feat(perception): add ground-aware cuboid refusion

tests/test_rrd_export.py

@@ -237,7 +237,15 @@ def test_recorded_blueprint_accumulates_point_frames_on_session_timeline() -> No
     visible_ranges = spatial_view.properties["VisibleTimeRanges"]
     line_grid = spatial_view.properties["LineGrid3D"]
 
-    assert visible_ranges.ranges.as_arrow_array().to_pylist() == [
+    assert visible_ranges.ranges.as_arrow_array().to_pylist() == []
+    assert line_grid.visible.as_arrow_array().to_pylist() == [False]
+    point_behavior, point_visualizer, point_time_ranges = spatial_view.visualizer_overrides[
+        "/world/points"
+    ]
+    trajectory_behavior, trajectory_time_ranges = spatial_view.visualizer_overrides[
+        "/world/trajectory"
+    ]
+    expected_accumulation = [
         {
             "timeline": SESSION_TIMELINE,
             "range": {
@@ -246,9 +254,8 @@ def test_recorded_blueprint_accumulates_point_frames_on_session_timeline() -> No
             },
         }
     ]
-    assert line_grid.visible.as_arrow_array().to_pylist() == [False]
-    point_behavior, point_visualizer = spatial_view.visualizer_overrides["/world/points"]
-    trajectory_behavior = spatial_view.visualizer_overrides["/world/trajectory"]
+    assert point_time_ranges.ranges.as_arrow_array().to_pylist() == expected_accumulation
+    assert trajectory_time_ranges.ranges.as_arrow_array().to_pylist() == expected_accumulation
     perception_behavior = spatial_view.visualizer_overrides["/world/perception"]
     assert point_behavior.visible.as_arrow_array().to_pylist() == [False]
     assert trajectory_behavior.visible.as_arrow_array().to_pylist() == [True]
@@ -277,9 +284,9 @@ def test_zero_accumulation_uses_latest_frame_instead_of_empty_time_range() -> No
     blueprint = _recorded_blueprint(RerunSceneSettings(accumulation_seconds=0.0, show_grid=True))
     spatial_view = blueprint.root_container.contents[0]
 
-    assert "VisibleTimeRanges" not in spatial_view.properties
+    assert spatial_view.properties["VisibleTimeRanges"].ranges.as_arrow_array().to_pylist() == []
     point_behavior, point_visualizer = spatial_view.visualizer_overrides["/world/points"]
-    trajectory_behavior = spatial_view.visualizer_overrides["/world/trajectory"]
+    (trajectory_behavior,) = spatial_view.visualizer_overrides["/world/trajectory"]
     assert point_behavior.visible.as_arrow_array().to_pylist() == [True]
     assert trajectory_behavior.visible.as_arrow_array().to_pylist() == [True]
     point_components = {str(batch.component_descriptor()) for batch in point_visualizer.overrides}
@@ -309,18 +316,32 @@ def test_dynamic_blueprint_reuses_scene_ids_without_playback_mutation() -> None:
     assert first.root_container.contents[3].id == RECORDED_METRICS_VIEW_ID
     assert second.root_container.contents[3].id == RECORDED_METRICS_VIEW_ID
 
-    first_point_behavior, first_point_visualizer = first_view.visualizer_overrides["/world/points"]
-    second_point_behavior, second_point_visualizer = second_view.visualizer_overrides[
-        "/world/points"
+    first_point_behavior, first_point_visualizer, first_point_time_ranges = (
+        first_view.visualizer_overrides["/world/points"]
+    )
+    second_point_behavior, second_point_visualizer, second_point_time_ranges = (
+        second_view.visualizer_overrides["/world/points"]
+    )
+    first_trajectory, first_trajectory_time_ranges = first_view.visualizer_overrides[
+        "/world/trajectory"
+    ]
+    second_trajectory, second_trajectory_time_ranges = second_view.visualizer_overrides[
+        "/world/trajectory"
     ]
-    first_trajectory = first_view.visualizer_overrides["/world/trajectory"]
-    second_trajectory = second_view.visualizer_overrides["/world/trajectory"]
     assert first_point_visualizer.id == RECORDED_POINTS_VISUALIZER_ID
     assert second_point_visualizer.id == RECORDED_POINTS_VISUALIZER_ID
     assert first_point_behavior.visible.as_arrow_array().to_pylist() == [False]
     assert second_point_behavior.visible.as_arrow_array().to_pylist() == [True]
     assert first_trajectory.visible.as_arrow_array().to_pylist() == [True]
     assert second_trajectory.visible.as_arrow_array().to_pylist() == [False]
+    assert (
+        first_point_time_ranges.ranges.as_arrow_array().to_pylist()
+        == first_trajectory_time_ranges.ranges.as_arrow_array().to_pylist()
+    )
+    assert (
+        second_point_time_ranges.ranges.as_arrow_array().to_pylist()
+        == second_trajectory_time_ranges.ranges.as_arrow_array().to_pylist()
+    )
 
