Preserve recorded camera orbit when toggling follow

src/k1link/viewer/recorded.py

@@ -19,8 +19,6 @@ SESSION_TIMELINE = "session_time"
 
 RECORDED_SPATIAL_VIEW_ID = UUID("5f5f11d5-3b0a-4a81-887b-2be767cba1c0")
 RECORDED_SPATIAL_RESET_VIEW_ID = UUID("1480abcc-a0ae-4287-ab69-4b606d15d947")
-RECORDED_SPATIAL_FOLLOW_VIEW_ID = UUID("e96acd7f-1bb8-49e2-bff8-a661e5c6ceab")
-RECORDED_SPATIAL_FOLLOW_RESET_VIEW_ID = UUID("f409403d-84ac-4309-82aa-501fc69905f5")
 RECORDED_ROOT_CONTAINER_ID = UUID("b02f2aca-8471-4dcb-b786-53df5a320fc8")
 RECORDED_SPATIAL_RESET_ROOT_CONTAINER_ID = UUID("27d95ad7-1e72-46ca-b854-d02cd99b7610")
 RECORDED_PERCEPTION_ROOT_CONTAINER_ID = UUID("70ea9fd5-bbbb-4b23-8ae8-8098af92b997")
@@ -35,8 +33,6 @@ RECORDED_CAMERA_VIEW_ID = UUID("5c1db75b-07cd-479a-903d-f4f2ed554513")
 RECORDED_CAMERA_RESET_VIEW_ID = UUID("d0618e0c-c889-4222-a643-60a4a882935c")
 RECORDED_PERCEPTION_3D_VIEW_ID = UUID("0496bd2e-2b4d-4a4f-87b8-3ce4f9f7e114")
 RECORDED_PERCEPTION_3D_RESET_VIEW_ID = UUID("31f63ab8-ffdd-4751-ae40-e8e7b4462c8f")
-RECORDED_PERCEPTION_3D_FOLLOW_VIEW_ID = UUID("6bb43236-9507-4e8f-bc54-3a73b31c07b5")
-RECORDED_PERCEPTION_3D_FOLLOW_RESET_VIEW_ID = UUID("0e01e3c6-8b7b-47aa-b22b-e413301599eb")
 RECORDED_METRICS_VIEW_ID = UUID("f973fc11-0867-4732-ad3c-97008621fab7")
 RECORDED_UNIFIED_ROOT_CONTAINER_ID = UUID("e9934ef8-453f-432e-9136-2b0908190253")
 RECORDED_UNIFIED_RESET_ROOT_CONTAINER_ID = UUID("2781407d-9f4e-4405-86e8-bbe6065e83df")
@@ -218,21 +214,20 @@ def recorded_blueprint(
         # Log an explicit empty range set so a previous accumulated blueprint
         # for this stable view id is cleared instead of surviving in Rerun.
         time_ranges=rrb.VisibleTimeRanges([]),
-        eye_controls=(
+        # Follow is a property of the same operator eye, not another view.
-            rrb.EyeControls3D(
+        # Keeping the view id stable preserves the current orbit offset when
-                kind=rrb.Eye3DKind.Orbital,
+        # tracking is toggled. An explicit empty path clears tracking without
-                tracking_entity="/world/sensor_pose",
+        # overwriting the position/look-target saved by user interaction.
-            )
+        eye_controls=rrb.EyeControls3D.from_fields(
-            if follow_trajectory
+            kind=rrb.Eye3DKind.Orbital if follow_trajectory else None,
-            else None
+            tracking_entity="/world/sensor_pose" if follow_trajectory else "",
         ),
     )
-    spatial_view.id = {
+    spatial_view.id = (
-        (False, 0): RECORDED_SPATIAL_VIEW_ID,
+        RECORDED_SPATIAL_RESET_VIEW_ID
-        (False, 1): RECORDED_SPATIAL_RESET_VIEW_ID,
+        if view_reset_generation
-        (True, 0): RECORDED_SPATIAL_FOLLOW_VIEW_ID,
+        else RECORDED_SPATIAL_VIEW_ID
-        (True, 1): RECORDED_SPATIAL_FOLLOW_RESET_VIEW_ID,
+    )
-    }[(follow_trajectory, view_reset_generation)]
     camera_view = rrb.Spatial2DView(
         origin="/perception/camera",
         name="Оригинальное видео · слои AI",
@@ -279,21 +274,16 @@ def recorded_blueprint(
             # native cloud from /world/points.
             "/world/perception/lidar": rrb.EntityBehavior(visible=False),
         },
-        eye_controls=(
+        eye_controls=rrb.EyeControls3D.from_fields(
-            rrb.EyeControls3D(
+            kind=rrb.Eye3DKind.Orbital if follow_trajectory else None,
-                kind=rrb.Eye3DKind.Orbital,
+            tracking_entity="/world/sensor_pose" if follow_trajectory else "",
-                tracking_entity="/world/sensor_pose",
-            )
-            if follow_trajectory
-            else None
         ),
     )
-    perception_3d_view.id = {
+    perception_3d_view.id = (
-        (False, 0): RECORDED_PERCEPTION_3D_VIEW_ID,
+        RECORDED_PERCEPTION_3D_RESET_VIEW_ID
-        (False, 1): RECORDED_PERCEPTION_3D_RESET_VIEW_ID,
+        if view_reset_generation
-        (True, 0): RECORDED_PERCEPTION_3D_FOLLOW_VIEW_ID,
+        else RECORDED_PERCEPTION_3D_VIEW_ID
-        (True, 1): RECORDED_PERCEPTION_3D_FOLLOW_RESET_VIEW_ID,
+    )
-    }[(follow_trajectory, view_reset_generation)]
     metrics_view = rrb.TimeSeriesView(
         origin="/metrics/device",
         name="Маршрут и время",

