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.

src/k1link/web/app.py

@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import asyncio
+import os
 import shutil
 from collections.abc import AsyncIterator, Iterable
 from contextlib import asynccontextmanager, suppress
@@ -14,7 +15,13 @@ from fastapi.staticfiles import StaticFiles
 from pydantic import ValidationError
 
 from k1link import __version__
-from k1link.compute import RecordedPerceptionOverlayStore
+from k1link.compute import (
+    IntegratedPerceptionOverlayStore,
+    RecordedCalibratedFusionStore,
+    RecordedPerceptionEpochStore,
+    RecordedPerceptionOverlayMux,
+    RecordedPerceptionOverlayStore,
+)
 from k1link.sessions import (
     MaterializedRecording,
     RecordedMediaInspector,
@@ -42,6 +49,22 @@ REPOSITORY_ROOT = Path(__file__).resolve().parents[3]
 INVALID_REQUEST_DETAIL = "Некорректные параметры запроса."
 
 
+def _resolve_media_tool(name: str) -> Path | None:
+    """Resolve media tools under interactive shells and minimal launchd PATHs."""
+
+    discovered = shutil.which(name)
+    candidates = (
+        Path(discovered) if discovered is not None else None,
+        Path("/opt/homebrew/bin") / name,
+        Path("/usr/local/bin") / name,
+        Path("/usr/bin") / name,
+    )
+    for candidate in candidates:
+        if candidate is not None and candidate.is_file() and os.access(candidate, os.X_OK):
+            return candidate
+    return None
+
+
 plugin_environment = load_installed_device_plugins(REPOSITORY_ROOT)
 plugin_catalog: DevicePluginCatalog = plugin_environment.catalog
 plugin_dispatcher: DevicePluginDispatcher = plugin_environment.dispatcher
@@ -53,19 +76,68 @@ session_recording_materializer = SessionRecordingMaterializer(
 session_recorded_media_inspector = RecordedMediaInspector(
     session_store.data_dir / "recorded-media-preparations"
 )
-_ffmpeg = shutil.which("ffmpeg")
-_ffprobe = shutil.which("ffprobe")
-session_perception_overlay_store = (
+_ffmpeg = _resolve_media_tool("ffmpeg")
+_ffprobe = _resolve_media_tool("ffprobe")
+session_legacy_perception_overlay_store = (
     RecordedPerceptionOverlayStore(
         jobs_root=REPOSITORY_ROOT / ".runtime" / "compute-jobs",
         results_root=REPOSITORY_ROOT / ".runtime" / "compute-results",
         cache_root=session_store.data_dir / "perception-overlays",
-        ffmpeg_path=Path(_ffmpeg),
-        ffprobe_path=Path(_ffprobe),
+        ffmpeg_path=_ffmpeg,
+        ffprobe_path=_ffprobe,
     )
     if _ffmpeg is not None and _ffprobe is not None
     else None
 )
+session_calibrated_fusion_store = RecordedCalibratedFusionStore(
+    jobs_root=REPOSITORY_ROOT / ".runtime" / "compute-jobs",
+    perception_results_root=REPOSITORY_ROOT / ".runtime" / "compute-results",
+    fusion_results_root=REPOSITORY_ROOT / ".runtime" / "compute-fusions",
+    cache_root=session_store.data_dir / "calibrated-fusion-overlays",
+)
+session_previous_perception_overlay_store = RecordedPerceptionOverlayMux(
+    session_calibrated_fusion_store, session_legacy_perception_overlay_store
+)
+session_integrated_perception_store = (
+    IntegratedPerceptionOverlayStore(
+        jobs_root=REPOSITORY_ROOT / ".runtime" / "compute-jobs",
+        results_root=(
+            REPOSITORY_ROOT
+            / ".runtime"
+            / "compute-experiments"
+            / "e10"
+            / "worker-results"
+        ),
+        lidar_packs_root=(
+            REPOSITORY_ROOT
+            / ".runtime"
+            / "compute-experiments"
+            / "e10"
+            / "lidar-packs"
+        ),
+        cache_root=session_store.data_dir / "integrated-perception-overlays",
+        ffmpeg_path=_ffmpeg,
+    )
+    if _ffmpeg is not None
+    else None
+)
+session_perception_overlay_store = RecordedPerceptionOverlayMux(
+    session_integrated_perception_store or session_previous_perception_overlay_store,
+    (
+        session_previous_perception_overlay_store
+        if session_integrated_perception_store is not None
+        else None
+    ),
+)
+session_perception_epoch_store = (
+    RecordedPerceptionEpochStore(
+        jobs_root=REPOSITORY_ROOT / ".runtime" / "compute-jobs",
+        results_root=REPOSITORY_ROOT / ".runtime" / "compute-results",
+        ffprobe_path=_ffprobe,
+    )
+    if _ffprobe is not None
+    else None
+)
 
 
 def _prepare_recorded_media_for_launch(
@@ -320,6 +392,7 @@ app.include_router(
         recording_preparation_manager=session_recording_preparation_manager,
         media_inspector=session_recorded_media_inspector,
         perception_overlay_provider=session_perception_overlay_store,
+        perception_media_provider=session_perception_epoch_store,
     )
 )