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/workspaces/Workspaces.tsx

@@ -45,7 +45,6 @@ import {
   type RerunPlaybackState,
   type RerunSelection,
   type RerunViewportStatus,
-  type RecordedRerunView,
 } from "../components/RerunViewport";
 import {
   capabilityStatusLabel,
@@ -124,6 +123,16 @@ export interface WorkspaceRendererProps {
   accumulationSeconds: number;
   onAccumulationChange: (value: number) => void;
   onAccumulationCommit: () => void;
+  livePerceptionLayers: {
+    detections2d: boolean;
+    segmentation: boolean;
+    cuboids3d: boolean;
+  };
+  onLivePerceptionLayersChange: (next: {
+    detections2d: boolean;
+    segmentation: boolean;
+    cuboids3d: boolean;
+  }) => void;
   observationLayout: ObservationLayoutController;
   navigation: WorkspaceNavigation;
   spatialControls: {
@@ -286,6 +295,8 @@ function SpatialWorkspace({
   accumulationSeconds,
   onAccumulationChange,
   onAccumulationCommit,
+  livePerceptionLayers,
+  onLivePerceptionLayersChange,
   observationLayout,
   navigation,
   spatialControls,
@@ -295,8 +306,13 @@ function SpatialWorkspace({
   const [selection, setSelection] = useState<RerunSelection | null>(null);
   const [playbackState, setPlaybackState] = useState<RerunPlaybackState | null>(null);
   const [playbackController, setPlaybackController] = useState<RerunPlaybackController | null>(null);
-  const [recordedRerunView, setRecordedRerunView] = useState<RecordedRerunView>("spatial");
-  const [perceptionAvailable, setPerceptionAvailable] = useState(false);
+  const [recordedViewResetGeneration, setRecordedViewResetGeneration] = useState<0 | 1>(0);
+  const [perceptionAvailability, setPerceptionAvailability] = useState<
+    "unknown" | "available" | "unavailable"
+  >("unknown");
+  const [showDetections2d, setShowDetections2d] = useState(false);
+  const [showSegmentation, setShowSegmentation] = useState(false);
+  const [showCuboids3d, setShowCuboids3d] = useState(false);
   const recordedSource = state?.sourceMode === "replay" || /\.rrd(?:$|[?#])/i.test(sourceUrl);
   const recordedSessionGate: RecordedAdmissionPhase = recordedSource
     ? recordedSessionAdmission?.phase ?? "loading"
@@ -309,6 +325,8 @@ function SpatialWorkspace({
   const latency = pipelineLatency(metrics);
   const frameRate = finiteMetric(metrics?.frameRateHz);
   const points = finiteMetric(metrics?.pointCount);
+  const aiLatency = finiteMetric(metrics?.aiLatencyMs);
+  const aiFrameRate = finiteMetric(metrics?.aiFrameRateHz);
   const observationSources = state?.observationSources ?? [];
   const pointCloudSource = observationSources.find((source) => source.modality === "point-cloud");
   const pointCloudVisible = pointCloudSource
@@ -317,13 +335,29 @@ function SpatialWorkspace({
   const mediaSources = observationSources.filter(
     (source) => source.capabilities.overlay && source.modality !== "point-cloud",
   );
+  const recordedPerceptionSupported = recordedSource && perceptionAvailability !== "unavailable";
+  const recordedPerceptionEnabled = showDetections2d || showSegmentation || showCuboids3d;
+  const unifiedPerception = recordedPerceptionSupported && recordedPerceptionEnabled;
+  const livePerceptionAvailable = !recordedSource && streamActive;
+  const detections2dActive = recordedSource
+    ? showDetections2d
+    : livePerceptionLayers.detections2d;
+  const segmentationActive = recordedSource
+    ? showSegmentation
+    : livePerceptionLayers.segmentation;
+  const cuboids3dActive = recordedSource
+    ? showCuboids3d
+    : livePerceptionLayers.cuboids3d;
   const visibleMediaSources = mediaSources.filter((source) =>
-    observationLayout.visibleSourceIds.has(source.id),
+    observationLayout.visibleSourceIds.has(source.id) &&
+    !source.id.startsWith("recorded.perception."),
   );
+  const presentedMediaSourceCount = unifiedPerception ? 0 : visibleMediaSources.length;
   const pointCloudFocused = Boolean(
     pointCloudSource && observationLayout.focusedSourceId === pointCloudSource.id,
   );
-  const floatingSourceMaximized = Boolean(observationLayout.maximizedFloatingSourceId);
+  const floatingSourceMaximized = !unifiedPerception &&
+    Boolean(observationLayout.maximizedFloatingSourceId);
   const timeline = state?.observationTimeline;
   const viewportRef = useRef<HTMLDivElement>(null);
   const intentionalSourceEnd = !recordedSource && [
@@ -373,13 +407,20 @@ function SpatialWorkspace({
     [],
   );
   const onPerceptionAvailabilityChange = useCallback((available: boolean) => {
-    setPerceptionAvailable(available);
-    if (!available) setRecordedRerunView("spatial");
+    setPerceptionAvailability(available ? "available" : "unavailable");
+    if (!available) {
+      setShowDetections2d(false);
+      setShowSegmentation(false);
+      setShowCuboids3d(false);
+    }
   }, []);
 
