refactor(lab): перевести RAV004 на канонический Rerun pipeline

src/k1link/viewer/recorded.py

@@ -63,7 +63,7 @@ class _RecordedBlueprintStream:
         self.view_reset_generation = view_reset_generation
         self._lock = Lock()
         self._sequence = 0
-        self._follow_trajectory: bool | None = None
+        self._eye_contract: tuple[bool, bool] | None = None
         self._closed = False
         native = bindings.new_blueprint(
             application_id=application_id,
@@ -85,14 +85,13 @@ class _RecordedBlueprintStream:
         blueprint_factory: Callable[[bool], rrb.Blueprint],
         *,
         follow_trajectory: bool,
+        plan_view: bool,
     ) -> bytes:
         with self._lock:
             if self._closed:
                 raise RecordedBlueprintError("stable blueprint stream is closed")
-            update_eye_controls = (
-                self._follow_trajectory is None
-                or self._follow_trajectory != follow_trajectory
-            )
+            eye_contract = (follow_trajectory, plan_view)
+            update_eye_controls = self._eye_contract != eye_contract
             blueprint = blueprint_factory(update_eye_controls)
             self._blueprint_recording.set_time(
                 "blueprint",
@@ -110,7 +109,7 @@ class _RecordedBlueprintStream:
             payload = self._transport.read(flush=True, flush_timeout_sec=5.0)
             if not payload:
                 raise RecordedBlueprintError("stable blueprint stream produced no data")
-            self._follow_trajectory = follow_trajectory
+            self._eye_contract = eye_contract
             return payload
 
     def close(self) -> None:
@@ -165,6 +164,8 @@ def recorded_blueprint(
     active_view: RecordedView = "spatial",
     view_reset_generation: Literal[0, 1] = 0,
     unified_perception: bool = False,
+    semantic_layer: Literal["city", "vegetation"] | None = None,
+    plan_view: bool = False,
     show_detections_2d: bool = False,
     show_segmentation: bool = False,
     show_cuboids_3d: bool = False,
@@ -202,6 +203,27 @@ def recorded_blueprint(
     if accumulated_time_ranges is not None:
         point_overrides.append(accumulated_time_ranges)
         trajectory_overrides.append(accumulated_time_ranges)
+    selected_semantic_path = (
+        f"/perception/camera/segmentation/{semantic_layer}"
+        if semantic_layer is not None
+        else "/perception/camera/segmentation"
+    )
+    spatial_eye_controls = (
+        rrb.EyeControls3D.from_fields(
+            kind=rrb.Eye3DKind.Orbital,
+            position=[0.0, 0.0, 30.0],
+            look_target=[0.0, 0.0, 0.0],
+            eye_up=[0.0, 1.0, 0.0],
+            tracking_entity="/world/sensor_pose" if follow_trajectory else "",
+        )
+        if plan_view and update_eye_controls
+        else rrb.EyeControls3D.from_fields(
+            kind=rrb.Eye3DKind.Orbital if follow_trajectory else None,
+            tracking_entity="/world/sensor_pose" if follow_trajectory else "",
+        )
+        if update_eye_controls
+        else None
+    )
     spatial_view = rrb.Spatial3DView(
         origin="/world",
         name="Мир · LiDAR и объекты" if unified_perception else "Пространственная сцена",
@@ -232,14 +254,7 @@ def recorded_blueprint(
         # Keeping the view id stable preserves the current orbit offset when
         # tracking is toggled. An explicit empty path clears tracking without
         # overwriting the position/look-target saved by user interaction.
-        eye_controls=(
-            rrb.EyeControls3D.from_fields(
-                kind=rrb.Eye3DKind.Orbital if follow_trajectory else None,
-                tracking_entity="/world/sensor_pose" if follow_trajectory else "",
-            )
-            if update_eye_controls
-            else None
-        ),
+        eye_controls=spatial_eye_controls,
     )
     spatial_view.id = (
         RECORDED_SPATIAL_RESET_VIEW_ID
@@ -258,6 +273,12 @@ def recorded_blueprint(
             "/perception/camera/segmentation": rrb.EntityBehavior(
                 visible=show_segmentation,
             ),
+            "/perception/camera/segmentation/city": rrb.EntityBehavior(
+                visible=show_segmentation and selected_semantic_path.endswith("/city"),
+            ),
+            "/perception/camera/segmentation/vegetation": rrb.EntityBehavior(
+                visible=show_segmentation and selected_semantic_path.endswith("/vegetation"),
+            ),
         },
     )
     camera_view.id = (
@@ -292,14 +313,7 @@ def recorded_blueprint(
             # native cloud from /world/points.
             "/world/perception/lidar": rrb.EntityBehavior(visible=False),
         },
-        eye_controls=(
-            rrb.EyeControls3D.from_fields(
-                kind=rrb.Eye3DKind.Orbital if follow_trajectory else None,
-                tracking_entity="/world/sensor_pose" if follow_trajectory else "",
-            )
-            if update_eye_controls
-            else None
-        ),
+        eye_controls=spatial_eye_controls,
     )
     perception_3d_view.id = (
         RECORDED_PERCEPTION_3D_RESET_VIEW_ID
@@ -400,6 +414,8 @@ def recorded_blueprint_rrd(
     active_view: RecordedView = "spatial",
     view_reset_generation: Literal[0, 1] = 0,
     unified_perception: bool = False,
+    semantic_layer: Literal["city", "vegetation"] | None = None,
+    plan_view: bool = False,
     show_detections_2d: bool = False,
     show_segmentation: bool = False,
     show_cuboids_3d: bool = False,
@@ -414,6 +430,8 @@ def recorded_blueprint_rrd(
             active_view=active_view,
             view_reset_generation=view_reset_generation,
             unified_perception=unified_perception,
+            semantic_layer=semantic_layer,
+            plan_view=plan_view,
             show_detections_2d=show_detections_2d,
             show_segmentation=show_segmentation,
             show_cuboids_3d=show_cuboids_3d,
@@ -432,6 +450,7 @@ def recorded_blueprint_rrd(
             ).render(
                 build_blueprint,
                 follow_trajectory=follow_trajectory,
+                plan_view=plan_view,
             )
         except RecordedBlueprintError:
             raise

src/k1link/viewer/rerun_bridge.py

@@ -149,7 +149,7 @@ class RerunBridge:
                 # of record. Raw MQTT evidence is persisted independently. A large
                 # late-client backlog can block the native SDK and freeze preview.
                 server_memory_limit=LIVE_GRPC_BUFFER_LIMIT,
-                # Rerun 0.34.1 can replay ActivateStore before StoreInfo when an
+                # Rerun transport can replay ActivateStore before StoreInfo when an
                 # evicted buffer is served newest-first, leaving late viewers on the
                 # welcome screen. Preserve protocol order within the bounded cache.
                 newest_first=False,