fix(lab): stabilize recorded spatial playback

src/k1link/perception/geometry.py

@@ -276,6 +276,13 @@ class RecordedGeometryStore:
         points.setflags(write=False)
         return points
 
+    @property
+    def maximum_current_point_count(self) -> int:
+        """Return the immutable source-pack upper bound for one recorded increment."""
+
+        counts = np.diff(np.asarray(self._source["cloud_offsets"], dtype=np.int64))
+        return int(counts.max(initial=0))
+
     def pose_values_for_frame(
         self,
         frame_id: str,
@@ -946,7 +953,10 @@ def _camera_unavailable_observation(
     )
 
 
-def _load_npz(path: Path, label: str) -> dict[str, npt.NDArray[np.generic]]:
+def _load_npz(
+    path: Path,
+    label: str,
+) -> dict[str, npt.NDArray[np.generic]]:
     try:
         with np.load(path, allow_pickle=False) as archive:
             return {name: np.asarray(archive[name]) for name in archive.files}

src/k1link/perception/threat_timeline.py

@@ -14,6 +14,7 @@ from threading import RLock
 from typing import Final
 
 from .geometry import RecordedGeometryStore
+from .recorded_source import RECORDED_REPRESENTATION_ID
 from .spatial_evidence import (
     project_metric_obstacles_to_body,
     sample_points_in_body_frame,
@@ -32,7 +33,7 @@ from .threat_replay import (
 RECORDED_SPATIAL_TIMELINE_SCHEMA: Final = "missioncore.recorded-spatial-evidence-timeline/v1"
 RECORDED_SPATIAL_CHUNK_SCHEMA: Final = "missioncore.recorded-spatial-evidence-chunk/v1"
 RECORDED_SPATIAL_FRAME_SCHEMA: Final = "missioncore.recorded-spatial-evidence-frame/v1"
-RECORDED_SPATIAL_POINT_LIMIT: Final = 2_000
+RECORDED_SPATIAL_POINT_LIMIT: Final = 4_096
 RECORDED_SPATIAL_MAX_CHUNK_FRAMES: Final = 24
 _EXPECTED_FRAME_COUNT: Final = 4_489
 _SOURCE_TIME = re.compile(rb'"source_time_ns":([0-9]+)')
@@ -80,6 +81,10 @@ class RecordedThreatTimeline:
             or self.store.profile.frame_count != _EXPECTED_FRAME_COUNT
         ):
             raise RecordedThreatTimelineError("recorded timeline geometry identity changed")
+        if self.store.maximum_current_point_count > RECORDED_SPATIAL_POINT_LIMIT:
+            raise RecordedThreatTimelineError(
+                "recorded timeline exact point delivery exceeds its declared bound"
+            )
         self.body_frames = RecordedReplayBodyFrameResolver(
             self.store,
             profile=self.profile.body_frame,
@@ -99,6 +104,7 @@ class RecordedThreatTimeline:
             "recorded_source": {
                 "session_id": self.profile.session_id,
                 "source_id": self.profile.source_id,
+                "representation_id": RECORDED_REPRESENTATION_ID,
                 "synchronization": "host-arrival-best-effort",
             },
             "frame_count": len(times),
@@ -109,6 +115,8 @@ class RecordedThreatTimeline:
             "nominal_rate_hz": 1 / nominal_interval,
             "max_chunk_frames": RECORDED_SPATIAL_MAX_CHUNK_FRAMES,
             "point_sample_limit": RECORDED_SPATIAL_POINT_LIMIT,
+            "point_delivery": "exact-current-increment",
+            "maximum_source_points_per_frame": self.store.maximum_current_point_count,
             "image_width": 800,
             "image_height": 600,
             "rig": {
@@ -119,6 +127,7 @@ class RecordedThreatTimeline:
             "corridor": {
                 "forward_length_m": self.profile.corridor.forward_length_m,
                 "rear_margin_m": self.profile.corridor.rear_margin_m,
+                "occupied_voxel_size_m": self.profile.corridor.occupied_voxel_size_m,
                 "half_width_m": (
                     self.profile.rig.body_width_m / 2 + self.profile.corridor.lateral_clearance_m
                 ),

src/k1link/web/app.py

@@ -13,6 +13,7 @@ from fastapi.exceptions import RequestValidationError
 from fastapi.responses import JSONResponse
 from fastapi.staticfiles import StaticFiles
 from pydantic import ValidationError
+from starlette.middleware.gzip import GZipMiddleware
 
 from k1link import __version__
 from k1link.artifact_gateway import configured_artifact_gateway
@@ -414,6 +415,7 @@ app = FastAPI(
     openapi_url="/api/openapi.json",
     lifespan=app_lifespan,
 )
+app.add_middleware(GZipMiddleware, minimum_size=1_024, compresslevel=5)
 
 
 @app.exception_handler(RequestValidationError)