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 +1,96 @@
+from __future__ import annotations
+
+import importlib.util
+import json
+import sys
+from pathlib import Path
+
+import numpy as np
+import pytest
+
+
+def _module() -> object:
+    path = (
+        Path(__file__).resolve().parents[1]
+        / "experiments"
+        / "perception"
+        / "prepare_e15_projection_pack.py"
+    )
+    spec = importlib.util.spec_from_file_location("e15_projection_pack_test", path)
+    assert spec is not None and spec.loader is not None
+    module = importlib.util.module_from_spec(spec)
+    sys.modules[spec.name] = module
+    spec.loader.exec_module(module)
+    return module
+
+
+def test_projection_pack_contains_calibration_only(tmp_path: Path) -> None:
+    module = _module()
+    calibration_sha256 = "a" * 64
+    source = tmp_path / "source-pack"
+    source.mkdir()
+    arrays = source / "lidar-pack.npz"
+    np.savez(
+        arrays,
+        frame_indices=np.asarray([0]),
+        cloud_points_map=np.asarray([[99.0, 99.0, 99.0]]),
+        intrinsic_fx_fy_cx_cy=np.asarray([1.0, 2.0, 3.0, 4.0]),
+        distortion_kb4=np.asarray([0.1, 0.2, 0.3, 0.4]),
+        t_camera_from_lidar=np.eye(4),
+    )
+    manifest = {
+        "pack_id": "source-pack",
+        "identity_sha256": "b" * 64,
+        "identity": {
+            "calibration_sha256": calibration_sha256,
+            "source_id": "sensor.camera.right",
+            "camera_slot": "camera_1",
+        },
+        "artifact": {"sha256": module._sha256(arrays)},
+    }
+    (source / "manifest.json").write_text(json.dumps(manifest))
+
+    output = module.build_projection_pack(
+        source,
+        tmp_path / "output",
+        expected_calibration_sha256=calibration_sha256,
+    )
+    document = module.validate_projection_pack(output, calibration_sha256)
+
+    assert document["classification"] == "calibration-only-no-recorded-sensor-frames"
+    with np.load(output / "projection.npz", allow_pickle=False) as packed:
+        assert set(packed.files) == module.PACK_ARRAYS
+        assert "cloud_points_map" not in packed.files
+        assert "frame_indices" not in packed.files
+
+
+def test_projection_pack_rejects_changed_calibration(tmp_path: Path) -> None:
+    module = _module()
+    source = tmp_path / "source-pack"
+    source.mkdir()
+    arrays = source / "lidar-pack.npz"
+    np.savez(
+        arrays,
+        intrinsic_fx_fy_cx_cy=np.ones(4),
+        distortion_kb4=np.ones(4),
+        t_camera_from_lidar=np.eye(4),
+    )
+    (source / "manifest.json").write_text(
+        json.dumps(
+            {
+                "identity": {
+                    "calibration_sha256": "a" * 64,
+                    "source_id": "sensor.camera.right",
+                    "camera_slot": "camera_1",
+                },
+                "artifact": {"sha256": module._sha256(arrays)},
+            }
+        )
+    )
+
+    with pytest.raises(RuntimeError, match="calibration binding changed"):
+        module.build_projection_pack(
+            source,
+            tmp_path / "output",
+            expected_calibration_sha256="b" * 64,
+        )