fix(lab): stabilize replay and densify LiDAR overlay

tests/test_m48s_fixed_class_detector_lab_api.py

@@ -59,8 +59,10 @@ def test_m48s_lab_api_projects_verified_result_frame_and_camera(tmp_path: Path)
     assert timeline.json()["superseded_frame_count"] == 8
     assert (
         timeline.json()["camera_point_delivery"]
-        == "factory-kb4-projected-current-increment"
+        == "factory-kb4-causal-registered-accumulation"
     )
+    assert timeline.json()["camera_point_window_seconds"] == 2.0
+    assert timeline.json()["camera_point_sample_limit"] == 20_000
     chunk = client.get(
         f"/api/v1/laboratory/m48s/fixed-class-detector/{result_id}/timeline/chunk",
         params={"start": 253, "count": 1},
@@ -73,6 +75,19 @@ def test_m48s_lab_api_projects_verified_result_frame_and_camera(tmp_path: Path)
     assert any(
         item["semantic_hint"] == "dog" for item in replay_frame["camera_proposals"]
     )
+    camera_points = client.get(
+        f"/api/v1/laboratory/m48s/fixed-class-detector/{result_id}"
+        "/timeline/frames/253/camera-points"
+    )
+    assert camera_points.status_code == 200
+    camera_point_payload = camera_points.json()
+    assert camera_point_payload["schema_version"] == "missioncore.m48s-camera-point-overlay/v1"
+    assert camera_point_payload["projection"] == (
+        "factory-kb4-causal-registered-accumulation"
+    )
+    assert camera_point_payload["source_frame_count"] > 1
+    assert camera_point_payload["sample_count"] > replay_frame["camera_projected_sample_count"]
+    assert camera_point_payload["sample_count"] <= 20_000
 
     frame = client.get(f"/api/v1/laboratory/m48s/fixed-class-detector/{result_id}/frames/000253")
     assert frame.status_code == 200