feat(perception): define TrackGeometry v1 contract

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