250.91595505617977,49.08404494382023,37.12246828058022,300.0,21.020720000000026,108,6,3,0.19185679012345724,0.2667200000000012,0.145776790123457,18.984822934232714,24,172400,64800,3566,1346,249,130,562,0.18786127167630057,0.9739814814814814,0.026018518518518517,12280,0.9746031746031746,12216,0.9695238095238096,12128,0.9625396825396826,152,88,472,150.08097914819265,0.2710280233069496,0.30594666666668857,0.4667466666666762,0.8615145230078568,1.3390666666666675,2.3341600000000007,1.5892255892255893,3.0,6
+4+2,4+2,4,2,0.6666666666666666,200.0,9800.0,0.02,0.01942144600871695,200,300302,157.76975922953451,168.39601926163724,274.6586195826645,25.341380417335472,42.55787075997801,300.0,21.020720000000026,216,2,1,0.09639320987654372,0.1591200000000068,0.06574432098765466,20.698375870069604,24,172400,86200,3572,1806,236,159,938,0.14494074749316319,0.978287037037037,0.02171296296296296,12261,0.9730952380952381,12177,0.9664285714285714,12084,0.959047619047619,177,93,516,149.53471051419723,0.29658307403729667,0.33632000000002193,0.39477333333332965,0.8655246666666663,1.349666666666665,2.3648799999999994,1.6125,3.0,6
+8+4,8+4,8,4,0.6666666666666666,200.0,9800.0,0.02,0.019400401043555997,200,300302,157.76975922953451,168.39601926163724,274.6586195826645,25.341380417335472,42.55787075997801,300.0,21.051440000000028,108,6,3,0.1938755555555563,0.2667200000000012,0.13257777777777818,20.85924207269915,26,172400,86200,3550,1777,375,160,522,0.23460410557184752,0.9758333333333333,0.024166666666666666,12288,0.9752380952380952,12225,0.9702380952380952,12135,0.9630952380952381,153,90,465,149.94388982416385,0.2959204021425649,0.3366666666666909,0.46594666666666207,0.8995634676434676,1.347973333333331,2.3341600000000007,1.7032967032967032,3.0,6
+none,Без FEC,0,0,1.0,1000.0,49000.0,0.02,0.017221990003688604,200,300303,157.76975922953451,168.39601926163724,168.39601926163724,131.60398073836276,6.3102798265039075,300.0,20.869679999999992,0,0,0,0.0,0.0,0.0,13.7169373549884,15,172400,0,3014,0,0,0,0,0.0,0.0,0.0,12372,0.981904761904762,12355,0.9805555555555555,12345,0.9797619047619047,27,10,255,153.8087579684979,0.1850217642770288,0.20301333333332394,0.20967999999999998,1.4030256410256405,3.0499439999999973,4.3269600000000015,3.269230769230769,8.149999999999991,12
+4+1,4+1,4,1,0.8,1000.0,49000.0,0.02,0.01762954307387838,200,300303,157.76975922953451,168.39601926163724,226.95139646869984,73.04860353130016,30.4830189704105,300.0,20.95928000000002,216,2,1,0.09296604938271637,0.18984000000000556,0.07760604938271627,17.17068645640074,20,172400,43200,3089,774,18,18,806,0.021844660194174758,0.9813425925925926,0.018657407407407407,12362,0.9811111111111112,12340,0.9793650793650793,12325,0.9781746031746031,37,15,275,152.8935249684148,0.24643575388776331,0.27488000000001733,0.37941333333333027,1.444222551440331,3.016560000000001,4.3107466666666685,3.3950617283950617,8.0,12
+8+2,8+2,8,2,0.8,1000.0,49000.0,0.02,0.017631278990127012,200,300303,157.76975922953451,168.39601926163724,226.95139646869984,73.04860353130016,30.4830189704105,300.0,20.974640000000022,108,6,2,0.18972345679012387,0.2667200000000012,0.15900345679012368,17.209647495361782,21,172400,43200,3079,781,25,16,427,0.03611738148984198,0.9802314814814815,0.01976851851851852,12366,0.9814285714285714,12342,0.9795238095238096,12327,0.9783333333333334,39,15,273,152.80692302704583,0.24594955030961974,0.27506666666666346,0.44994666666666205,1.466306160337555,3.0479386666666684,4.295386666666669,3.4556962025316458,8.099999999999994,12
+12+3,12+3,12,3,0.8,1000.0,49000.0,0.02,0.017631278990127012,200,300303,157.76975922953451,168.39601926163724,226.95139646869984,73.04860353130016,30.4830189704105,300.0,20.974640000000022,72,10,3,0.2887951851851859,0.33717333333333244,0.24271518518518562,17.21892393320965,21,172400,43200,3090,775,34,18,304,0.055900621118012424,0.9788888888888889,0.021111111111111112,12367,0.9815079365079366,12343,0.9796031746031746,12329,0.9784920634920635,38,14,271,152.83293157832492,0.24574732095060553,0.2850666666666548,0.5122933333333357,1.5037301754385983,3.0950066666666745,4.3368533333333215,3.5657894736842106,8.25,12
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data/processed/lab032/lab032_summary.csv

@@ -0,0 +1,9 @@
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docs/video_compression_research_lab026_lab027.md

@@ -0,0 +1,405 @@
+# Исследование сжатия видеопотока в Lab026–Lab027
+
+## 1. Назначение исследований
+
+Lab026, Lab026B и Lab027 исследуют способы уменьшения полезной нагрузки
+видеоканала для системы управления ровером через ретранслятор.
+
+На рассматриваемом этапе измеряется только полезная нагрузка,
+формируемая средствами покадрового кодирования изображения. Исследования
+не включают радиопередачу и не определяют профиль как автоматически
+безопасный для управления.
+
+Последовательность исследований:
+
+```text
+Lab026
+  |
+  +-- разрешение кадра
+  +-- частота кадров
+  +-- color / grayscale
+  +-- JPEG Quality
+  |
+  v
+Контрольный профиль: 320x180, grayscale, 2 fps, JPEG Q40
+  |
+  +--> Lab026B: 4-битная яркость и индексированный цвет
+  |
+  +--> Lab027: раздельная передача общего кадра BASE и области ROI
+```
+
+## 2. Исходное видео
+
+Во всех трёх лабораторных использован один файл:
+
+```text
+data/raw/lab026_rover_source.mp4
+```
+
+| Параметр | Значение |
+|---|---:|
+| Размер файла | 7 790 985 байт |
+| Разрешение | 1280x720 |
+| Частота кадров | 30.000000 кадр/с |
+| Число кадров | 623 |
+| Длительность | 20.766667 с |
+| Приблизительный файловый битрейт | 3001.343 кбит/с |
+
+## 3. Метод покадрового JPEG-сжатия
+
+Lab026 и JPEG-режимы последующих лабораторных используют независимое
+покадровое сжатие:
+
+```text
+исходный кадр
+    |
+    +--> изменение разрешения
+    |
+    +--> преобразование color / grayscale по параметрам профиля
+    |
+    +--> cv2.imencode(..., JPEG Quality)
+    |
+    +--> размер JPEG в байтах
+    |
+    +--> cv2.imdecode(...)
+    |
+    +--> расчёт PSNR
+```
+
+JPEG кодируется и декодируется в памяти. Отдельные JPEG-файлы на диск
+не сохраняются. Межкадровое предсказание не используется.
+
+Кадры для заданной частоты выбираются по временной шкале. В общем виде:
+
+```text
+frame_time = frame_index / source_fps
+
+кадр выбирается, если:
+frame_time + 1e-9 >= next_sample_time
+
+после выбора:
+next_sample_time += 1 / target_fps
+```
+
+## 4. Lab026: разрешение, FPS, grayscale и JPEG Quality
+
+### 4.1. Изменение FPS
+
+Условия серии: 640x360, grayscale, JPEG Q50.
+
+| Целевой FPS | Выбрано кадров | Payload, кбит/с | PSNR, дБ |
+|---:|---:|---:|---:|
+| 30 | 623 | 3936.913 | 37.350 |
+| 10 | 208 | 1402.877 | 36.370 |
+| 5 | 104 | 702.043 | 36.353 |
+| 2 | 42 | 284.084 | 36.320 |
+| 1 | 21 | 142.273 | 36.288 |
+| 0.5 | 11 | 73.821 | 36.372 |
+| 0.2 | 5 | 35.247 | 35.860 |
+
+### 4.2. Изменение разрешения
+
+Условия серии: 5 кадр/с, grayscale, JPEG Q50.
+
+| Разрешение | Выбрано кадров | Payload, кбит/с | PSNR, дБ |
+|---|---:|---:|---:|
+| 1280x720 | 104 | 2121.333 | 39.608 |
+| 960x540 | 104 | 1314.376 | 38.632 |
+| 640x360 | 104 | 702.043 | 36.353 |
+| 480x270 | 104 | 431.824 | 36.172 |
+| 320x180 | 104 | 227.294 | 35.069 |
+| 160x90 | 104 | 80.918 | 33.586 |
+
+### 4.3. Color, grayscale и JPEG Quality
+
+Условия серии: 640x360, 5 кадр/с.
+
+| Режим | JPEG Quality | Payload, кбит/с | PSNR, дБ |
+|---|---:|---:|---:|
+| color | 90 | 2113.639 | 39.694 |
+| color | 70 | 1117.677 | 36.029 |
+| color | 50 | 823.307 | 34.439 |
+| color | 30 | 605.629 | 32.766 |
+| color | 20 | 471.731 | 31.299 |
+| grayscale | 90 | 1809.440 | 42.575 |
+| grayscale | 70 | 957.219 | 38.032 |
+| grayscale | 50 | 702.043 | 36.353 |
+| grayscale | 30 | 511.658 | 34.702 |
+| grayscale | 20 | 392.150 | 33.304 |
+
+### 4.4. Контрольный профиль
+
+В качестве контрольного профиля принят:
+
+| Параметр | Значение |
+|---|---:|
+| Разрешение | 320x180 |
+| Цветовой режим | grayscale |
+| Частота | 2 кадр/с |
+| JPEG Quality | 40 |
+| Выбрано кадров | 42 |
+| Payload bitrate | 80.283660 кбит/с |
+| Средний PSNR | 34.362114 дБ |
+
+Этот профиль используется как baseline в Lab026B и как контрольная
+точка для Lab027.
+
+## 5. Lab026B: глубина 4 бита на пиксель
+
+### 5.1. Исследованные представления
+
+Под 4-битной яркостью понимается индекс `0...15`, то есть 16 уровней
+серого. Восстановленное значение формируется по тому же индексу в
+диапазоне `0...255`.
+
+Под 4-битным индексированным цветом понимается один индекс `0...15`
+на пиксель и палитра не более 16 RGB-цветов на кадр. Это не RGB444:
+RGB444 использует по 4 бита на каждый из трёх каналов, то есть 12 бит
+на пиксель.
+
+Исследованы пять режимов:
+
+| Режим | Представление |
+|---|---|
+| `gray8_jpeg` | Контрольный grayscale JPEG Q40 |
+| `gray4_jpeg` | 16 уровней серого, восстановление в `uint8`, JPEG Q40 |
+| `gray4_packed_zlib` | Два 4-битных индекса в байте, zlib level 9, заголовок 16 байт |
+| `color16_png` | До 16 цветов, без дизеринга, индексированный PNG |
+| `color16_packed_zlib` | 4-битные индексы, zlib level 9, заголовок 16 байт, палитра 48 байт |
+
+### 5.2. Результаты при 320x180 и 2 кадр/с
+
+| Режим | Payload, кбит/с | Средний PSNR, дБ |
+|---|---:|---:|
+| `gray8_jpeg` | 80.283660 | 34.362114 |
+| `gray4_jpeg` | 88.417849 | 32.588941 |
+| `gray4_packed_zlib` | 169.916148 | 34.397012 |
+| `color16_png` | 143.121669 | 25.384724 |
+| `color16_packed_zlib` | 140.568347 | 25.384724 |
+
+### 5.3. Зафиксированный отрицательный результат
+
+В Lab026B уменьшение глубины до 4 бит не позволило повысить разрешение
+кадра в пределах 100 кбит/с.
+
+До 100 кбит/с прошли только два профиля:
+
+| Профиль | Разрешение | Payload, кбит/с | Средний PSNR, дБ |
+|---|---|---:|---:|
+| `320x180_gray8_jpeg_2fps` | 320x180 | 80.283660 | 34.362114 |
+| `320x180_gray4_jpeg_2fps` | 320x180 | 88.417849 | 32.588941 |
+
+Профилей с разрешением больше 320x180 и payload не более
+80.283660 кбит/с не получено. Цветных `color16`-профилей до
+100 кбит/с также не получено.
+
+## 6. Lab027: многомасштабная передача BASE + ROI
+
+### 6.1. Принцип
+
+В Lab027 один профиль состоит из двух независимых JPEG-потоков:
+
+```text
+исходный полноразмерный кадр
+    |
+    +--> BASE
+    |      полный grayscale-кадр
+    |      собственные разрешение, FPS и JPEG Quality
+    |
+    +--> ROI
+           вырезка из исходного кадра
+           собственные разрешение, FPS и JPEG Quality
+
+приёмная реконструкция 640x360:
+
+декодированный BASE
+    |
+    +--> масштабирование до 640x360
+    |
+    +--> наложение последнего декодированного ROI
+           в геометрическое положение области интереса
+```
+
+BASE и ROI обновляются независимо по временной шкале. Между
+обновлениями удерживается последнее декодированное состояние каждого
+потока.
+
+### 6.2. Фиксированная ROI
+
+Нормализованные координаты:
+
+```text
+x_min = 0.20
+x_max = 0.80
+y_min = 0.42
+y_max = 1.00
+```
+
+Для исходного кадра 1280x720 используются координаты:
+
+```text
+x = 256...1024
+y = 302...720
+```
+
+Область занимает центральные 60% ширины и нижние 58% высоты кадра.
+ROI фиксирована и не использует автоматическое распознавание дороги,
+нейронные сети или детекторы объектов.
+
+### 6.3. Результаты ROI-профилей
+
+| Профиль | BASE | ROI | BASE, кбит/с | ROI, кбит/с | Total, кбит/с | Full PSNR, дБ | ROI PSNR, дБ |
+|---|---|---|---:|---:|---:|---:|---:|
+| `base240_1fps_q25_roi320_2fps_q35` | 240x135, 1 FPS, Q25 | 320x180, 2 FPS, Q35 | 19.592167 | 73.683467 | 93.275634 | 19.657187 | 19.574377 |
+| `base240_0_5fps_q25_roi320_2fps_q35` | 240x135, 0.5 FPS, Q25 | 320x180, 2 FPS, Q35 | 10.150112 | 73.683467 | 83.833579 | 18.613817 | 19.574377 |
+| `base160_1fps_q25_roi320_2fps_q35` | 160x90, 1 FPS, Q25 | 320x180, 2 FPS, Q35 | 11.511525 | 73.683467 | 85.194992 | 19.701304 | 19.574377 |
+| `base240_1fps_q25_roi448_1fps_q30` | 240x135, 1 FPS, Q25 | 448x252, 1 FPS, Q30 | 19.592167 | 56.932392 | 76.524559 | 19.098790 | 17.871555 |
+| `base240_0_5fps_q25_roi448_1fps_q30` | 240x135, 0.5 FPS, Q25 | 448x252, 1 FPS, Q30 | 10.150112 | 56.932392 | 67.082504 | 18.113877 | 17.871555 |
+| `base320_1fps_q30_roi320_1fps_q35` | 320x180, 1 FPS, Q30 | 320x180, 1 FPS, Q35 | 33.862343 | 36.738491 | 70.600835 | 19.121457 | 17.888190 |
+| `base240_1fps_q20_roi320_1fps_q30` | 240x135, 1 FPS, Q20 | 320x180, 1 FPS, Q30 | 17.180610 | 33.306453 | 50.487063 | 19.107784 | 17.873870 |
+| `base160_0_5fps_q20_roi320_2fps_q30` | 160x90, 0.5 FPS, Q20 | 320x180, 2 FPS, Q30 | 5.323917 | 66.820546 | 72.144462 | 18.664976 | 19.549559 |
+
+Контрольный baseline при повторении в Lab027 составил
+80.270177 кбит/с. Контрольное значение из Lab026, используемое для
+сравнения, равно 80.283660 кбит/с.
+
+### 6.4. Основной режим
+
+В качестве основного режима в этом описании зафиксирован профиль:
+
+```text
+base160_1fps_q25_roi320_2fps_q35
+```
+
+| Компонент | Параметры |
+|---|---|
+| BASE | 160x90, 1 кадр/с, JPEG Q25 |
+| ROI | 320x180, 2 кадр/с, JPEG Q35 |
+| BASE bitrate | 11.511525 кбит/с |
+| ROI bitrate | 73.683467 кбит/с |
+| Total payload bitrate | 85.194992 кбит/с |
+| Mean reconstructed full PSNR | 19.701304 дБ |
+| Mean reconstructed ROI PSNR | 19.574377 дБ |
+
+### 6.5. Аварийный режим
+
+В качестве аварийного режима в этом описании зафиксирован профиль:
+
+```text
+base240_1fps_q20_roi320_1fps_q30
+```
+
+| Компонент | Параметры |
+|---|---|
+| BASE | 240x135, 1 кадр/с, JPEG Q20 |
+| ROI | 320x180, 1 кадр/с, JPEG Q30 |
+| BASE bitrate | 17.180610 кбит/с |
+| ROI bitrate | 33.306453 кбит/с |
+| Total payload bitrate | 50.487063 кбит/с |
+| Mean reconstructed full PSNR | 19.107784 дБ |
+| Mean reconstructed ROI PSNR | 17.873870 дБ |
+
+## 7. Расчёт payload bitrate
+
+Для одного JPEG-потока:
+
+```text
+total_payload_bytes = сумма размеров выбранных JPEG-кадров
+
+payload_bitrate_bps =
+    total_payload_bytes * 8 / source_duration_seconds
+
+payload_bitrate_kbps =
+    payload_bitrate_bps / 1000
+```
+
+Для Lab027:
+
+```text
+total_payload_bytes =
+    total_base_bytes + total_roi_bytes
+
+base_bitrate_kbps =
+    total_base_bytes * 8 / source_duration_seconds / 1000
+
+roi_bitrate_kbps =
+    total_roi_bytes * 8 / source_duration_seconds / 1000
+
+total_payload_bitrate_kbps =
+    base_bitrate_kbps + roi_bitrate_kbps
+```
+
+Lab026B использует тот же принцип подсчёта полезной нагрузки, но размер
+кадра определяется выбранным режимом: JPEG, индексированный PNG либо
+упакованные и сжатые zlib индексы вместе с предусмотренными заголовком
+и палитрой.
