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.

tests/test_rerun_bridge.py

@@ -9,6 +9,7 @@ from pathlib import Path
 import numpy as np
 import pytest
 
+from k1link.compute.live_perception import LivePerceptionResultFrame
 from k1link.data_plane import DecodedDataPlaneView, NormalizationError
 from k1link.device_plugins.xgrids_k1.mqtt.capture import FRAME_HEADER, RAW_MAGIC
 from k1link.device_plugins.xgrids_k1.protocol.normalizer import normalize_k1_message
@@ -138,6 +139,43 @@ def test_live_blueprint_follows_stream_time_without_frontend_cursor_writes() ->
     assert panel.state == "hidden"
 
 
+def test_live_perception_logs_original_mask_2d_distance_and_3d_cuboid() -> None:
+    recording = FakeRecording()
+    bridge = RerunBridge(recording_factory=lambda _: recording)  # type: ignore[arg-type]
+    mask = np.zeros((600, 800), dtype=np.uint8)
+    mask[20:30, 40:50] = 4
+
+    bridge.process_perception(
+        LivePerceptionResultFrame(
+            frame_index=3,
+            source_frame_index=30,
+            session_seconds=1.0,
+            captured_at_epoch_ns=1_784_124_315_186_225_000,
+            image_jpeg=b"\xff\xd8test\xff\xd9",
+            segmentation_mask=mask,
+            objects=(
+                {
+                    "track_id": 9,
+                    "label": "car",
+                    "score": 0.9,
+                    "bbox_xyxy": [10.0, 20.0, 110.0, 80.0],
+                    "distance_m": 6.2,
+                    "cuboid_center_map": [1.0, 2.0, 0.5],
+                    "cuboid_half_size": [2.25, 0.925, 0.775],
+                    "cuboid_quaternion_xyzw": [0.0, 0.0, 0.0, 1.0],
+                },
+            ),
+            delivery={"health": "healthy"},
+        )
+    )
+
+    paths = [path for path, _, _ in recording.logs]
+    assert "/perception/camera/image" in paths
+    assert "/perception/camera/segmentation" in paths
+    assert "/perception/camera/detections" in paths
+    assert "/world/perception/boxes3d" in paths
+
+
 def test_constructor_disconnects_recording_after_partial_setup_failure() -> None:
     recording = BlueprintFailureRecording()