feat(perception): define TrackGeometry v1 contract

docs/16_ARCHITECTURE_AUDIT_EXECUTION_ROADMAP.md

@@ -142,6 +142,18 @@ real authority.
   with zero bbox-centre collateral; the generic geometry point mask is
   rejected because it would erase accepted object evidence. Navigation,
   safety and command authority remain false.
+- [x] Add ADR 0024 and the executable A5 contracts:
+  `missioncore.track-geometry/v1`,
+  `missioncore.track-geometry-frame/v1`,
+  `missioncore.track-geometry-binding/v1` and
+  `missioncore.point-slab/v1`.
+- [x] Enforce camera-owned semantic identity, lossless unique frame-local
+  source indices, one point owner, explicit current/held/persistent and
+  current/held/persistent metric bases, retained reason codes, no fake
+  range/class, no missing-point free-space inference and no runtime authority.
+- [x] Verify strict round-trip plus adversarial duplicate ownership, unknown
+  owner, camera-only/conflict range, geometry-only semantics, held/persistent
+  ownership, unavailable source and authority mutation cases.
 
 The frozen A3 engineering and human generations cover all 486 items and
 retains the exact A2 materialization/review-pack and 42-sheet evidence
@@ -154,13 +166,14 @@ geometry and 21 visible missed class-bearing objects. Earlier generations and
 drafts remain historical and are not rewritten or presented as the current
 product workflow.
 
-A3 and A4 are complete. E31 accepts only the recorded RAVNOVES00 diagnostic
-binding and does not claim that host arrival is hardware firing time. The
-factory KB4 identity is exact, but a measured calibration-target residual and
-physical body/mount dimensions are unavailable. The accepted profile is
-therefore source-session scoped and cannot transfer to another mount. A5
-`TrackGeometry v1` is the next critical-path implementation; E32 publication
-must bind both that contract and the accepted E31 profile.
+A3, A4 and the A5 contract gate are complete. E31 accepts only the recorded
+RAVNOVES00 diagnostic binding and does not claim that host arrival is hardware
+firing time. The factory KB4 identity is exact, but a measured
+calibration-target residual and physical body/mount dimensions are
+unavailable. The accepted profile is therefore source-session scoped and
+cannot transfer to another mount. A6/E32 full replay is the next critical-path
+implementation and must bind every published frame to both `TrackGeometry v1`
+and the accepted E31 profile.
 
 ### A3 residual and human-exception policy
 

docs/adr/0024-track-geometry-and-point-ownership.md

@@ -0,0 +1,85 @@
+# ADR 0024: own camera semantics and frame-local geometry explicitly
+
+Date: 2026-07-27
+Status: accepted
+
+## Context
+
+E29 proved a camera-first diagnostic fusion shape, E30 froze its engineering
+audit, and E31 accepted one exact source-time/calibration/self-mask profile.
+Those results still publish experiment-specific dictionaries. Reusing them
+directly in E32 would leave several architectural ambiguities:
+
+- whether a semantic class came from camera evidence or geometry;
+- whether two tracks can claim the same LiDAR source point;
+- whether a range is current, held from an earlier frame or supplied by a
+  persistent model;
+- whether camera-only, conflict and unknown states may silently acquire metric
+  geometry;
+- whether missing endpoints can be treated as free space.
+
+A universal runtime ontology is not justified. The required boundary is local
+to the perception product and can remain an executable versioned contract.
+
+## Decision
+
+1. Mission Core owns `missioncore.track-geometry/v1` as the provider-neutral
+   object geometry contract.
+2. `TrackGeometrySourceBinding` pins every frame to the exact source pack,
+   session, representation capability profile, E31 qualification result,
+   calibration identity, coordinate frame and time basis.
+3. Camera tracks alone carry semantic track ID, label and image bbox.
+   Geometry-only products carry no semantic class or camera track ID.
+4. Evidence state is explicit and closed:
+   `agree`, `single-source-camera`, `conflict`, `unknown` or
+   `single-source-geometry`.
+5. Currentness is independent and closed: `current`, `held` or `persistent`.
+   Held values reference an earlier frame and persistent values reference a
+   separate model. Neither owns current source points.
+6. Metric basis is explicit: `current-points`, `held-last-current`,
+   `persistent-model` or `unavailable`.
+7. Camera-only, conflict and current unknown states cannot publish a range.
+   Current `agree` and current geometry-only products require accepted source
+   points and a positive range.
+8. `missioncore.point-slab/v1` is the sole container for accepted current
+   metric points. Each row retains its lossless frame-local source index,
+   map-frame XYZ and exactly one owner index.
+9. Source indices in a slab are unique and bounded by the source-frame point
+   count. This makes double ownership unrepresentable.
+10. Candidate, rejected, held and persistent points are not inserted into the
+    current accepted slab. Their reason/provenance remains on the geometry
+    product or a separately bound model.
+11. Missing source evidence remains unknown. The contract fixes
+    `absence_of_points_means_free=false`.
+12. TrackGeometry has no command, navigation or safety authority.
+
+## Consequences
+
+- E32 can translate E29/E31 evidence into one stable frame contract without
+  changing camera/geometry ownership.
+- A duplicate source-point claim, fake range, invented class or current/held
+  conflation fails at construction and deserialization.
+- The contract supports future native scans and simulation providers through
+  their own representation and E31-equivalent source binding; it does not
+  upgrade historical K1 evidence.
+- PointSlab currently defines the semantic array shape and strict JSON
+  round-trip. E32 may add a digest-bound binary artifact encoding without
+  changing ownership semantics.
+- Planner-facing occupancy remains a later A8 product with its own admission;
+  TrackGeometry does not imply free space or traversability.
+
+## Implementation
+
+- `src/k1link/compute/track_geometry.py`
+- `src/k1link/compute/sensor_representation.py`
+- `tests/test_track_geometry.py`
+- `tests/test_sensor_representation.py`
+- `docs/16_ARCHITECTURE_AUDIT_EXECUTION_ROADMAP.md`
+
+## References
+
+- ADR 0018: LiDAR evidence before models
+- ADR 0021: dataset gateway representation boundary
+- ADR 0023: sensor representation capabilities and free-space admission
+- LAB E29: camera-first semantics with independent local-surface geometry
+- LAB E31: source-time, calibration and self-mask qualification