feat(perception): integrate calibrated operator pipeline

Add calibrated K1 projection, recorded and near-live perception qualification, unified Rerun operator layers, bounded replay admission, audited viewer controls, worker experiments, and lab evidence.
2026-07-23 00:23:28 +03:00
parent ada2a55ee6
commit b53d6d5a45
221 changed files with 55923 additions and 1357 deletions
@@ -1,10 +1,15 @@
-import { readFileSync, writeFileSync } from "node:fs";
+import { createHash } from "node:crypto";
+import { copyFileSync, readFileSync, writeFileSync } from "node:fs";
 import { dirname, resolve } from "node:path";
 import { fileURLToPath } from "node:url";

 const root = resolve(dirname(fileURLToPath(import.meta.url)), "..");
 const packageRoot = resolve(root, "node_modules/@rerun-io/web-viewer");
 const manifest = JSON.parse(readFileSync(resolve(packageRoot, "package.json"), "utf8"));
+const vendorRoot = resolve(root, "vendor/rerun-web-viewer-0.34.1");
+
+const sha256File = (path) =>
+  createHash("sha256").update(readFileSync(path)).digest("hex");

 if (manifest.version !== "0.34.1") {
  throw new Error(
@@ -12,6 +17,51 @@ if (manifest.version !== "0.34.1") {
  );
 }

+const vendorRuntime = [
+  {
+    label: "wasm runtime",
+    packagePath: resolve(packageRoot, "re_viewer_bg.wasm"),
+    vendorPath: resolve(vendorRoot, "re_viewer_bg.nodedc.wasm"),
+    publishedSha256: "3fe7aab8ea6bb0fd03c3ef694932943411ee174029e398c539c390beb0824d35",
+    previousNodedcSha256: "1c25e8cecd7641e6f8044d00a6a1cf9d08a615b6f8737026c7d93623b3e06ee7",
+    nodedcSha256: "38d19bac06b7c3b8e549489469cf7c4a24f319ec953849e4656b5827a6c105bb",
+  },
+  {
+    label: "wasm JavaScript glue",
+    packagePath: resolve(packageRoot, "re_viewer.js"),
+    vendorPath: resolve(vendorRoot, "re_viewer.nodedc.js"),
+    publishedSha256: "7c4ba900820137a6ba23e0f7f57d56e3b007db0de3825d5c8bf0d7684b3cc6a6",
+    nodedcSha256: "0f7b76c9f24cbd8437021b5d37499894aeadc586183e422ebc82ef556d7b8339",
+  },
+];
+
+for (const runtime of vendorRuntime) {
+  const vendorSha256 = sha256File(runtime.vendorPath);
+  if (vendorSha256 !== runtime.nodedcSha256) {
+    throw new Error(
+      `Refusing corrupt NODE.DC Rerun ${runtime.label}: ${vendorSha256} != ${runtime.nodedcSha256}`,
+    );
+  }
+
+  const installedSha256 = sha256File(runtime.packagePath);
+  if (
+    ![
+      runtime.publishedSha256,
+      runtime.previousNodedcSha256,
+      runtime.nodedcSha256,
+    ].includes(installedSha256)
+  ) {
+    throw new Error(
+      `Refusing to replace unexpected Rerun ${runtime.label}: ${installedSha256}`,
+    );
+  }
+
+  copyFileSync(runtime.vendorPath, runtime.packagePath);
+  if (sha256File(runtime.packagePath) !== runtime.nodedcSha256) {
+    throw new Error(`NODE.DC Rerun ${runtime.label} verification failed after copy`);
+  }
+}
+
 const patches = [
  {
    label: "compiled watchdog",
@@ -57,5 +107,5 @@ for (const path of [resolve(packageRoot, "index.js"), resolve(packageRoot, "inde
 }

