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.

apps/control-station/src/App.tsx

@@ -88,7 +88,22 @@ const paletteOptions: Array<{ value: PointPalette; label: string; description: s
   { value: "custom", label: "Свой цвет", description: "Один назначенный цвет" },
 ];
 
-function toViewerSettings(settings: SceneSettings): ViewerSettings {
+interface LivePerceptionLayers {
+  detections2d: boolean;
+  segmentation: boolean;
+  cuboids3d: boolean;
+}
+
+const defaultLivePerceptionLayers: LivePerceptionLayers = {
+  detections2d: false,
+  segmentation: false,
+  cuboids3d: false,
+};
+
+function toViewerSettings(
+  settings: SceneSettings,
+  perception: LivePerceptionLayers = defaultLivePerceptionLayers,
+): ViewerSettings {
   return {
     point_size: settings.pointSize,
     color_mode: settings.colorMode,
@@ -98,6 +113,9 @@ function toViewerSettings(settings: SceneSettings): ViewerSettings {
     show_points: settings.showPoints,
     show_trajectory: settings.showTrajectory,
     show_grid: settings.showGrid,
+    show_detections_2d: perception.detections2d,
+    show_segmentation: perception.segmentation,
+    show_cuboids_3d: perception.cuboids3d,
   };
 }
 
@@ -149,6 +167,9 @@ export default function App() {
   const [layoutSaveNotice, setLayoutSaveNotice] = useState<string | null>(null);
   const [sceneSettings, setSceneSettings] = useState<SceneSettings>(defaultSceneSettings);
   const [displayDraft, setDisplayDraft] = useState<SceneSettings>(defaultSceneSettings);
+  const [livePerceptionLayers, setLivePerceptionLayers] = useState<LivePerceptionLayers>(
+    defaultLivePerceptionLayers,
+  );
   const sourceSwitchBlocked = isSpatialSourceSwitchBlocked(runtime.state);
   const sourceSwitchBlockedReason = sourceSwitchBlocked
     ? SPATIAL_SOURCE_SWITCH_BLOCKED_REASON
@@ -161,6 +182,8 @@ export default function App() {
   const confirmedSceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
   const viewerSettingsCommitTimerRef = useRef<number | null>(null);
   const runtimeUpdateViewerSettingsRef = useRef(runtime.updateViewerSettings);
+  const livePerceptionLayersRef = useRef<LivePerceptionLayers>(defaultLivePerceptionLayers);
+  const livePerceptionRevisionRef = useRef(0);
   const replayActiveRef = useRef(false);
   const sceneSettingsCommitterActiveRef = useRef(true);
   const sceneSettingsCommitterRef = useRef<LatestAsyncCommitter<SceneSettings> | null>(null);
@@ -197,7 +220,9 @@ export default function App() {
     sceneSettingsCommitterRef.current = createLatestAsyncCommitter<SceneSettings>({
       commit: (settings) => replayActiveRef.current
         ? Promise.resolve(true)
-        : runtimeUpdateViewerSettingsRef.current(toViewerSettings(settings)),
+        : runtimeUpdateViewerSettingsRef.current(
+            toViewerSettings(settings, livePerceptionLayersRef.current),
+          ),
       onSettled: ({ value, applied, superseded }) => {
         if (!sceneSettingsCommitterActiveRef.current) return;
         if (applied) confirmedSceneSettingsRef.current = value;
@@ -275,6 +300,13 @@ export default function App() {
       sceneSettingsCommitterRef.current?.isBusy()
     ) return;
     const merged = mergeViewerSettings(sceneSettingsRef.current, remote);
+    const remoteLayers = {
+      detections2d: remote.show_detections_2d ?? false,
+      segmentation: remote.show_segmentation ?? false,
+      cuboids3d: remote.show_cuboids_3d ?? false,
+    };
+    livePerceptionLayersRef.current = remoteLayers;
+    setLivePerceptionLayers(remoteLayers);
     sceneSettingsRef.current = merged;
     confirmedSceneSettingsRef.current = merged;
     setSceneSettings(merged);
@@ -334,7 +366,9 @@ export default function App() {
       return;
     }
     appliedProfileKeyRef.current = applicationKey;
-    void runtime.updateViewerSettings(toViewerSettings(profile.sceneSettings)).then((applied) => {
+    void runtime.updateViewerSettings(
+      toViewerSettings(profile.sceneSettings, livePerceptionLayersRef.current),
+    ).then((applied) => {
       if (!applied && appliedProfileKeyRef.current === applicationKey) {
         appliedProfileKeyRef.current = null;
       }
@@ -441,6 +475,21 @@ export default function App() {
     activateSceneWindow("layers");
   };
 
+  const changeLivePerceptionLayers = useCallback((next: LivePerceptionLayers) => {
+    const previous = livePerceptionLayersRef.current;
+    const revision = ++livePerceptionRevisionRef.current;
+    livePerceptionLayersRef.current = next;
+    setLivePerceptionLayers(next);
+    if (replayActiveRef.current) return;
+    void runtimeUpdateViewerSettingsRef.current(
+      toViewerSettings(sceneSettingsRef.current, next),
+    ).then((applied) => {
+      if (applied || livePerceptionRevisionRef.current !== revision) return;
+      livePerceptionLayersRef.current = previous;
+      setLivePerceptionLayers(previous);
+    });
+  }, []);
+
   const beginRecordedReplaySwitch = useCallback(async () => {
     if (sourceSwitchBlockedRef.current) {
       throw new Error(SPATIAL_SOURCE_SWITCH_BLOCKED_REASON);
@@ -706,6 +755,8 @@ export default function App() {
                 onAccumulationChange={(accumulationSeconds) =>
                   stageDisplayPatch({ accumulationSeconds })}
                 onAccumulationCommit={flushDisplaySettings}
+                livePerceptionLayers={livePerceptionLayers}
+                onLivePerceptionLayersChange={changeLivePerceptionLayers}
                 observationLayout={observationLayout}
                 spatialControls={selection?.SpatialControlsView
                   ? {