feat(viewer): add recorded point colors and trajectory follow

src/k1link/viewer/recorded.py

@@ -12,13 +12,15 @@ import rerun as rr
 import rerun_bindings as bindings
 from rerun import blueprint as rrb
 
-from k1link.viewer.rerun_bridge import RerunSceneSettings, _parse_hex_color
+from k1link.viewer.rerun_bridge import RerunSceneSettings
 
 APPLICATION_ID = "nodedc_mission_core_recorded"
 SESSION_TIMELINE = "session_time"
 
 RECORDED_SPATIAL_VIEW_ID = UUID("5f5f11d5-3b0a-4a81-887b-2be767cba1c0")
 RECORDED_SPATIAL_RESET_VIEW_ID = UUID("1480abcc-a0ae-4287-ab69-4b606d15d947")
+RECORDED_SPATIAL_FOLLOW_VIEW_ID = UUID("e96acd7f-1bb8-49e2-bff8-a661e5c6ceab")
+RECORDED_SPATIAL_FOLLOW_RESET_VIEW_ID = UUID("f409403d-84ac-4309-82aa-501fc69905f5")
 RECORDED_ROOT_CONTAINER_ID = UUID("b02f2aca-8471-4dcb-b786-53df5a320fc8")
 RECORDED_SPATIAL_RESET_ROOT_CONTAINER_ID = UUID("27d95ad7-1e72-46ca-b854-d02cd99b7610")
 RECORDED_PERCEPTION_ROOT_CONTAINER_ID = UUID("70ea9fd5-bbbb-4b23-8ae8-8098af92b997")
@@ -33,6 +35,8 @@ RECORDED_CAMERA_VIEW_ID = UUID("5c1db75b-07cd-479a-903d-f4f2ed554513")
 RECORDED_CAMERA_RESET_VIEW_ID = UUID("d0618e0c-c889-4222-a643-60a4a882935c")
 RECORDED_PERCEPTION_3D_VIEW_ID = UUID("0496bd2e-2b4d-4a4f-87b8-3ce4f9f7e114")
 RECORDED_PERCEPTION_3D_RESET_VIEW_ID = UUID("31f63ab8-ffdd-4751-ae40-e8e7b4462c8f")
+RECORDED_PERCEPTION_3D_FOLLOW_VIEW_ID = UUID("6bb43236-9507-4e8f-bc54-3a73b31c07b5")
+RECORDED_PERCEPTION_3D_FOLLOW_RESET_VIEW_ID = UUID("0e01e3c6-8b7b-47aa-b22b-e413301599eb")
 RECORDED_METRICS_VIEW_ID = UUID("f973fc11-0867-4732-ad3c-97008621fab7")
 RECORDED_UNIFIED_ROOT_CONTAINER_ID = UUID("e9934ef8-453f-432e-9136-2b0908190253")
 RECORDED_UNIFIED_RESET_ROOT_CONTAINER_ID = UUID("2781407d-9f4e-4405-86e8-bbe6065e83df")
@@ -155,6 +159,7 @@ def recorded_blueprint(
     show_detections_2d: bool = False,
     show_segmentation: bool = False,
     show_cuboids_3d: bool = False,
+    follow_trajectory: bool = False,
 ) -> rrb.Blueprint:
     accumulation = max(0.0, settings.accumulation_seconds)
     time_ranges: list[rr.VisibleTimeRange] | None = None
@@ -171,16 +176,10 @@ def recorded_blueprint(
     )
     point_visualizer = rr.Points3D.from_fields(
         radii=rr.Radius.ui_points(settings.point_size),
-        colors=(
-            [_parse_hex_color(settings.custom_color)] if settings.palette == "custom" else None
-        ),
     ).visualizer()
     point_visualizer.id = RECORDED_POINTS_VISUALIZER_ID
     perception_point_visualizer = rr.Points3D.from_fields(
         radii=rr.Radius.ui_points(settings.point_size),
-        colors=(
-            [_parse_hex_color(settings.custom_color)] if settings.palette == "custom" else None
-        ),
     ).visualizer()
     perception_point_visualizer.id = RECORDED_PERCEPTION_POINTS_VISUALIZER_ID
     point_overrides: list[Any] = [
@@ -219,10 +218,21 @@ def recorded_blueprint(
         # Log an explicit empty range set so a previous accumulated blueprint
