feat: finalize corrected-route planning and Rerun recording review

tests/test_rrd_export.py

@@ -25,9 +25,6 @@ from k1link.device_plugins.xgrids_k1.rrd_export import (
     RECORDED_POINTS_VISUALIZER_ID,
     RECORDED_ROOT_CONTAINER_ID,
     RECORDED_SPATIAL_VIEW_ID,
-    RECORDED_VIEW_POINT_DECIMATION_THRESHOLD,
-    RECORDED_VIEW_POINT_FRAME_STRIDE,
-    RECORDED_VIEW_POINT_STRIDE,
     SESSION_TIMELINE,
     RrdExportCancelled,
     RrdExportError,
@@ -59,9 +56,8 @@ def _point_payload(x: float) -> bytes:
     )
 
 
-def test_recorded_operator_projection_thins_only_dense_point_batches() -> None:
-    assert RECORDED_VIEW_POINT_FRAME_STRIDE == 5
-    count = RECORDED_VIEW_POINT_DECIMATION_THRESHOLD + 3
+def test_recorded_operator_projection_preserves_all_points_and_attributes() -> None:
+    count = 100_003
     positions = export_module.np.arange(
         count * 3,
         dtype=export_module.np.float32,
@@ -78,16 +74,16 @@ def test_recorded_operator_projection_thins_only_dense_point_batches() -> None:
     assert projected_rgb is not None
     assert export_module.np.array_equal(
         projected_positions,
-        positions[::RECORDED_VIEW_POINT_STRIDE],
+        positions,
     )
     assert export_module.np.array_equal(
         projected_intensities,
-        intensities[::RECORDED_VIEW_POINT_STRIDE],
+        intensities,
     )
-    assert export_module.np.array_equal(projected_rgb, rgb[::RECORDED_VIEW_POINT_STRIDE])
+    assert export_module.np.array_equal(projected_rgb, rgb)
 
-    small_positions = positions[:RECORDED_VIEW_POINT_DECIMATION_THRESHOLD]
-    small_intensities = intensities[:RECORDED_VIEW_POINT_DECIMATION_THRESHOLD]
+    small_positions = positions[:2400]
+    small_intensities = intensities[:2400]
     same_positions, same_intensities, no_rgb = _recorded_view_points(
         small_positions,
         small_intensities,
@@ -98,18 +94,54 @@ def test_recorded_operator_projection_thins_only_dense_point_batches() -> None:
     assert no_rgb is None
 
 
-def test_recorded_operator_projection_uses_stable_two_hz_point_cadence() -> None:
+def test_recorded_operator_projection_preserves_every_point_frame() -> None:
     published = [
         frame_number
         for frame_number in range(1, 13)
         if _should_publish_recorded_point_frame(frame_number)
     ]
 
-    assert published == [1, 6, 11]
+    assert published == list(range(1, 13))
     with pytest.raises(ValueError, match="positive"):
         _should_publish_recorded_point_frame(0)
 
 
+def test_export_logs_every_frame_not_just_counts_them(tmp_path: Path, monkeypatch) -> None:
+    capture = _write_capture(tmp_path, [
+        ("RealtimePointcloud", _point_payload(float(index)), index * 100_000_000)
+        for index in range(12)
+    ])
+    logged_counts = []
+    original_log_points = export_module._log_points
+
+    def log_points(recording, frame, settings, **kwargs):
+        logged_counts.append(frame.point_count)
+        return original_log_points(recording, frame, settings, **kwargs)
+
+    monkeypatch.setattr(export_module, "_log_points", log_points)
+    summary = export_k1mqtt_to_rrd(capture, tmp_path / "all-frames.rrd")
+    assert logged_counts == [1] * 12
+    assert sum(logged_counts) == summary["points"]
+
+
+def test_thirty_minute_settings_keep_small_screen_space_points() -> None:
+    blueprint = viewer_recorded_blueprint(
+        RerunSceneSettings(point_size=0.5, accumulation_seconds=1800),
+        update_eye_controls=False,
+    )
+    spatial_view = blueprint.root_container.contents[0]
+    _, visualizer, ranges = spatial_view.visualizer_overrides["/world/points"]
+    values = {
+        str(batch.component_descriptor()): batch.as_arrow_array().to_pylist()
+        for batch in visualizer.overrides
+    }
+    assert values["Points3D:radii"] == [-0.5]
+    assert ranges.ranges.as_arrow_array().to_pylist()[0]["range"] == {
+        "start": -1_800_000_000_000, "end": 0,
+    }
+    assert "EyeControls3D" not in spatial_view.properties
+
+
 def _pose_payload(x: float) -> bytes:
     return struct.pack("<ffffffff", x, 2.0, 3.0, 99.0, 1.0, 0.0, 0.0, 0.0)