feat(perception): qualify world-frame motion tracking

src/k1link/compute/__init__.py

@@ -37,9 +37,11 @@ from .jobs import (
 from .lab_instances import (
     PublishedIntegratedLabInstance,
     PublishedTemporalLabInstance,
+    PublishedWorldMotionLabInstance,
     publish_e21_lab_instance,
     publish_e22_lab_instance,
     publish_e23_lab_instance,
+    publish_e24_lab_instance,
     publish_integrated_lab_instance,
 )
 from .live_perception import (
@@ -119,6 +121,7 @@ __all__ = [
     "IntegratedPerceptionOverlayStore",
     "PublishedIntegratedLabInstance",
     "PublishedTemporalLabInstance",
+    "PublishedWorldMotionLabInstance",
     "IntegratedPerceptionResult",
     "LiveReplayQualificationResult",
     "MultiratePerceptionArtifact",
@@ -150,6 +153,7 @@ __all__ = [
     "publish_e21_lab_instance",
     "publish_e22_lab_instance",
     "publish_e23_lab_instance",
+    "publish_e24_lab_instance",
     "publish_integrated_lab_instance",
     "validate_multirate_perception_qualification_result",
     "prepare_recorded_qualification_slice",

src/k1link/compute/lab_instances.py

@@ -33,6 +33,7 @@ from .temporal_stability import (
     _quality_metrics,
     build_temporal_stability_result,
 )
+from .world_motion import WorldMotionBuild, build_world_motion_result
 
 
 @dataclass(frozen=True, slots=True)
@@ -50,6 +51,14 @@ class PublishedTemporalLabInstance:
     build: TemporalStabilityBuild
 
 
+@dataclass(frozen=True, slots=True)
+class PublishedWorldMotionLabInstance:
+    binding: LabSessionBinding
+    job: CameraComputeJob
+    result: IntegratedPerceptionResult
+    build: WorldMotionBuild
+
+
 def publish_integrated_lab_instance(
     *,
     repository_root: Path,
@@ -477,6 +486,110 @@ def publish_e23_lab_instance(
     )
 
 
+def publish_e24_lab_instance(
+    *,
+    repository_root: Path,
+    source_result_root: Path,
+    profile_path: Path,
+    benchmark_path: Path,
+    lab_session_id: str,
+    lab_id: str,
+    display_name: str,
+) -> PublishedWorldMotionLabInstance:
+    """Derive and publish a bounded world-frame motion-tracking LAB run."""
+
+    root = repository_root.expanduser().resolve(strict=True)
+    jobs_root = root / ".runtime" / "compute-jobs"
+    results_root = root / ".runtime" / "compute-experiments" / "e10" / "worker-results"
+    packs_root = root / ".runtime" / "compute-experiments" / "e10" / "lidar-packs"
+    source_path = source_result_root.expanduser().resolve(strict=True)
+    source_document = _read_object(source_path / "result.json", source_path)
+    identity = source_document.get("identity")
+    if not isinstance(identity, dict) or not isinstance(identity.get("job_id"), str):
+        raise SessionIntegrityError("E24 source has no job identity")
+    source = validate_integrated_perception_result(
+        jobs_root / identity["job_id"],
+        source_path,
+        packs_root,
+    )
+    if not source.accepted:
+        raise SessionIntegrityError("E24 source result is not accepted")
+
+    lab_job = _publish_lab_job(source.job, jobs_root, lab_session_id)
+    lab_pack = _publish_lab_pack(source, lab_job, packs_root, lab_session_id)
+    build = build_world_motion_result(
+        source=source,
+        lab_job=lab_job,
+        lab_pack=lab_pack,
+        results_root=results_root,
+        profile_path=profile_path,
+        benchmark_path=benchmark_path,
+    )
+    validated = validate_integrated_perception_result(
+        lab_job.job_root,
+        build.result_root,
+        packs_root,
+    )
+    if not validated.accepted:
+        failed = [
+            name for name, accepted in build.report["acceptance"]["checks"].items() if not accepted
+        ]
+        raise SessionIntegrityError(
+            f"E24 world-motion artifact acceptance failed: {', '.join(failed)}"
+        )
+
+    store = SessionStore(root)
+    source_lab = store.get_lab_instance(source.job.session_id)
+    source_session_id = (
+        source.job.session_id if source_lab is None else source_lab.source_session_id
+    )
+    publish_lab_replay_cache(
+        store.data_dir,
+        source_session_id=source_session_id,
+        lab_session_id=lab_session_id,
+        timeline_start_ns=round(validated.timeline_start_seconds * 1_000_000_000),
+        timeline_end_ns=round(validated.timeline_end_seconds * 1_000_000_000),
+    )
+    metrics = build.report["metrics"]
+    binding = store.publish_lab_instance(
+        session_id=lab_session_id,
+        source_session_id=source_session_id,
+        display_name=display_name,
+        lab_id=lab_id,
+        result_kind="e24-world-motion",
+        result_id=validated.result_id,
+        source_result_id=source.result_id,
+        config_sha256=build.profile_sha256,
+        run_created_at_utc=validated.created_at_utc,
+        duration_seconds=(validated.timeline_end_seconds - validated.timeline_start_seconds),
+        include_recorded_media=False,
+        provenance={
+            "schema_version": "missioncore.e24-lab-publication/v1",
+            "storage_mode": "bounded-world-frame-tracking-and-immutable-source-replay",
+            "source_result_id": source.result_id,
+            "source_lab_session_id": (None if source_lab is None else source_lab.session_id),
+            "source_payloads_mutated": False,
+            "coordinate_frame": "k1-map",
+            "lookahead_frames": 0,
+            "benchmark_sha256": build.benchmark_sha256,
+            "benchmark_passed": metrics["benchmark"]["passed"],
+            "benchmark_passed_events": metrics["benchmark"]["passed_events"],
+            "benchmark_total_events": metrics["benchmark"]["total_events"],
+            "world_motion_processing_p95_ms": metrics["runtime"][
+                "world_motion_frame_processing_ms"
+            ]["p95"],
+            "peak_tracks": metrics["runtime"]["peak_tracks"],
+            "navigation_or_safety_accepted": False,
+        },
+    )
+    return PublishedWorldMotionLabInstance(
+        binding=binding,
+        job=lab_job,
+        result=validated,
+        build=build,
+    )
+
+
 def _validate_e23_inputs(
     worker_root: Path,
     source_report_path: Path,