+
+## 8. Неучтённые накладные расходы радиоканала
+
+В приведённые значения payload bitrate пока не включены:
+
+- заголовки радиопакетов и служебные поля радиопротокола;
+- преамбула;
+- CRC;
+- FEC;
+- фрагментация кадров по радиопакетам;
+- межпакетные интервалы;
+- повторные передачи;
+- команды управления.
+
+Значения также не включают оценку задержки полного тракта. PSNR и
+статические сравнительные изображения не заменяют ручную оценку
+пригодности изображения. Фиксированная ROI не гарантирует попадания
+препятствия в область интереса.
+
+## 9. Итоговый рабочий видеорежим после Lab027C–Lab027E
+
+Динамические сравнения Lab027C и Lab027D подтвердили, что раздельное
+асинхронное обновление BASE и ROI заметно оператору. Синхронное
+формирование обеих частей из одного исходного кадра устранило их
+визуальное рассогласование. Частота 2 кадр/с оказалась недостаточной,
+а 3 кадр/с по результатам ручной оценки признаны приемлемыми.
+
+В качестве рабочего компромисса выбран следующий профиль:
+
+| Компонент | Рабочие параметры |
+|---|---|
+| BASE | 240x135, grayscale, JPEG Q23 |
+| ROI | 320x180, grayscale, JPEG Q33 |
+| Обновление | синхронное и атомарное |
+| Частота составного изображения | 3 кадр/с |
+| JPEG payload | 156.342279 кбит/с |
+| Оценка с 10% overhead и FEC 2/3 | 257.964761 кбит/с |
+| Оценка с 10% overhead и FEC 1/2 | 343.953014 кбит/с |
+
+Расчёт иллюстративных канальных скоростей:
+
+```text
+channel_rate_fec_2_3_kbps =
+    payload_kbps * 1.10 / (2 / 3)
+
+channel_rate_fec_1_2_kbps =
+    payload_kbps * 1.10 / (1 / 2)
+```
+
+JPEG Q20 для BASE и Q30 для ROI признаны приемлемыми. Профиль Q23/Q33
+выбран как рабочий компромисс качества и потока. Визуальная разница
+между Q23/Q33 и Q25/Q35 практически отсутствует, поэтому увеличение
+потока для Q25/Q35 не дало заметного преимущества при ручной оценке.
+
+При скорости ровера 25 км/ч линейная скорость равна примерно
+6.944 м/с. При трёх составных кадрах в секунду ровер проходит:
+
+```text
+6.944 м/с / 3 кадр/с = 2.315 м/кадр
+```
+
+То есть между соседними составными изображениями ровер перемещается
+примерно на 2.31 м. Эта оценка не включает задержку кодирования,
+радиоканала, ретранслятора, декодирования и реакции оператора.
+
+Lab027E дополнительно использовала playback 0.5x для локальной
+визуальной имитации более медленного движения сцены. Замедление
+применялось только при создании операторского preview и не является
+частью передаваемого радиоканального формата. Реальная скорость
+автомобиля в исходном видео неизвестна.

protocol/fec_interleaver.py

@@ -0,0 +1,178 @@
+"""
+Packet interleaving for consecutive packet-erasure FEC blocks.
+
+The interleaver is deliberately independent from GF(256).  It accepts fully
+encoded outer symbols from ``packet_erasure_fec`` and only changes their wire
+order.  A group contains up to ``depth`` consecutive blocks.  Symbols are
+emitted by symbol index across the blocks:
+
+    block0[0], block1[0], ..., block0[1], block1[1], ...
+
+If a block is shorter than the others, its missing symbol index is skipped.
+No packet is added, removed, or modified.
+"""
+
+from __future__ import annotations
+
+from collections.abc import Sequence
+
+from protocol.packet_erasure_fec import (
+    OuterSymbol,
+    decode_outer_symbol,
+)
+
+
+class InterleaverError(ValueError):
+    """An interleaving group or outer-symbol sequence is inconsistent."""
+
+
+def _decode_block(
+    wire_block: Sequence[bytes],
+) -> tuple[int, tuple[bytes, ...], tuple[OuterSymbol, ...]]:
+    if not wire_block:
+        raise InterleaverError("FEC block is empty")
+
+    packets = tuple(wire_block)
+    symbols = tuple(decode_outer_symbol(packet) for packet in packets)
+    first = symbols[0]
+    expected_count = first.source_count + first.parity_count
+    if len(symbols) != expected_count:
+        raise InterleaverError(
+            f"block {first.block_id} has {len(symbols)} symbols, "
+            f"expected {expected_count}"
+        )
+    metadata = (
+        first.block_id,
+        first.source_count,
+        first.parity_count,
+        first.symbol_size,
+    )
+    for expected_index, symbol in enumerate(symbols):
+        current = (
+            symbol.block_id,
+            symbol.source_count,
+            symbol.parity_count,
+            symbol.symbol_size,
+        )
+        if current != metadata:
+            raise InterleaverError("outer symbols have inconsistent metadata")
+        if symbol.symbol_index != expected_index:
+            raise InterleaverError(
+                f"block {first.block_id} is not in symbol-index order"
+            )
+    return first.block_id, packets, symbols
+
+
+def interleave_group(
+    wire_blocks: Sequence[Sequence[bytes]],
+) -> tuple[bytes, ...]:
+    """
+    Interleave one non-empty group of complete consecutive FEC blocks.
+
+    Source symbols remain before parity symbols inside every individual block
+    because each block is traversed by increasing ``symbol_index``.
+    """
+
+    if not wire_blocks:
+        raise InterleaverError("interleaving group is empty")
+
+    decoded = tuple(_decode_block(block) for block in wire_blocks)
+    block_ids = tuple(item[0] for item in decoded)
+    if len(set(block_ids)) != len(block_ids):
+        raise InterleaverError("interleaving group repeats a block_id")
+    if any(
+        right != left + 1
+        for left, right in zip(block_ids, block_ids[1:])
+    ):
+        raise InterleaverError("FEC blocks are not consecutive")
+
+    packets_by_block = tuple(item[1] for item in decoded)
+    maximum_symbols = max(len(block) for block in packets_by_block)
+    return tuple(
+        block[symbol_index]
+        for symbol_index in range(maximum_symbols)
+        for block in packets_by_block
+        if symbol_index < len(block)
+    )
+
+
+def interleave_blocks(
+    wire_blocks: Sequence[Sequence[bytes]],
+    depth: int,
+) -> tuple[bytes, ...]:
+    """
+    Interleave a stream in groups of ``depth`` blocks.
+
+    The final group may contain fewer than ``depth`` blocks and is emitted
+    without synthetic padding.
+    """
+
+    if not isinstance(depth, int) or isinstance(depth, bool) or depth < 1:
+        raise ValueError("interleaving depth must be a positive integer")
+    blocks = tuple(tuple(block) for block in wire_blocks)
+    if not blocks:
+        return ()
+
+    block_ids = tuple(_decode_block(block)[0] for block in blocks)
+    if any(
+        right != left + 1
+        for left, right in zip(block_ids, block_ids[1:])
+    ):
+        raise InterleaverError("FEC block stream is not consecutive")
+
+    result = []
+    for start in range(0, len(blocks), depth):
+        group = blocks[start:start + depth]
+        result.extend(interleave_group(group))
+    return tuple(result)
+
+
+def deinterleave_symbols(
+    wire_symbols: Sequence[bytes],
+) -> tuple[tuple[bytes, ...], ...]:
+    """
+    Group received symbols by ``block_id`` and restore symbol-index order.
+
+    Lost symbols are simply absent, so the returned blocks may be incomplete.
+    Blocks are returned in first-seen order.  A conflicting duplicate symbol
+    is rejected; a byte-identical duplicate is retained only once.
+    """
+
+    block_order = []
+    grouped: dict[int, dict[int, bytes]] = {}
+    metadata: dict[int, tuple[int, int, int]] = {}
+    for wire_packet in wire_symbols:
+        symbol = decode_outer_symbol(wire_packet)
+        if symbol.block_id not in grouped:
+            block_order.append(symbol.block_id)
+            grouped[symbol.block_id] = {}
+            metadata[symbol.block_id] = (
+                symbol.source_count,
+                symbol.parity_count,
+                symbol.symbol_size,
+            )
+        current_metadata = (
+            symbol.source_count,
+            symbol.parity_count,
+            symbol.symbol_size,
+        )
+        if current_metadata != metadata[symbol.block_id]:
+            raise InterleaverError(
+                f"block {symbol.block_id} metadata changed"
+            )
+        existing = grouped[symbol.block_id].get(symbol.symbol_index)
+        if existing is not None and existing != wire_packet:
+            raise InterleaverError(
+                f"conflicting duplicate block={symbol.block_id}, "
+                f"symbol={symbol.symbol_index}"
+            )
+        grouped[symbol.block_id][symbol.symbol_index] = wire_packet
+
+    return tuple(
+        tuple(
+            symbols[index]
+            for index in sorted(symbols)
+        )
+        for block_id in block_order
+        for symbols in (grouped[block_id],)
+    )

protocol/packet_erasure_fec.py

@@ -0,0 +1,613 @@
+"""
+Systematic packet-erasure FEC over GF(256) for Lab028 wire packets.
+
+The code uses a Vandermonde generator matrix over GF(256), transformed to
+systematic form. The primitive polynomial is x^8+x^4+x^3+x^2+1 (0x11D).
+Any k available symbols from an n=k+r block reconstruct all k source
+symbols.
+
+Each source or parity symbol is carried in a fixed 32-byte outer header::
+
+    !4sBBHIHHHHHHII
+
+    Offset  Size  Field
+       0      4   magic (b"SFE1")
+       4      1   version
+       5      1   flags (bit 0: parity)
+       6      2   header_size
+       8      4   block_id
+      12      2   symbol_index
+      14      2   source_count (k)
+      16      2   parity_count (r)
+      18      2   symbol_size
+      20      2   data_length
+      22      2   reserved16 (zero)
+      24      4   reserved32 (zero)
+      28      4   outer_crc32
+
+Source symbols carry the original serialized Lab028 packet without padding.
+Parity symbols carry symbol_size bytes. Zero padding is applied only during
+GF(256) mathematics. A recovered source symbol is trimmed from the Lab028
+payload_length field and must pass the original Lab028 packet CRC32.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from functools import lru_cache
+import struct
+import zlib
+
+from protocol.video_packet import (
+    HEADER_FORMAT as INNER_HEADER_FORMAT,
+    HEADER_SIZE as INNER_HEADER_SIZE,
+    MAGIC as INNER_MAGIC,
+    VERSION as INNER_VERSION,
+    decode_packet as decode_inner_packet,
+)
+
+
+GF_PRIMITIVE_POLYNOMIAL = 0x11D
+GF_FIELD_SIZE = 256
+GF_ORDER = 255
+
+OUTER_MAGIC = b"SFE1"
+OUTER_VERSION = 1
+OUTER_FLAG_PARITY = 0x01
+OUTER_HEADER_FORMAT = "!4sBBHIHHHHHHII"
+OUTER_HEADER_SIZE = struct.calcsize(OUTER_HEADER_FORMAT)
+MAX_SYMBOL_SIZE = 0xFFFF
+MAX_BLOCK_SYMBOLS = 0xFF
+
+
+class FECError(ValueError):
+    """Base class for outer packets and erasure-code failures."""
+
+
+class OuterPacketCRCError(FECError):
+    """The outer packet failed its CRC32 check."""
+
+
+class InsufficientSymbolsError(FECError):
+    """Fewer than k unique symbols are available."""
+
+
+class MatrixSingularError(FECError):
+    """A GF(256) matrix has no inverse."""
+
+
+@dataclass(frozen=True)
+class OuterSymbol:
+    """Decoded source or parity symbol after outer CRC validation."""
+
+    block_id: int
+    symbol_index: int
+    source_count: int
+    parity_count: int
+    symbol_size: int
+    data: bytes
+    is_parity: bool
+    outer_crc32: int = 0
+
+
+@dataclass(frozen=True)
+class DecodedFECBlock:
+    """All reconstructed Lab028 packets from one FEC block."""
+
+    block_id: int
+    source_packets: tuple[bytes, ...]
+    recovered_indices: tuple[int, ...]
+
+
+def _build_gf_tables() -> tuple[
+    tuple[int, ...],
+    tuple[int, ...],
+]:
+    exponent = [0] * (GF_ORDER * 2)
+    logarithm = [0] * GF_FIELD_SIZE
+    value = 1
+    for index in range(GF_ORDER):
+        exponent[index] = value
+        logarithm[value] = index
+        value <<= 1
+        if value & GF_FIELD_SIZE:
+            value ^= GF_PRIMITIVE_POLYNOMIAL
+    for index in range(GF_ORDER, GF_ORDER * 2):
+        exponent[index] = exponent[index - GF_ORDER]
+    return tuple(exponent), tuple(logarithm)
+
+
+GF_EXP, GF_LOG = _build_gf_tables()
+
+
+def gf_add(left: int, right: int) -> int:
+    """Addition/subtraction in GF(256)."""
+
+    return left ^ right
+
+
+def gf_mul(left: int, right: int) -> int:
+    """Multiplication in GF(256)."""
+
+    if left == 0 or right == 0:
+        return 0
+    return GF_EXP[GF_LOG[left] + GF_LOG[right]]
+
+
+def gf_div(dividend: int, divisor: int) -> int:
+    """Division in GF(256)."""
+
+    if divisor == 0:
+        raise ZeroDivisionError("GF(256) division by zero")
+    if dividend == 0:
+        return 0
+    return GF_EXP[
+        (GF_LOG[dividend] - GF_LOG[divisor]) % GF_ORDER
+    ]
+
+
+def gf_inverse(value: int) -> int:
+    """Multiplicative inverse in GF(256)."""
+
+    if value == 0:
+        raise ZeroDivisionError("zero has no GF(256) inverse")
+    return GF_EXP[GF_ORDER - GF_LOG[value]]
+
+
+def gf_pow(value: int, exponent: int) -> int:
+    """Non-negative integer power in GF(256)."""
+
+    if exponent < 0:
+        raise ValueError("negative GF exponent is unsupported")
+    if exponent == 0:
+        return 1
+    if value == 0:
+        return 0
+    return GF_EXP[(GF_LOG[value] * exponent) % GF_ORDER]
+
+
+GF_MUL_TRANSLATIONS = tuple(
+    bytes(gf_mul(coefficient, value) for value in range(256))
+    for coefficient in range(256)
+)
+
+
+def matrix_multiply(
+    left: tuple[tuple[int, ...], ...],
+    right: tuple[tuple[int, ...], ...],
+) -> tuple[tuple[int, ...], ...]:
+    """Multiply two small matrices over GF(256)."""
+
+    if not left or not right:
+        raise ValueError("matrices must not be empty")
+    inner_size = len(left[0])
+    if inner_size != len(right):
+        raise ValueError("matrix dimensions do not match")
+    column_count = len(right[0])
+    result = []
+    for row in left:
+        if len(row) != inner_size:
+            raise ValueError("left matrix is ragged")
+        result_row = []
+        for column_index in range(column_count):
+            value = 0
+            for inner_index in range(inner_size):
+                value ^= gf_mul(
+                    row[inner_index],
+                    right[inner_index][column_index],
+                )
+            result_row.append(value)
+        result.append(tuple(result_row))
+    return tuple(result)
+
+
+def matrix_inverse(
+    matrix: tuple[tuple[int, ...], ...],
+) -> tuple[tuple[int, ...], ...]:
+    """Invert a square matrix using GF(256) Gauss-Jordan elimination."""
+
+    size = len(matrix)
+    if size == 0 or any(len(row) != size for row in matrix):
+        raise ValueError("matrix must be non-empty and square")
+    augmented = [
+        list(row)
+        + [1 if row_index == column_index else 0
+           for column_index in range(size)]
+        for row_index, row in enumerate(matrix)
+    ]
+
+    for pivot_column in range(size):
+        pivot_row = next(
+            (
+                row_index
+                for row_index in range(pivot_column, size)
+                if augmented[row_index][pivot_column] != 0
+            ),
+            None,
+        )
+        if pivot_row is None:
+            raise MatrixSingularError("GF(256) matrix is singular")
+        if pivot_row != pivot_column:
+            augmented[pivot_column], augmented[pivot_row] = (
+                augmented[pivot_row],
+                augmented[pivot_column],
+            )
+
+        pivot_inverse = gf_inverse(
+            augmented[pivot_column][pivot_column]
+        )
+        augmented[pivot_column] = [
+            gf_mul(value, pivot_inverse)
+            for value in augmented[pivot_column]
+        ]
+
+        for row_index in range(size):
+            if row_index == pivot_column:
+                continue
+            factor = augmented[row_index][pivot_column]
+            if factor == 0:
+                continue
+            augmented[row_index] = [
+                value ^ gf_mul(factor, pivot_value)
+                for value, pivot_value in zip(
+                    augmented[row_index],
+                    augmented[pivot_column],
+                )
+            ]
+
+    return tuple(
+        tuple(row[size:]) for row in augmented
+    )
+
+
+@lru_cache(maxsize=None)
+def systematic_generator_matrix(
+    source_count: int,
+    parity_count: int,
+) -> tuple[tuple[int, ...], ...]:
+    """Return an n×k systematic Vandermonde generator matrix."""
+
+    if not 1 <= source_count <= MAX_BLOCK_SYMBOLS:
+        raise ValueError("source_count is outside 1...255")
+    if not 0 <= parity_count <= (
+        MAX_BLOCK_SYMBOLS - source_count
+    ):
+        raise ValueError("source_count + parity_count exceeds 255")
+    total_count = source_count + parity_count
+    vandermonde = tuple(
+        tuple(
+            gf_pow(row_index + 1, column_index)
+            for column_index in range(source_count)
+        )
+        for row_index in range(total_count)
+    )
+    top_inverse = matrix_inverse(
+        vandermonde[:source_count]
+    )
+    generator = matrix_multiply(vandermonde, top_inverse)
+    identity = tuple(
+        tuple(
+            1 if row_index == column_index else 0
+            for column_index in range(source_count)
+        )
+        for row_index in range(source_count)
+    )
+    if generator[:source_count] != identity:
+        raise RuntimeError("generator matrix is not systematic")
+    return generator
+
+
+def _linear_combine(
+    coefficients: tuple[int, ...],
+    symbols: tuple[bytes, ...],
+    symbol_size: int,
+) -> bytes:
+    """Combine equal-size byte strings over GF(256), using C-level helpers."""
