cozyclay 2.1.1 → 3.0.0

package/tools/ardy/extract.mjs

@@ -1,507 +0,0 @@
-/**
- * extract.mjs — the bridge's GVHMR-only GPU motion-extraction side. The
- * browser does not provide an extraction fallback: this route ships footage
- * to the ARDY box, runs GVHMR over the whole clip (temporal context, real 3D
- * body prior), retargets the returned SMPL arrays to cskel27 and serves an
- * ordinary motion npz through the same loadMotion path as ARDY generation.
- *
- * Same posture as generation: children die with the client connection, the
- * served npz enters the motion allowlist only after this process wrote and
- * verified it, and every failure is a NAMED reason.
- */
-
-import { spawn } from "node:child_process";
-import { randomBytes } from "node:crypto";
-import { readFileSync, rmSync, writeFileSync } from "node:fs";
-import { dirname, join } from "node:path";
-import { fileURLToPath } from "node:url";
-import { killGroup, track } from "./runners/proc.mjs";
-import { EXTRACT_FPS_MAX, conformToExtractFps } from "./footage.mjs";
-import { motionArraysToNpzMembers, writeNpz } from "./npz.mjs";
-import { bvhToCskel27Motion, parseBvh } from "./bvh-cskel27.mjs";
-import { createPrivateArtifactDir, removePrivateArtifactDir } from "./artifacts.mjs";
-import { readNpz } from "../kimodo/read-npz.mjs";
-import { smplToCskel27Motion } from "./smpl-cskel27.mjs";
-import { stabilizeMotion } from "./motion-stabilize.mjs";
-import { GVHMR_SMOOTH_SIGMA, gvhmrDetectorFromEnv, gvhmrKeypointsFromEnv, gvhmrRunnerArgs, gvhmrWorker } from "./runners/gvhmr-worker.mjs";
-import { guardTrajectoryFloor } from "./gvhmr-floor.mjs";
-import { mocapMetricsFromMotion } from "./mocap-metrics.mjs";
-import { evaluateQuality } from "./mocap-quality-gate.mjs";
-
-const HERE = dirname(fileURLToPath(import.meta.url));
-const OUT_DIR = join(HERE, "out");
-// GVHMR (SIGGRAPH Asia 24) — a VIDEO model that predicts
-// in a gravity-aligned world frame with temporal context and per-foot contact
-// logits. The box-side runner
-// (cclay_gvhmr_extract.py, kept in the GVHMR checkout) writes GVHMR's SMPL
-// joint ROTATIONS (contract: GVHMR-NPZ.md) which smplToCskel27Motion
-// retargets directly — lifting positions back to rotations, as the first
-// cut did through the ProjFlow converter, discarded wrist orientation and
-// limb twist and added 50 % hand jitter on the same clip. Select with
-//   CCLAY_EXTRACT_BACKEND=gvhmr   (default and only supported backend)
-//   CCLAY_EXTRACT_STATIC_CAM=0    to run visual odometry for a moving camera
-//                                 (default 1: tripod footage, skips the VO)
-//   CCLAY_EXTRACT_DETECTOR        retained for deployment compatibility;
-//                                 detector is always palette. YOLO's person
-//                                 class barely sees the part-coloured
-//                                 mannequin (#137): 28 of 124 frames at conf
-//                                 0.5, against 481/481 for a real person.
-//                                 Palette finds it by its 12 limb hues
-//                                 instead (124/124 on the same clip).
-//   CCLAY_EXTRACT_KEYPOINTS       vitpose | palette | auto (default auto) — auto keeps ViTPose
-//     (fed the palette bbox); palette keypoints are opt-in because the AI
-//     render shifts limb hues and, measured on issue #180, they make the 3D
-//     result worse (foot slide 41 vs 25 cm/s, jitter 32 vs 13).
-export const EXTRACT_BACKEND = (process.env.CCLAY_EXTRACT_BACKEND?.trim() || "gvhmr").toLowerCase();
-const GVHMR_DIR = "~/cclay-ingest/GVHMR";
-const GVHMR_STATIC_CAM = (process.env.CCLAY_EXTRACT_STATIC_CAM?.trim() || "1") !== "0";
-const GVHMR_DETECTOR = gvhmrDetectorFromEnv();
-const GVHMR_KEYPOINTS = gvhmrKeypointsFromEnv();
-// Rollback keeps the original one-shot command completely unchanged.
