feat(perception): add camera ego-motion evidence

src/k1link/compute/__init__.py

@@ -35,6 +35,7 @@ from .jobs import (
     validate_camera_compute_job,
 )
 from .lab_instances import (
+    PublishedCameraEgoMotionLabInstance,
     PublishedIntegratedLabInstance,
     PublishedPersistentSupportLabInstance,
     PublishedTemporalLabInstance,
@@ -44,6 +45,7 @@ from .lab_instances import (
     publish_e23_lab_instance,
     publish_e24_lab_instance,
     publish_e25_lab_instance,
+    publish_e26_lab_instance,
     publish_integrated_lab_instance,
 )
 from .live_perception import (
@@ -122,6 +124,7 @@ __all__ = [
     "LivePerceptionIngress",
     "IntegratedPerceptionOverlayStore",
     "PublishedIntegratedLabInstance",
+    "PublishedCameraEgoMotionLabInstance",
     "PublishedPersistentSupportLabInstance",
     "PublishedTemporalLabInstance",
     "PublishedWorldMotionLabInstance",
@@ -158,6 +161,7 @@ __all__ = [
     "publish_e23_lab_instance",
     "publish_e24_lab_instance",
     "publish_e25_lab_instance",
+    "publish_e26_lab_instance",
     "publish_integrated_lab_instance",
     "validate_multirate_perception_qualification_result",
     "prepare_recorded_qualification_slice",

src/k1link/compute/lab_instances.py

@@ -22,6 +22,10 @@ from k1link.sessions import (
     publish_lab_replay_cache,
 )
 
+from .camera_ego_motion import (
+    CameraEgoMotionBuild,
+    build_camera_ego_motion_result,
+)
 from .inline_temporal import StreamingSemanticStabilizer, read_inline_profile
 from .integrated_perception import (
     IntegratedPerceptionResult,
@@ -71,6 +75,14 @@ class PublishedPersistentSupportLabInstance:
     build: PersistentSupportBuild
 
 
+@dataclass(frozen=True, slots=True)
+class PublishedCameraEgoMotionLabInstance:
+    binding: LabSessionBinding
+    job: CameraComputeJob
+    result: IntegratedPerceptionResult
+    build: CameraEgoMotionBuild
+
+
 def publish_integrated_lab_instance(
     *,
     repository_root: Path,
@@ -709,6 +721,144 @@ def publish_e25_lab_instance(
     )
 
