docs(observatory): record saved replay evidence and open visual gates
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# Observatory — saved camera/TGS replay on Core
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Date: 2026-09-03. Core packaging: `2797985`; shared viewer: `9db29bc`.
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Stage 2B, saved-data projection increment; full visual
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acceptance remains open. No new Worker computation, model change, acquisition,
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Synology release or onboard/actuation work.
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## Source and result
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- Session: `20260828T130511Z_viewer_live`, RAVNOVES004TREE.
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- Existing job: `observatory-run-b230216709dc4c59bc56c98c7e329bf1`, generation 1.
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- Result: `m49-tgs-portable-review-a09d2b4a07d103e4f3693ba746a51be2197214768774eabfded4f109ae80dce4`.
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- Package: `52e8afd6aaa38b615008463b873b94feae160946a69ce67aba12efc5f12b1589`.
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- Base RRD: `a65196a55fc1a59d391329777608f512a3930b1287f38971da91b9bf379e1468`.
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- New merged replay: `012e9c2bdc20a06c5e2c748b8e3d149230fd1a3cf13ac15570c39a3555573a87`,
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**193,622,178 bytes**. Original recording and sealed result are unchanged.
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The current profile is CPU TRAVEL TGS, not the planned full
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DDRNet/RF-DETR/distance/motion/policy graph. No historical E47 or LAB overlay is
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substituted for an absent layer.
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## Implementation
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`portable_tgs_replay.py` verifies artifact digests, source-stage identity,
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frame/source clock equality, shapes, dtypes, state codes and measured z bounds.
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Each map-gravity-local costmap is translated by its exact selected source pose;
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no rotation or estimated pose is introduced. The base RRD remains sole owner
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of points, pose and trajectory. Native Boxes3D carry TGS; missing/unobserved
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cells have no invented physical volume. Per-state clears and an epoch-end clear
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prevent stale obstacles surviving missing evidence or a seek.
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`portable_replay.py` packages native AssetVideo/VideoFrameReference and TGS into
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one source-clock RRD through the existing canonical merger. Video uses source
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PTS, H.264, two encoder threads and a separately sealed proxy. Packaging is
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serialized on Core; it has no Worker/model calls. Bounds include 768 MiB camera
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input, 192 MiB video proxy, 1 GiB served RRD and a 3 GiB free-space start gate.
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These are current admission bounds, not support for arbitrary recording sizes.
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The same-origin API binds result ID, base generation and replay generation.
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HEAD prepares a missing derivative; GET never prepares or computes. GET requires
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the exact generation and supports Range; stale generations return 412.
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Warm cache admission verifies publication, metadata, size and SHA, memoizing
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the file identity at nanosecond precision in a bounded 32-entry map.
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The common `CanonicalResultRerunReplay` is extracted from the existing LAB V1
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viewer. Both thin profile adapters use one unmodified Rerun 0.36.3 viewer,
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one native clock and existing Design Guideline controls. Source points use
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zero accumulation; Local SLAM uses five seconds. No second media/Three.js player
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or profile-specific page pattern is introduced. Existing selector semantics
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remain: calculated current M49 below; uncalculated current LAB V1 in the selector.
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## Video timing evidence
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The first proxy exposed an encoder time-base defect: passthrough alone rounded
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timestamps to 100 ms and produced **526 duplicate PTS**. It was rejected, not
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admitted by weakening the check. The corrected proxy explicitly uses the demuxer
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time base (`-enc_time_base -1`) together with `-fps_mode passthrough`.
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Real source: 6,830 video packets; proxy: **6,748 decoded frames**, zero duplicate
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or backwards PTS, maximum distance to the corresponding source packet PTS
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**222 ns**. The last relative PTS is 717.945 s. This is not a claim that every
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fragment produced a decodable frame. No synthetic fixed-rate renumbering occurs.
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TGS has 6,830 anchors × 2,244 cells: 6,811 available LiDAR associations and
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19 missing associations represented as UNOBSERVED. Anchors span
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39.215263458–757.160263458 s; the camera epoch ends at 757.260263458 s.
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The base recording spans 0–808.779495667 s. Outside the epoch the derived camera
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and TGS are cleared; missing evidence does not imply free space.