-const GVHMR_WORKER = process.env.CCLAY_GVHMR_WORKER?.trim() !== "0";
-// Independent of preparation acceleration; disable to recover exact legacy output.
-const GVHMR_TRAJECTORY = process.env.CCLAY_GVHMR_TRAJECTORY?.trim() !== "0";
-const MAX_UPLOAD_BYTES = 300 * 1024 * 1024;
-const EXTRACT_TIMEOUT_MS = 30 * 60 * 1000;
-const SSH_BASE_OPTS = ["-o", "BatchMode=yes", "-o", "ConnectTimeout=15"];
-
-// Extraction can run on a DIFFERENT machine than ARDY generation — e.g. a
-// Slurm GPU cluster (measured ~5× the default box). Point it there with:
-//   CCLAY_EXTRACT_HOST      ssh destination (default: CCLAY_ARDY_HOST)
-//   CCLAY_EXTRACT_SSH_PORT  ssh port (default 22)
-//   CCLAY_EXTRACT_TMP       REMOTE work dir for video/BVH — must be visible
-//                           to the node that runs the job (a Slurm node's
-//                           /tmp is node-local, use a shared home path)
-//   CCLAY_EXTRACT_CMD       remote command invoked as `CMD <video> <bvh>`;
-//                           it owns GPU allocation (srun …) and env. Unset →
-//                           the default box invocation below.
-function sshHost() {
-	return process.env.CCLAY_EXTRACT_HOST?.trim() || process.env.CCLAY_ARDY_HOST?.trim() || "";
-}
-const EXTRACT_SSH_PORT = process.env.CCLAY_EXTRACT_SSH_PORT?.trim() || "";
-const EXTRACT_TMP = process.env.CCLAY_EXTRACT_TMP?.trim() || "/tmp";
-const EXTRACT_CMD = process.env.CCLAY_EXTRACT_CMD?.trim() || "";
-export const EXTRACT_BACKEND_SUPPORTED = EXTRACT_BACKEND === "gvhmr" && !EXTRACT_CMD;
-const SSH_OPTS = EXTRACT_SSH_PORT ? [...SSH_BASE_OPTS, "-p", EXTRACT_SSH_PORT] : SSH_BASE_OPTS;
-const SCP_OPTS = EXTRACT_SSH_PORT ? [...SSH_BASE_OPTS, "-P", EXTRACT_SSH_PORT] : SSH_BASE_OPTS;
-
-/** Measure and classify a converted take before it is exposed to the browser. */
-export function qualityReportForMotion(motion, limits) {
-	return evaluateQuality(mocapMetricsFromMotion(motion), limits);
-}
-
-/** Magic-byte sniff for the three photo formats browsers hand over. Returns
- *  an extension or null for anything else (i.e. actual video bytes). */
-function imageExtOf(bytes) {
-	if (bytes.length < 12) return null;
-	if (bytes[0] === 0xff && bytes[1] === 0xd8 && bytes[2] === 0xff) return "jpg";
-	if (bytes[0] === 0x89 && bytes[1] === 0x50 && bytes[2] === 0x4e && bytes[3] === 0x47) return "png";
-	if (bytes.subarray(0, 4).toString("latin1") === "RIFF" && bytes.subarray(8, 12).toString("latin1") === "WEBP") return "webp";
-	return null;
-}
-
-/** Read a raw binary request body with a hard cap. The bridge's json readBody
- *  is utf-8 and would corrupt video bytes. */
-function readVideoBody(req, limitBytes) {
-	return new Promise((resolvePromise, reject) => {
-		const chunks = [];
-		let total = 0;
-		req.on("data", (chunk) => {
-			total += chunk.length;
-			if (total > limitBytes) {
-				reject(new Error("extract-upload-too-large"));
-				req.destroy();
-				return;
-			}
-			chunks.push(chunk);
-		});
-		req.on("end", () => resolvePromise(Buffer.concat(chunks)));
-		req.on("error", (err) => reject(new Error(`request aborted: ${err.message}`)));
-	});
-}
-
-function run(command, args, { children, timeoutMs, onLine }) {
-	return new Promise((resolvePromise, reject) => {
-		const child = spawn(command, args, { detached: true, stdio: ["ignore", "pipe", "pipe"] });
-		children.add(child);
-		track(child);