tests/test_rrd_export.py

@@ -37,9 +37,6 @@ from k1link.device_plugins.xgrids_k1.rrd_export import (
     export_k1mqtt_to_rrd,
     recorded_blueprint_rrd,
 )
-from k1link.viewer.recorded import (
-    RECORDED_SPATIAL_FOLLOW_VIEW_ID,
-)
 from k1link.viewer.recorded import (
     recorded_blueprint as viewer_recorded_blueprint,
 )
@@ -453,7 +450,7 @@ def test_viewer_blueprint_reset_is_bounded_and_recreates_render_views() -> None:
     assert perception_behavior.visible.as_arrow_array().to_pylist() == [False]
 
 
-def test_recorded_follow_mode_tracks_sensor_pose_with_an_independent_orbital_eye() -> None:
+def test_recorded_follow_mode_tracks_sensor_pose_with_the_same_orbital_eye() -> None:
     normal = viewer_recorded_blueprint(
         RerunSceneSettings(),
         include_initial_playback_state=False,
@@ -471,16 +468,23 @@ def test_recorded_follow_mode_tracks_sensor_pose_with_an_independent_orbital_eye
 
     normal_view = normal.root_container.contents[0]
     followed_view = followed.root_container.contents[0]
+    normal_eye = normal_view.properties["EyeControls3D"]
     followed_eye = followed_view.properties["EyeControls3D"]
+    normal_components = {
+        str(batch.component_descriptor()): batch.as_arrow_array().to_pylist()
+        for batch in normal_eye.as_component_batches()
+    }
     followed_components = {
         str(batch.component_descriptor()): batch.as_arrow_array().to_pylist()
         for batch in followed_eye.as_component_batches()
     }
 
-    assert "EyeControls3D" not in normal_view.properties
+    assert followed_view.id == RECORDED_SPATIAL_VIEW_ID
-    assert followed_view.id == RECORDED_SPATIAL_FOLLOW_VIEW_ID
+    assert followed_again.root_container.contents[0].id == RECORDED_SPATIAL_VIEW_ID
-    assert followed_again.root_container.contents[0].id == RECORDED_SPATIAL_FOLLOW_VIEW_ID
+    assert followed_view.id == normal_view.id
-    assert followed_view.id != normal_view.id
+    assert normal_components == {
+        "EyeControls3D:tracking_entity": [""],
+    }
     assert followed_components == {
         "EyeControls3D:kind": [2],
         "EyeControls3D:tracking_entity": ["/world/sensor_pose"],