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 +1,88 @@
+from __future__ import annotations
+
+import json
+from pathlib import Path
+
+import pytest
+
+from k1link.compute.live_perception import TELEMETRY_SCHEMA, WORLD_STATE_SCHEMA
+from k1link.compute.live_replay_qualification import (
+    _validate_telemetry_rows,
+    _validate_world_rows,
+)
+from k1link.sessions import SessionIntegrityError
+
+
+def _world_row() -> dict[str, object]:
+    return {
+        "schema_version": WORLD_STATE_SCHEMA,
+        "frame_index": 3,
+        "source_frame_index": 1003,
+        "session_seconds": 12.3,
+        "coordinate_frames": {
+            "world": "k1-map",
+            "sensor_relative": "k1-lidar",
+            "vehicle_body": "unavailable-no-rig-to-vehicle-transform",
+        },
+        "fusion_state": "fused",
+        "objects": [
+            {
+                "track_id": 7,
+                "range_m": 4.0,
+                "position_map_m": [1.0, 2.0, 3.0],
+                "position_lidar_m": [4.0, 0.0, 0.0],
+                "size_m": [4.0, 2.0, 1.5],
+                "velocity_map_mps": None,
+                "velocity_status": "unavailable-insufficient-history",
+                "geometry": "point-supported-visible-surface-envelope",
+            }
+        ],
+        "object_count": 1,
+        "clearance": {"state": "observed"},
+        "delivery": {"health": "healthy", "result_age_ms": 12.0},
+    }
+
+
+def test_world_and_telemetry_rows_preserve_exact_frame_binding(tmp_path: Path) -> None:
+    world = tmp_path / "world-state.jsonl"
+    telemetry = tmp_path / "telemetry.jsonl"
+    world.write_text(json.dumps(_world_row()) + "\n", encoding="utf-8")
+    telemetry.write_text(
+        json.dumps(
+            {
+                "schema_version": TELEMETRY_SCHEMA,
+                "frame_index": 3,
+                "end_to_end_latency_ms": 12.0,
+                "health": "healthy",
+            }
+        )
+        + "\n",
+        encoding="utf-8",
+    )
+
+    indices = _validate_world_rows(
+        world,
+        tmp_path,
+        expected_count=1,
+        selection_start=3,
+        selection_count=1,
+    )
+    _validate_telemetry_rows(telemetry, tmp_path, expected_indices=indices)
+
+    assert indices == (3,)
+
+
+def test_world_row_rejects_invented_object_count(tmp_path: Path) -> None:
+    world = tmp_path / "world-state.jsonl"
+    value = _world_row()
+    value["object_count"] = 2
+    world.write_text(json.dumps(value) + "\n", encoding="utf-8")
+
+    with pytest.raises(SessionIntegrityError, match="world-state row"):
+        _validate_world_rows(
+            world,
+            tmp_path,
+            expected_count=1,
+            selection_start=3,
+            selection_count=1,
+        )