         # for this stable view id is cleared instead of surviving in Rerun.
         time_ranges=rrb.VisibleTimeRanges([]),
+        eye_controls=(
+            rrb.EyeControls3D(
+                kind=rrb.Eye3DKind.Orbital,
+                tracking_entity="/world/sensor_pose",
+            )
+            if follow_trajectory
+            else None
+        ),
     )
-    spatial_view.id = (
-        RECORDED_SPATIAL_RESET_VIEW_ID if view_reset_generation else RECORDED_SPATIAL_VIEW_ID
-    )
+    spatial_view.id = {
+        (False, 0): RECORDED_SPATIAL_VIEW_ID,
+        (False, 1): RECORDED_SPATIAL_RESET_VIEW_ID,
+        (True, 0): RECORDED_SPATIAL_FOLLOW_VIEW_ID,
+        (True, 1): RECORDED_SPATIAL_FOLLOW_RESET_VIEW_ID,
+    }[(follow_trajectory, view_reset_generation)]
     camera_view = rrb.Spatial2DView(
         origin="/perception/camera",
         name="Оригинальное видео · слои AI",
@@ -269,12 +279,21 @@ def recorded_blueprint(
             # native cloud from /world/points.
             "/world/perception/lidar": rrb.EntityBehavior(visible=False),
         },
+        eye_controls=(
+            rrb.EyeControls3D(
+                kind=rrb.Eye3DKind.Orbital,
+                tracking_entity="/world/sensor_pose",
+            )
+            if follow_trajectory
+            else None
+        ),
     )
-    perception_3d_view.id = (
-        RECORDED_PERCEPTION_3D_RESET_VIEW_ID
-        if view_reset_generation
-        else RECORDED_PERCEPTION_3D_VIEW_ID
-    )
+    perception_3d_view.id = {
+        (False, 0): RECORDED_PERCEPTION_3D_VIEW_ID,
+        (False, 1): RECORDED_PERCEPTION_3D_RESET_VIEW_ID,
+        (True, 0): RECORDED_PERCEPTION_3D_FOLLOW_VIEW_ID,
+        (True, 1): RECORDED_PERCEPTION_3D_FOLLOW_RESET_VIEW_ID,
+    }[(follow_trajectory, view_reset_generation)]
     metrics_view = rrb.TimeSeriesView(
         origin="/metrics/device",
         name="Маршрут и время",
@@ -372,6 +391,7 @@ def recorded_blueprint_rrd(
     show_detections_2d: bool = False,
     show_segmentation: bool = False,
     show_cuboids_3d: bool = False,
+    follow_trajectory: bool = False,
 ) -> bytes:
     """Serialize a bounded active blueprint update without recorded data."""
 
@@ -384,6 +404,7 @@ def recorded_blueprint_rrd(
         show_detections_2d=show_detections_2d,
         show_segmentation=show_segmentation,
         show_cuboids_3d=show_cuboids_3d,
+        follow_trajectory=follow_trajectory,
     )
     payload: bytes | None
     if blueprint_session_id is not None:

src/k1link/viewer/rerun_bridge.py

@@ -491,6 +491,9 @@ def _point_colors(
     rgb: np.ndarray | None,
     settings: RerunSceneSettings,
 ) -> np.ndarray:
+    if settings.palette == "custom":
+        color = _parse_hex_color(settings.custom_color)
+        return np.tile(np.asarray(color, dtype=np.uint8), (positions.shape[0], 1))
     if settings.color_mode == "rgb" and rgb is not None:
         return rgb
     if settings.color_mode == "class":