   useEffect(() => {
-    setPerceptionAvailable(false);
-    setRecordedRerunView("spatial");
+    setPerceptionAvailability("unknown");
+    setShowDetections2d(false);
+    setShowSegmentation(false);
+    setShowCuboids3d(false);
+    setRecordedViewResetGeneration(0);
   }, [sourceUrl]);
 
   useEffect(() => {
@@ -389,8 +430,10 @@ function SpatialWorkspace({
     setSelection(null);
     setPlaybackState(null);
     setPlaybackController(null);
-    setPerceptionAvailable(false);
-    setRecordedRerunView("spatial");
+    setPerceptionAvailability("unknown");
+    setShowDetections2d(false);
+    setShowSegmentation(false);
+    setShowCuboids3d(false);
   }, [pointCloudVisible, sourceUrl]);
 
   useEffect(() => {
@@ -428,20 +471,74 @@ function SpatialWorkspace({
       className="spatial-workspace"
       data-focused={pointCloudFocused || floatingSourceMaximized ? "true" : undefined}
     >
-      <div className="spatial-toolbar">
+      <div className="spatial-toolbar" data-viewer-controls="v1">
         <div className="spatial-toolbar__mode">
           <span className="section-eyebrow">СЦЕНА 3D · RERUN</span>
         </div>
         <div className="spatial-toolbar__actions">
-          {recordedSource && perceptionAvailable ? (
+          {recordedPerceptionSupported || livePerceptionAvailable ? (
+            <div className="spatial-toolbar__view-switch" role="group" aria-label="Слои распознавания сцены">
+              <Button
+                size="compact"
+                variant="primary"
+                icon={<Icon name="video" />}
+                aria-pressed="true"
+                disabled
+              >
+                Оригинал
+              </Button>
+              <Button
+                size="compact"
+                variant={detections2dActive ? "primary" : "secondary"}
+                icon={<Icon name="target" />}
+                aria-pressed={detections2dActive}
+                onClick={() => recordedSource
+                  ? setShowDetections2d((current) => !current)
+                  : onLivePerceptionLayersChange({
+                      ...livePerceptionLayers,
+                      detections2d: !livePerceptionLayers.detections2d,
+                    })}
+              >
+                Объекты 2D
+              </Button>
+              <Button
+                size="compact"
+                variant={segmentationActive ? "primary" : "secondary"}
+                icon={<Icon name="image" />}
+                aria-pressed={segmentationActive}
+                onClick={() => recordedSource
+                  ? setShowSegmentation((current) => !current)
+                  : onLivePerceptionLayersChange({
+                      ...livePerceptionLayers,
+                      segmentation: !livePerceptionLayers.segmentation,
+                    })}
+              >
+                Сегментация
+              </Button>
+              <Button
+                size="compact"
+                variant={cuboids3dActive ? "primary" : "secondary"}
+                icon={<Icon name="apps" />}
+                aria-pressed={cuboids3dActive}
+                onClick={() => recordedSource
+                  ? setShowCuboids3d((current) => !current)
+                  : onLivePerceptionLayersChange({
+                      ...livePerceptionLayers,
+                      cuboids3d: !livePerceptionLayers.cuboids3d,
+                    })}
+              >
+                Кубы 3D
+              </Button>
+            </div>
+          ) : null}
+          {recordedSource && presentedViewerStatus === "ready" ? (
             <Button
               size="compact"
-              variant={recordedRerunView === "perception" ? "primary" : "secondary"}
-              icon={<Icon name={recordedRerunView === "perception" ? "globe" : "image"} />}
-              onClick={() => setRecordedRerunView((current) =>
-                current === "perception" ? "spatial" : "perception")}
+              variant="secondary"
+              icon={<Icon name="refresh" />}
+              onClick={() => setRecordedViewResetGeneration((current) => current === 0 ? 1 : 0)}
             >
-              {recordedRerunView === "perception" ? "Облако точек" : "Распознавание"}
+              Сброс вида
             </Button>
           ) : null}
           <Button size="compact" variant="secondary" icon={<Icon name="network" />} onClick={navigation.openSource}>
@@ -476,7 +573,13 @@ function SpatialWorkspace({
                 ? state?.observationTimeline?.range?.endSeconds
                 : undefined}
               sceneSettings={sceneSettings}
-              recordedView={recordedRerunView}
+              recordedViewResetGeneration={recordedViewResetGeneration}
+              recordedPerceptionLayers={{
+                enabled: unifiedPerception,
+                detections2d: showDetections2d,
+                segmentation: showSegmentation,
+                cuboids3d: showCuboids3d,
+              }}
               onPerceptionAvailabilityChange={onPerceptionAvailabilityChange}
               onStatusChange={onStatusChange}
               onSelectionChange={onSelectionChange}
@@ -511,7 +614,9 @@ function SpatialWorkspace({
           ) : !floatingSourceMaximized ? (
             <div className="scene-source-controls">
               <ObservationSourcePicker
-                sources={observationSources}
+                sources={unifiedPerception
+                  ? observationSources.filter((source) => source.modality === "point-cloud")
+                  : observationSources}
                 visibleSourceIds={observationLayout.visibleSourceIds}
                 pendingSourceIds={observationLayout.pendingSourceIds}
                 onToggle={observationLayout.toggleSource}
@@ -555,6 +660,16 @@ function SpatialWorkspace({
               <span>До публикации</span>
               <strong>{formatNumber(latency)}<small> мс</small></strong>
             </div>
+            {streamActive ? (
+              <div>
+                <span>AI</span>
+                <strong>
+                  {aiLatency === null ? "—" : formatNumber(aiLatency)}
+                  <small>{aiLatency === null ? "" : " мс"}</small>
+                  {aiFrameRate === null ? null : <small> · {formatNumber(aiFrameRate)} Гц</small>}
+                </strong>
+              </div>
+            ) : null}
           </div>
 
