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,