-		let err = "";
-		let buffered = "";
-		const timer = timeoutMs
-			? setTimeout(() => {
-				killGroup(child);
-				reject(new Error("extract-timeout"));
-			}, timeoutMs)
-			: null;
-		const feed = (text) => {
-			buffered += text;
-			const lines = buffered.split(/[\r\n]/);
-			buffered = lines.pop() ?? "";
-			for (const line of lines) if (line) onLine?.(line);
-		};
-		child.stdout.on("data", (chunk) => feed(String(chunk)));
-		child.stderr.on("data", (chunk) => {
-			err += chunk;
-			feed(String(chunk));
-		});
-		child.on("error", (error) => {
-			if (timer) clearTimeout(timer);
-			children.delete(child);
-			reject(new Error(`spawn ${command}: ${error.message}`));
-		});
-		child.on("close", (code) => {
-			if (timer) clearTimeout(timer);
-			children.delete(child);
-			if (code === 0) resolvePromise();
-			else reject(new Error(err.split("\n").filter(Boolean).pop() || `${command} exited ${code}`));
-		});
-	});
-}
-
-/**
- * POST /ardy/extract — input is either JSON {footage:"<id>"} referencing a
- * bridge-downloaded clip, or the raw video bytes themselves. Answer ndjson:
- *   {event:"status", message}                  upload / extract / convert
- *   {event:"progress", stage:"extract", ratio} per-frame GPU movement
- *   {event:"done", motionUrl, frames, fps, quality:{pass,checks,metrics}}
- *   {event:"error", message}                   a NAMED reason
- */
-export async function handleExtract(req, res, { readBody, footagePath, registerMotion, artifactRoot = OUT_DIR }) {
-	if (!EXTRACT_BACKEND_SUPPORTED) {
-		res.writeHead(503, { "Content-Type": "application/json", "Cache-Control": "no-store" });
-		res.end(`${JSON.stringify({ ok: false, reason: "extract-backend-unsupported" })}\n`);
-		return;
-	}
-	const started = performance.now();
-	const host = sshHost();
-	const contentType = req.headers["content-type"] ?? "";
-	let localVideo = null;
-	let uploadedTemp = null;
-	let cappedTemp = null;
-	let wrappedTemp = null;
-	let stillExt = null;
-	let artifactDir = null;
-
-	if (/^application\/json\b/.test(contentType)) {
-		let body;
-		try {
-			body = JSON.parse(await readBody(req));
-		} catch (err) {
-			res.writeHead(400, { "Content-Type": "application/json" });
-			res.end(`${JSON.stringify({ ok: false, reason: err.message })}\n`);
-			return;
-		}
-		localVideo = typeof body?.footage === "string" ? footagePath(body.footage) : null;
-		if (!localVideo) {
-			res.writeHead(404, { "Content-Type": "application/json" });
-			res.end(`${JSON.stringify({ ok: false, reason: "extract-footage-unknown" })}\n`);
-			return;
-		}
-	} else {
-		let bytes;
-		try {
-			bytes = await readVideoBody(req, MAX_UPLOAD_BYTES);
-		} catch (err) {
-			res.writeHead(413, { "Content-Type": "application/json" });
-			res.end(`${JSON.stringify({ ok: false, reason: err.message })}\n`);
-			return;
-		}
-		if (bytes.length < 1024) {
-			res.writeHead(400, { "Content-Type": "application/json" });
-			res.end(`${JSON.stringify({ ok: false, reason: "extract-upload-empty" })}\n`);
-			return;
-		}
-		artifactDir = createPrivateArtifactDir(artifactRoot, "extract");
-		// A still photograph rides the same route as footage: it is sniffed by
-		// magic bytes (the browser's photo-pose path posts the file untouched)
-		// and wrapped into a short constant clip below, so GVHMR's
-		// multi-pass pipeline sees ordinary frames instead of a JPEG named .mp4.
