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 +1,90 @@
+#!/usr/bin/env python3
+"""Prepare immutable E1 preprocessing and frame-selection inputs."""
+
+from __future__ import annotations
+
+import argparse
+import json
+from pathlib import Path
+
+from k1link.compute.qualification import (
+    DEFAULT_QUALIFICATION_FRAME_COUNT,
+    prepare_recorded_qualification_slice,
+)
+from k1link.device_plugins.xgrids_k1.analyze.valid_fov import (
+    DEFAULT_EDGE_MARGIN_PIXELS,
+    prepare_k1_valid_fov_mask,
+)
+
+
+def _arguments() -> argparse.Namespace:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--job-root", type=Path, required=True)
+    parser.add_argument("--calibration-root", type=Path, required=True)
+    parser.add_argument("--source-id", required=True)
+    parser.add_argument("--output-root", type=Path, required=True)
+    parser.add_argument(
+        "--sample-count",
+        type=int,
+        default=DEFAULT_QUALIFICATION_FRAME_COUNT,
+    )
+    parser.add_argument(
+        "--edge-margin-pixels",
+        type=float,
+        default=DEFAULT_EDGE_MARGIN_PIXELS,
+    )
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = _arguments()
+    mask = prepare_k1_valid_fov_mask(
+        calibration_snapshot_root=args.calibration_root,
+        source_id=args.source_id,
+        output_root=args.output_root / "valid-fov",
+        edge_margin_pixels=args.edge_margin_pixels,
+    )
+    qualification = prepare_recorded_qualification_slice(
+        job_root=args.job_root,
+        output_root=args.output_root / "qualification-slices",
+        sample_count=args.sample_count,
+    )
+    print(
+        json.dumps(
+            {
+                "schema_version": "missioncore.e1-qualification-preparation/v1",
+                "valid_fov": {
+                    "generation_id": mask.generation_id,
+                    "manifest": str(mask.manifest_path),
+                    "mask": str(mask.mask_path),
+                    "calibration_sha256": mask.calibration_sha256,
+                    "source_id": mask.source_id,
+                    "calibration_slot": mask.calibration_slot,
+                    "center_xy": list(mask.center_xy),
+                    "radius_pixels": mask.radius_pixels,
+                    "crop_xyxy_exclusive": list(mask.crop_xyxy),
+                    "valid_pixel_count": mask.valid_pixel_count,
+                    "valid_fraction": mask.valid_fraction,
+                },
+                "qualification_slice": {
+                    "generation_id": qualification.generation_id,
+                    "manifest": str(qualification.manifest_path),
+                    "job_id": qualification.job_id,
+                    "input_sha256": qualification.input_sha256,
+                    "policy": qualification.policy,
+                    "source_frame_count": qualification.source_frame_count,
+                    "selected_frame_count": len(qualification.frames),
+                    "first_frame_index": qualification.frames[0].frame_index,
+                    "last_frame_index": qualification.frames[-1].frame_index,
+                },
+            },
+            ensure_ascii=False,
+            indent=2,
+            sort_keys=True,
+        )
+    )
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())