+
+    accumulator = 0
+    for coefficient, symbol in zip(coefficients, symbols):
+        if coefficient == 0:
+            continue
+        translated = symbol.translate(
+            GF_MUL_TRANSLATIONS[coefficient]
+        )
+        accumulator ^= int.from_bytes(translated, "little")
+    return accumulator.to_bytes(symbol_size, "little")
+
+
+def encode_parity_symbols(
+    source_symbols: tuple[bytes, ...],
+    parity_count: int,
+) -> tuple[bytes, ...]:
+    """Encode zero-padded source symbols into parity symbols."""
+
+    if not source_symbols:
+        raise ValueError("source symbol list is empty")
+    symbol_size = len(source_symbols[0])
+    if symbol_size == 0:
+        raise ValueError("symbol size is zero")
+    if any(len(symbol) != symbol_size for symbol in source_symbols):
+        raise ValueError("source symbols must have equal size")
+    generator = systematic_generator_matrix(
+        len(source_symbols), parity_count
+    )
+    return tuple(
+        _linear_combine(row, source_symbols, symbol_size)
+        for row in generator[len(source_symbols):]
+    )
+
+
+def outer_crc32(data: bytes) -> int:
+    return zlib.crc32(data) & 0xFFFFFFFF
+
+
+def _validate_outer_symbol(symbol: OuterSymbol) -> None:
+    total_count = symbol.source_count + symbol.parity_count
+    if not 0 <= symbol.block_id <= 0xFFFFFFFF:
+        raise FECError("block_id is outside uint32")
+    if not 1 <= symbol.source_count <= MAX_BLOCK_SYMBOLS:
+        raise FECError("source_count is outside 1...255")
+    if not 0 <= symbol.parity_count <= (
+        MAX_BLOCK_SYMBOLS - symbol.source_count
+    ):
+        raise FECError("invalid parity_count")
+    if not 0 <= symbol.symbol_index < total_count:
+        raise FECError("symbol_index is outside the block")
+    if not 1 <= symbol.symbol_size <= MAX_SYMBOL_SIZE:
+        raise FECError("symbol_size is outside uint16")
+    if not 1 <= len(symbol.data) <= symbol.symbol_size:
+        raise FECError("data length is outside symbol_size")
+    expected_parity = symbol.symbol_index >= symbol.source_count
+    if symbol.is_parity != expected_parity:
+        raise FECError("parity flag conflicts with symbol_index")
+    if symbol.is_parity and len(symbol.data) != symbol.symbol_size:
+        raise FECError("parity data must equal symbol_size")
+
+
+def _pack_outer_header(
+    symbol: OuterSymbol,
+    crc_value: int,
+) -> bytes:
+    return struct.pack(
+        OUTER_HEADER_FORMAT,
+        OUTER_MAGIC,
+        OUTER_VERSION,
+        OUTER_FLAG_PARITY if symbol.is_parity else 0,
+        OUTER_HEADER_SIZE,
+        symbol.block_id,
+        symbol.symbol_index,
+        symbol.source_count,
+        symbol.parity_count,
+        symbol.symbol_size,
+        len(symbol.data),
+        0,
+        0,
+        crc_value,
+    )
+
+
+def encode_outer_symbol(symbol: OuterSymbol) -> bytes:
+    """Serialize one source/parity symbol and calculate outer CRC32."""
+
+    if not isinstance(symbol, OuterSymbol):
+        raise TypeError("symbol must be OuterSymbol")
+    _validate_outer_symbol(symbol)
+    header_without_crc = _pack_outer_header(symbol, 0)
+    crc_value = outer_crc32(header_without_crc + symbol.data)
+    return _pack_outer_header(symbol, crc_value) + symbol.data
+
+
+def decode_outer_symbol(wire_packet: bytes) -> OuterSymbol:
+    """Deserialize and validate one outer FEC packet."""
+
+    if not isinstance(wire_packet, (bytes, bytearray)):
+        raise TypeError("wire_packet must be bytes or bytearray")
+    wire_packet = bytes(wire_packet)
+    if len(wire_packet) < OUTER_HEADER_SIZE + 1:
+        raise FECError("outer packet is too short")
+    (
+        magic,
+        version,
+        flags,
+        header_size,
+        block_id,
+        symbol_index,
+        source_count,
+        parity_count,
+        symbol_size,
+        data_length,
+        reserved16,
+        reserved32,
+        received_crc,
+    ) = struct.unpack(
+        OUTER_HEADER_FORMAT,
+        wire_packet[:OUTER_HEADER_SIZE],
+    )
+    if magic != OUTER_MAGIC:
+        raise FECError("invalid outer magic")
+    if version != OUTER_VERSION:
+        raise FECError("unsupported outer version")
+    if flags & ~OUTER_FLAG_PARITY:
+        raise FECError("unsupported outer flags")
+    if header_size != OUTER_HEADER_SIZE:
+        raise FECError("invalid outer header size")
+    if reserved16 != 0 or reserved32 != 0:
+        raise FECError("reserved outer fields must be zero")
+    if len(wire_packet) != OUTER_HEADER_SIZE + data_length:
+        raise FECError("outer data_length does not match packet length")
+
+    symbol = OuterSymbol(
+        block_id=block_id,
+        symbol_index=symbol_index,
+        source_count=source_count,
+        parity_count=parity_count,
+        symbol_size=symbol_size,
+        data=wire_packet[OUTER_HEADER_SIZE:],
+        is_parity=bool(flags & OUTER_FLAG_PARITY),
+        outer_crc32=received_crc,
+    )
+    _validate_outer_symbol(symbol)
+    calculated_crc = outer_crc32(
+        _pack_outer_header(symbol, 0) + symbol.data
+    )
+    if calculated_crc != received_crc:
+        raise OuterPacketCRCError(
+            "outer CRC mismatch: "
+            f"received 0x{received_crc:08X}, "
+            f"calculated 0x{calculated_crc:08X}"
+        )
+    return symbol
+
+
+def encode_fec_block(
+    inner_packets: tuple[bytes, ...],
+    block_id: int,
+    parity_count: int,
+) -> tuple[bytes, ...]:
+    """Wrap systematic Lab028 packets and append parity packets."""
+
+    if not inner_packets:
+        raise ValueError("inner packet block is empty")
+    if len(inner_packets) + parity_count > MAX_BLOCK_SYMBOLS:
+        raise ValueError("FEC block has more than 255 symbols")
+    validated_packets = []
+    for packet in inner_packets:
+        packet_bytes = bytes(packet)
+        decode_inner_packet(packet_bytes)
+        validated_packets.append(packet_bytes)
+    symbol_size = max(len(packet) for packet in validated_packets)
+    if symbol_size > MAX_SYMBOL_SIZE:
+        raise ValueError("inner packet is too large for outer symbol_size")
+    padded_sources = tuple(
+        packet + bytes(symbol_size - len(packet))
+        for packet in validated_packets
+    )
+    parity_symbols = encode_parity_symbols(
+        padded_sources, parity_count
+    )
+    source_count = len(validated_packets)
+    outer_packets = [
+        encode_outer_symbol(
+            OuterSymbol(
+                block_id=block_id,
+                symbol_index=index,
+                source_count=source_count,
+                parity_count=parity_count,
+                symbol_size=symbol_size,
+                data=packet,
+                is_parity=False,
+            )
+        )
+        for index, packet in enumerate(validated_packets)
+    ]
+    outer_packets.extend(
+        encode_outer_symbol(
+            OuterSymbol(
+                block_id=block_id,
+                symbol_index=source_count + parity_index,
+                source_count=source_count,
+                parity_count=parity_count,
+                symbol_size=symbol_size,
+                data=parity,
+                is_parity=True,
+            )
+        )
+        for parity_index, parity in enumerate(parity_symbols)
+    )
+    return tuple(outer_packets)
+
+
+def _padded_symbol(symbol: OuterSymbol) -> bytes:
+    return symbol.data + bytes(symbol.symbol_size - len(symbol.data))
+
+
+def trim_recovered_inner_packet(padded_packet: bytes) -> bytes:
+    """Trim GF padding using the recovered Lab028 header and validate CRC."""
+
+    if len(padded_packet) < INNER_HEADER_SIZE:
+        raise FECError("recovered symbol is shorter than Lab028 header")
+    unpacked = struct.unpack(
+        INNER_HEADER_FORMAT,
+        padded_packet[:INNER_HEADER_SIZE],
+    )
+    magic = unpacked[0]
+    version = unpacked[1]
+    payload_length = unpacked[7]
+    if magic != INNER_MAGIC or version != INNER_VERSION:
+        raise FECError("recovered Lab028 magic/version is invalid")
+    packet_length = INNER_HEADER_SIZE + payload_length
+    if packet_length > len(padded_packet):
+        raise FECError("recovered Lab028 length exceeds symbol_size")
+    inner_packet = padded_packet[:packet_length]
+    decode_inner_packet(inner_packet)
+    return inner_packet
+
+
+def decode_fec_block(
+    wire_symbols: tuple[bytes, ...],
+) -> DecodedFECBlock:
+    """Recover all source Lab028 packets from any k valid outer symbols."""
+
+    if not wire_symbols:
+        raise InsufficientSymbolsError("no outer symbols received")
+    symbols_by_index: dict[int, OuterSymbol] = {}
+    metadata = None
+    for wire_symbol in wire_symbols:
+        symbol = decode_outer_symbol(wire_symbol)
+        current_metadata = (
+            symbol.block_id,
+            symbol.source_count,
+            symbol.parity_count,
+            symbol.symbol_size,
+        )
+        if metadata is None:
+            metadata = current_metadata
+        elif current_metadata != metadata:
+            raise FECError("outer symbols belong to different blocks")
+        existing = symbols_by_index.get(symbol.symbol_index)
+        if existing is not None:
+            if existing != symbol:
+                raise FECError("conflicting duplicate outer symbol")
+            continue
+        symbols_by_index[symbol.symbol_index] = symbol
+
+    assert metadata is not None
+    block_id, source_count, parity_count, symbol_size = metadata
+    if len(symbols_by_index) < source_count:
+        raise InsufficientSymbolsError(
+            f"need {source_count} symbols, got {len(symbols_by_index)}"
+        )
+
+    selected_indices = tuple(sorted(symbols_by_index)[:source_count])
+    generator = systematic_generator_matrix(
+        source_count, parity_count
+    )
+    decode_matrix = matrix_inverse(
+        tuple(generator[index] for index in selected_indices)
+    )
+    selected_symbols = tuple(
+        _padded_symbol(symbols_by_index[index])
+        for index in selected_indices
+    )
+
+    source_packets = []
+    recovered_indices = []
+    for source_index in range(source_count):
+        received_source = symbols_by_index.get(source_index)
+        if received_source is not None:
+            inner_packet = received_source.data
+            decode_inner_packet(inner_packet)
+        else:
+            padded_packet = _linear_combine(
+                decode_matrix[source_index],
+                selected_symbols,
+                symbol_size,
+            )
+            inner_packet = trim_recovered_inner_packet(padded_packet)
+            recovered_indices.append(source_index)
+        source_packets.append(inner_packet)
+    return DecodedFECBlock(
+        block_id=block_id,
+        source_packets=tuple(source_packets),
+        recovered_indices=tuple(recovered_indices),
+    )

protocol/video_packet.py

@@ -0,0 +1,416 @@
+"""
+Transport packets for synchronous BASE + ROI JPEG composite frames.
+
+The wire header has a fixed 32-byte, padding-free network-byte-order layout::
+
+    !4sBBHIHHHHIII
+
+    Offset  Size  Field
+       0      4   magic (b"SRV1")
+       4      1   version
+       5      1   object_type (1=BASE, 2=ROI)
+       6      2   header_size
+       8      4   composite_frame_id
+      12      2   fragment_index
+      14      2   fragment_count
+      16      2   payload_length
+      18      2   flags (reserved, must be zero)
+      20      4   jpeg_size
+      24      4   object_crc32
+      28      4   packet_crc32
+
+packet_crc32 is calculated over the complete header with packet_crc32 set to
+zero, followed by the packet payload. object_crc32 is calculated over the
+complete JPEG before fragmentation and checked after reassembly.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+from enum import IntEnum
+import struct
+import zlib
+
+
+MAGIC = b"SRV1"
+VERSION = 1
+HEADER_FORMAT = "!4sBBHIHHHHIII"
+HEADER_SIZE = struct.calcsize(HEADER_FORMAT)
+MAX_PAYLOAD_LENGTH = 0xFFFF
+MAX_FRAGMENT_COUNT = 0xFFFF
+MAX_JPEG_SIZE = 0xFFFFFFFF
+
+
+class ObjectType(IntEnum):
+    """JPEG object carried by a packet."""
+
+    BASE = 1
+    ROI = 2
+
+
+class VideoPacketError(ValueError):
+    """Base class for video transport validation errors."""
+
+
+class PacketCRCError(VideoPacketError):
+    """The packet header or payload failed its CRC32 check."""
+
+
+class ObjectCRCError(VideoPacketError):
+    """A completely reassembled JPEG failed its CRC32 check."""
+
+
+class ObjectConsistencyError(VideoPacketError):
+    """Fragments for one object contain inconsistent metadata or data."""
+
+
+@dataclass(frozen=True)
+class VideoPacket:
+    """Decoded and CRC-checked transport packet."""
+
+    composite_frame_id: int
+    object_type: ObjectType
+    fragment_index: int
+    fragment_count: int
+    jpeg_size: int
+    object_crc32: int
+    payload: bytes
+    packet_crc32: int = 0
+
+
+@dataclass(frozen=True)
+class CompositeFrame:
+    """Atomically reassembled BASE and ROI JPEGs for one source update."""
+
+    composite_frame_id: int
+    base_jpeg: bytes
+    roi_jpeg: bytes
+
+
+def crc32(data: bytes) -> int:
+    """Return an unsigned IEEE CRC32."""
+
+    return zlib.crc32(data) & 0xFFFFFFFF
+
+
+def _validate_packet_fields(packet: VideoPacket) -> None:
+    if not 0 <= packet.composite_frame_id <= 0xFFFFFFFF:
+        raise VideoPacketError("composite_frame_id is outside uint32")
+    if packet.object_type not in (ObjectType.BASE, ObjectType.ROI):
+        raise VideoPacketError("unsupported object_type")
+    if not 1 <= packet.fragment_count <= MAX_FRAGMENT_COUNT:
+        raise VideoPacketError("fragment_count is outside uint16")
+    if not 0 <= packet.fragment_index < packet.fragment_count:
+        raise VideoPacketError("fragment_index is outside fragment_count")
+    if not 1 <= len(packet.payload) <= MAX_PAYLOAD_LENGTH:
+        raise VideoPacketError("payload length is outside uint16")
+    if not 1 <= packet.jpeg_size <= MAX_JPEG_SIZE:
+        raise VideoPacketError("jpeg_size is outside uint32")
+    if len(packet.payload) > packet.jpeg_size:
+        raise VideoPacketError("payload is larger than the JPEG object")
+    if not 0 <= packet.object_crc32 <= 0xFFFFFFFF:
+        raise VideoPacketError("object_crc32 is outside uint32")
+
+
+def _pack_header(packet: VideoPacket, packet_crc32: int) -> bytes:
+    return struct.pack(
+        HEADER_FORMAT,
+        MAGIC,
+        VERSION,
+        int(packet.object_type),
+        HEADER_SIZE,
+        packet.composite_frame_id,
+        packet.fragment_index,
+        packet.fragment_count,
+        len(packet.payload),
+        0,
+        packet.jpeg_size,
+        packet.object_crc32,
+        packet_crc32,
+    )
+
+
+def encode_packet(packet: VideoPacket) -> bytes:
+    """Serialize a packet and calculate its packet CRC32."""
+
+    if not isinstance(packet, VideoPacket):
+        raise TypeError("packet must be VideoPacket")
+    _validate_packet_fields(packet)
+    header_with_zero_crc = _pack_header(packet, 0)
+    packet_crc32 = crc32(header_with_zero_crc + packet.payload)
+    return _pack_header(packet, packet_crc32) + packet.payload
+
+
+def decode_packet(wire_packet: bytes) -> VideoPacket:
+    """Deserialize a packet and validate its fixed header and packet CRC32."""
+
+    if not isinstance(wire_packet, (bytes, bytearray)):
+        raise TypeError("wire_packet must be bytes or bytearray")
+    wire_packet = bytes(wire_packet)
+    if len(wire_packet) < HEADER_SIZE + 1:
+        raise VideoPacketError("packet is shorter than header plus payload")
+
+    (
+        magic,
+        version,
+        object_type_value,
+        header_size,
+        composite_frame_id,
+        fragment_index,
+        fragment_count,
+        payload_length,
+        flags,
+        jpeg_size,
+        object_crc32,
+        received_packet_crc32,
+    ) = struct.unpack(HEADER_FORMAT, wire_packet[:HEADER_SIZE])
+
+    if magic != MAGIC:
+        raise VideoPacketError("invalid packet magic")
+    if version != VERSION:
+        raise VideoPacketError("unsupported packet version")
+    if header_size != HEADER_SIZE:
+        raise VideoPacketError("invalid fixed header size")
+    if flags != 0:
+        raise VideoPacketError("reserved flags must be zero")
+    try:
+        object_type = ObjectType(object_type_value)
+    except ValueError as error:
+        raise VideoPacketError("unsupported object_type") from error
+
+    if len(wire_packet) != HEADER_SIZE + payload_length:
+        raise VideoPacketError("packet length does not match payload_length")
+
+    packet = VideoPacket(
+        composite_frame_id=composite_frame_id,
+        object_type=object_type,
+        fragment_index=fragment_index,
+        fragment_count=fragment_count,
+        jpeg_size=jpeg_size,
+        object_crc32=object_crc32,
+        payload=wire_packet[HEADER_SIZE:],
+        packet_crc32=received_packet_crc32,
+    )
+    _validate_packet_fields(packet)
+    calculated_packet_crc32 = crc32(
+        _pack_header(packet, 0) + packet.payload
+    )
+    if calculated_packet_crc32 != received_packet_crc32:
+        raise PacketCRCError(
+            "packet CRC mismatch: "
+            f"received 0x{received_packet_crc32:08X}, "
+            f"calculated 0x{calculated_packet_crc32:08X}"
+        )
+    return packet
+
+
+def packetize_jpeg(
+    jpeg: bytes,
+    composite_frame_id: int,
+    object_type: ObjectType,
+    max_payload_length: int,
+) -> list[bytes]:
+    """Split one non-empty JPEG object into serialized packets."""
