feat(perception): add lossless lidar replay v2

src/k1link/compute/__init__.py

@@ -50,6 +50,7 @@ from .lab_instances import (
 )
 from .lidar_contract import (
     K1_LAB_LIDAR_PACK_V1_PROFILE,
+    K1_LIDAR_PACK_V2_PROFILE,
     K1_LIVE_LIDAR_PROFILE,
     LIDAR_EVIDENCE_PROFILE_SCHEMA,
     LIDAR_READINESS_SCHEMA,
@@ -68,6 +69,19 @@ from .lidar_contract import (
     lidar_readiness_document,
     sensor_frame_xyzi,
 )
+from .lidar_replay import (
+    LIDAR_EQUIVALENCE_REPORT_SCHEMA,
+    LIDAR_QUALITY_REPORT_SCHEMA,
+    LIDAR_REPLAY_PACK_SCHEMA,
+    LidarReplayError,
+    LidarReplayPackV2,
+    LidarReplayPointFrame,
+    LidarReplayPoseFrame,
+    build_lidar_replay_pack_v2,
+    lidar_pack_catalog_item,
+    lidar_pack_detail,
+    verify_lidar_replay_equivalence,
+)
 from .live_perception import (
     LIVE_INGRESS_SCHEMA,
     LIVE_INGRESS_WIRE_SCHEMA,
@@ -139,7 +153,10 @@ __all__ = [
     "EvaluationPackFrame",
     "LatestWinsQueue",
     "LIDAR_EVIDENCE_PROFILE_SCHEMA",
+    "LIDAR_EQUIVALENCE_REPORT_SCHEMA",
+    "LIDAR_QUALITY_REPORT_SCHEMA",
     "LIDAR_READINESS_SCHEMA",
+    "LIDAR_REPLAY_PACK_SCHEMA",
     "LIVE_INGRESS_SCHEMA",
     "LIVE_INGRESS_WIRE_SCHEMA",
     "LiveIngressEvent",
@@ -152,6 +169,10 @@ __all__ = [
     "LidarPoseStatus",
     "LidarQualityMonitor",
     "LidarReadiness",
+    "LidarReplayError",
+    "LidarReplayPackV2",
+    "LidarReplayPointFrame",
+    "LidarReplayPoseFrame",
     "LidarRepresentation",
     "LidarStageAssessment",
     "LidarTimeBasis",
@@ -167,6 +188,7 @@ __all__ = [
     "MultiratePerceptionQualificationResult",
     "QUALIFICATION_POLICY",
     "K1_LAB_LIDAR_PACK_V1_PROFILE",
+    "K1_LIDAR_PACK_V2_PROFILE",
     "K1_LIVE_LIDAR_PROFILE",
     "QueueSnapshot",
     "RecordedCalibratedFusion",
@@ -201,6 +223,7 @@ __all__ = [
     "validate_multirate_perception_qualification_result",
     "prepare_recorded_qualification_slice",
     "assess_lidar_profile",
+    "build_lidar_replay_pack_v2",
     "DetectionFrame",
     "ObjectDetection",
     "RecordedPerceptionOverlayError",
@@ -221,5 +244,8 @@ __all__ = [
     "validate_tracked_fusion_qualification_result",
     "validate_annotation_workspace",
     "lidar_readiness_document",
+    "lidar_pack_catalog_item",
+    "lidar_pack_detail",
     "sensor_frame_xyzi",
+    "verify_lidar_replay_equivalence",
 ]

src/k1link/compute/lidar_contract.py

@@ -621,3 +621,17 @@ K1_LAB_LIDAR_PACK_V1_PROFILE: Final = LidarEvidenceProfile(
     lidar_imu_extrinsic_available=False,
     camera_extrinsic_available=True,
 )
+
+K1_LIDAR_PACK_V2_PROFILE: Final = LidarEvidenceProfile(
+    profile_id="xgrids-k1-lidar-replay-pack/v2",
+    representation=LidarRepresentation.VENDOR_MAP_INCREMENT,
+    coordinate_space=LidarCoordinateSpace.MAP,
+    coordinate_frame="map",
+    frame_time_basis=LidarTimeBasis.HOST_ARRIVAL,
+    point_fields=(LidarPointField.XYZ, LidarPointField.INTENSITY),
+    pose_status=LidarPoseStatus.BEST_EFFORT,
+    scan_geometry_known=False,
+    imu_samples_available=False,
+    lidar_imu_extrinsic_available=False,
+    camera_extrinsic_available=True,
+)