 console.log(
-  "Patched @rerun-io/web-viewer 0.34.1 watchdog teardown and singleton global keyup listener.",
+  "Patched @rerun-io/web-viewer 0.34.1 native zoom-to-cursor, watchdog teardown, and singleton global keyup listener.",
 );
@@ -0,0 +1,128 @@
+import { createHash } from "node:crypto";
+import { readFileSync, writeFileSync } from "node:fs";
+import { resolve } from "node:path";
+
+const [inputArgument, outputArgument] = process.argv.slice(2);
+if (!inputArgument || !outputArgument) {
+  throw new Error("Usage: node transform-rerun-web-viewer-glue.mjs INPUT OUTPUT");
+}
+
+const inputPath = resolve(inputArgument);
+const outputPath = resolve(outputArgument);
+const expectedGeneratedSha256 =
+  "cc196a93c5be972c801d46be4dc9934f7f042eb62941f0aa0678f1c8416c6874";
+
+const sha256 = (value) => createHash("sha256").update(value).digest("hex");
+let code = readFileSync(inputPath, "utf8");
+
+if (sha256(code) !== expectedGeneratedSha256) {
+  throw new Error(`Refusing to transform unexpected wasm-bindgen output: ${inputPath}`);
+}
+
+// This is the same no-modules-base transformation used by Rerun 0.34.1's
+// rerun_js/web-viewer/build-wasm.mjs. Each factory call gets isolated closure state.
+const wrapperStart = "let wasm_bindgen = (function(exports) {";
+const wrapperEnd = `return Object.assign(__wbg_init, { initSync }, exports);
+})({ __proto__: null });`;
+
+if (!code.includes(wrapperStart) || !code.includes(wrapperEnd)) {
+  throw new Error("Rerun wasm-bindgen wrapper markers no longer match");
+}
+code = code.replace(wrapperStart, "").replace(wrapperEnd, "");
+
+code = `
+export default function() {
+const exports = { __proto__: null };
+${code}
+
+function deinit() {
+  __wbg_init.__wbindgen_wasm_module = null;
+  wasmModule = null;
+  wasm = null;
+  cachedDataViewMemory0 = null;
+  cachedFloat32ArrayMemory0 = null;
+  cachedInt16ArrayMemory0 = null;
+  cachedInt32ArrayMemory0 = null;
+  cachedInt8ArrayMemory0 = null;
+  cachedUint16ArrayMemory0 = null;
+  cachedUint32ArrayMemory0 = null;
+  cachedUint8ArrayMemory0 = null;
+}
+
+return Object.assign(__wbg_init, { initSync, deinit }, exports);
+}
+`;
+
+const closureDtorsOriginal = `const CLOSURE_DTORS = (typeof FinalizationRegistry === 'undefined')
+        ? { register: () => {}, unregister: () => {} }
+        : new FinalizationRegistry(state => wasm.__wbindgen_destroy_closure(state.a, state.b));`;
+const closureDtorsPatch = `const CLOSURE_DTORS = (typeof FinalizationRegistry === 'undefined')
+        ? { register: () => {}, unregister: () => {} }
+        : new FinalizationRegistry(state => {
+        if (wasm) wasm.__wbindgen_destroy_closure(state.a, state.b);
+    });`;
+
+if (!code.includes(closureDtorsOriginal)) {
+  throw new Error("Rerun CLOSURE_DTORS block no longer matches");
+}
+code = code.replace(closureDtorsOriginal, closureDtorsPatch);
+
+const makeMutClosureOriginal = `function makeMutClosure(arg0, arg1, f) {
+        const state = { a: arg0, b: arg1, cnt: 1 };
+        const real = (...args) => {
+
+            // First up with a closure we increment the internal reference
+            // count. This ensures that the Rust closure environment won't
+            // be deallocated while we're invoking it.
+            state.cnt++;
+            const a = state.a;
+            state.a = 0;
+            try {
+                return f(a, state.b, ...args);
+            } finally {
+                state.a = a;
+                real._wbg_cb_unref();
+            }
+        };
+        real._wbg_cb_unref = () => {
+            if (--state.cnt === 0) {
+                wasm.__wbindgen_destroy_closure(state.a, state.b);
+                state.a = 0;
+                CLOSURE_DTORS.unregister(state);
+            }
+        };
+        CLOSURE_DTORS.register(real, state, state);
+        return real;
+    }`;
+const makeMutClosurePatch = `function makeMutClosure(arg0, arg1, f) {
+        const state = { a: arg0, b: arg1, cnt: 1 };
+        const real = (...args) => {
+            state.cnt++;
+            const a = state.a;
+            state.a = 0;
+            try {
+                if (!wasm) return;
+                return f(a, state.b, ...args);
+            } finally {
+                state.a = a;
+                real._wbg_cb_unref();
+            }
+        };
+        real._wbg_cb_unref = () => {
+            if (--state.cnt === 0) {
+                if (wasm) wasm.__wbindgen_destroy_closure(state.a, state.b);
+                state.a = 0;
+                CLOSURE_DTORS.unregister(state);
+            }
+        };
+        CLOSURE_DTORS.register(real, state, state);
+        return real;
+    }`;
+
+if (!code.includes(makeMutClosureOriginal)) {
+  throw new Error("Rerun makeMutClosure block no longer matches");
+}
+code = code.replace(makeMutClosureOriginal, makeMutClosurePatch);
+
+writeFileSync(outputPath, code);
+console.log(`Transformed Rerun wasm glue: ${sha256(code)}  ${outputPath}`);