src/k1link/device_plugins/xgrids_k1/cli.py

@@ -22,6 +22,7 @@ from k1link.compute import (
     publish_e21_lab_instance,
     publish_e22_lab_instance,
     publish_e23_lab_instance,
+    publish_e24_lab_instance,
     publish_integrated_lab_instance,
 )
 from k1link.device_plugins.xgrids_k1.analyze import (
@@ -581,6 +582,80 @@ def publish_e23_lab(
     )
 
 
+@lab_app.command("publish-e24")
+def publish_e24_lab(
+    result: Annotated[
+        Path,
+        typer.Option(
+            exists=True,
+            file_okay=False,
+            readable=True,
+            resolve_path=True,
+            help="Accepted full-session integrated result used as the E24 source.",
+        ),
+    ],
+    profile: Annotated[
+        Path,
+        typer.Option(
+            exists=True,
+            dir_okay=False,
+            readable=True,
+            resolve_path=True,
+            help="Bounded E24 world-motion profile.",
+        ),
+    ],
+    benchmark: Annotated[
+        Path,
+        typer.Option(
+            exists=True,
+            dir_okay=False,
+            readable=True,
+            resolve_path=True,
+            help="Operator-anchored E24 motion benchmark.",
+        ),
+    ],
+    session_id: Annotated[
+        str,
+        typer.Option("--session-id", help="New immutable LAB session id."),
+    ],
+    lab_id: Annotated[
+        str,
+        typer.Option("--lab-id", help="LAB marker, for example 'LAB E24'."),
+    ],
+    display_name: Annotated[
+        str,
+        typer.Option("--display-name", help="Operator-facing saved-session title."),
+    ],
+) -> None:
+    """Build and publish a bounded world-frame motion-tracking run."""
+
+    repository_root = Path(__file__).resolve().parents[4]
+    try:
+        published = publish_e24_lab_instance(
+            repository_root=repository_root,
+            source_result_root=result,
+            profile_path=profile,
+            benchmark_path=benchmark,
+            lab_session_id=session_id,
+            lab_id=lab_id,
+            display_name=display_name,
+        )
+    except (OSError, SessionIntegrityError, RuntimeError, ValueError) as exc:
+        console.print(f"[red]E24 LAB publication failed:[/red] {exc}")
+        raise typer.Exit(code=2) from exc
+    metrics = published.build.report["metrics"]
+    console.print(
+        "[green]E24 LAB instance published.[/green] "
+        f"session={published.binding.session_id}; "
+        f"source={published.binding.source_session_id}; "
+        f"result={published.binding.result_id}; "
+        f"benchmark={metrics['benchmark']['passed_events']}/"
+        f"{metrics['benchmark']['total_events']}; "
+        f"p95={metrics['runtime']['world_motion_frame_processing_ms']['p95']:.3f}ms; "
+        "source_payloads_mutated=false"
+    )
+
+
 @app.command("serve")
 def serve_console(
     port: Annotated[