           {!pointCloudFocused && !floatingSourceMaximized && state?.sourceMode && state.sourceMode !== "idle" && !sourceUrl.trim() ? (
@@ -575,10 +690,17 @@ function SpatialWorkspace({
             </div>
           ) : null}
 
+          {presentedViewerStatus === "ready" && !floatingSourceMaximized ? (
+            <div className="scene-navigation-hint" aria-label="Навигация по 3D-сцене">
+              <span>Колесо · зум к курсору</span>
+              <span>WASD · свободный проход</span>
+            </div>
+          ) : null}
+
           {!pointCloudFocused && !floatingSourceMaximized && recordedPlaybackReady ? (
             <ObservationTimeline
               active={presentedViewerStatus === "ready"}
-              sourceCount={Math.max(1, 1 + visibleMediaSources.length)}
+              sourceCount={Math.max(1, (unifiedPerception ? 2 : 1) + presentedMediaSourceCount)}
               mode={recordedSource && playbackState?.rangeNs
                 ? "recorded"
                 : timeline?.mode}
@@ -599,7 +721,7 @@ function SpatialWorkspace({
             />
           ) : null}
 
-          {!pointCloudFocused ? visibleMediaSources.map((source, index) => (
+          {visibleMediaSources.map((source, index) => (
             <FloatingObservationWindow
               key={source.id}
               source={source}
@@ -609,6 +731,7 @@ function SpatialWorkspace({
               rect={observationLayout.windowRects[source.id]}
               maximized={observationLayout.maximizedFloatingSourceId === source.id}
               active={observationLayout.activeFloatingSourceId === source.id}
+              hidden={pointCloudFocused || unifiedPerception}
               onRectChange={(rect) => observationLayout.setWindowRect(source.id, rect)}
               onMaximizedChange={(maximized) =>
                 observationLayout.setFloatingMaximized(source.id, maximized)}
@@ -627,12 +750,12 @@ function SpatialWorkspace({
                 void observationLayout.hideSource(source.id);
               }}
             />
-          )) : null}
+          ))}
           {recordedSource ? (
             <div className="recorded-session-preloaders" aria-hidden="true">
               {mediaSources.filter((source) => (
                 source.delivery?.kind === "recorded-fmp4-manifest" &&
-                (pointCloudFocused || !observationLayout.visibleSourceIds.has(source.id)) &&
+                !observationLayout.visibleSourceIds.has(source.id) &&
                 shouldPrepareRecordedSource(source.id)
               )).map((source) => (
                 <ObservationMedia
@@ -657,7 +780,9 @@ function SpatialWorkspace({
         <span><i data-state="ready" />Траектория</span>
         <span><i data-state="ready" />Преобразования</span>
         <span><i data-state="contract" />Камеры в 3D</span>
-        <span><i data-state={perceptionAvailable ? "ready" : "contract"} />Объекты / рамки</span>
+        <span><i data-state={detections2dActive ? "ready" : "contract"} />Объекты 2D</span>
+        <span><i data-state={segmentationActive ? "ready" : "contract"} />Сегментация</span>
+        <span><i data-state={cuboids3dActive ? "ready" : "contract"} />Кубы 3D</span>
         <span><i data-state="contract" />Компоновка</span>
       </div>
     </div>