+
+    if not isinstance(jpeg, (bytes, bytearray)):
+        raise TypeError("jpeg must be bytes or bytearray")
+    jpeg = bytes(jpeg)
+    if not jpeg:
+        raise ValueError("JPEG object must not be empty")
+    if len(jpeg) > MAX_JPEG_SIZE:
+        raise ValueError("JPEG object is larger than uint32")
+    if not 1 <= max_payload_length <= MAX_PAYLOAD_LENGTH:
+        raise ValueError("max_payload_length is outside uint16")
+    if not 0 <= composite_frame_id <= 0xFFFFFFFF:
+        raise ValueError("composite_frame_id is outside uint32")
+    try:
+        object_type = ObjectType(object_type)
+    except ValueError as error:
+        raise ValueError("unsupported object_type") from error
+
+    fragment_count = (
+        len(jpeg) + max_payload_length - 1
+    ) // max_payload_length
+    if fragment_count > MAX_FRAGMENT_COUNT:
+        raise ValueError("JPEG needs more than 65535 fragments")
+
+    object_crc32 = crc32(jpeg)
+    packets = []
+    for fragment_index in range(fragment_count):
+        start = fragment_index * max_payload_length
+        payload = jpeg[start:start + max_payload_length]
+        packets.append(
+            encode_packet(
+                VideoPacket(
+                    composite_frame_id=composite_frame_id,
+                    object_type=object_type,
+                    fragment_index=fragment_index,
+                    fragment_count=fragment_count,
+                    jpeg_size=len(jpeg),
+                    object_crc32=object_crc32,
+                    payload=payload,
+                )
+            )
+        )
+    return packets
+
+
+@dataclass
+class _ObjectAssembly:
+    composite_frame_id: int
+    object_type: ObjectType
+    fragment_count: int
+    jpeg_size: int
+    object_crc32: int
+    fragments: dict[int, bytes] = field(default_factory=dict)
+
+    @classmethod
+    def from_packet(cls, packet: VideoPacket) -> "_ObjectAssembly":
+        return cls(
+            composite_frame_id=packet.composite_frame_id,
+            object_type=packet.object_type,
+            fragment_count=packet.fragment_count,
+            jpeg_size=packet.jpeg_size,
+            object_crc32=packet.object_crc32,
+        )
+
+    def add(self, packet: VideoPacket) -> bool:
+        metadata = (
+            packet.composite_frame_id,
+            packet.object_type,
+            packet.fragment_count,
+            packet.jpeg_size,
+            packet.object_crc32,
+        )
+        expected = (
+            self.composite_frame_id,
+            self.object_type,
+            self.fragment_count,
+            self.jpeg_size,
+            self.object_crc32,
+        )
+        if metadata != expected:
+            raise ObjectConsistencyError(
+                "fragment metadata conflicts with object assembly"
+            )
+
+        existing = self.fragments.get(packet.fragment_index)
+        if existing is not None:
+            if existing != packet.payload:
+                raise ObjectConsistencyError(
+                    "different payload for an existing fragment index"
+                )
+            return False
+        self.fragments[packet.fragment_index] = packet.payload
+        return True
+
+    def missing_fragments(self) -> tuple[int, ...]:
+        return tuple(
+            index
+            for index in range(self.fragment_count)
+            if index not in self.fragments
+        )
+
+    def assemble_if_complete(self) -> bytes | None:
+        if self.missing_fragments():
+            return None
+        jpeg = b"".join(
+            self.fragments[index]
+            for index in range(self.fragment_count)
+        )
+        if len(jpeg) != self.jpeg_size:
+            raise ObjectConsistencyError(
+                "reassembled JPEG length does not match jpeg_size"
+            )
+        calculated_object_crc32 = crc32(jpeg)
+        if calculated_object_crc32 != self.object_crc32:
+            raise ObjectCRCError(
+                "object CRC mismatch: "
+                f"received 0x{self.object_crc32:08X}, "
+                f"calculated 0x{calculated_object_crc32:08X}"
+            )
+        return jpeg
+
+
+class CompositeReassembler:
+    """Reassemble interleaved BASE/ROI packets and publish atomic frames."""
+
+    def __init__(self) -> None:
+        self._objects: dict[
+            tuple[int, ObjectType], _ObjectAssembly
+        ] = {}
+        self._completed: dict[
+            int, dict[ObjectType, bytes]
+        ] = {}
+        self._finalized_frame_ids: set[int] = set()
+        self.duplicate_packets = 0
+
+    def ingest(self, wire_packet: bytes) -> CompositeFrame | None:
+        """Accept one packet and return a frame only when BASE and ROI exist."""
+
+        packet = decode_packet(wire_packet)
+        if packet.composite_frame_id in self._finalized_frame_ids:
+            self.duplicate_packets += 1
+            return None
+
+        key = (packet.composite_frame_id, packet.object_type)
+        assembly = self._objects.get(key)
+        if assembly is None:
+            assembly = _ObjectAssembly.from_packet(packet)
+            self._objects[key] = assembly
+
+        if not assembly.add(packet):
+            self.duplicate_packets += 1
+            return None
+
+        jpeg = assembly.assemble_if_complete()
+        if jpeg is None:
+            return None
+
+        frame_parts = self._completed.setdefault(
+            packet.composite_frame_id, {}
+        )
+        frame_parts[packet.object_type] = jpeg
+        if not all(
+            object_type in frame_parts
+            for object_type in (ObjectType.BASE, ObjectType.ROI)
+        ):
+            return None
+
+        frame = CompositeFrame(
+            composite_frame_id=packet.composite_frame_id,
+            base_jpeg=frame_parts[ObjectType.BASE],
+            roi_jpeg=frame_parts[ObjectType.ROI],
+        )
+        self._finalized_frame_ids.add(packet.composite_frame_id)
+        self._completed.pop(packet.composite_frame_id, None)
+        for object_type in (ObjectType.BASE, ObjectType.ROI):
+            self._objects.pop(
+                (packet.composite_frame_id, object_type), None
+            )
+        return frame
+
+    def missing_fragments(
+        self,
+        composite_frame_id: int,
+        object_type: ObjectType,
+    ) -> tuple[int, ...] | None:
+        """Return missing indexes, or None if this object has not started."""
+
+        assembly = self._objects.get(
+            (composite_frame_id, ObjectType(object_type))
+        )
+        if assembly is None:
+            return None
+        return assembly.missing_fragments()
+
+    def object_is_complete(
+        self,
+        composite_frame_id: int,
+        object_type: ObjectType,
+    ) -> bool:
+        """Report whether one CRC-validated object awaits its counterpart."""
+
+        return ObjectType(object_type) in self._completed.get(
+            composite_frame_id, {}
+        )

tests/lab025_pluto_wfm_demodulation.py

@@ -0,0 +1,875 @@
+"""
+Lab025. Приём и программная WFM-демодуляция FM-радиостанции.
+
+Схема подключения:
+    антенна 40–860 МГц -> RX1
+
+Используется только приёмный канал RX1. Передатчики TX1 и TX2
+не используются. Необработанные IQ-сэмплы на диск не сохраняются.
+"""
+
+from pathlib import Path
+
+import adi
+import matplotlib
+import numpy as np
+from scipy import signal
+from scipy.io import wavfile
+
+
+# Для лабораторной графики сохраняется в файлы без блокирующих окон.
+matplotlib.use("Agg")
+import matplotlib.pyplot as plt
+
+
+# ---------------------------------------------------------------------
+# Параметры приёмника Pluto+
+# ---------------------------------------------------------------------
+
+PLUTO_URI = "ip:192.168.2.1"
+
+STATION_FREQUENCY_HZ = 100_100_000
+LO_OFFSET_HZ = 250_000
+
+RX_LO_FREQUENCY_HZ = (
+    STATION_FREQUENCY_HZ + LO_OFFSET_HZ
+)
+
+SAMPLE_RATE_HZ = 2_400_000
+RX_BANDWIDTH_HZ = 1_500_000
+
+RX_BUFFER_SIZE = 65_536
+DISCARD_BUFFER_COUNT = 3
+CAPTURE_BUFFER_COUNT = 128
+
+
+# ---------------------------------------------------------------------
+# Параметры обработки сигнала
+# ---------------------------------------------------------------------
+
+CHANNEL_DECIMATION = 10
+CHANNEL_SAMPLE_RATE_HZ = 240_000
+
+AUDIO_CUTOFF_HZ = 15_000
+AUDIO_SAMPLE_RATE_HZ = 48_000
+
+DEEMPHASIS_TIME_CONSTANT_SECONDS = 50e-6
+
+AUDIO_TRANSIENT_DURATION_SECONDS = 0.05
+AUDIO_REFERENCE_PERCENTILE = 99.5
+AUDIO_TARGET_LEVEL = 0.85
+MINIMUM_AUDIO_REFERENCE_PEAK = 1e-12
+
+RF_WELCH_MAXIMUM_SAMPLE_COUNT = 1_048_576
+RF_WELCH_SEGMENT_LENGTH = 8_192
+RF_WELCH_OVERLAP_LENGTH = 4_096
+
+AUDIO_WELCH_SEGMENT_LENGTH = 8_192
+
+
+# ---------------------------------------------------------------------
+# Выходные файлы
+# ---------------------------------------------------------------------
+
+OUTPUT_DIRECTORY = Path("data/processed/lab025")
+
+WAV_FILE_PATH = (
+    OUTPUT_DIRECTORY / "lab025_wfm_audio_100_1mhz.wav"
+)
+RF_SPECTRUM_FILE_PATH = (
+    OUTPUT_DIRECTORY / "lab025_rf_spectrum.png"
+)
+AUDIO_WAVEFORM_FILE_PATH = (
+    OUTPUT_DIRECTORY / "lab025_audio_waveform.png"
+)
+AUDIO_SPECTRUM_FILE_PATH = (
+    OUTPUT_DIRECTORY / "lab025_audio_spectrum.png"
+)
+REPORT_FILE_PATH = OUTPUT_DIRECTORY / "lab025_report.txt"
+
+
+def configure_receiver() -> adi.Pluto:
+    """
+    Подключается к Pluto+ и настраивает только приёмный канал RX1.
+
+    Частота гетеродина смещена на 250 кГц выше частоты станции.
+    Благодаря этому полезный сигнал не совпадает с аппаратным DC-пиком
+    в центре комплексной полосы приёмника.
+    """
+
+    print("Подключение к Pluto+...")
+
+    sdr = adi.Pluto(uri=PLUTO_URI)
+
+    # Используем только первый приёмный канал RX1.
+    sdr.rx_enabled_channels = [0]
+
+    sdr.sample_rate = SAMPLE_RATE_HZ
+    sdr.rx_lo = RX_LO_FREQUENCY_HZ
+    sdr.rx_rf_bandwidth = RX_BANDWIDTH_HZ
+
+    # Медленная АРУ подходит для приёма вещательной FM-станции.
+    sdr.gain_control_mode_chan0 = "slow_attack"
+    sdr.rx_buffer_size = RX_BUFFER_SIZE
+
+    return sdr
+
+
+def receive_samples(sdr: adi.Pluto) -> np.ndarray:
+    """
+    Получает последовательность комплексных IQ-буферов.
+
+    Первые буферы отбрасываются, поскольку после настройки приёмника
+    в них могут присутствовать переходные процессы АРУ и фильтров.
+    Рабочие буферы объединяются только в оперативной памяти.
+    """
+
+    print()
+    print(
+        "Отбрасывание переходных буферов: "
+        f"{DISCARD_BUFFER_COUNT}..."
+    )
+
+    for _ in range(DISCARD_BUFFER_COUNT):
+        _ = sdr.rx()
+
+    print("Получение рабочих IQ-буферов...")
+
+    received_buffers: list[np.ndarray] = []
+
+    for buffer_number in range(1, CAPTURE_BUFFER_COUNT + 1):
+        received_buffer = np.asarray(
+            sdr.rx(),
+            dtype=np.complex64,
+        )
+
+        if received_buffer.size == 0:
+            raise RuntimeError(
+                "Pluto+ вернул пустой рабочий IQ-буфер."
+            )
+
+        received_buffers.append(received_buffer)
+
+        if (
+            buffer_number % 16 == 0
+            or buffer_number == CAPTURE_BUFFER_COUNT
+        ):
+            print(
+                f"  Принято {buffer_number:3d}/"
+                f"{CAPTURE_BUFFER_COUNT} буферов"
+            )
+
+    if not received_buffers:
+        raise RuntimeError("Pluto+ не вернул IQ-сэмплы.")
+
+    combined_samples = np.concatenate(received_buffers)
+
+    if combined_samples.size == 0:
+        raise RuntimeError("После объединения получен пустой IQ-массив.")
+
+    if not np.all(np.isfinite(combined_samples)):
+        raise RuntimeError("В IQ-сэмплах обнаружены NaN или Inf.")
+
+    return np.asarray(combined_samples, dtype=np.complex64)
+
+
+def shift_station_to_baseband(
+    samples: np.ndarray,
+    sample_rate_hz: float,
+    frequency_shift_hz: float,
+) -> np.ndarray:
+    """
+    Переносит выбранную станцию в центр цифровой полосы.
+
+    При положительном смещении комплексный генератор переносит сигнал,
+    расположенный на отрицательной относительной частоте, к 0 Гц.
+    """
+
+    if samples.size == 0:
+        raise RuntimeError(
+            "Невозможно выполнить цифровой перенос пустого IQ-массива."
+        )
+
+    sample_indices = np.arange(
+        len(samples),
+        dtype=np.float64,
+    )
+
+    digital_oscillator = np.exp(
+        1j
+        * 2.0
+        * np.pi
+        * frequency_shift_hz
+        * sample_indices
+        / sample_rate_hz
+    ).astype(np.complex64)
+
+    centered_samples = samples * digital_oscillator
+
+    if not np.all(np.isfinite(centered_samples)):
+        raise RuntimeError(
+            "После цифрового переноса обнаружены NaN или Inf."
+        )
+
+    return np.asarray(centered_samples, dtype=np.complex64)
+
+
+def extract_wfm_channel(
+    centered_samples: np.ndarray,
+) -> np.ndarray:
+    """
+    Фильтрует WFM-канал и понижает частоту до 240 кГц.
+
+    Полигармоническая передискретизация одновременно выполняет
+    низкочастотную фильтрацию и децимацию в десять раз.
+    """
+
+    calculated_sample_rate_hz = (
+        SAMPLE_RATE_HZ / CHANNEL_DECIMATION
+    )
+
+    if not np.isclose(
+        calculated_sample_rate_hz,
+        CHANNEL_SAMPLE_RATE_HZ,
+    ):
+        raise RuntimeError(
+            "Частота канального сигнала после децимации "
+            "не равна 240 кГц."
+        )
+
+    channel_samples = signal.resample_poly(
+        centered_samples,
+        up=1,
+        down=CHANNEL_DECIMATION,
+        window=("kaiser", 8.0),
+    )
+
+    if channel_samples.size == 0:
+        raise RuntimeError("После выделения WFM-канала массив пуст.")
+
+    if not np.all(np.isfinite(channel_samples)):
+        raise RuntimeError(
+            "После выделения WFM-канала обнаружены NaN или Inf."
+        )
+
+    return np.asarray(channel_samples, dtype=np.complex64)
+
+
+def demodulate_fm(
+    channel_samples: np.ndarray,
+) -> np.ndarray:
+    """
+    Выполняет частотную демодуляцию по фазовой разности отсчётов.
+
+    Результат представляет монофонический композитный FM-сигнал
+    до звуковой фильтрации и коррекции предыскажений.
+    """
+
+    if channel_samples.size < 2:
+        raise RuntimeError(
+            "Недостаточно канальных отсчётов для FM-демодуляции."
+        )
+
+    phase_difference = np.angle(
+        channel_samples[1:]
+        * np.conj(channel_samples[:-1])
+    ).astype(np.float64)
+
+    demodulated = phase_difference - np.mean(phase_difference)
+
+    if demodulated.size == 0:
+        raise RuntimeError("FM-дискриминатор вернул пустой массив.")
+
+    if not np.all(np.isfinite(demodulated)):
+        raise RuntimeError(
+            "После FM-демодуляции обнаружены NaN или Inf."
+        )
+
+    return demodulated
+
+
+def lowpass_audio(
+    demodulated_samples: np.ndarray,
+    sample_rate_hz: float,
+) -> np.ndarray:
+    """
+    Выделяет монофонический звук L+R в полосе до 15 кГц.
+
+    Фильтр подавляет стереопилот 19 кГц, стереоразностную часть,
+    RDS и внеполосный высокочастотный шум.
+    """
+
+    audio_sos = signal.butter(
+        6,
+        AUDIO_CUTOFF_HZ,
+        btype="lowpass",
+        fs=sample_rate_hz,
+        output="sos",
+    )
+
+    filtered_audio = signal.sosfiltfilt(
+        audio_sos,
+        demodulated_samples,
+    )
+
+    if filtered_audio.size == 0:
+        raise RuntimeError("Звуковой фильтр вернул пустой массив.")
+
+    if not np.all(np.isfinite(filtered_audio)):
+        raise RuntimeError(
+            "После звукового фильтра обнаружены NaN или Inf."
+        )
+
+    return np.asarray(filtered_audio, dtype=np.float64)
+
+
+def apply_deemphasis(
+    audio_samples: np.ndarray,
+    sample_rate_hz: float,
+    time_constant_seconds: float,
+) -> np.ndarray:
+    """
+    Выполняет европейскую FM-коррекцию предыскажений 50 мкс.
+
+    Используется устойчивый однополюсный рекурсивный фильтр,
+    реализованный функцией scipy.signal.lfilter.
+    """
+
+    alpha = np.exp(
+        -1.0
+        / (
+            sample_rate_hz
+            * time_constant_seconds
+        )
+    )
+
+    deemphasized = signal.lfilter(
+        [1.0 - alpha],
+        [1.0, -alpha],
+        audio_samples,
+    )
+
+    deemphasized = deemphasized - np.mean(deemphasized)
+
+    if deemphasized.size == 0:
+        raise RuntimeError("De-emphasis вернул пустой массив.")
+
+    if not np.all(np.isfinite(deemphasized)):
+        raise RuntimeError(
+            "После de-emphasis обнаружены NaN или Inf."
+        )
+
+    return np.asarray(deemphasized, dtype=np.float64)
+
+
+def resample_audio_to_output_rate(
+    audio_samples: np.ndarray,
+) -> np.ndarray:
+    """
+    Преобразует звуковой сигнал с 240 кГц в выходные 48 кГц.
+    """
+
+    output_decimation = 5
+    calculated_output_rate_hz = (
+        CHANNEL_SAMPLE_RATE_HZ / output_decimation
+    )
+
+    if not np.isclose(
+        calculated_output_rate_hz,
+        AUDIO_SAMPLE_RATE_HZ,
+    ):
+        raise RuntimeError(
+            "Рассчитанная частота WAV не равна 48 кГц."
