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
@@ -19,16 +19,23 @@ from k1link.device_plugins.xgrids_k1.mqtt.capture import (
 from k1link.device_plugins.xgrids_k1.rrd_export import (
    RECORDED_CAMERA_VIEW_ID,
    RECORDED_METRICS_VIEW_ID,
+    RECORDED_PERCEPTION_3D_VIEW_ID,
    RECORDED_POINTS_VISUALIZER_ID,
    RECORDED_ROOT_CONTAINER_ID,
    RECORDED_SPATIAL_VIEW_ID,
+    RECORDED_VIEW_POINT_DECIMATION_THRESHOLD,
+    RECORDED_VIEW_POINT_FRAME_STRIDE,
+    RECORDED_VIEW_POINT_STRIDE,
    SESSION_TIMELINE,
    RrdExportCancelled,
    RrdExportError,
    _recorded_blueprint,
+    _recorded_view_points,
+    _should_publish_recorded_point_frame,
    export_k1mqtt_to_rrd,
    recorded_blueprint_rrd,
 )
+from k1link.viewer.recorded import recorded_blueprint as viewer_recorded_blueprint
 from k1link.viewer.rerun_bridge import RerunSceneSettings


@@ -45,6 +52,57 @@ def _point_payload(x: float) -> bytes:
    )


+def test_recorded_operator_projection_thins_only_dense_point_batches() -> None:
+    assert RECORDED_VIEW_POINT_FRAME_STRIDE == 5
+    count = RECORDED_VIEW_POINT_DECIMATION_THRESHOLD + 3
+    positions = export_module.np.arange(
+        count * 3,
+        dtype=export_module.np.float32,
+    ).reshape((-1, 3))
+    intensities = export_module.np.arange(count, dtype=export_module.np.uint8)
+    rgb = export_module.np.arange(count * 3, dtype=export_module.np.uint8).reshape((-1, 3))
+
+    projected_positions, projected_intensities, projected_rgb = _recorded_view_points(
+        positions,
+        intensities,
+        rgb,
+    )
+
+    assert projected_rgb is not None
+    assert export_module.np.array_equal(
+        projected_positions,
+        positions[::RECORDED_VIEW_POINT_STRIDE],
+    )
+    assert export_module.np.array_equal(
+        projected_intensities,
+        intensities[::RECORDED_VIEW_POINT_STRIDE],
+    )
+    assert export_module.np.array_equal(projected_rgb, rgb[::RECORDED_VIEW_POINT_STRIDE])
+
+    small_positions = positions[:RECORDED_VIEW_POINT_DECIMATION_THRESHOLD]
+    small_intensities = intensities[:RECORDED_VIEW_POINT_DECIMATION_THRESHOLD]
+    same_positions, same_intensities, no_rgb = _recorded_view_points(
+        small_positions,
+        small_intensities,
+        None,
+    )
+    assert same_positions is small_positions
+    assert same_intensities is small_intensities
+    assert no_rgb is None
+
+
+def test_recorded_operator_projection_uses_stable_two_hz_point_cadence() -> None:
+    published = [
+        frame_number
+        for frame_number in range(1, 13)
+        if _should_publish_recorded_point_frame(frame_number)
+    ]
+
+    assert published == [1, 6, 11]
+    with pytest.raises(ValueError, match="positive"):
+        _should_publish_recorded_point_frame(0)
+
+
 def _pose_payload(x: float) -> bytes:
    return struct.pack("<ffffffff", x, 2.0, 3.0, 99.0, 1.0, 0.0, 0.0, 0.0)

@@ -191,8 +249,19 @@ def test_recorded_blueprint_accumulates_point_frames_on_session_timeline() -> No
    assert line_grid.visible.as_arrow_array().to_pylist() == [False]
    point_behavior, point_visualizer = spatial_view.visualizer_overrides["/world/points"]
    trajectory_behavior = spatial_view.visualizer_overrides["/world/trajectory"]
+    perception_behavior = spatial_view.visualizer_overrides["/world/perception"]
    assert point_behavior.visible.as_arrow_array().to_pylist() == [False]
    assert trajectory_behavior.visible.as_arrow_array().to_pylist() == [True]
+    assert perception_behavior.visible.as_arrow_array().to_pylist() == [False]
+    perception_3d_view = blueprint.root_container.contents[2]
+    assert perception_3d_view.origin == "/world"
+    assert "VisibleTimeRanges" not in perception_3d_view.properties
+    assert perception_3d_view.visualizer_overrides[
+        "/world/perception"
+    ].visible.as_arrow_array().to_pylist() == [True]
+    assert perception_3d_view.visualizer_overrides[
+        "/world/perception/lidar"
+    ].visible.as_arrow_array().to_pylist() == [False]
    point_overrides = {
        str(batch.component_descriptor()): batch.as_arrow_array().to_pylist()
        for batch in point_visualizer.overrides
@@ -235,8 +304,10 @@ def test_dynamic_blueprint_reuses_scene_ids_without_playback_mutation() -> None:
    assert first_view.id == second_view.id == RECORDED_SPATIAL_VIEW_ID
    assert first.root_container.contents[1].id == RECORDED_CAMERA_VIEW_ID
    assert second.root_container.contents[1].id == RECORDED_CAMERA_VIEW_ID
-    assert first.root_container.contents[2].id == RECORDED_METRICS_VIEW_ID
-    assert second.root_container.contents[2].id == RECORDED_METRICS_VIEW_ID
+    assert first.root_container.contents[2].id == RECORDED_PERCEPTION_3D_VIEW_ID
+    assert second.root_container.contents[2].id == RECORDED_PERCEPTION_3D_VIEW_ID
+    assert first.root_container.contents[3].id == RECORDED_METRICS_VIEW_ID
+    assert second.root_container.contents[3].id == RECORDED_METRICS_VIEW_ID

    first_point_behavior, first_point_visualizer = first_view.visualizer_overrides["/world/points"]
    second_point_behavior, second_point_visualizer = second_view.visualizer_overrides[
@@ -262,6 +333,107 @@ def test_dynamic_blueprint_reuses_scene_ids_without_playback_mutation() -> None:
    assert str(RECORDED_POINTS_VISUALIZER_ID).encode() in payload


