完善 Autocal 多测点标定流程及会话复核

统一测点坐标、保持窗口和试验目录，补齐逐点初步分析。定向测试与真实视频闭环通过；两项轮询失败在修改前版本同样复现。

shared/src/orisys_app_shared/record/experiment.py

@@ -147,6 +147,9 @@ class RecordConfig:
     #: ``preroll_bytes`` so a large frame does not turn into a large buffer.
     preroll_frames: int = 30
     preroll_bytes: int = 192 * 1024 * 1024
+    #: Keep each delivered image for calibration. Container fps then describes
+    #: nominal playback; frames.csv carries the actual acquisition timing.
+    preserve_all_frames: bool = False
 
     def as_dict(self) -> dict:
         return {
@@ -159,6 +162,7 @@ class RecordConfig:
             "max_queue_bytes": int(self.max_queue_bytes),
             "preroll_frames": int(self.preroll_frames),
             "preroll_bytes": int(self.preroll_bytes),
+            "preserve_all_frames": bool(self.preserve_all_frames),
             "lossy_note": (
                 "MP4 is a lossy container: this is the pre-processing camera "
                 "image, not a lossless record of the raw sensor data."
@@ -346,13 +350,12 @@ class ExperimentRecorder:
         calibration_version: str = "",
         preroll=(),
         directory_label: str = "",
+        directory_name: str = "",
     ) -> Path:
         """Create the experiment directory and start the writer thread."""
-        if directory_label and (
-            directory_label in {".", ".."}
-            or not all(char.isalnum() or char in "-_" for char in directory_label)
-        ):
-            raise ValueError("directory label must contain only letters, numbers, - or _")
+        for value in (directory_label, directory_name):
+            if value and not all(char.isalnum() or char in "-_" for char in value):
+                raise ValueError("directory names must contain only letters, numbers, - or _")
         # A previous writer that has not reached a terminal state still owns the
         # files and the statistics; reusing it would silently mix two sessions.
         if self._thread is not None and self._thread.is_alive():
@@ -370,7 +373,9 @@ class ExperimentRecorder:
             self.config = replace(config if config is not None else self.config)
         stamp = datetime.now(timezone.utc).strftime("%Y%m%dT%H%M%SZ")
         label = f"_{directory_label}" if directory_label else ""
-        directory = Path(root) / f"{stamp}{label}_session{session_id:04d}_{uuid4().hex}"
+        directory = Path(root) / (
+            directory_name or f"{stamp}{label}_session{session_id:04d}_{uuid4().hex}"
+        )
         try:
             directory.mkdir(parents=True, exist_ok=False)
         except Exception as exc:  # noqa: BLE001 - reported to the caller
@@ -599,7 +604,11 @@ class ExperimentRecorder:
 
         A skipped frame is not lost data: every row is still in
         ``frames.csv``/``forces.csv``, and the count is reported separately.
+        Calibration may preserve every image instead and use the frame index's
+        host timestamps for time alignment rather than container playback time.
         """
+        if self.config.preserve_all_frames:
+            return True
         try:
             stamp = float(mono_t)
         except (TypeError, ValueError):

shared/tests/test_experiment_recorder.py

@@ -288,3 +288,39 @@ if __name__ == "__main__":  # pragma: no cover - manual runner
             print(f"  FAIL {name}: {type(exc).__name__}: {exc}")
     print(f"failures: {failures}")
     raise SystemExit(1 if failures else 0)
+
+
+def test_named_trial_directory_is_safe_and_never_overwritten(tmp_path):
+    recorder = ExperimentRecorder(RecordConfig(video=False))
+    for value in ("../trial", "a/b", "..", "C:\\trial"):
+        with pytest.raises(ValueError):
+            recorder.start(root=tmp_path, session_id=1, metadata={}, directory_name=value)
+    directory = recorder.start(root=tmp_path, session_id=1, metadata={}, directory_name="trial-001")
+    recorder.on_packet(_packet(0))
+    recorder.stop(wait=True)
+    assert directory == tmp_path / "trial-001"
+    with pytest.raises(FileExistsError):
+        recorder.start(root=tmp_path, session_id=1, metadata={}, directory_name="trial-001")
+    assert (directory / "session.json").is_file()
+
+
+@pytest.mark.parametrize("preserve", [False, True])
+def test_calibration_can_keep_burst_frames_without_changing_default_pacing(tmp_path, preserve):
+    from dataclasses import replace
+
+    recorder = ExperimentRecorder(RecordConfig(fps=30, preserve_all_frames=preserve))
+    directory = recorder.start(root=tmp_path, session_id=1, metadata={})
+    for index in range(10):
+        recorder.on_packet(replace(_packet(index), mono_t=index / 300.0))
+    report = recorder.stop(wait=True)
+    assert report.stats.frames == 10
+    if preserve:
+        assert report.stats.video_frames == 10
+        assert report.stats.resampled_video == 0
+        assert report.ok
+    else:
+        assert report.stats.video_frames < 10
+        assert report.stats.resampled_video > 0
+    with (directory / "frames.csv").open(encoding="utf-8") as handle:
+        rows = list(csv.DictReader(handle))
+    assert sum(row["in_video"] == "1" for row in rows) == report.stats.video_frames