+        )
+
+    output_audio = signal.resample_poly(
+        audio_samples,
+        up=1,
+        down=output_decimation,
+    )
+
+    if output_audio.size == 0:
+        raise RuntimeError(
+            "После преобразования в 48 кГц получен пустой массив."
+        )
+
+    if not np.all(np.isfinite(output_audio)):
+        raise RuntimeError(
+            "После преобразования звука обнаружены NaN или Inf."
+        )
+
+    return np.asarray(output_audio, dtype=np.float64)
+
+
+def convert_audio_to_pcm16(
+    audio_samples: np.ndarray,
+) -> np.ndarray:
+    """
+    Удаляет переходный участок, нормализует звук и создаёт PCM16.
+
+    Опорный уровень определяется по 99,5-му процентилю модуля,
+    поэтому единичный выброс не делает весь WAV слишком тихим.
+    """
+
+    if audio_samples.size == 0:
+        raise RuntimeError("Невозможно нормализовать пустой звук.")
+
+    centered_audio = audio_samples - np.mean(audio_samples)
+
+    transient_sample_count = int(
+        round(
+            AUDIO_TRANSIENT_DURATION_SECONDS
+            * AUDIO_SAMPLE_RATE_HZ
+        )
+    )
+
+    if centered_audio.size <= transient_sample_count:
+        raise RuntimeError(
+            "Звуковой массив короче переходного участка 0,05 с."
+        )
+
+    centered_audio = centered_audio[transient_sample_count:]
+
+    reference_peak = float(
+        np.percentile(
+            np.abs(centered_audio),
+            AUDIO_REFERENCE_PERCENTILE,
+        )
+    )
+
+    if (
+        not np.isfinite(reference_peak)
+        or reference_peak <= MINIMUM_AUDIO_REFERENCE_PEAK
+    ):
+        raise RuntimeError(
+            "Сигнал слишком мал для безопасной нормализации PCM16."
+        )
+
+    normalized_audio = (
+        centered_audio
+        / reference_peak
+        * AUDIO_TARGET_LEVEL
+    )
+
+    normalized_audio = np.clip(
+        normalized_audio,
+        -1.0,
+        1.0,
+    )
+
+    pcm16_audio = np.round(
+        normalized_audio * np.iinfo(np.int16).max
+    ).astype(np.int16)
+
+    if pcm16_audio.size == 0:
+        raise RuntimeError("После преобразования PCM16 массив пуст.")
+
+    return pcm16_audio
+
+
+def calculate_rf_spectrum(
+    samples: np.ndarray,
+) -> tuple[np.ndarray, np.ndarray]:
+    """
+    Рассчитывает ограниченный спектр исходного IQ методом Уэлча.
+
+    Для графика используется не более 1 048 576 отсчётов, поэтому
+    полная восьмимиллионная запись не передаётся в одну большую FFT.
+    """
+
+    analysis_sample_count = min(
+        len(samples),
+        RF_WELCH_MAXIMUM_SAMPLE_COUNT,
+    )
+
+    analysis_samples = samples[:analysis_sample_count]
+
+    relative_frequencies_hz, power_density = signal.welch(
+        analysis_samples,
+        fs=SAMPLE_RATE_HZ,
+        window="hann",
+        nperseg=RF_WELCH_SEGMENT_LENGTH,
+        noverlap=RF_WELCH_OVERLAP_LENGTH,
+        detrend=False,
+        return_onesided=False,
+        scaling="density",
+    )
+
+    relative_frequencies_hz = np.fft.fftshift(
+        relative_frequencies_hz
+    )
+    power_density = np.fft.fftshift(power_density)
+
+    minimum_positive_value = np.finfo(np.float64).tiny
+    power_db = 10.0 * np.log10(
+        power_density + minimum_positive_value
+    )
+    power_db -= np.max(power_db)
+
+    return relative_frequencies_hz, power_db
+
+
+def create_rf_spectrum_graph(samples: np.ndarray) -> None:
+    """
+    Сохраняет спектр до цифрового переноса станции в центр.
+    """
+
+    frequencies_hz, power_db = calculate_rf_spectrum(samples)
+
+    figure, axes = plt.subplots(figsize=(13, 7))
+
+    axes.plot(
+        frequencies_hz / 1e3,
+        power_db,
+        linewidth=0.8,
+    )
+
+    expected_station_offset_hz = -LO_OFFSET_HZ
+
+    axes.axvline(
+        expected_station_offset_hz / 1e3,
+        color="tab:red",
+        linestyle="--",
+        linewidth=1.4,
+        label=(
+            "Ожидаемая станция 100,100 МГц "
+            "(-250 кГц)"
+        ),
+    )
+
+    axes.set_title(
+        "Lab025. Спектр принятого IQ до цифрового переноса\n"
+        "RX LO = 100,350 МГц; станция = 100,100 МГц"
+    )
+    axes.set_xlabel("Относительная частота относительно RX LO, кГц")
+    axes.set_ylabel("Относительная мощность, дБ")
+    axes.set_ylim(-90, 5)
+    axes.grid(True)
+    axes.legend()
+
+    figure.tight_layout()
+    figure.savefig(RF_SPECTRUM_FILE_PATH, dpi=160)
+    plt.close(figure)
+
+
+def create_audio_waveform_graph(pcm16_audio: np.ndarray) -> None:
+    """
+    Сохраняет первые 0,1 секунды нормированного звука.
+    """
+
+    displayed_sample_count = min(
+        len(pcm16_audio),
+        int(round(0.1 * AUDIO_SAMPLE_RATE_HZ)),
+    )
+
+    displayed_audio = (
+        pcm16_audio[:displayed_sample_count].astype(np.float64)
+        / np.iinfo(np.int16).max
+    )
+    time_seconds = (
+        np.arange(displayed_sample_count, dtype=np.float64)
+        / AUDIO_SAMPLE_RATE_HZ
+    )
+
+    figure, axes = plt.subplots(figsize=(12, 5))
+    axes.plot(time_seconds, displayed_audio, linewidth=0.8)
+    axes.set_title("Lab025. Первые 0,1 секунды демодулированного звука")
+    axes.set_xlabel("Время, с")
+    axes.set_ylabel("Нормированная амплитуда")
+    axes.set_ylim(-1.05, 1.05)
+    axes.grid(True)
+
+    figure.tight_layout()
+    figure.savefig(AUDIO_WAVEFORM_FILE_PATH, dpi=160)
+    plt.close(figure)
+
+
+def create_audio_spectrum_graph(pcm16_audio: np.ndarray) -> None:
+    """
+    Рассчитывает методом Уэлча и сохраняет односторонний спектр WAV.
+    """
+
+    normalized_audio = (
+        pcm16_audio.astype(np.float64)
+        / np.iinfo(np.int16).max
+    )
+
+    segment_length = min(
+        AUDIO_WELCH_SEGMENT_LENGTH,
+        len(normalized_audio),
+    )
+
+    frequencies_hz, power_density = signal.welch(
+        normalized_audio,
+        fs=AUDIO_SAMPLE_RATE_HZ,
+        window="hann",
+        nperseg=segment_length,
+        noverlap=segment_length // 2,
+        detrend="constant",
+        return_onesided=True,
+        scaling="density",
+    )
+
+    minimum_positive_value = np.finfo(np.float64).tiny
+    power_db = 10.0 * np.log10(
+        power_density + minimum_positive_value
+    )
+    power_db -= np.max(power_db)
+
+    figure, axes = plt.subplots(figsize=(12, 6))
+    axes.plot(frequencies_hz / 1e3, power_db, linewidth=0.9)
+    axes.set_xlim(0, 20)
+    axes.set_ylim(-100, 5)
+    axes.set_title("Lab025. Спектр демодулированного монофонического звука")
+    axes.set_xlabel("Частота, кГц")
+    axes.set_ylabel("Относительная спектральная плотность, дБ")
+    axes.grid(True)
+
+    figure.tight_layout()
+    figure.savefig(AUDIO_SPECTRUM_FILE_PATH, dpi=160)
+    plt.close(figure)
+
+
+def calculate_audio_statistics(
+    pcm16_audio: np.ndarray,
+) -> tuple[float, float, float]:
+    """
+    Возвращает нормированные RMS, пик и процент предельных отсчётов.
+    """
+
+    normalized_audio = (
+        pcm16_audio.astype(np.float64)
+        / np.iinfo(np.int16).max
+    )
+
+    rms_value = float(
+        np.sqrt(np.mean(normalized_audio ** 2))
+    )
+    peak_value = float(np.max(np.abs(normalized_audio)))
+
+    clipped_sample_count = int(
+        np.count_nonzero(
+            (pcm16_audio == np.iinfo(np.int16).min)
+            | (pcm16_audio == np.iinfo(np.int16).max)
+        )
+    )
+    clipping_percentage = (
+        100.0
+        * clipped_sample_count
+        / len(pcm16_audio)
+    )
+
+    return rms_value, peak_value, clipping_percentage
+
+
+def save_report(
+    iq_sample_count: int,
+    iq_duration_seconds: float,
+    pcm16_audio: np.ndarray,
+    audio_rms: float,
+    audio_peak: float,
+    clipping_percentage: float,
+) -> None:
+    """
+    Создаёт текстовый отчёт с параметрами приёма и WAV-файла.
+    """
+
+    wav_duration_seconds = (
+        len(pcm16_audio) / AUDIO_SAMPLE_RATE_HZ
+    )
+
+    report_lines = [
+        "Lab025. Приём и программная WFM-демодуляция",
+        "",
+        f"URI Pluto+: {PLUTO_URI}",
+        f"Частота станции: {STATION_FREQUENCY_HZ} Гц",
+        f"RX LO: {RX_LO_FREQUENCY_HZ} Гц",
+        f"Цифровое смещение: +{LO_OFFSET_HZ} Гц",
+        f"Частота дискретизации RX: {SAMPLE_RATE_HZ} Гц",
+        f"Полоса RX: {RX_BANDWIDTH_HZ} Гц",
+        f"Количество рабочих буферов: {CAPTURE_BUFFER_COUNT}",
+        f"Количество IQ-сэмплов: {iq_sample_count}",
+        f"Длительность IQ-записи: {iq_duration_seconds:.6f} с",
+        (
+            "Частота канального сигнала после децимации: "
+            f"{CHANNEL_SAMPLE_RATE_HZ} Гц"
+        ),
+        f"Длительность итогового WAV: {wav_duration_seconds:.6f} с",
+        f"Частота WAV: {AUDIO_SAMPLE_RATE_HZ} Гц",
+        "Тип PCM: signed PCM16, mono",
+        f"RMS итогового аудио: {audio_rms:.6f}",
+        f"Пиковая амплитуда: {audio_peak:.6f}",
+        f"Отсчёты на границе PCM16: {clipping_percentage:.6f} %",
+        "",
+        "Выходные файлы:",
+        f"WAV: {WAV_FILE_PATH}",
+        f"Радиоспектр: {RF_SPECTRUM_FILE_PATH}",
+        f"Звуковая волна: {AUDIO_WAVEFORM_FILE_PATH}",
+        f"Спектр звука: {AUDIO_SPECTRUM_FILE_PATH}",
+        f"Отчёт: {REPORT_FILE_PATH}",
+        "",
+        "Использован только приёмный канал RX1.",
+        "Передатчики TX1 и TX2 не использовались.",
+        "Необработанные IQ-сэмплы на диск не сохранялись.",
+    ]
+
+    REPORT_FILE_PATH.write_text(
+        "\n".join(report_lines),
+        encoding="utf-8",
+    )
+
+
+def main() -> None:
+    """
+    Выполняет полный цикл приёма, WFM-демодуляции и сохранения WAV.
+    """
+
+    OUTPUT_DIRECTORY.mkdir(parents=True, exist_ok=True)
+
+    sdr = None
+
+    try:
+        sdr = configure_receiver()
+
+        print()
+        print("Параметры RX:")
+        print(f"  URI:                    {PLUTO_URI}")
+        print(
+            f"  Станция:                "
+            f"{STATION_FREQUENCY_HZ / 1e6:.3f} МГц"
+        )
+        print(
+            f"  RX LO:                  "
+            f"{sdr.rx_lo / 1e6:.3f} МГц"
+        )
+        print(
+            f"  Частота дискретизации:  "
+            f"{sdr.sample_rate / 1e6:.3f} Мвыб/с"
+        )
+        print(
+            f"  Полоса RX:              "
+            f"{sdr.rx_rf_bandwidth / 1e6:.3f} МГц"
+        )
+        print(
+            f"  Режим усиления:         "
+            f"{sdr.gain_control_mode_chan0}"
+        )
+        print(f"  Размер буфера:          {sdr.rx_buffer_size}")
+        print("  Активный канал:         RX1")
+
+        samples = receive_samples(sdr)
+
+        iq_sample_count = len(samples)
+        iq_duration_seconds = iq_sample_count / SAMPLE_RATE_HZ
+
+        print()
+        print(f"Количество IQ-сэмплов: {iq_sample_count}")
+        print(f"Длительность записи:   {iq_duration_seconds:.3f} с")
+
+        # Удаляем остаточную комплексную постоянную составляющую.
+        samples = samples - np.mean(samples)
+
+        print()
+        print("Цифровой перенос станции в центр полосы...")
+        centered_samples = shift_station_to_baseband(
+            samples=samples,
+            sample_rate_hz=SAMPLE_RATE_HZ,
+            frequency_shift_hz=LO_OFFSET_HZ,
+        )
+
+        print("Фильтрация WFM-канала и децимация до 240 кГц...")
+        channel_samples = extract_wfm_channel(centered_samples)
+
+        print("FM-демодуляция...")
+        demodulated_samples = demodulate_fm(channel_samples)
+
+        print("Звуковой low-pass фильтр 0–15 кГц...")
+        filtered_audio = lowpass_audio(
+            demodulated_samples=demodulated_samples,
+            sample_rate_hz=CHANNEL_SAMPLE_RATE_HZ,
+        )
+
+        print("De-emphasis 50 мкс...")
+        deemphasized_audio = apply_deemphasis(
+            audio_samples=filtered_audio,
+            sample_rate_hz=CHANNEL_SAMPLE_RATE_HZ,
+            time_constant_seconds=(
+                DEEMPHASIS_TIME_CONSTANT_SECONDS
+            ),
+        )
+
+        print("Преобразование звука в 48 кГц...")
+        output_audio = resample_audio_to_output_rate(
+            deemphasized_audio
+        )
+        pcm16_audio = convert_audio_to_pcm16(output_audio)
+
+        audio_rms, audio_peak, clipping_percentage = (
+            calculate_audio_statistics(pcm16_audio)
+        )
+
+        print("Сохранение WAV...")
+        wavfile.write(
+            WAV_FILE_PATH,
+            AUDIO_SAMPLE_RATE_HZ,
+            pcm16_audio,
+        )
+
+        if not WAV_FILE_PATH.is_file():
+            raise RuntimeError("Выходной WAV-файл не создан.")
+
+        print("Сохранение графиков...")
+        create_rf_spectrum_graph(samples)
+        create_audio_waveform_graph(pcm16_audio)
+        create_audio_spectrum_graph(pcm16_audio)
+
+        print("Создание текстового отчёта...")
+        save_report(
+            iq_sample_count=iq_sample_count,
+            iq_duration_seconds=iq_duration_seconds,
+            pcm16_audio=pcm16_audio,
+            audio_rms=audio_rms,
+            audio_peak=audio_peak,
+            clipping_percentage=clipping_percentage,
+        )
+
+        print()
+        print("Созданы файлы:")
+        print(f"  WAV:             {WAV_FILE_PATH}")
+        print(f"  Радиоспектр:     {RF_SPECTRUM_FILE_PATH}")
+        print(f"  Звуковая волна:  {AUDIO_WAVEFORM_FILE_PATH}")
+        print(f"  Спектр звука:    {AUDIO_SPECTRUM_FILE_PATH}")
+        print(f"  Отчёт:           {REPORT_FILE_PATH}")
+        print()
+        print(f"RMS аудио:              {audio_rms:.6f}")
+        print(f"Пиковая амплитуда:      {audio_peak:.6f}")
+        print(
+            f"Отсчёты на границе PCM: "
+            f"{clipping_percentage:.6f} %"
+        )
+        print()
+        print("Lab025 выполнена успешно.")
+        print()
+        print("Для прослушивания откройте:")
+        print(WAV_FILE_PATH)
+
+    finally:
+        if sdr is not None:
+            destroy_buffer = getattr(
+                sdr,
+                "rx_destroy_buffer",
+                None,
+            )
+
+            if callable(destroy_buffer):
+                try:
+                    destroy_buffer()
+                except Exception as cleanup_error:
+                    print(
+                        "Предупреждение: не удалось освободить "
+                        f"RX-буфер: {cleanup_error}"
+                    )
+
+
+if __name__ == "__main__":
+    main()

tests/lab027_roi_temporal_preview.py

@@ -0,0 +1,925 @@
+"""
+Lab027. Динамическое превью временного обновления BASE и ROI.
+
+Скрипт не повторяет расчёт benchmark Lab027 и не изменяет его
+результаты. Он создаёт одно игнорируемое Git preview-видео с четырьмя
+фиксированными профилями. Для каждого профиля независимо удерживаются
+последние декодированные JPEG-состояния BASE и ROI.
+
+Отдельные JPEG-файлы не сохраняются: кодирование и декодирование
+выполняются только в памяти средствами OpenCV.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from pathlib import Path
+
+import cv2
+import numpy as np
+
+
+SOURCE_VIDEO_PATH = Path("data/raw/lab026_rover_source.mp4")
+
+PREVIEW_DIRECTORY = Path("data/raw/lab027_previews")
+MP4_PREVIEW_PATH = (
+    PREVIEW_DIRECTORY / "lab027_roi_temporal_preview.mp4"
+)
+AVI_PREVIEW_PATH = (
+    PREVIEW_DIRECTORY / "lab027_roi_temporal_preview.avi"
+)
+
+OUTPUT_FPS = 30.0
+PANEL_WIDTH = 640
+PANEL_HEIGHT = 360
+OUTPUT_WIDTH = PANEL_WIDTH * 2
+OUTPUT_HEIGHT = PANEL_HEIGHT * 2
+
+ROI_X_MIN = 0.20
+ROI_X_MAX = 0.80
+ROI_Y_MIN = 0.42
+ROI_Y_MAX = 1.00
+
+FRAME_TIME_EPSILON_SECONDS = 1e-9
+NEW_UPDATE_LABEL_SECONDS = 0.15
+
+
+@dataclass(frozen=True)
+class PreviewProfile:
+    """
+    Описывает один из четырёх фиксированных preview-профилей.