 
+def publish_e26_lab_instance(
+    *,
+    repository_root: Path,
+    lidar_result_root: Path,
+    camera_result_root: Path,
+    profile_path: Path,
+    benchmark_path: Path,
+    lab_session_id: str,
+    lab_id: str,
+    display_name: str,
+) -> PublishedCameraEgoMotionLabInstance:
+    """Derive and publish one bounded camera/ego-motion evidence LAB run."""
+
+    root = repository_root.expanduser().resolve(strict=True)
+    jobs_root = root / ".runtime" / "compute-jobs"
+    results_root = root / ".runtime" / "compute-experiments" / "e10" / "worker-results"
+    packs_root = root / ".runtime" / "compute-experiments" / "e10" / "lidar-packs"
+
+    def source(path: Path, label: str) -> IntegratedPerceptionResult:
+        resolved = path.expanduser().resolve(strict=True)
+        document = _read_object(resolved / "result.json", resolved)
+        identity = document.get("identity")
+        if not isinstance(identity, dict) or not isinstance(identity.get("job_id"), str):
+            raise SessionIntegrityError(f"E26 {label} source has no job identity")
+        validated = validate_integrated_perception_result(
+            jobs_root / identity["job_id"],
+            resolved,
+            packs_root,
+        )
+        if not validated.accepted:
+            raise SessionIntegrityError(f"E26 {label} source result is not accepted")
+        return validated
+
+    lidar_source = source(lidar_result_root, "LiDAR")
+    camera_source = source(camera_result_root, "camera")
+    if lidar_source.job.source_id != camera_source.job.source_id:
+        raise SessionIntegrityError("E26 source camera identities differ")
+
+    lab_job = _publish_lab_job(lidar_source.job, jobs_root, lab_session_id)
+    lab_pack = _publish_lab_pack(
+        lidar_source,
+        lab_job,
+        packs_root,
+        lab_session_id,
+    )
+    build = build_camera_ego_motion_result(
+        lidar_source=lidar_source,
+        camera_source=camera_source,
+        lab_job=lab_job,
+        lab_pack=lab_pack,
+        results_root=results_root,
+        profile_path=profile_path,
+        benchmark_path=benchmark_path,
+    )
+    validated = validate_integrated_perception_result(
+        lab_job.job_root,
+        build.result_root,
+        packs_root,
+    )
+    if not validated.accepted:
+        failed = [
+            name
+            for name, accepted in build.report["acceptance"]["checks"].items()
+            if not accepted
+        ]
+        raise SessionIntegrityError(
+            f"E26 camera/ego-motion artifact acceptance failed: {', '.join(failed)}"
+        )
+
+    store = SessionStore(root)
+    source_lab = store.get_lab_instance(lidar_source.job.session_id)
+    source_session_id = (
+        lidar_source.job.session_id
+        if source_lab is None
+        else source_lab.source_session_id
+    )
+    publish_lab_replay_cache(
+        store.data_dir,
+        source_session_id=source_session_id,
+        lab_session_id=lab_session_id,
+        timeline_start_ns=round(
+            validated.timeline_start_seconds * 1_000_000_000
+        ),
+        timeline_end_ns=round(
+            validated.timeline_end_seconds * 1_000_000_000
+        ),
+    )
+    metrics = build.report["metrics"]
+    binding = store.publish_lab_instance(
+        session_id=lab_session_id,
+        source_session_id=source_session_id,
+        display_name=display_name,
+        lab_id=lab_id,
+        result_kind="e26-camera-ego-motion-fusion",
+        result_id=validated.result_id,
+        source_result_id=lidar_source.result_id,
+        config_sha256=build.profile_sha256,
+        run_created_at_utc=validated.created_at_utc,
+        duration_seconds=(
+            validated.timeline_end_seconds
+            - validated.timeline_start_seconds
+        ),
+        include_recorded_media=False,
+        provenance={
+            "schema_version": "missioncore.e26-lab-publication/v1",
+            "storage_mode": (
+                "bounded-camera-ego-motion-and-immutable-lidar-source-replay"
+            ),
+            "source_result_id": lidar_source.result_id,
+            "camera_source_result_id": camera_source.result_id,
+            "source_lab_session_id": (
+                None if source_lab is None else source_lab.session_id
+            ),
+            "source_payloads_mutated": False,
+            "coordinate_frame": "k1-map",
+            "camera_measurement": "kb4-multiview-static-world-hypothesis",
+            "metric_measurement": "e25-persistent-lidar-support",
+            "lookahead_frames": 0,
+            "benchmark_sha256": build.benchmark_sha256,
+            "benchmark_passed": metrics["benchmark"]["passed"],
+            "benchmark_passed_events": metrics["benchmark"]["passed_events"],
+            "benchmark_total_events": metrics["benchmark"]["total_events"],
+            "camera_ego_motion_processing_p95_ms": metrics["runtime"][
+                "camera_ego_motion_frame_processing_ms"
+            ]["p95"],
+            "peak_tracks": metrics["runtime"]["peak_tracks"],
+            "camera_only_metric_velocity_valid": False,
+            "navigation_or_safety_accepted": False,
+        },
+    )
+    return PublishedCameraEgoMotionLabInstance(
+        binding=binding,
+        job=lab_job,
+        result=validated,
+        build=build,
+    )
+
+
 def _validate_e23_inputs(
     worker_root: Path,
     source_report_path: Path,