-		stillExt = imageExtOf(bytes);
-		uploadedTemp = join(artifactDir, stillExt ? `upload.${stillExt}` : "upload.mp4");
-		writeFileSync(uploadedTemp, bytes);
-		localVideo = uploadedTemp;
-	}
-
-	res.writeHead(200, { "Content-Type": "application/x-ndjson", "Cache-Control": "no-store" });
-	const send = (obj) => {
-		if (res.writableEnded) return;
-		try {
-			res.write(`${JSON.stringify(obj)}\n`);
-		} catch {
-			/* socket gone */
-		}
-	};
-	const children = new Set();
-	const abort = new AbortController();
-	const cleanupLocal = () => {
-		if (uploadedTemp) rmSync(uploadedTemp, { force: true });
-		if (cappedTemp) rmSync(cappedTemp, { force: true });
-		if (wrappedTemp) rmSync(wrappedTemp, { force: true });
-	};
-	const cleanupFailure = () => {
-		cleanupLocal();
-		if (artifactDir) removePrivateArtifactDir(artifactDir);
-	};
-	const fail = (message) => {
-		send({ event: "error", message });
-		res.end();
-		cleanupFailure();
-	};
-	res.on("close", () => {
-		if (!res.writableEnded) {
-			abort.abort();
-			console.error(`[bridge] client disconnected mid-extract; killing ${children.size} child group(s)`);
-			for (const child of children) killGroup(child);
-			children.clear();
-			cleanupFailure();
-		}
-	});
-
-	if (!host) {
-		fail("extract-host-missing");
-		return;
-	}
-
-	// A still becomes one second of itself at a modest rate: enough identical
-	// frames for the offline pipeline's smoothing passes to settle on, few
-	// enough that the GPU cost stays near a single frame. 1280 caps upload
-	// size; -2 keeps the height even for yuv420p.
-	if (stillExt) {
-		send({ event: "status", message: "normalizing" });
-		wrappedTemp = join(artifactDir, "still.mp4");
-		try {
-			await run("ffmpeg", [
-				"-y", "-loop", "1", "-i", localVideo, "-t", "1", "-r", "12",
-				"-vf", "scale='min(1280,iw)':-2,format=yuv420p", "-an", wrappedTemp,
-			], { children, timeoutMs: 120000 });
-		} catch (err) {
-			console.error(`[bridge] still wrap failed: ${err.message}`);
-			fail("footage-normalize-failed");
-			return;
-		}
-		localVideo = wrappedTemp;
-	}
-
-	const stamp = `${Date.now()}-${randomBytes(3).toString("hex")}`;
-	const remoteVideo = `${EXTRACT_TMP}/cclay-extract-${stamp}.mp4`;
-	const remoteBvh = `${EXTRACT_TMP}/cclay-extract-${stamp}.bvh`;
-	const cleanupRemote = () => {
-		run("ssh", [...SSH_OPTS, host, `rm -rf ${remoteVideo} ${remoteBvh} ${remoteBvh.replace(/\.bvh$/, "")}_*.bvh ${remoteBvh.replace(/\.bvh$/, ".npz")} /tmp/cclay-gvhmr-${stamp}`], {
-			children: new Set(),
-			timeoutMs: 30000,
-		}).catch(() => {});
-	};
-
-	// Both intake routes converge here, and only here is the rate GVHMR will see
-	// certain: a bridge download was already normalized at the same ceiling
-	// (so this probes ≤ the cap and re-encodes nothing — a second encode would
-	// cost a generation of quality for no frames removed), while raw bytes
-	// posted from the browser are whatever the user's camera shot. Frame rate
-	// only: the clip keeps its length and its speed.
-	artifactDir ??= createPrivateArtifactDir(artifactRoot, "extract");
-	// Claimed before the pass runs, not after it succeeds: a half-written file
-	// from an ffmpeg that died mid-encode has to be swept too, and the rm is a
-	// no-op when the pass never wrote anything.
-	cappedTemp = join(artifactDir, "capped.mp4");
-	try {
-		const conformed = await conformToExtractFps(localVideo, cappedTemp, {
-			children,
-			onCap: (fps) => {
-				send({ event: "status", message: "normalizing" });
-				console.error(`[bridge] extract input capped to ${fps} fps (ceiling ${EXTRACT_FPS_MAX})`);
-			},
-			onProgress: (ratio) => send({ event: "progress", stage: "normalize", ratio }),
-		});
-		if (conformed.capped) {
-			localVideo = conformed.path;
-		} else if (conformed.fps === null) {
-			console.error("[bridge] extract input rate unreadable; sending it to the box as it is");
-		}
-	} catch (err) {
-		console.error(`[bridge] extract fps cap failed: ${err.message}`);
-		// The same ffmpeg pass the download path runs, so the same named
-		// reason — the UI already tells the user a conversion is what broke.
-		fail("footage-normalize-failed");
-		return;
-	}
-
-	try {
-		send({ event: "status", message: "uploading" });
-		await run("scp", [...SCP_OPTS, localVideo, `${host}:${remoteVideo}`], { children, timeoutMs: 300000 });
-	} catch (err) {
-		console.error(`[bridge] extract upload failed: ${err.message}`);
-		fail("extract-upload-failed");
-		return;
-	}
-
-	// GVHMR runs on the remote GPU box with temporal context and writes the
-	// SMPL NPZ that the browser retargets to cskel27. Backend validation at the
-	// handler boundary makes this the only reachable extraction command.