+    """
+
+    name: str
+    base_width: int
+    base_height: int
+    base_fps: float
+    base_quality: int
+    roi_enabled: bool
+    roi_width: int
+    roi_height: int
+    roi_fps: float
+    roi_quality: int
+    measured_payload_kbps: float
+
+
+@dataclass
+class ProfileState:
+    """
+    Хранит независимое временное состояние BASE и ROI профиля.
+    """
+
+    latest_base: np.ndarray | None = None
+    latest_roi: np.ndarray | None = None
+    next_base_time: float = 0.0
+    next_roi_time: float = 0.0
+    last_base_update_time: float = 0.0
+    last_roi_update_time: float = 0.0
+    base_update_count: int = 0
+    roi_update_count: int = 0
+
+
+def read_video_metadata(
+    source_path: Path,
+) -> tuple[int, int, float, int, float]:
+    """
+    Читает и проверяет параметры исходного видео.
+    """
+
+    if not source_path.exists():
+        raise RuntimeError(
+            f"Исходный видеофайл отсутствует: {source_path}"
+        )
+
+    capture = cv2.VideoCapture(str(source_path))
+
+    if not capture.isOpened():
+        raise RuntimeError(
+            f"OpenCV не смог открыть видео: {source_path}"
+        )
+
+    try:
+        width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+        height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+        fps = float(capture.get(cv2.CAP_PROP_FPS))
+        frame_count = int(capture.get(cv2.CAP_PROP_FRAME_COUNT))
+    finally:
+        capture.release()
+
+    if width <= 0 or height <= 0:
+        raise RuntimeError(
+            "OpenCV вернул некорректное разрешение видео."
+        )
+
+    if fps <= 0.0:
+        raise RuntimeError("FPS исходного видео равен нулю.")
+
+    if frame_count <= 0:
+        raise RuntimeError("Число кадров исходного видео равно нулю.")
+
+    duration_seconds = frame_count / fps
+
+    return width, height, fps, frame_count, duration_seconds
+
+
+def build_profiles() -> list[PreviewProfile]:
+    """
+    Создаёт ровно четыре согласованных preview-профиля.
+    """
+
+    profiles = [
+        PreviewProfile(
+            name="baseline",
+            base_width=320,
+            base_height=180,
+            base_fps=2.0,
+            base_quality=40,
+            roi_enabled=False,
+            roi_width=0,
+            roi_height=0,
+            roi_fps=0.0,
+            roi_quality=0,
+            measured_payload_kbps=80.27,
+        ),
+        PreviewProfile(
+            name="ROI normal",
+            base_width=240,
+            base_height=135,
+            base_fps=1.0,
+            base_quality=25,
+            roi_enabled=True,
+            roi_width=320,
+            roi_height=180,
+            roi_fps=2.0,
+            roi_quality=35,
+            measured_payload_kbps=93.28,
+        ),
+        PreviewProfile(
+            name="ROI economy",
+            base_width=160,
+            base_height=90,
+            base_fps=1.0,
+            base_quality=25,
+            roi_enabled=True,
+            roi_width=320,
+            roi_height=180,
+            roi_fps=2.0,
+            roi_quality=35,
+            measured_payload_kbps=85.19,
+        ),
+        PreviewProfile(
+            name="ROI degraded channel",
+            base_width=240,
+            base_height=135,
+            base_fps=1.0,
+            base_quality=20,
+            roi_enabled=True,
+            roi_width=320,
+            roi_height=180,
+            roi_fps=1.0,
+            roi_quality=30,
+            measured_payload_kbps=50.49,
+        ),
+    ]
+
+    if len(profiles) != 4:
+        raise RuntimeError(
+            "Preview Lab027 должно содержать ровно четыре профиля."
+        )
+
+    return profiles
+
+
+def normalized_roi_to_pixels(
+    width: int,
+    height: int,
+) -> tuple[int, int, int, int]:
+    """
+    Переводит фиксированные нормализованные координаты ROI в пиксели.
+
+    Результат задаёт полуоткрытый прямоугольник:
+    x_min, y_min, x_max, y_max.
+    """
+
+    if width <= 0 or height <= 0:
+        raise ValueError("Размер кадра должен быть положительным.")
+
+    x_min = int(round(width * ROI_X_MIN))
+    x_max = int(round(width * ROI_X_MAX))
+    y_min = int(round(height * ROI_Y_MIN))
+    y_max = int(round(height * ROI_Y_MAX))
+
+    x_min = min(max(x_min, 0), width - 1)
+    x_max = min(max(x_max, x_min + 1), width)
+    y_min = min(max(y_min, 0), height - 1)
+    y_max = min(max(y_max, y_min + 1), height)
+
+    return x_min, y_min, x_max, y_max
+
+
+def should_update(
+    current_time: float,
+    next_update_time: float,
+    epsilon_seconds: float = FRAME_TIME_EPSILON_SECONDS,
+) -> bool:
+    """
+    Проверяет наступление времени очередного обновления потока.
+    """
+
+    return (
+        current_time + epsilon_seconds
+        >= next_update_time
+    )
+
+
+def encode_decode_grayscale_jpeg(
+    gray_frame: np.ndarray,
+    jpeg_quality: int,
+) -> np.ndarray:
+    """
+    Кодирует grayscale JPEG в памяти и декодирует его обратно.
+    """
+
+    if gray_frame.ndim != 2:
+        raise RuntimeError(
+            "JPEG preview должен получать grayscale-кадр."
+        )
+
+    encoding_ok, encoded = cv2.imencode(
+        ".jpg",
+        gray_frame,
+        [cv2.IMWRITE_JPEG_QUALITY, jpeg_quality],
+    )
+
+    if not encoding_ok or encoded is None or encoded.size == 0:
+        raise RuntimeError("OpenCV не смог закодировать JPEG.")
+
+    decoded = cv2.imdecode(
+        encoded,
+        cv2.IMREAD_GRAYSCALE,
+    )
+
+    if decoded is None or decoded.shape != gray_frame.shape:
+        raise RuntimeError(
+            "Декодированный JPEG имеет некорректный размер."
+        )
+
+    return decoded
+
+
+def encode_decode_base(
+    source_frame: np.ndarray,
+    profile: PreviewProfile,
+) -> np.ndarray:
+    """
+    Формирует очередное декодированное состояние BASE.
+    """
+
+    source_gray = cv2.cvtColor(
+        source_frame,
+        cv2.COLOR_BGR2GRAY,
+    )
+    resized_base = cv2.resize(
+        source_gray,
+        (profile.base_width, profile.base_height),
+        interpolation=cv2.INTER_AREA,
+    )
+
+    return encode_decode_grayscale_jpeg(
+        resized_base,
+        profile.base_quality,
+    )
+
+
+def encode_decode_roi(
+    source_frame: np.ndarray,
+    source_roi: tuple[int, int, int, int],
+    profile: PreviewProfile,
+) -> np.ndarray:
+    """
+    Вырезает ROI исходного BGR-кадра и формирует JPEG-состояние.
+    """
+
+    if not profile.roi_enabled:
+        raise RuntimeError(
+            "Нельзя кодировать ROI для отключённого ROI-профиля."
+        )
+
+    x_min, y_min, x_max, y_max = source_roi
+    roi_bgr = source_frame[y_min:y_max, x_min:x_max]
+
+    if roi_bgr.size == 0:
+        raise RuntimeError("Вырезана пустая область ROI.")
+
+    roi_gray = cv2.cvtColor(
+        roi_bgr,
+        cv2.COLOR_BGR2GRAY,
+    )
+    resized_roi = cv2.resize(
+        roi_gray,
+        (profile.roi_width, profile.roi_height),
+        interpolation=cv2.INTER_AREA,
+    )
+
+    return encode_decode_grayscale_jpeg(
+        resized_roi,
+        profile.roi_quality,
+    )
+
+
+def reconstruct_panel(
+    profile: PreviewProfile,
+    state: ProfileState,
+    panel_roi: tuple[int, int, int, int],
+) -> np.ndarray:
+    """
+    Восстанавливает одну grayscale-панель размером 640x360.
+    """
+
+    if state.latest_base is None:
+        raise RuntimeError("BASE-состояние ещё не создано.")
+
+    reconstructed = cv2.resize(
+        state.latest_base,
+        (PANEL_WIDTH, PANEL_HEIGHT),
+        interpolation=cv2.INTER_LINEAR,
+    )
+
+    if profile.roi_enabled:
+        if state.latest_roi is None:
+            raise RuntimeError("ROI-состояние ещё не создано.")
+
+        x_min, y_min, x_max, y_max = panel_roi
+        resized_roi = cv2.resize(
+            state.latest_roi,
+            (x_max - x_min, y_max - y_min),
+            interpolation=cv2.INTER_LINEAR,
+        )
+        reconstructed[y_min:y_max, x_min:x_max] = resized_roi
+
+    return reconstructed
+
+
+def draw_text_line(
+    image: np.ndarray,
+    text: str,
+    y_position: int,
+    text_color: tuple[int, int, int] = (255, 255, 255),
+) -> None:
+    """
+    Рисует одну ASCII-строку служебной информации OpenCV.
+    """
+
+    cv2.putText(
+        image,
+        text,
+        (10, y_position),
+        cv2.FONT_HERSHEY_SIMPLEX,
+        0.46,
+        text_color,
+        1,
+        cv2.LINE_AA,
+    )
+
+
+def draw_panel_information(
+    reconstructed_gray: np.ndarray,
+    profile: PreviewProfile,
+    state: ProfileState,
+    current_time: float,
+    panel_roi: tuple[int, int, int, int],
+) -> np.ndarray:
+    """
+    Добавляет рамку ROI, параметры и индикаторы обновления панели.
+    """
+
+    panel = cv2.cvtColor(
+        reconstructed_gray,
+        cv2.COLOR_GRAY2BGR,
+    )
+
+    if profile.roi_enabled:
+        cv2.rectangle(
+            panel,
+            (panel_roi[0], panel_roi[1]),
+            (panel_roi[2] - 1, panel_roi[3] - 1),
+            (0, 255, 255),
+            2,
+        )
+
+    overlay = panel.copy()
+    cv2.rectangle(
+        overlay,
+        (0, 0),
+        (PANEL_WIDTH - 1, 142),
+        (0, 0, 0),
+        thickness=-1,
+    )
+    cv2.addWeighted(
+        overlay,
+        0.72,
+        panel,
+        0.28,
+        0.0,
+        panel,
+    )
+
+    base_age = max(
+        0.0,
+        current_time - state.last_base_update_time,
+    )
+    roi_age = max(
+        0.0,
+        current_time - state.last_roi_update_time,
+    )
+    base_is_new = (
+        base_age <= NEW_UPDATE_LABEL_SECONDS
+    )
+    roi_is_new = (
+        profile.roi_enabled
+        and roi_age <= NEW_UPDATE_LABEL_SECONDS
+    )
+
+    draw_text_line(panel, profile.name, 20)
+    draw_text_line(
+        panel,
+        (
+            f"BASE: {profile.base_width}x{profile.base_height}, "
+            f"{profile.base_fps:g} fps, Q{profile.base_quality}"
+        ),
+        41,
+    )
+
+    if profile.roi_enabled:
+        roi_text = (
+            f"ROI: {profile.roi_width}x{profile.roi_height}, "
+            f"{profile.roi_fps:g} fps, Q{profile.roi_quality}"
+        )
+        roi_age_text = f"{roi_age:.3f} s"
+    else:
+        roi_text = "ROI: disabled"
+        roi_age_text = "disabled"
+
+    draw_text_line(panel, roi_text, 62)
+    draw_text_line(
+        panel,
+        (
+            f"payload={profile.measured_payload_kbps:.2f} kbps, "
+            f"source time={current_time:.3f} s"
+        ),
+        83,
+    )
+    draw_text_line(
+        panel,
+        (
+            f"since BASE={base_age:.3f} s, "
+            f"since ROI={roi_age_text}"
+        ),
+        104,
+    )
+
+    update_labels: list[str] = []
+
+    if base_is_new:
+        update_labels.append("NEW BASE")
+
+    if roi_is_new:
+        update_labels.append("NEW ROI")
+
+    if update_labels:
+        draw_text_line(
+            panel,
+            " | ".join(update_labels),
+            130,
+            text_color=(0, 255, 0),
+        )
+
+    return panel
+
+
+def compose_grid(panels: list[np.ndarray]) -> np.ndarray:
+    """
+    Объединяет четыре панели в сетку 2x2 размером 1280x720.
+    """
+
+    if len(panels) != 4:
+        raise RuntimeError(
+            "Для сетки preview требуется ровно четыре панели."
+        )
+
+    for panel in panels:
+        if panel.shape != (PANEL_HEIGHT, PANEL_WIDTH, 3):
+            raise RuntimeError(
+                f"Некорректный размер панели: {panel.shape}"
+            )
+
+    top_row = np.hstack((panels[0], panels[1]))
+    bottom_row = np.hstack((panels[2], panels[3]))
+    grid = np.vstack((top_row, bottom_row))
+
+    if grid.shape != (OUTPUT_HEIGHT, OUTPUT_WIDTH, 3):
+        raise RuntimeError(
+            f"Некорректный размер сетки: {grid.shape}"
+        )
+
+    return grid
+
+
+def open_preview_writer() -> tuple[cv2.VideoWriter, Path, bool]:
+    """
+    Открывает MP4 writer либо разрешённый fallback AVI/MJPG.
+    """
+
+    mp4_writer = cv2.VideoWriter(
+        str(MP4_PREVIEW_PATH),
+        cv2.VideoWriter_fourcc(*"mp4v"),
+        OUTPUT_FPS,
+        (OUTPUT_WIDTH, OUTPUT_HEIGHT),
+        True,
+    )
+
+    if mp4_writer.isOpened():
+        return mp4_writer, MP4_PREVIEW_PATH, False
+
+    mp4_writer.release()
+
+    if MP4_PREVIEW_PATH.exists():
+        MP4_PREVIEW_PATH.unlink()
+
+    avi_writer = cv2.VideoWriter(
+        str(AVI_PREVIEW_PATH),
+        cv2.VideoWriter_fourcc(*"MJPG"),
+        OUTPUT_FPS,
+        (OUTPUT_WIDTH, OUTPUT_HEIGHT),
+        True,
+    )
+
+    if not avi_writer.isOpened():
+        avi_writer.release()
+
+        if AVI_PREVIEW_PATH.exists():
+            AVI_PREVIEW_PATH.unlink()
+
+        raise RuntimeError(
+            "OpenCV не смог открыть ни MP4, ни AVI writer."
+        )
+
+    return avi_writer, AVI_PREVIEW_PATH, True
+
+
+def create_preview(
+    source_path: Path,
+    profiles: list[PreviewProfile],
+    source_width: int,
+    source_height: int,
+    source_fps: float,
+    expected_frame_count: int,
+) -> tuple[Path, bool, int, list[ProfileState]]:
+    """
+    Создаёт preview-видео с одним выходным кадром на исходный кадр.
+    """
+
+    if len(profiles) != 4:
+        raise RuntimeError(
+            "Ожидалось ровно четыре preview-профиля."
+        )
+
+    PREVIEW_DIRECTORY.mkdir(
+        parents=True,
+        exist_ok=True,
+    )
+
+    capture = cv2.VideoCapture(str(source_path))
+
+    if not capture.isOpened():
+        raise RuntimeError(
+            f"OpenCV не смог открыть видео: {source_path}"
+        )
+
+    writer, preview_path, fallback_used = open_preview_writer()
+    source_roi = normalized_roi_to_pixels(
+        source_width,
+        source_height,
+    )
+    panel_roi = normalized_roi_to_pixels(
+        PANEL_WIDTH,
+        PANEL_HEIGHT,
+    )
+    states = [
+        ProfileState()
+        for _ in profiles
+    ]
+    frame_index = 0
+
+    try:
+        while True:
+            frame_read, source_frame = capture.read()
+
+            if not frame_read:
+                break
+
+            if source_frame is None:
+                raise RuntimeError(
+                    f"Получен пустой кадр {frame_index}."
+                )
+
+            if (
+                source_frame.shape[1] != source_width
+                or source_frame.shape[0] != source_height
+            ):
+                raise RuntimeError(
+                    "Размер кадра отличается от метаданных."
+                )
+
+            current_time = frame_index / source_fps
+            panels: list[np.ndarray] = []
+
+            for profile, state in zip(profiles, states):
+                if should_update(
+                    current_time,
+                    state.next_base_time,
+                ):
+                    state.latest_base = encode_decode_base(
+                        source_frame,
+                        profile,
+                    )
+                    state.last_base_update_time = current_time
+                    state.next_base_time += 1.0 / profile.base_fps
+                    state.base_update_count += 1
+
+                if (
+                    profile.roi_enabled
+                    and should_update(
+                        current_time,
+                        state.next_roi_time,
+                    )
+                ):
+                    state.latest_roi = encode_decode_roi(
+                        source_frame,
+                        source_roi,
+                        profile,
+                    )
+                    state.last_roi_update_time = current_time
+                    state.next_roi_time += 1.0 / profile.roi_fps
+                    state.roi_update_count += 1
+
+                reconstructed = reconstruct_panel(
+                    profile,
+                    state,
+                    panel_roi,
+                )
+                panels.append(
+                    draw_panel_information(
+                        reconstructed,
+                        profile,
+                        state,
+                        current_time,
+                        panel_roi,
+                    )
+                )
+
+            writer.write(compose_grid(panels))
+            frame_index += 1
+
+            if (
+                frame_index % 100 == 0
+                or frame_index == expected_frame_count
+            ):
+                print(
+                    f"  Written frames: "
+                    f"{frame_index}/{expected_frame_count}"
+                )
+    except Exception:
+        capture.release()
+        writer.release()
+
+        if preview_path.exists():
+            preview_path.unlink()
+
+        raise
+    finally:
+        capture.release()
+        writer.release()
+
+    if frame_index != expected_frame_count:
+        if preview_path.exists():
+            preview_path.unlink()
+
+        raise RuntimeError(
+            "Число записанных кадров не совпало с исходным: "
+            f"{frame_index} != {expected_frame_count}."
+        )
+
+    return (
+        preview_path,
+        fallback_used,
+        frame_index,
+        states,
+    )
+
+
+def read_frame_at(
+    capture: cv2.VideoCapture,
+    frame_index: int,
+) -> tuple[bool, tuple[int, ...] | None]:
+    """
+    Читает один кадр preview по индексу для итоговой проверки.
