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_xgrids_camera_gateway.py

@@ -12,6 +12,7 @@ import pytest
 import k1link.device_plugins.xgrids_k1.camera as camera_module
 from k1link.device_plugins.xgrids_k1.camera import (
     CAMERA_MEDIA_TYPE,
+    CommittedCameraSegment,
     XgridsK1CameraGateway,
     _build_ffmpeg_argv,
     _read_mp4_box,
@@ -169,6 +170,45 @@ def test_camera_selection_is_exclusive_and_hides_device_transport(
         gateway.close()
 
 
+def test_camera_derived_observer_runs_only_after_durable_archive_commit(
+    tmp_path: Path,
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    monkeypatch.setenv("MISSIONCORE_FFMPEG_BINARY", str(_fake_ffmpeg(tmp_path)))
+    session = tmp_path / "session"
+    session.mkdir()
+    observed: list[CommittedCameraSegment] = []
+
+    def observe(segment: CommittedCameraSegment) -> None:
+        archive = (
+            session
+            / "media"
+            / segment.source_id
+            / f"epoch-{segment.generation}"
+        )
+        committed = (
+            archive / "init.mp4"
+            if segment.kind == "init"
+            else archive / "segments" / f"{segment.sequence}.m4s"
+        )
+        assert committed.read_bytes() == segment.payload
+        observed.append(segment)
+
+    gateway = XgridsK1CameraGateway(
+        tmp_path,
+        XGRIDS_K1_PLUGIN_ID,
+        committed_segment_observer=observe,
+    )
+    try:
+        gateway.start_recording(session)
+        gateway.select("sensor.camera.right", "192.168.8.52")
+        _wait_until(lambda: len(observed) == 2)
+        assert [segment.kind for segment in observed] == ["init", "media"]
+        assert gateway.snapshot()["derived_observer_errors"] == 0
+    finally:
+        gateway.close()
+
+
 def test_camera_ffmpeg_command_is_allowlisted_copy_remux() -> None:
     argv = _build_ffmpeg_argv(
         Path("/trusted/ffmpeg"),