feat(perception): add ground-aware cuboid refusion

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 Literal, TypedDict
+from typing import Any, Literal, TypedDict
 from uuid import UUID, uuid4
 
 import numpy as np
@@ -534,6 +534,19 @@ def _recorded_blueprint(
         ),
     ).visualizer()
     point_visualizer.id = RECORDED_POINTS_VISUALIZER_ID
+    accumulated_time_ranges = (
+        rrb.VisibleTimeRanges(time_ranges) if time_ranges is not None else None
+    )
+    point_overrides: list[Any] = [
+        rrb.EntityBehavior(visible=settings.show_points),
+        point_visualizer,
+    ]
+    trajectory_overrides: list[Any] = [
+        rrb.EntityBehavior(visible=settings.show_trajectory),
+    ]
+    if accumulated_time_ranges is not None:
+        point_overrides.append(accumulated_time_ranges)
+        trajectory_overrides.append(accumulated_time_ranges)
     spatial_view = rrb.Spatial3DView(
         origin="/world",
         name="Пространственная сцена",
@@ -548,21 +561,17 @@ def _recorded_blueprint(
             # therefore hide/reveal already-recorded entities without
             # rewriting the data RRD. Keep the point visualizer alongside it
             # so size/color overrides remain active for the same entity.
-            "/world/points": [
-                rrb.EntityBehavior(visible=settings.show_points),
-                point_visualizer,
-            ],
-            "/world/trajectory": rrb.EntityBehavior(
-                visible=settings.show_trajectory,
-            ),
+            "/world/points": point_overrides,
+            "/world/trajectory": trajectory_overrides,
             # Dynamic perception must not inherit the mapping view's
             # historical accumulation window. It is rendered latest-at in
             # the dedicated perception view below.
             "/world/perception": rrb.EntityBehavior(visible=False),
         },
-        # A positive window accumulates historical frames.  With no
-        # window, latest-at deliberately keeps one current LiDAR frame.
-        time_ranges=time_ranges,
+        # Clear any prior view-level accumulation and scope the operator's
+        # history window to mapping entities above. Dynamic perception then
+        # remains latest-at even when both layers share this world view.
+        time_ranges=rrb.VisibleTimeRanges([]),
     )
     spatial_view.id = RECORDED_SPATIAL_VIEW_ID
     camera_view = rrb.Spatial2DView(
@@ -599,9 +608,7 @@ def _recorded_blueprint(
         name="Маршрут и время",
     )
     metrics_view.id = RECORDED_METRICS_VIEW_ID
-    active_tab = {"spatial": 0, "perception": 1, "perception3d": 2, "metrics": 3}[
-        active_view
-    ]
+    active_tab = {"spatial": 0, "perception": 1, "perception3d": 2, "metrics": 3}[active_view]
     root_container = rrb.Tabs(
         spatial_view,
         camera_view,