+    """
+
+    capture.set(
+        cv2.CAP_PROP_POS_FRAMES,
+        frame_index,
+    )
+    frame_read, frame = capture.read()
+
+    if not frame_read or frame is None:
+        return False, None
+
+    return True, frame.shape
+
+
+def verify_preview(
+    preview_path: Path,
+    source_frame_count: int,
+    source_duration_seconds: float,
+) -> tuple[
+    int,
+    int,
+    float,
+    int,
+    float,
+    tuple[bool, tuple[int, ...] | None],
+    tuple[bool, tuple[int, ...] | None],
+    tuple[bool, tuple[int, ...] | None],
+]:
+    """
+    Проверяет контейнер, геометрию, FPS, длительность и три кадра.
+    """
+
+    if not preview_path.exists():
+        raise RuntimeError(
+            f"Preview отсутствует: {preview_path}"
+        )
+
+    if preview_path.stat().st_size <= 0:
+        raise RuntimeError("Preview имеет нулевой размер.")
+
+    capture = cv2.VideoCapture(str(preview_path))
+
+    if not capture.isOpened():
+        raise RuntimeError(
+            f"OpenCV не смог открыть preview: {preview_path}"
+        )
+
+    try:
+        width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+        height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+        fps = float(capture.get(cv2.CAP_PROP_FPS))
+        frame_count = int(capture.get(cv2.CAP_PROP_FRAME_COUNT))
+
+        if fps <= 0.0:
+            raise RuntimeError("FPS preview равен нулю.")
+
+        duration_seconds = frame_count / fps
+        first_frame = read_frame_at(capture, 0)
+        middle_frame = read_frame_at(
+            capture,
+            frame_count // 2,
+        )
+        last_frame = read_frame_at(
+            capture,
+            frame_count - 1,
+        )
+    finally:
+        capture.release()
+
+    if width != OUTPUT_WIDTH or height != OUTPUT_HEIGHT:
+        raise RuntimeError(
+            f"Некорректное разрешение preview: {width}x{height}."
+        )
+
+    if frame_count != source_frame_count:
+        raise RuntimeError(
+            "Число кадров preview не совпало с исходным."
+        )
+
+    allowed_duration_difference = (
+        1.0 / fps + FRAME_TIME_EPSILON_SECONDS
+    )
+
+    if (
+        abs(duration_seconds - source_duration_seconds)
+        > allowed_duration_difference
+    ):
+        raise RuntimeError(
+            "Длительность preview отличается более чем на один кадр."
+        )
+
+    for label, frame_result in [
+        ("первый", first_frame),
+        ("средний", middle_frame),
+        ("последний", last_frame),
+    ]:
+        if not frame_result[0]:
+            raise RuntimeError(
+                f"Не удалось прочитать {label} кадр preview."
+            )
+
+    return (
+        width,
+        height,
+        fps,
+        frame_count,
+        duration_seconds,
+        first_frame,
+        middle_frame,
+        last_frame,
+    )
+
+
+def main() -> None:
+    """
+    Создаёт и проверяет динамическое preview Lab027.
+    """
+
+    print("Reading source video metadata...")
+    (
+        source_width,
+        source_height,
+        source_fps,
+        source_frame_count,
+        source_duration_seconds,
+    ) = read_video_metadata(SOURCE_VIDEO_PATH)
+
+    print(f"  Source: {SOURCE_VIDEO_PATH}")
+    print(f"  Resolution: {source_width}x{source_height}")
+    print(f"  FPS: {source_fps:.6f}")
+    print(f"  Frames: {source_frame_count}")
+    print(f"  Duration: {source_duration_seconds:.6f} s")
+
+    profiles = build_profiles()
+    print("Creating dynamic preview...")
+    (
+        preview_path,
+        fallback_used,
+        written_frame_count,
+        states,
+    ) = create_preview(
+        source_path=SOURCE_VIDEO_PATH,
+        profiles=profiles,
+        source_width=source_width,
+        source_height=source_height,
+        source_fps=source_fps,
+        expected_frame_count=source_frame_count,
+    )
+
+    print("Verifying preview...")
+    (
+        preview_width,
+        preview_height,
+        preview_fps,
+        preview_frame_count,
+        preview_duration_seconds,
+        first_frame,
+        middle_frame,
+        last_frame,
+    ) = verify_preview(
+        preview_path,
+        source_frame_count,
+        source_duration_seconds,
+    )
+
+    print("")
+    print(f"Preview path: {preview_path}")
+    print(f"Fallback used: {fallback_used}")
+    print(f"File size: {preview_path.stat().st_size} bytes")
+    print(
+        f"Preview resolution: "
+        f"{preview_width}x{preview_height}"
+    )
+    print(f"Preview FPS: {preview_fps:.6f}")
+    print(f"Written frames: {written_frame_count}")
+    print(f"Verified frames: {preview_frame_count}")
+    print(
+        f"Preview duration: "
+        f"{preview_duration_seconds:.6f} s"
+    )
+    print(f"First frame: {first_frame}")
+    print(f"Middle frame: {middle_frame}")
+    print(f"Last frame: {last_frame}")
+    print("")
+    print("Profile update counts:")
+
+    for profile, state in zip(profiles, states):
+        print(
+            f"  {profile.name}: "
+            f"BASE={state.base_update_count}, "
+            f"ROI={state.roi_update_count}"
+        )
+
+    print("")
+    print("Lab027 temporal preview completed successfully.")
+
+
+if __name__ == "__main__":
+    main()

tests/lab028_video_packetization.py

@@ -0,0 +1,869 @@
+"""
+Lab028. Packetization of synchronous BASE + ROI JPEG video objects.
+
+The laboratory forms the selected Lab027E profile directly from the source
+video, keeps every JPEG and packet in memory, verifies the transport layer,
+and writes only aggregate CSV/report/plot artifacts.
+"""
+
+from __future__ import annotations
+
+import csv
+from dataclasses import dataclass
+from pathlib import Path
+import random
+from typing import Callable
+
+import cv2
+import matplotlib
+import numpy as np
+
+matplotlib.use("Agg")
+import matplotlib.pyplot as plt
+
+from protocol.video_packet import (
+    CompositeFrame,
+    CompositeReassembler,
+    HEADER_FORMAT,
+    HEADER_SIZE,
+    ObjectCRCError,
+    ObjectType,
+    PacketCRCError,
+    VideoPacket,
+    decode_packet,
+    encode_packet,
+    packetize_jpeg,
+)
+
+
+SOURCE_VIDEO_PATH = Path("data/raw/lab026_rover_source.mp4")
+OUTPUT_DIRECTORY = Path("data/processed/lab028")
+CSV_PATH = OUTPUT_DIRECTORY / "lab028_packet_payload_results.csv"
+REPORT_PATH = OUTPUT_DIRECTORY / "lab028_report.txt"
+OVERHEAD_PLOT_PATH = (
+    OUTPUT_DIRECTORY / "lab028_overhead_efficiency.png"
+)
+TRAFFIC_PLOT_PATH = (
+    OUTPUT_DIRECTORY / "lab028_packets_wire_bitrate.png"
+)
+
+COMPOSITE_FPS = 3.0
+BASE_WIDTH = 240
+BASE_HEIGHT = 135
+BASE_QUALITY = 23
+ROI_WIDTH = 320
+ROI_HEIGHT = 180
+ROI_QUALITY = 33
+ROI_X_MIN = 0.20
+ROI_X_MAX = 0.80
+ROI_Y_MIN = 0.42
+ROI_Y_MAX = 1.00
+PAYLOAD_LENGTHS = (64, 128, 256, 512, 1024)
+FRAME_TIME_EPSILON_SECONDS = 1e-9
+
+CSV_FIELDS = [
+    "max_payload_bytes",
+    "composite_frames",
+    "mean_base_packets_per_frame",
+    "mean_roi_packets_per_frame",
+    "mean_total_packets_per_frame",
+    "max_total_packets_per_frame",
+    "packets_per_second",
+    "jpeg_payload_bytes",
+    "jpeg_payload_bitrate_kbps",
+    "header_bytes_per_second",
+    "header_bitrate_kbps",
+    "wire_bytes",
+    "wire_bitrate_kbps",
+    "service_data_percent",
+    "efficiency_percent",
+    "mean_wire_packet_bytes",
+    "p95_wire_packet_bytes",
+    "max_wire_packet_bytes",
+]
+
+
+@dataclass(frozen=True)
+class VideoMetadata:
+    width: int
+    height: int
+    fps: float
+    frame_count: int
+    duration_seconds: float
+
+
+@dataclass(frozen=True)
+class EncodedComposite:
+    composite_frame_id: int
+    source_frame_index: int
+    base_jpeg: bytes
+    roi_jpeg: bytes
+
+
+@dataclass(frozen=True)
+class PayloadMetrics:
+    max_payload_bytes: int
+    composite_frames: int
+    mean_base_packets_per_frame: float
+    mean_roi_packets_per_frame: float
+    mean_total_packets_per_frame: float
+    max_total_packets_per_frame: int
+    packets_per_second: float
+    jpeg_payload_bytes: int
+    jpeg_payload_bitrate_kbps: float
+    header_bytes_per_second: float
+    header_bitrate_kbps: float
+    wire_bytes: int
+    wire_bitrate_kbps: float
+    service_data_percent: float
+    efficiency_percent: float
+    mean_wire_packet_bytes: float
+    p95_wire_packet_bytes: float
+    max_wire_packet_bytes: int
+
+
+@dataclass(frozen=True)
+class TestResult:
+    name: str
+    passed: bool
+    detail: str
+
+
+def normalized_roi_to_pixels(
+    width: int,
+    height: int,
+) -> tuple[int, int, int, int]:
+    """Use the normalized ROI coordinates from Lab027 through Lab027E."""
+
+    coordinates = (
+        int(round(width * ROI_X_MIN)),
+        int(round(height * ROI_Y_MIN)),
+        int(round(width * ROI_X_MAX)),
+        int(round(height * ROI_Y_MAX)),
+    )
+    x_min, y_min, x_max, y_max = coordinates
+    if not (
+        0 <= x_min < x_max <= width
+        and 0 <= y_min < y_max <= height
+    ):
+        raise RuntimeError("calculated ROI is outside the source frame")
+    return coordinates
+
+
+def encode_grayscale_jpeg(image: np.ndarray, quality: int) -> bytes:
+    """Encode one grayscale image to an in-memory JPEG."""
+
+    encoded, buffer = cv2.imencode(
+        ".jpg",
+        image,
+        [int(cv2.IMWRITE_JPEG_QUALITY), int(quality)],
+    )
+    if not encoded:
+        raise RuntimeError("OpenCV could not encode JPEG")
+    jpeg = buffer.tobytes()
+    if not jpeg:
+        raise RuntimeError("OpenCV produced an empty JPEG")
+    return jpeg
+
+
+def encode_composite(
+    source_frame: np.ndarray,
+    source_roi: tuple[int, int, int, int],
+    composite_frame_id: int,
+    source_frame_index: int,
+) -> EncodedComposite:
+    """Form synchronous BASE and ROI JPEGs from exactly one source frame."""
+
+    grayscale = cv2.cvtColor(source_frame, cv2.COLOR_BGR2GRAY)
+    base = cv2.resize(
+        grayscale,
+        (BASE_WIDTH, BASE_HEIGHT),
+        interpolation=cv2.INTER_AREA,
+    )
+    x_min, y_min, x_max, y_max = source_roi
+    roi = grayscale[y_min:y_max, x_min:x_max]
+    if roi.size == 0:
+        raise RuntimeError("source ROI is empty")
+    roi = cv2.resize(
+        roi,
+        (ROI_WIDTH, ROI_HEIGHT),
+        interpolation=cv2.INTER_AREA,
+    )
+    return EncodedComposite(
+        composite_frame_id=composite_frame_id,
+        source_frame_index=source_frame_index,
+        base_jpeg=encode_grayscale_jpeg(base, BASE_QUALITY),
+        roi_jpeg=encode_grayscale_jpeg(roi, ROI_QUALITY),
+    )
+
+
+def load_video_profile(
+    source_path: Path,
+) -> tuple[VideoMetadata, list[EncodedComposite]]:
+    """Read the video sequentially and select synchronous updates at 3 fps."""
+
+    if not source_path.exists():
+        raise FileNotFoundError(f"source video is missing: {source_path}")
+    capture = cv2.VideoCapture(str(source_path))
+    if not capture.isOpened():
+        raise RuntimeError(f"OpenCV could not open {source_path}")
+
+    width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+    height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+    fps = float(capture.get(cv2.CAP_PROP_FPS))
+    declared_frame_count = int(
+        capture.get(cv2.CAP_PROP_FRAME_COUNT)
+    )
+    if width <= 0 or height <= 0 or fps <= 0.0:
+        capture.release()
+        raise RuntimeError("invalid source video metadata")
+
+    source_roi = normalized_roi_to_pixels(width, height)
+    selected: list[EncodedComposite] = []
+    source_frame_index = 0
+    next_composite_time = 0.0
+    try:
+        while True:
+            frame_read, source_frame = capture.read()
+            if not frame_read or source_frame is None:
+                break
+            source_time = source_frame_index / fps
+            if (
+                source_time + FRAME_TIME_EPSILON_SECONDS
+                >= next_composite_time
+            ):
+                selected.append(
+                    encode_composite(
+                        source_frame,
+                        source_roi,
+                        len(selected),
+                        source_frame_index,
+                    )
+                )
+                next_composite_time += 1.0 / COMPOSITE_FPS
+            source_frame_index += 1
+    finally:
+        capture.release()
+
+    if source_frame_index <= 0 or not selected:
+        raise RuntimeError("source video did not yield frames")
+    if (
+        declared_frame_count > 0
+        and source_frame_index != declared_frame_count
+    ):
+        raise RuntimeError(
+            "decoded frame count differs from video metadata: "
+            f"{source_frame_index} != {declared_frame_count}"
+        )
+    metadata = VideoMetadata(
+        width=width,
+        height=height,
+        fps=fps,
+        frame_count=source_frame_index,
+        duration_seconds=source_frame_index / fps,
+    )
+    return metadata, selected
+
+
+def packets_for_composite(
+    composite: EncodedComposite,
+    max_payload_bytes: int,
+) -> tuple[list[bytes], list[bytes]]:
+    """Packetize BASE and ROI separately with one composite frame ID."""
+
+    base_packets = packetize_jpeg(
+        composite.base_jpeg,
+        composite.composite_frame_id,
+        ObjectType.BASE,
+        max_payload_bytes,
+    )
+    roi_packets = packetize_jpeg(
+        composite.roi_jpeg,
+        composite.composite_frame_id,
+        ObjectType.ROI,
+        max_payload_bytes,
+    )
+    return base_packets, roi_packets
+
+
+def calculate_payload_metrics(
+    composites: list[EncodedComposite],
+    duration_seconds: float,
+    max_payload_bytes: int,
+) -> PayloadMetrics:
+    """Calculate actual packet and bitrate statistics for one payload limit."""
+
+    base_counts: list[int] = []
+    roi_counts: list[int] = []
+    total_counts: list[int] = []
+    wire_packet_sizes: list[int] = []
+    for composite in composites:
+        base_packets, roi_packets = packets_for_composite(
+            composite, max_payload_bytes
+        )
+        base_counts.append(len(base_packets))
+        roi_counts.append(len(roi_packets))
+        total_counts.append(len(base_packets) + len(roi_packets))
+        wire_packet_sizes.extend(
+            len(packet) for packet in base_packets + roi_packets
+        )
+
+    jpeg_payload_bytes = sum(
+        len(composite.base_jpeg) + len(composite.roi_jpeg)
+        for composite in composites
+    )
+    packet_count = len(wire_packet_sizes)
+    header_bytes = packet_count * HEADER_SIZE
+    wire_bytes = jpeg_payload_bytes + header_bytes
+    return PayloadMetrics(
+        max_payload_bytes=max_payload_bytes,
+        composite_frames=len(composites),
+        mean_base_packets_per_frame=float(np.mean(base_counts)),
+        mean_roi_packets_per_frame=float(np.mean(roi_counts)),
+        mean_total_packets_per_frame=float(np.mean(total_counts)),
+        max_total_packets_per_frame=max(total_counts),
+        packets_per_second=packet_count / duration_seconds,
+        jpeg_payload_bytes=jpeg_payload_bytes,
+        jpeg_payload_bitrate_kbps=(
+            jpeg_payload_bytes * 8.0 / duration_seconds / 1000.0
+        ),
+        header_bytes_per_second=header_bytes / duration_seconds,
+        header_bitrate_kbps=(
+            header_bytes * 8.0 / duration_seconds / 1000.0
+        ),
+        wire_bytes=wire_bytes,
+        wire_bitrate_kbps=(
+            wire_bytes * 8.0 / duration_seconds / 1000.0
+        ),
+        service_data_percent=header_bytes / wire_bytes * 100.0,
+        efficiency_percent=jpeg_payload_bytes / wire_bytes * 100.0,
+        mean_wire_packet_bytes=float(np.mean(wire_packet_sizes)),
+        p95_wire_packet_bytes=float(
+            np.percentile(wire_packet_sizes, 95)
+        ),
+        max_wire_packet_bytes=max(wire_packet_sizes),
+    )
+
+
+def feed_packets(
+    packets: list[bytes],
+    reassembler: CompositeReassembler | None = None,
+) -> tuple[list[CompositeFrame], CompositeReassembler]:
+    """Feed packets and collect every atomically published frame."""
+
+    receiver = reassembler or CompositeReassembler()
+    completed = []
+    for packet in packets:
+        frame = receiver.ingest(packet)
+        if frame is not None:
+            completed.append(frame)
+    return completed, receiver
+
+
+def assert_frame_matches(
+    frame: CompositeFrame,
+    expected: EncodedComposite,
+) -> None:
+    if frame.composite_frame_id != expected.composite_frame_id:
+        raise AssertionError("composite frame ID differs")
+    if frame.base_jpeg != expected.base_jpeg:
+        raise AssertionError("BASE JPEG differs byte-for-byte")
+    if frame.roi_jpeg != expected.roi_jpeg:
+        raise AssertionError("ROI JPEG differs byte-for-byte")
+
+
+def run_functional_tests(
+    composites: list[EncodedComposite],
+) -> list[TestResult]:
+    """Run header and all mandatory Lab028 transport checks."""
