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
@@ -0,0 +1,67 @@
+import assert from "node:assert/strict";
+import { createHash } from "node:crypto";
+import { readFileSync } from "node:fs";
+import { resolve } from "node:path";
+import test from "node:test";
+
+import makeRerunRuntime from "../vendor/rerun-web-viewer-0.34.1/re_viewer.nodedc.js";
+
+const root = resolve(import.meta.dirname, "..");
+const packageRoot = resolve(root, "node_modules/@rerun-io/web-viewer");
+const vendorRoot = resolve(root, "vendor/rerun-web-viewer-0.34.1");
+
+const sha256 = (path) =>
+  createHash("sha256").update(readFileSync(path)).digest("hex");
+
+test("NODE.DC Rerun runtime is the audited 0.34.1 zoom-to-cursor build", () => {
+  const manifest = JSON.parse(readFileSync(resolve(packageRoot, "package.json"), "utf8"));
+  assert.equal(manifest.version, "0.34.1");
+
+  const expectedWasm = "38d19bac06b7c3b8e549489469cf7c4a24f319ec953849e4656b5827a6c105bb";
+  const expectedGlue = "0f7b76c9f24cbd8437021b5d37499894aeadc586183e422ebc82ef556d7b8339";
+
+  assert.equal(sha256(resolve(vendorRoot, "re_viewer_bg.nodedc.wasm")), expectedWasm);
+  assert.equal(sha256(resolve(vendorRoot, "re_viewer.nodedc.js")), expectedGlue);
+  assert.equal(sha256(resolve(packageRoot, "re_viewer_bg.wasm")), expectedWasm);
+  assert.equal(sha256(resolve(packageRoot, "re_viewer.js")), expectedGlue);
+});
+
+test("custom JavaScript glue references only exports present in its paired WASM", () => {
+  const wasmPath = resolve(vendorRoot, "re_viewer_bg.nodedc.wasm");
+  const gluePath = resolve(vendorRoot, "re_viewer.nodedc.js");
+  const module = new WebAssembly.Module(readFileSync(wasmPath));
+  const exports = new Set(WebAssembly.Module.exports(module).map(({ name }) => name));
+  const imports = WebAssembly.Module.imports(module);
+  const glue = readFileSync(gluePath, "utf8");
+  const referencedExports = new Set(
+    [...glue.matchAll(/\bwasm\.([A-Za-z_$][\w$]*)/g)].map((match) => match[1]),
+  );
+  const missingExports = [...referencedExports].filter((name) => !exports.has(name));
+
+  assert.equal(imports.length, 927);
+  assert.equal(exports.size, 79);
+  assert.deepEqual(missingExports, []);
+  assert.match(glue, /export default function\(\)/);
+  assert.match(glue, /if \(!wasm\) return;/);
+});
+
+test("custom Rerun WASM initializes and grows its externref table", () => {
+  const runtime = makeRerunRuntime();
+  runtime.initSync({
+    module: readFileSync(resolve(vendorRoot, "re_viewer_bg.nodedc.wasm")),
+  });
+
+  assert.equal(typeof runtime.WebHandle, "function");
+  runtime.deinit();
+});
+
+test("source patch carries cursor pivot, minimum-radius handoff, and geometry tests", () => {
+  const patch = readFileSync(resolve(vendorRoot, "NODEDC_ZOOM_TO_CURSOR.patch"), "utf8");
+
+  assert.match(patch, /fn pointer_ray_direction/);
+  assert.match(patch, /fn zoom_orbit_towards_pointer/);
+  assert.match(patch, /near_limit_hands_excess_zoom_to_cursor_directed_dolly/);
+  assert.match(patch, /crossing_near_limit_preserves_unconsumed_scene_scaled_zoom/);
+  assert.match(patch, /remaining_zoom_factor\.ln\(\) \* self\.speed/);
+  assert.match(patch, /off_center_pointer_stays_on_the_same_view_ray/);
+});