src/k1link/viewer/recorded.py

@@ -21,15 +21,11 @@ RECORDED_SPATIAL_RESET_ROOT_CONTAINER_ID = UUID("27d95ad7-1e72-46ca-b854-d02cd99
 RECORDED_PERCEPTION_ROOT_CONTAINER_ID = UUID("70ea9fd5-bbbb-4b23-8ae8-8098af92b997")
 RECORDED_PERCEPTION_RESET_ROOT_CONTAINER_ID = UUID("d2196c6e-99da-4402-857c-4daea0dd3ae0")
 RECORDED_PERCEPTION_3D_ROOT_CONTAINER_ID = UUID("81051015-9808-413b-90a4-1cfaacacbc4f")
-RECORDED_PERCEPTION_3D_RESET_ROOT_CONTAINER_ID = UUID(
-    "3de10822-0274-4a58-8d45-f35d86625303"
-)
+RECORDED_PERCEPTION_3D_RESET_ROOT_CONTAINER_ID = UUID("3de10822-0274-4a58-8d45-f35d86625303")
 RECORDED_METRICS_ROOT_CONTAINER_ID = UUID("374710a2-1d77-4349-bea4-8719e7aa1f09")
 RECORDED_METRICS_RESET_ROOT_CONTAINER_ID = UUID("1e8ac565-bbd6-4554-9213-dad564e534e3")
 RECORDED_POINTS_VISUALIZER_ID = UUID("ca037ec0-8761-4417-86ee-846fa2875303")
-RECORDED_PERCEPTION_POINTS_VISUALIZER_ID = UUID(
-    "ab8db306-6981-49c5-b417-94fe2f01dbf0"
-)
+RECORDED_PERCEPTION_POINTS_VISUALIZER_ID = UUID("ab8db306-6981-49c5-b417-94fe2f01dbf0")
 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")
@@ -65,25 +61,33 @@ def recorded_blueprint(
                 end=rr.TimeRangeBoundary.cursor_relative(),
             )
         ]
-    latest_time_ranges = rrb.VisibleTimeRanges([])
+    accumulated_time_ranges = (
+        rrb.VisibleTimeRanges(time_ranges) if time_ranges is not None else None
+    )
     point_visualizer = rr.Points3D.from_fields(
         radii=rr.Radius.ui_points(settings.point_size),
         colors=(
-            [_parse_hex_color(settings.custom_color)]
-            if settings.palette == "custom"
-            else None
+            [_parse_hex_color(settings.custom_color)] if settings.palette == "custom" else None
         ),
     ).visualizer()
     point_visualizer.id = RECORDED_POINTS_VISUALIZER_ID
     perception_point_visualizer = rr.Points3D.from_fields(
         radii=rr.Radius.ui_points(settings.point_size),
         colors=(
-            [_parse_hex_color(settings.custom_color)]
-            if settings.palette == "custom"
-            else None
+            [_parse_hex_color(settings.custom_color)] if settings.palette == "custom" else None
         ),
     ).visualizer()
     perception_point_visualizer.id = RECORDED_PERCEPTION_POINTS_VISUALIZER_ID
+    point_overrides: list[Any] = [
+        rrb.EntityBehavior(visible=settings.show_points),
+        point_visualizer,
+    ]
+    trajectory_overrides: list[Any] = [
+        rrb.EntityBehavior(visible=settings.show_trajectory),
+    ]
+    if accumulated_time_ranges is not None:
+        point_overrides.append(accumulated_time_ranges)
+        trajectory_overrides.append(accumulated_time_ranges)
     spatial_view = rrb.Spatial3DView(
         origin="/world",
         name="Мир · LiDAR и объекты" if unified_perception else "Пространственная сцена",
@@ -94,24 +98,19 @@ def recorded_blueprint(
             stroke_width=0.75,
         ),
         overrides={
-            "/world/points": [
-                rrb.EntityBehavior(visible=settings.show_points),
-                point_visualizer,
-            ],
-            "/world/trajectory": rrb.EntityBehavior(
-                visible=settings.show_trajectory,
-            ),
-            # Perception is hidden in the mapping-only presentation. Unified
-            # perception below adds explicit per-entity latest-at overrides,
-            # allowing the native cloud to retain this view's accumulation.
+            # Accumulation belongs to mapping data only. Dynamic perception
+            # inherits the view's latest-at query and can never turn into an
+            # object-history trail when the operator widens the cloud window.
+            "/world/points": point_overrides,
+            "/world/trajectory": trajectory_overrides,
             "/world/perception": rrb.EntityBehavior(visible=False),
         },
-        time_ranges=time_ranges,
+        # 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([]),
     )
     spatial_view.id = (
-        RECORDED_SPATIAL_RESET_VIEW_ID
-        if view_reset_generation
-        else RECORDED_SPATIAL_VIEW_ID
+        RECORDED_SPATIAL_RESET_VIEW_ID if view_reset_generation else RECORDED_SPATIAL_VIEW_ID
     )
     camera_view = rrb.Spatial2DView(
         origin="/perception/camera",
@@ -128,9 +127,7 @@ def recorded_blueprint(
         },
     )
     camera_view.id = (
-        RECORDED_CAMERA_RESET_VIEW_ID
-        if view_reset_generation
-        else RECORDED_CAMERA_VIEW_ID
+        RECORDED_CAMERA_RESET_VIEW_ID if view_reset_generation else RECORDED_CAMERA_VIEW_ID
     )
     perception_3d_view = rrb.Spatial3DView(
         # Cuboids are expressed in the same calibrated world frame as the
@@ -181,31 +178,18 @@ def recorded_blueprint(
         # semantic points and cuboids independently.
         spatial_view.visualizer_overrides["/world/perception"] = [
             rrb.EntityBehavior(visible=True),
-            latest_time_ranges,
         ]
-        spatial_view.visualizer_overrides[
-            "/world/perception/lidar"
-        ] = [
+        spatial_view.visualizer_overrides["/world/perception/lidar"] = [
             rrb.EntityBehavior(visible=False),
-            latest_time_ranges,
         ]
-        spatial_view.visualizer_overrides[
-            "/world/perception/support"
-        ] = [
+        spatial_view.visualizer_overrides["/world/perception/support"] = [
             rrb.EntityBehavior(visible=False),
-            latest_time_ranges,
         ]
-        spatial_view.visualizer_overrides[
-            "/world/perception/semantic_points"
-        ] = [
+        spatial_view.visualizer_overrides["/world/perception/semantic_points"] = [
             rrb.EntityBehavior(visible=show_segmentation),
-            latest_time_ranges,
         ]
-        spatial_view.visualizer_overrides[
-            "/world/perception/boxes3d"
-        ] = [
+        spatial_view.visualizer_overrides["/world/perception/boxes3d"] = [
             rrb.EntityBehavior(visible=show_cuboids_3d),
-            latest_time_ranges,
         ]
         root_container = rrb.Horizontal(
             camera_view,
@@ -222,9 +206,7 @@ def recorded_blueprint(
         # Keep operator video and 3D cuboids as direct root views. Rerun's nested
         # Tabs preserve their own active child and cannot be switched reliably by
         # a live blueprint channel after the operator has visited another child.
-        active_tab = {"spatial": 0, "perception": 1, "perception3d": 2, "metrics": 3}[
-            active_view
-        ]
+        active_tab = {"spatial": 0, "perception": 1, "perception3d": 2, "metrics": 3}[active_view]
         root_container = rrb.Tabs(
             spatial_view,
             camera_view,