+
+    if len(composites) < 2:
+        raise RuntimeError("functional checks need two video frames")
+    first = composites[0]
+    second = composites[1]
+    base_packets, roi_packets = packets_for_composite(first, 256)
+    all_packets = base_packets + roi_packets
+    tests: list[tuple[str, Callable[[], str]]] = []
+
+    def header_round_trip() -> str:
+        parsed = decode_packet(all_packets[0])
+        rebuilt = encode_packet(
+            VideoPacket(
+                composite_frame_id=parsed.composite_frame_id,
+                object_type=parsed.object_type,
+                fragment_index=parsed.fragment_index,
+                fragment_count=parsed.fragment_count,
+                jpeg_size=parsed.jpeg_size,
+                object_crc32=parsed.object_crc32,
+                payload=parsed.payload,
+            )
+        )
+        if rebuilt != all_packets[0]:
+            raise AssertionError("serialized bytes changed after round trip")
+        return f"fixed {HEADER_SIZE}-byte header round trip is exact"
+
+    def ordered_lossless() -> str:
+        frames, _ = feed_packets(all_packets)
+        if len(frames) != 1:
+            raise AssertionError("ordered transfer did not emit one frame")
+        assert_frame_matches(frames[0], first)
+        return "BASE and ROI match original JPEG bytes"
+
+    def shuffled_packets() -> str:
+        shuffled = list(all_packets)
+        random.Random(28001).shuffle(shuffled)
+        frames, _ = feed_packets(shuffled)
+        if len(frames) != 1:
+            raise AssertionError("shuffled transfer did not emit one frame")
+        assert_frame_matches(frames[0], first)
+        return "arbitrary packet order reconstructed correctly"
+
+    def duplicate_packets() -> str:
+        duplicated = list(all_packets)
+        duplicated.extend(
+            [all_packets[0], all_packets[len(base_packets)]]
+        )
+        random.Random(28002).shuffle(duplicated)
+        frames, receiver = feed_packets(duplicated)
+        if len(frames) != 1:
+            raise AssertionError("duplicates changed publication count")
+        assert_frame_matches(frames[0], first)
+        if receiver.duplicate_packets < 2:
+            raise AssertionError("exact duplicates were not counted")
+        return f"{receiver.duplicate_packets} exact duplicates ignored"
+
+    def packet_crc_corruption() -> str:
+        corrupted = bytearray(all_packets[0])
+        corrupted[-1] ^= 0x01
+        receiver = CompositeReassembler()
+        try:
+            receiver.ingest(bytes(corrupted))
+        except PacketCRCError:
+            pass
+        else:
+            raise AssertionError("corrupted packet passed packet CRC")
+        frames, _ = feed_packets(all_packets[1:], receiver)
+        if frames:
+            raise AssertionError("frame emitted despite rejected packet")
+        return "payload bit flip rejected; composite not emitted"
+
+    def missing_fragment() -> str:
+        missing_packet = roi_packets[len(roi_packets) // 2]
+        missing_index = decode_packet(missing_packet).fragment_index
+        remaining = [
+            packet
+            for packet in all_packets
+            if packet is not missing_packet
+        ]
+        frames, receiver = feed_packets(remaining)
+        if frames:
+            raise AssertionError("frame emitted with a missing fragment")
+        missing = receiver.missing_fragments(
+            first.composite_frame_id, ObjectType.ROI
+        )
+        if missing is None or missing_index not in missing:
+            raise AssertionError("missing fragment was not reported")
+        return f"ROI fragment {missing_index} reported missing"
+
+    def object_crc_corruption() -> str:
+        target_position = len(base_packets)
+        parsed = decode_packet(all_packets[target_position])
+        changed_payload = bytearray(parsed.payload)
+        changed_payload[0] ^= 0x01
+        altered = encode_packet(
+            VideoPacket(
+                composite_frame_id=parsed.composite_frame_id,
+                object_type=parsed.object_type,
+                fragment_index=parsed.fragment_index,
+                fragment_count=parsed.fragment_count,
+                jpeg_size=parsed.jpeg_size,
+                object_crc32=parsed.object_crc32,
+                payload=bytes(changed_payload),
+            )
+        )
+        formally_valid = list(all_packets)
+        formally_valid[target_position] = altered
+        receiver = CompositeReassembler()
+        emitted = []
+        object_error_seen = False
+        for packet in formally_valid:
+            try:
+                frame = receiver.ingest(packet)
+            except ObjectCRCError:
+                object_error_seen = True
+                continue
+            if frame is not None:
+                emitted.append(frame)
+        if not object_error_seen:
+            raise AssertionError("object CRC did not detect changed JPEG")
+        if emitted:
+            raise AssertionError("frame emitted after object CRC failure")
+        return "valid packet CRCs still failed full-object CRC"
+
+    def adjacent_frames_do_not_mix() -> str:
+        first_packets = sum(packets_for_composite(first, 256), [])
+        second_packets = sum(packets_for_composite(second, 256), [])
+        interleaved = first_packets + second_packets
+        random.Random(28003).shuffle(interleaved)
+        frames, _ = feed_packets(interleaved)
+        by_id = {frame.composite_frame_id: frame for frame in frames}
+        if set(by_id) != {
+            first.composite_frame_id,
+            second.composite_frame_id,
+        }:
+            raise AssertionError("adjacent frames were lost or mixed")
+        assert_frame_matches(by_id[first.composite_frame_id], first)
+        assert_frame_matches(by_id[second.composite_frame_id], second)
+        return "two interleaved frame IDs remained independent"
+
+    def base_only_is_not_atomic() -> str:
+        frames, receiver = feed_packets(base_packets)
+        if frames:
+            raise AssertionError("BASE-only input emitted a composite")
+        if not receiver.object_is_complete(
+            first.composite_frame_id, ObjectType.BASE
+        ):
+            raise AssertionError("complete BASE object was not retained")
+        return "complete BASE retained while composite stayed unpublished"
+
+    tests.extend(
+        [
+            ("header_serialization_round_trip", header_round_trip),
+            ("ordered_lossless_transfer", ordered_lossless),
+            ("random_packet_order", shuffled_packets),
+            ("exact_duplicate_packets", duplicate_packets),
+            ("packet_crc_corruption", packet_crc_corruption),
+            ("missing_fragment", missing_fragment),
+            ("object_crc_corruption", object_crc_corruption),
+            ("adjacent_frame_isolation", adjacent_frames_do_not_mix),
+            ("base_without_roi_atomicity", base_only_is_not_atomic),
+        ]
+    )
+
+    results = []
+    for name, test in tests:
+        try:
+            detail = test()
+        except Exception as error:
+            results.append(TestResult(name, False, str(error)))
+        else:
+            results.append(TestResult(name, True, detail))
+    failed = [result for result in results if not result.passed]
+    if failed:
+        details = "; ".join(
+            f"{result.name}: {result.detail}" for result in failed
+        )
+        raise RuntimeError(f"functional transport tests failed: {details}")
+    return results
+
+
+def save_csv(metrics: list[PayloadMetrics]) -> None:
+    OUTPUT_DIRECTORY.mkdir(parents=True, exist_ok=True)
+    with CSV_PATH.open("w", encoding="utf-8", newline="") as csv_file:
+        writer = csv.DictWriter(csv_file, fieldnames=CSV_FIELDS)
+        writer.writeheader()
+        for item in metrics:
+            row = {}
+            for field_name in CSV_FIELDS:
+                value = getattr(item, field_name)
+                row[field_name] = (
+                    f"{value:.6f}"
+                    if isinstance(value, float)
+                    else value
+                )
+            writer.writerow(row)
+
+
+def save_plots(metrics: list[PayloadMetrics]) -> None:
+    payloads = [item.max_payload_bytes for item in metrics]
+
+    figure, axis = plt.subplots(figsize=(9, 5.5))
+    axis.plot(
+        payloads,
+        [item.service_data_percent for item in metrics],
+        marker="o",
+        linewidth=2,
+        label="Service data (header / wire)",
+    )
+    axis.plot(
+        payloads,
+        [item.efficiency_percent for item in metrics],
+        marker="s",
+        linewidth=2,
+        label="Efficiency (JPEG / wire)",
+    )
+    axis.set_xscale("log", base=2)
+    axis.set_xticks(payloads)
+    axis.set_xticklabels([str(value) for value in payloads])
+    axis.set_xlabel("Maximum packet payload, bytes")
+    axis.set_ylabel("Share, %")
+    axis.set_title("Lab028 packet overhead and efficiency")
+    axis.grid(True, alpha=0.3)
+    axis.legend()
+    figure.tight_layout()
+    figure.savefig(OVERHEAD_PLOT_PATH, dpi=160)
+    plt.close(figure)
+
+    figure, packet_axis = plt.subplots(figsize=(9, 5.5))
+    bitrate_axis = packet_axis.twinx()
+    packet_line = packet_axis.plot(
+        payloads,
+        [item.packets_per_second for item in metrics],
+        color="tab:blue",
+        marker="o",
+        linewidth=2,
+        label="Packets/s",
+    )
+    bitrate_lines = bitrate_axis.plot(
+        payloads,
+        [item.wire_bitrate_kbps for item in metrics],
+        color="tab:red",
+        marker="s",
+        linewidth=2,
+        label="Wire bitrate",
+    )
+    bitrate_axis.plot(
+        payloads,
+        [item.jpeg_payload_bitrate_kbps for item in metrics],
+        color="tab:green",
+        linestyle="--",
+        linewidth=2,
+        label="JPEG payload bitrate",
+    )
+    packet_axis.set_xscale("log", base=2)
+    packet_axis.set_xticks(payloads)
+    packet_axis.set_xticklabels([str(value) for value in payloads])
+    packet_axis.set_xlabel("Maximum packet payload, bytes")
+    packet_axis.set_ylabel("Packets per second", color="tab:blue")
+    bitrate_axis.set_ylabel("Bitrate, kbit/s", color="tab:red")
+    packet_axis.set_title("Lab028 packet rate and wire bitrate")
+    packet_axis.grid(True, alpha=0.3)
+    lines = packet_line + bitrate_lines + bitrate_axis.lines[1:]
+    packet_axis.legend(
+        lines,
+        [line.get_label() for line in lines],
+        loc="best",
+    )
+    figure.tight_layout()
+    figure.savefig(TRAFFIC_PLOT_PATH, dpi=160)
+    plt.close(figure)
+
+
+def metrics_table(metrics: list[PayloadMetrics]) -> list[str]:
+    lines = [
+        (
+            "payload | BASE pkt/frame | ROI pkt/frame | all pkt/frame | "
+            "max pkt/frame | pkt/s | JPEG kbit/s | headers B/s | "
+            "wire kbit/s | service % | efficiency % | packet mean/p95/max"
+        ),
+        (
+            "-------:|---------------:|--------------:|--------------:|"
+            "--------------:|------:|------------:|------------:|"
+            "------------:|----------:|-------------:|--------------------:"
+        ),
+    ]
+    for item in metrics:
+        lines.append(
+            f"{item.max_payload_bytes} | "
+            f"{item.mean_base_packets_per_frame:.3f} | "
+            f"{item.mean_roi_packets_per_frame:.3f} | "
+            f"{item.mean_total_packets_per_frame:.3f} | "
+            f"{item.max_total_packets_per_frame} | "
+            f"{item.packets_per_second:.3f} | "
+            f"{item.jpeg_payload_bitrate_kbps:.3f} | "
+            f"{item.header_bytes_per_second:.3f} | "
+            f"{item.wire_bitrate_kbps:.3f} | "
+            f"{item.service_data_percent:.3f} | "
+            f"{item.efficiency_percent:.3f} | "
+            f"{item.mean_wire_packet_bytes:.1f}/"
+            f"{item.p95_wire_packet_bytes:.1f}/"
+            f"{item.max_wire_packet_bytes}"
+        )
+    return lines
+
+
+def write_report(
+    metadata: VideoMetadata,
+    composites: list[EncodedComposite],
+    metrics: list[PayloadMetrics],
+    test_results: list[TestResult],
+) -> None:
+    source_roi = normalized_roi_to_pixels(
+        metadata.width, metadata.height
+    )
+    base_sizes = [len(item.base_jpeg) for item in composites]
+    roi_sizes = [len(item.roi_jpeg) for item in composites]
+    lines = [
+        "Lab028. Пакетирование синхронного BASE + ROI",
+        "",
+        "Профиль и исходные данные",
+        f"- Видео: {SOURCE_VIDEO_PATH}",
+        (
+            f"- Источник: {metadata.width}x{metadata.height}, "
+            f"{metadata.fps:.6f} fps, {metadata.frame_count} кадров, "
+            f"{metadata.duration_seconds:.6f} с."
+        ),
+        (
+            f"- ROI: x={ROI_X_MIN:.2f}...{ROI_X_MAX:.2f}, "
+            f"y={ROI_Y_MIN:.2f}...{ROI_Y_MAX:.2f}; "
+            f"пиксели x={source_roi[0]}...{source_roi[2]}, "
+            f"y={source_roi[1]}...{source_roi[3]}."
+        ),
+        (
+            f"- Синхронные составные кадры: {len(composites)} "
+            f"при {COMPOSITE_FPS:.3f} fps."
+        ),
+        (
+            f"- BASE: {BASE_WIDTH}x{BASE_HEIGHT}, grayscale JPEG Q"
+            f"{BASE_QUALITY}; средний размер {np.mean(base_sizes):.3f} B, "
+            f"min/max {min(base_sizes)}/{max(base_sizes)} B."
+        ),
+        (
+            f"- ROI: {ROI_WIDTH}x{ROI_HEIGHT}, grayscale JPEG Q"
+            f"{ROI_QUALITY}; средний размер {np.mean(roi_sizes):.3f} B, "
+            f"min/max {min(roi_sizes)}/{max(roi_sizes)} B."
+        ),
+        (
+            "- BASE и ROI формируются из одного source frame и имеют "
+            "общий composite_frame_id."
+        ),
+        "",
+        "Бинарный заголовок",
+        f"- struct format: {HEADER_FORMAT}",
+        f"- Размер: {HEADER_SIZE} байта; network byte order; padding нет.",
+        (
+            "- Layout: magic[4] @0, version:u8 @4, object_type:u8 @5, "
+            "header_size:u16 @6, composite_frame_id:u32 @8, "
+            "fragment_index:u16 @12, fragment_count:u16 @14, "
+            "payload_length:u16 @16, flags:u16 @18, jpeg_size:u32 @20, "
+            "object_crc32:u32 @24, packet_crc32:u32 @28."
+        ),
+        "- object_type: 1=BASE, 2=ROI; flags зарезервирован и равен 0.",
+        "",
+        "CRC32",
+        (
+            "- object_crc32 = zlib.crc32(полный JPEG) & 0xFFFFFFFF; "
+            "значение помещается во все фрагменты объекта и проверяется "
+            "после полной сборки."
+        ),
+        (
+            "- packet_crc32: сначала поле packet_crc32 заголовка "
+            "обнуляется, затем CRC считается как "
+            "zlib.crc32(header_with_zero_crc + payload) & 0xFFFFFFFF."
+        ),
+        "- Таким образом packet CRC защищает все поля заголовка и payload.",
+        "",
+        "Функциональные проверки",
+    ]
+    lines.extend(
+        f"- {'PASS' if item.passed else 'FAIL'} {item.name}: {item.detail}"
+        for item in test_results
+    )
+    lines.extend(
+        [
+            "",
+            "Результаты размеров packet payload",
+            *metrics_table(metrics),
+            "",
+            (
+                "JPEG payload bitrate одинаков для всех строк, потому что "
+                "исходные JPEG не меняются при выборе размера фрагмента."
+            ),
+            (
+                "Wire bitrate включает только JPEG payload и 32-байтные "
+                "заголовки каждого пакета."
+            ),
+            (
+                "Wire bitrate пока НЕ включает FEC, преамбулу, "
+                "синхронизацию, модуляцию, интервалы, повторные передачи, "
+                "команды управления и телеметрию."
+            ),
+            (
+                "Лучший размер packet payload автоматически не выбирается: "
+                "таблица показывает только транспортный компромисс."
+            ),
+            "",
+            "Артефакты",
+            f"- CSV: {CSV_PATH}",
+            f"- Overhead/efficiency: {OVERHEAD_PLOT_PATH}",
+            f"- Packet count/wire bitrate: {TRAFFIC_PLOT_PATH}",
+            (
+                "- Промежуточные JPEG и пакеты сохранялись только в памяти; "
+                "бинарные дампы не создавались."
+            ),
+            "",
+        ]
+    )
+    REPORT_PATH.write_text("\n".join(lines), encoding="utf-8")
+
+
+def validate_outputs(metrics: list[PayloadMetrics]) -> None:
+    if len(metrics) != len(PAYLOAD_LENGTHS):
+        raise RuntimeError("not all payload sizes were measured")
+    if [item.max_payload_bytes for item in metrics] != list(
+        PAYLOAD_LENGTHS
+    ):
+        raise RuntimeError("payload result order differs")
+    if any(
+        abs(
+            item.service_data_percent
+            + item.efficiency_percent
+            - 100.0
+        ) > 1e-9
+        for item in metrics
+    ):
+        raise RuntimeError("overhead and efficiency do not sum to 100%")
+    for path in (
+        CSV_PATH,
+        REPORT_PATH,
+        OVERHEAD_PLOT_PATH,
+        TRAFFIC_PLOT_PATH,
+    ):
+        if not path.exists() or path.stat().st_size <= 0:
+            raise RuntimeError(f"missing or empty output: {path}")
+
+
+def main() -> None:
+    print("Lab028: loading and JPEG-encoding the Lab027E profile...")
+    metadata, composites = load_video_profile(SOURCE_VIDEO_PATH)
+    print(
+        f"  source={metadata.width}x{metadata.height}, "
+        f"{metadata.fps:.3f} fps, frames={metadata.frame_count}"
+    )
+    print(f"  synchronous composite frames={len(composites)}")
+
+    print("Running functional transport checks...")
+    test_results = run_functional_tests(composites)
+    for result in test_results:
+        print(f"  PASS {result.name}: {result.detail}")
+
+    print("Measuring packet payload sizes...")
+    metrics = [
+        calculate_payload_metrics(
+            composites,
+            metadata.duration_seconds,
+            payload_length,
+        )
+        for payload_length in PAYLOAD_LENGTHS
+    ]
+    for item in metrics:
+        print(
+            f"  payload={item.max_payload_bytes:4d} B: "
+            f"{item.packets_per_second:.3f} packet/s, "
+            f"wire={item.wire_bitrate_kbps:.3f} kbit/s, "
+            f"service={item.service_data_percent:.3f}%"
+        )
+
+    OUTPUT_DIRECTORY.mkdir(parents=True, exist_ok=True)
+    save_csv(metrics)
+    save_plots(metrics)
+    write_report(metadata, composites, metrics, test_results)
+    validate_outputs(metrics)
+    print(f"CSV: {CSV_PATH}")
+    print(f"Report: {REPORT_PATH}")
+    print(f"Plots: {OVERHEAD_PLOT_PATH}, {TRAFFIC_PLOT_PATH}")
+    print("Lab028 completed successfully.")
+
+
+if __name__ == "__main__":
+    main()