fix(lab): stabilize replay and densify LiDAR overlay

apps/control-station/test/m4ReplayThreat.test.mjs

@@ -9,6 +9,7 @@ let fetchM4ThreatReplayResult;
 let fetchM4ThreatVisual;
 let fetchM4ThreatTimeline;
 let fetchM4ThreatTimelineChunk;
+let fetchM4ThreatCameraPointOverlay;
 let selectM4ThreatTimelineFrame;
 let selectM4ThreatTimelineSequence;
 let advanceRecordedEvidencePlayback;
@@ -30,6 +31,7 @@ before(async () => {
     fetchM4ThreatVisual,
     fetchM4ThreatTimeline,
     fetchM4ThreatTimelineChunk,
+    fetchM4ThreatCameraPointOverlay,
     selectM4ThreatTimelineFrame,
     selectM4ThreatTimelineSequence,
   } = await server.ssrLoadModule("/src/core/laboratory/m4ReplayThreat.ts"));
@@ -359,8 +361,9 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
         point_sample_limit: 4096,
         maximum_source_points_per_frame: 3092,
         point_delivery: "exact-current-increment",
-        camera_point_delivery: "factory-kb4-projected-current-increment",
-        camera_point_sample_limit: 4096,
+        camera_point_delivery: "factory-kb4-causal-registered-accumulation",
+        camera_point_window_seconds: 2,
+        camera_point_sample_limit: 20000,
         world_state_delivery: "source-paced-latest-wins",
         world_state_frame_count: 4481,
         superseded_frame_count: 8,
@@ -385,7 +388,8 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
     },
   });
   assert.equal(requested, `${endpointRoot}/${replayResultId}/timeline`);
-  assert.equal(timeline.cameraPointDelivery, "factory-kb4-projected-current-increment");
+  assert.equal(timeline.cameraPointDelivery, "factory-kb4-causal-registered-accumulation");
+  assert.equal(timeline.cameraPointWindowSeconds, 2);
   assert.equal(timeline.worldStateFrameCount, 4481);
   assert.equal(timeline.supersededFrameCount, 8);
 
@@ -418,6 +422,35 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
   assert.equal(chunk.frames[0].terminalOutcome, "superseded");
   assert.deepEqual(chunk.frames[0].cameraProjectedPointsXyd[0], [100.5, 200.25, 3.75]);
   assert.equal(chunk.frames[0].cameraProjection, "factory-kb4-exact");
+
+  const overlay = await fetchM4ThreatCameraPointOverlay(replayResultId, 1, {
+    endpointRoot,
+    fetcher: async (input) => {
+      requested = String(input);
+      return new Response(JSON.stringify({
+        schema_version: "missioncore.m48s-camera-point-overlay/v1",
+        result_id: replayResultId,
+        sequence: 1,
+        source_time_ns: 35_521_857_292,
+        points_xyd: [[100.5, 200.25, 3.75], [101.5, 201.25, 3.8]],
+        source_frame_count: 11,
+        source_point_count: 28000,
+        front_point_count: 18000,
+        projected_point_count: 12000,
+        sample_count: 2,
+        window_seconds: 2,
+        projection: "factory-kb4-causal-registered-accumulation",
+        authority: "visual-derived",
+      }), { status: 200 });
+    },
+  });
+  assert.equal(
+    requested,
+    `${endpointRoot}/${replayResultId}/timeline/frames/1/camera-points`,
+  );
+  assert.equal(overlay.sourceFrameCount, 11);
+  assert.equal(overlay.sampleCount, 2);
+  assert.equal(overlay.projection, "factory-kb4-causal-registered-accumulation");
 });
 
 test("M4.6 local SLAM surface reprojects registered increments into the active body frame", () => {
@@ -468,9 +501,9 @@ test("M4.6 local SLAM surface reprojects registered increments into the active b
   assert.deepEqual(surface.pointsBodyXyzM, [[0, 1, 0], [1, 0, 0]]);
 });
 
-test("M4.6 spatial buffering keeps previous, active and two future chunks", () => {
-  assert.deepEqual(m4ThreatChunkWindowStarts(48, 24, 4489), [24, 48, 72, 96]);
-  assert.deepEqual(m4ThreatChunkWindowStarts(0, 24, 4489), [0, 24, 48]);
+test("M4.6 spatial buffering keeps the active and one future chunk", () => {
+  assert.deepEqual(m4ThreatChunkWindowStarts(48, 24, 4489), [48, 72]);
+  assert.deepEqual(m4ThreatChunkWindowStarts(0, 24, 4489), [0, 24]);
 });
 
 test("M4.6 spatial buffering drops stale in-flight windows across rapid jumps", () => {
@@ -486,8 +519,8 @@ test("M4.6 spatial buffering drops stale in-flight windows across rapid jumps",
       if (!inFlight.has(start)) inFlight.set(start, controller(start));
     }
   }
-  assert.deepEqual([...inFlight.keys()], [4464, 4488]);
-  assert.deepEqual(aborted, [0, 24, 48, 1464, 1488, 1512, 1536]);
+  assert.deepEqual([...inFlight.keys()], [4488]);
+  assert.deepEqual(aborted, [0, 24, 1488, 1512]);
 });
 
 test("recorded evidence clock advances by selected rate and stops at the sealed end", () => {
@@ -604,6 +637,7 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
   assert.match(imageScene, /<RecordedEvidencePointCloudOverlay/);
   assert.match(videoScene, /<RecordedEvidencePointCloudOverlay/);
   assert.match(pointOverlay, /factory-kb4-exact/);
+  assert.match(pointOverlay, /factory-kb4-causal-registered-accumulation/);
   assert.match(metricScene, /OrbitControls/);
   assert.match(visual, /LOCAL SLAM/);
   assert.match(visual, /showLocalSurface/);