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## Validation and measurements
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- **114 backend tests**: portable arrays/integrity/cache/API/video-timebase,
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shared legacy merger, session API, publication and RRD blueprint tests.
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- **728 frontend tests**, architecture checks, typecheck and production build.
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Existing Vite chunk-size and TestClient deprecation warnings remain.
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- Ruff on changed replay modules/tests and focused mypy on the three new
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backend modules pass. `git diff --check` passes.
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- Successful cold packaging HEAD: **116.950 s**; warm first SHA check:
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**0.292 s**; warm HEAD after canonical restart/reopen: **0.046 s**.
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Header time is not browser-ready time or inference latency. The browser
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still loads/decodes a 194 MB RRD; opening is not instantaneous.
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- Exact-generation Range request returns 206 and `RRF2`. Wrong generation,
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missing preparation and same-size cache corruption have regression tests.
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- Browser: saved M49 opened after canonical restarts, play/pause, forward and
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backward seek (39 s, 77 s, 406.630 s, end and before coverage), normal/expanded
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composition, Escape, Source/Local SLAM/TGS, camera modes and 3D/PLAN checked.
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Unavailable semantic controls stay disabled. Coverage-end camera/TGS clearing
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is visually confirmed. No Calculate action was used during this increment.
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- Queue readback retains the same current M49 job, created 08:08:03.013Z;
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no new M49 run was created by opening the viewer.
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- Heavy local operations ran sequentially. Transient memory pressure 2 after
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full frontend work recovered to 1 before the next heavy stage; no host load
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test or Docker capacity increase was performed. Only three durable telemetry
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containers remain; no model container was started by this work.
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Private command evidence is in `.runtime/observatory-replay-Vt0m2o/`; raw
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recordings, images, caches and logs stay out of Git.
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Ops report **MISSIONCOR-72**, “Observatory — сохранённый M49 replay с Core”,
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issue `4d8079b2-6a3e-4822-9e12-dcd4a4f20017`, was created through direct MCP.
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An earlier transport-failed attempt was followed by a successful empty search
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before creation was retried; no duplicate was found.
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## Open visual boundary — do not mark full 2B complete
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Rerun 0.36.3 activates a **clone** of the SDK blueprint. Appending to the SDK
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source without activation does not update the visible layer. Reactivation
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updates layers but discards the active clone's manually edited eye. A stable
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source-store ID does **not** prove operator-camera preservation.
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This is confirmed by browser orbit/toggle QA and
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[upstream activation implementation](https://github.com/rerun-io/rerun/blob/0.36.3/crates/viewer/re_viewer_context/src/store_hub.rs#L910).
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Portable replay explicitly opts into reactivation. Legacy/Data/live behavior
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is not changed by this opt-in. Distinct native 3D and plan presets fix the
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plan-to-3D return. Initial following-eye activation waits until source-clock
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admission; initial/reset framing remains native, not a fixed world-origin eye.
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QA also isolated initial latest-at boundary admission: at the exact first
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timestamp derived layers were absent, while a small forward seek revealed them.
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The portable initial cursor is placed 1 microsecond inside the first sample;
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logged camera/TGS/source timestamps remain unchanged. This is not a per-frame
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offset or evidence interpolation.
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The final browser recheck of this one-microsecond initial-cursor change is
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pending: after the final successful build macOS memory pressure stayed at 2
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with all temporary test/build/viewer processes already stopped. The local
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resource gate prevents another heavy replay until pressure returns to normal.
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**Changing a portable layer still resets a manually changed
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viewpoint to the preset.** Preserving that eye needs a supported native mechanism
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or an explicitly reviewed dependency decision. No WASM patch/private API/fork,
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DOM emulation of viewer controls or second camera engine is added.
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Other remaining gates: detailed visual quality/coverage acceptance, versioned
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incremental recorded-analysis input (2A), LAB V1 and second source (2C), bounded
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disk eviction/recovery/catalog at scale (2D). The new derivative cache currently
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has per-artifact bounds/free-space admission but no total LRU quota or health
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aggregation. Packaging is still lazy on first open, not publication-time.
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The old LAB V1 camera-proxy timing path is not repaired by this new adapter.
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Replay success is neither realtime full-graph qualification nor traversability,
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navigation, motor or safety authority.
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