     payload = recorded_blueprint_rrd(
         RerunSceneSettings(show_points=False, show_trajectory=False),
@@ -373,17 +394,14 @@ def test_viewer_blueprint_reset_is_bounded_and_recreates_render_views() -> None:
     cuboid_view = cuboids.root_container.contents[2]
     assert cuboid_view.origin == "/world"
     assert "VisibleTimeRanges" not in cuboid_view.properties
-    cuboid_points, cuboid_point_visualizer = cuboid_view.visualizer_overrides[
-        "/world/points"
-    ]
+    cuboid_points, cuboid_point_visualizer = cuboid_view.visualizer_overrides["/world/points"]
     cuboid_perception = cuboid_view.visualizer_overrides["/world/perception"]
-    cuboid_diagnostic_lidar = cuboid_view.visualizer_overrides[
-        "/world/perception/lidar"
-    ]
+    cuboid_diagnostic_lidar = cuboid_view.visualizer_overrides["/world/perception/lidar"]
     assert cuboid_points.visible.as_arrow_array().to_pylist() == [True]
-    assert cuboid_point_visualizer.id != initial.root_container.contents[0].visualizer_overrides[
-        "/world/points"
-    ][1].id
+    assert (
+        cuboid_point_visualizer.id
+        != initial.root_container.contents[0].visualizer_overrides["/world/points"][1].id
+    )
     assert cuboid_perception.visible.as_arrow_array().to_pylist() == [True]
     assert cuboid_diagnostic_lidar.visible.as_arrow_array().to_pylist() == [False]
     perception_behavior = initial.root_container.contents[0].visualizer_overrides[
@@ -415,18 +433,16 @@ def test_viewer_blueprint_unifies_original_video_and_independent_ai_layers() ->
     assert camera_view.visualizer_overrides[
         "/perception/camera/segmentation"
     ].visible.as_arrow_array().to_pylist() == [True]
-    semantic_behavior, semantic_time_ranges = spatial_view.visualizer_overrides[
-        "/world/perception/semantic_points"
-    ]
-    cuboid_behavior, cuboid_time_ranges = spatial_view.visualizer_overrides[
-        "/world/perception/boxes3d"
-    ]
+    (semantic_behavior,) = spatial_view.visualizer_overrides["/world/perception/semantic_points"]
+    (cuboid_behavior,) = spatial_view.visualizer_overrides["/world/perception/boxes3d"]
     assert semantic_behavior.visible.as_arrow_array().to_pylist() == [True]
     assert cuboid_behavior.visible.as_arrow_array().to_pylist() == [False]
-    assert semantic_time_ranges.ranges.as_arrow_array().to_pylist() == []
-    assert cuboid_time_ranges.ranges.as_arrow_array().to_pylist() == []
     visible_ranges = spatial_view.properties["VisibleTimeRanges"]
-    assert visible_ranges.ranges.as_arrow_array().to_pylist() == [
+    assert visible_ranges.ranges.as_arrow_array().to_pylist() == []
+    _point_behavior, _point_visualizer, point_time_ranges = spatial_view.visualizer_overrides[
+        "/world/points"
+    ]
+    assert point_time_ranges.ranges.as_arrow_array().to_pylist() == [
         {
             "timeline": SESSION_TIMELINE,
             "range": {"start": -12_000_000_000, "end": 0},