-	send({ event: "status", message: "extracting" });
-	const gvhmr = EXTRACT_BACKEND === "gvhmr";
-	const remoteNpz = remoteBvh.replace(/\.bvh$/, ".npz");
-	let extractionPerformance = null;
-	try {
-		const remoteCommand = `cd ${GVHMR_DIR} && .venv/bin/python cclay_gvhmr_extract.py ${remoteVideo} ${remoteNpz} ` +
-				`${gvhmrRunnerArgs({ staticCam: GVHMR_STATIC_CAM, detector: GVHMR_DETECTOR, keypoints: GVHMR_KEYPOINTS }).join(" ")}` +
-				` --out-root /tmp/cclay-gvhmr-${stamp}`;
-		const runOptions = {
-				children,
-				timeoutMs: EXTRACT_TIMEOUT_MS,
-				onLine: (line) => {
-					// "[pass1]   120 / 514 frames  (eta ~3 s)" — pass1 is the
-					// GPU inference and dominates the wall clock.
-					const progress = /\[pass1\]\s+(\d+)\s*\/\s*(\d+) frames/.exec(line);
-					if (progress && Number(progress[2]) > 0) {
-						send({ event: "progress", stage: "extract", ratio: Math.min(1, Number(progress[1]) / Number(progress[2])) });
-					}
-					// GVHMR's runner logs "[cclay] stage <name>" — four preprocess
-					// stages then the model; a coarse ratio is better than none.
-					const stage = /\[cclay\] stage (\w+)/.exec(line);
-					if (stage) {
-						const order = ["track", "vitpose", "features", "camera", "gvhmr", "joints"];
-						const at = order.indexOf(stage[1]);
-						if (at >= 0) send({ event: "progress", stage: "extract", ratio: at / order.length });
-					}
-				},
-		};
-		if (gvhmr && GVHMR_WORKER) {
-			extractionPerformance = await gvhmrWorker({ host, sshOptions: SSH_OPTS, scpOptions: SCP_OPTS }).run({
-				video: remoteVideo, output: remoteNpz, outRoot: `/tmp/cclay-gvhmr-${stamp}`, staticCam: GVHMR_STATIC_CAM,
-				detector: GVHMR_DETECTOR, keypoints: GVHMR_KEYPOINTS, trajectory: GVHMR_TRAJECTORY, smoothSigma: GVHMR_SMOOTH_SIGMA,
-			}, { signal: abort.signal, timeoutMs: EXTRACT_TIMEOUT_MS, onLine: runOptions.onLine });
-			console.error(`[bridge] GVHMR performance ${JSON.stringify(extractionPerformance)}`);
-		} else {
-			await run("ssh", [...SSH_OPTS, host, remoteCommand], runOptions);
-		}
-	} catch (err) {
-		console.error(`[bridge] extract run failed: ${err.message}`);
-		cleanupRemote();
-		fail(err.message === "extract-worker-busy" ? err.message : "extract-run-failed");
-		return;
-	}
-
-	send({ event: "status", message: "converting" });
-	// One BVH per tracked person. Person 0 must exist; person 1 is optional
-	// (a single-person clip yields one file, and that is not an error).
-	const motions = [];
-	const qualityReports = [];
-	if (gvhmr) {
-		// GVHMR's demo tracker follows ONE person, so exactly one npz comes back.
-		const localNpz = join(artifactDir, "gvhmr.npz");
-		try {
-			await run("scp", [...SCP_OPTS, `${host}:${remoteNpz}`, localNpz], { children, timeoutMs: 120000 });
-		} catch (err) {
-			console.error(`[bridge] extract fetch failed: ${err.message}`);
-			cleanupRemote();
-			fail("extract-no-person");
-			return;
-		}
-		try {
-			// GVHMR's temporal model supplies the pose, while this small centred
-			// pass removes one-frame segmentation spikes before the browser sees
-			// the take. Fast motion is retained by reducing the blend at speed.
-			// anchorFeet re-integrates the root so the stance foot stays put:
-			// GVHMR under-scales the stride on rendered clips (measured on the
-			// v13c walk: 30 cm/s of stance slide → 8 with the anchor, #380).
