feat(perception): project recorded results into Rerun

src/k1link/viewer/recorded.py

@@ -3,6 +3,7 @@
 from __future__ import annotations
 
 from contextlib import suppress
+from typing import Literal
 from uuid import UUID
 
 import rerun as rr
@@ -16,6 +17,9 @@ SESSION_TIMELINE = "session_time"
 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 RecordedBlueprintError(RuntimeError):
@@ -26,6 +30,7 @@ def recorded_blueprint(
     settings: RerunSceneSettings,
     *,
     include_initial_playback_state: bool = True,
+    active_view: RecordedView = "spatial",
 ) -> rrb.Blueprint:
     accumulation = max(0.0, settings.accumulation_seconds)
     time_ranges: list[rr.VisibleTimeRange] | None = None
@@ -67,7 +72,24 @@ def recorded_blueprint(
         time_ranges=time_ranges,
     )
     spatial_view.id = RECORDED_SPATIAL_VIEW_ID
-    root_container = rrb.Tabs(spatial_view)
+    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
+    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:
@@ -95,6 +117,7 @@ def recorded_blueprint_rrd(
     *,
     application_id: str = APPLICATION_ID,
     recording_id: str,
+    active_view: RecordedView = "spatial",
 ) -> bytes:
     """Serialize a bounded active blueprint update without recorded data."""
 
@@ -109,6 +132,7 @@ def recorded_blueprint_rrd(
             recorded_blueprint(
                 settings,
                 include_initial_playback_state=False,
+                active_view=active_view,
             ),
             make_active=True,
             make_default=False,