+def test_viewer_blueprint_reset_is_bounded_and_recreates_render_views() -> None:
+    initial = viewer_recorded_blueprint(
+        RerunSceneSettings(accumulation_seconds=12.0),
+        include_initial_playback_state=False,
+        active_view="perception",
+        view_reset_generation=0,
+    )
+    reset = viewer_recorded_blueprint(
+        RerunSceneSettings(accumulation_seconds=12.0),
+        include_initial_playback_state=False,
+        active_view="perception",
+        view_reset_generation=1,
+    )
+    restored = viewer_recorded_blueprint(
+        RerunSceneSettings(accumulation_seconds=12.0),
+        include_initial_playback_state=False,
+        active_view="perception",
+        view_reset_generation=0,
+    )
+
+    assert initial.root_container.id == restored.root_container.id
+    assert reset.root_container.id != initial.root_container.id
+    assert initial.root_container.contents[0].id != reset.root_container.contents[0].id
+    assert restored.root_container.contents[0].id == initial.root_container.contents[0].id
+    assert initial.root_container.active_tab == 1
+    assert reset.root_container.active_tab == 1
+    assert initial.root_container.contents[1].id != reset.root_container.contents[1].id
+    assert initial.root_container.contents[2].id != reset.root_container.contents[2].id
+    assert restored.root_container.contents[1].id == initial.root_container.contents[1].id
+    assert restored.root_container.contents[2].id == initial.root_container.contents[2].id
+    cuboids = viewer_recorded_blueprint(
+        RerunSceneSettings(accumulation_seconds=12.0),
+        include_initial_playback_state=False,
+        active_view="perception3d",
+    )
+    assert cuboids.root_container.active_tab == 2
+    assert cuboids.root_container.id != initial.root_container.id
+    cuboid_view = cuboids.root_container.contents[2]
+    assert cuboid_view.origin == "/world"
+    assert "VisibleTimeRanges" not in cuboid_view.properties
+    cuboid_points, cuboid_point_visualizer = cuboid_view.visualizer_overrides[
+        "/world/points"
+    ]
+    cuboid_perception = cuboid_view.visualizer_overrides["/world/perception"]
+    cuboid_diagnostic_lidar = cuboid_view.visualizer_overrides[
+        "/world/perception/lidar"
+    ]
+    assert cuboid_points.visible.as_arrow_array().to_pylist() == [True]
+    assert cuboid_point_visualizer.id != initial.root_container.contents[0].visualizer_overrides[
+        "/world/points"
+    ][1].id
+    assert cuboid_perception.visible.as_arrow_array().to_pylist() == [True]
+    assert cuboid_diagnostic_lidar.visible.as_arrow_array().to_pylist() == [False]
+    perception_behavior = initial.root_container.contents[0].visualizer_overrides[
+        "/world/perception"
+    ]
+    assert perception_behavior.visible.as_arrow_array().to_pylist() == [False]
+
+
+def test_viewer_blueprint_unifies_original_video_and_independent_ai_layers() -> None:
+    blueprint = viewer_recorded_blueprint(
+        RerunSceneSettings(accumulation_seconds=12.0),
+        include_initial_playback_state=False,
+        unified_perception=True,
+        show_detections_2d=True,
+        show_segmentation=True,
+        show_cuboids_3d=False,
+    )
+
+    assert type(blueprint.root_container).__name__ == "Horizontal"
+    camera_view, spatial_view = blueprint.root_container.contents
+    assert camera_view.origin == "/perception/camera"
+    assert spatial_view.origin == "/world"
+    assert camera_view.visualizer_overrides[
+        "/perception/camera/image"
+    ].visible.as_arrow_array().to_pylist() == [True]
+    assert camera_view.visualizer_overrides[
+        "/perception/camera/detections"
+    ].visible.as_arrow_array().to_pylist() == [True]
+    assert camera_view.visualizer_overrides[
+        "/perception/camera/segmentation"
+    ].visible.as_arrow_array().to_pylist() == [True]
+    semantic_behavior, semantic_time_ranges = spatial_view.visualizer_overrides[
+        "/world/perception/semantic_points"
+    ]
+    cuboid_behavior, cuboid_time_ranges = spatial_view.visualizer_overrides[
+        "/world/perception/boxes3d"
+    ]
+    assert semantic_behavior.visible.as_arrow_array().to_pylist() == [True]
+    assert cuboid_behavior.visible.as_arrow_array().to_pylist() == [False]
+    assert semantic_time_ranges.ranges.as_arrow_array().to_pylist() == []
+    assert cuboid_time_ranges.ranges.as_arrow_array().to_pylist() == []
+    visible_ranges = spatial_view.properties["VisibleTimeRanges"]
+    assert visible_ranges.ranges.as_arrow_array().to_pylist() == [
+        {
+            "timeline": SESSION_TIMELINE,
+            "range": {"start": -12_000_000_000, "end": 0},
+        }
+    ]
+
+
 def test_export_preserves_every_decodable_frame_and_source_timeline(tmp_path: Path) -> None:
    capture = _write_capture(
        tmp_path,