-			const converted = stabilizeMotion(smplToCskel27Motion(readNpz(localNpz)), {
-				enabled: process.env.CCLAY_GVHMR_SMOOTHING?.trim() !== "0",
-				smoothRotations: process.env.CCLAY_GVHMR_ROTATION_SMOOTHING?.trim() !== "0",
-				anchorFeet: process.env.CCLAY_GVHMR_ANCHOR_FEET?.trim() !== "0",
-			});
-			const guarded = guardTrajectoryFloor(converted, extractionPerformance?.trajectory?.events ?? []);
-			motions.push(guarded.motion);
-			qualityReports.push(qualityReportForMotion(guarded.motion));
-			if (extractionPerformance?.trajectory?.events?.length) extractionPerformance.trajectory.floor = guarded.diagnostics;
-		} catch (err) {
-			console.error(`[bridge] extract convert failed (gvhmr): ${err.message}`);
-			cleanupRemote();
-			fail("extract-convert-failed");
-			return;
-		} finally {
-			rmSync(localNpz, { force: true });
-		}
-	}
-	for (let person = 0; person < (gvhmr ? 0 : 2); person += 1) {
-		const localBvh = join(artifactDir, `person-${person}.bvh`);
-		try {
-			await run("scp", [...SCP_OPTS, `${host}:${remoteBvh.replace(/\.bvh$/, "")}_${person}.bvh`, localBvh], {
-				children,
-				timeoutMs: 120000,
-			});
-		} catch (err) {
-			if (person === 0) {
-				console.error(`[bridge] extract fetch failed: ${err.message}`);
-				cleanupRemote();
-				fail("extract-no-person");
-				return;
-			}
-			break;
-		}
-		try {
-			const motion = bvhToCskel27Motion(parseBvh(readFileSync(localBvh, "utf8")));
-			motions.push(motion);
-			qualityReports.push(qualityReportForMotion(motion));
-		} catch (err) {
-			console.error(`[bridge] extract convert failed (person ${person}): ${err.message}`);
-			if (person === 0) {
-				cleanupRemote();
-				fail("extract-convert-failed");
-				return;
-			}
-		} finally {
-			rmSync(localBvh, { force: true });
-		}
-	}
-	cleanupRemote();
-	cleanupLocal();
-
-	const takes = [];
-	for (let person = 0; person < motions.length; person += 1) {
-		const motion = motions[person];
-		const id = person === 0 ? stamp : `${Date.now()}-${randomBytes(3).toString("hex")}`;
-		const npzPath = join(artifactDir, `motion-${person}.npz`);
-		try {
-			// motion.personScale goes into the archive as `person_scale`: the
-			// conversion divided this person's root travel by it, so the take
-			// is only metrically right when the character is scaled by the same
-			// number. Shipping it in the response alone would let a reload —
-			// or any other path to the same npz — replay the stride at
-			// canonical size. The response keeps the field for older clients.
-			writeNpz(npzPath, motionArraysToNpzMembers(motion));
-		} catch (err) {
-			console.error(`[bridge] extract npz write failed (person ${person}): ${err.message}`);
-			if (person === 0) {
-				fail("extract-convert-failed");
-				return;
-			}
-			continue;
-		}
-		registerMotion(id, npzPath);
-		takes.push({
-			motionUrl: `/ardy/motions/${id}`,
-			frames: motion.frames,
-			fps: motion.fps,
-			personScale: motion.personScale,
-			...(motion.stabilization ? { stabilization: motion.stabilization } : {}),
-			quality: qualityReports[person],
-			...(extractionPerformance?.segmentation ? { segmentation: extractionPerformance.segmentation } : {}),
-			// person 1's placement RELATIVE to person 0, in the shared raw
-			// camera space (real metres, X/Z on the floor plane).
-			offsetX: person === 0 ? 0 : motion.rawRootStart[0] - motions[0].rawRootStart[0],
-			offsetZ: person === 0 ? 0 : motion.rawRootStart[2] - motions[0].rawRootStart[2],
-		});
-	}
-	send({
-		event: "done",
-		motionUrl: takes[0].motionUrl,
-		frames: takes[0].frames,
-		fps: takes[0].fps,
-		personScale: takes[0].personScale,
-		quality: qualityReports[0],
-		...(extractionPerformance?.segmentation ? { segmentation: extractionPerformance.segmentation } : {}),
-		takes,
-		...(extractionPerformance ? { performance: { ...extractionPerformance, totalSeconds: (performance.now() - started) / 1000 } } : {}),
-	});
-	res.end();
-}