feat(perception): project recorded results into Rerun

src/k1link/device_plugins/xgrids_k1/rrd_export.py

@@ -8,7 +8,7 @@ from collections.abc import Callable
 from contextlib import suppress
 from dataclasses import dataclass
 from pathlib import Path
-from typing import TypedDict
+from typing import Literal, TypedDict
 from uuid import UUID, uuid4
 
 import numpy as np
@@ -60,7 +60,9 @@ JS_MAX_SAFE_INTEGER = (1 << 53) - 1
 RECORDED_SPATIAL_VIEW_ID = UUID("5f5f11d5-3b0a-4a81-887b-2be767cba1c0")
 RECORDED_ROOT_CONTAINER_ID = UUID("b02f2aca-8471-4dcb-b786-53df5a320fc8")
 RECORDED_POINTS_VISUALIZER_ID = UUID("ca037ec0-8761-4417-86ee-846fa2875303")
+RECORDED_CAMERA_VIEW_ID = UUID("5c1db75b-07cd-479a-903d-f4f2ed554513")
 RECORDED_METRICS_VIEW_ID = UUID("f973fc11-0867-4732-ad3c-97008621fab7")
+RecordedView = Literal["spatial", "perception", "metrics"]
 
 
 class RrdExportSummary(TypedDict):
@@ -496,6 +498,7 @@ def _recorded_blueprint(
     settings: RerunSceneSettings,
     *,
     include_initial_playback_state: bool = True,
+    active_view: RecordedView = "spatial",
 ) -> rrb.Blueprint:
     accumulation = max(0.0, settings.accumulation_seconds)
     # An omitted range means Rerun's native latest-at query: the most recent
@@ -551,12 +554,24 @@ def _recorded_blueprint(
         time_ranges=time_ranges,
     )
     spatial_view.id = RECORDED_SPATIAL_VIEW_ID
+    camera_view = rrb.Spatial2DView(
+        origin="/perception/camera",
+        name="Камера · распознавание",
+        background=[7, 8, 10, 255],
+    )
+    camera_view.id = RECORDED_CAMERA_VIEW_ID
     metrics_view = rrb.TimeSeriesView(
         origin="/metrics/device",
         name="Маршрут и время",
     )
     metrics_view.id = RECORDED_METRICS_VIEW_ID
-    root_container = rrb.Tabs(spatial_view, metrics_view, active_tab=0)
+    active_tab = {"spatial": 0, "perception": 1, "metrics": 2}[active_view]
+    root_container = rrb.Tabs(
+        spatial_view,
+        camera_view,
+        metrics_view,
+        active_tab=active_tab,
+    )
     root_container.id = RECORDED_ROOT_CONTAINER_ID
 
     if include_initial_playback_state: