feat(perception): canonicalize metric geometry

config/perception/m4-geometry-association-v1.json

@@ -0,0 +1,59 @@
+{
+  "schema_version": "missioncore.geometry-association-profile/v1",
+  "profile_id": "m4-ravnoves00-e29-e32-geometry/v1",
+  "provider_id": "ravnoves00-geometry-association/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
+    "frame_count": 4489,
+    "point_count": 9207270
+  },
+  "local_surface": {
+    "model_id": "k1-local-surface-23762244c8bdb97de26fb721ac957d7a00bc9a63571ac4cfa4be19c4effc7d55",
+    "artifact_sha256": "f57eb2485b6cef47f2a97a2d9ff1aa9fd9265fe1eb69cd5852d12f39e13b8bc6",
+    "valid_frame_count": 3928
+  },
+  "projection": {
+    "model": "KB4",
+    "width": 800,
+    "height": 600,
+    "coordinate_frame": "map"
+  },
+  "association": {
+    "bbox_inset_fraction": 0.03,
+    "depth_cluster_minimum_gap_m": 0.45,
+    "depth_cluster_gap_fraction": 0.08,
+    "spatial_cluster_radius_m": 0.6,
+    "semantic_minimum_occupied_points": 2,
+    "semantic_minimum_occupied_voxels": 1,
+    "semantic_voxel_size_m": 0.35,
+    "conflict_minimum_classified_points": 6,
+    "conflict_surface_fraction": 0.8,
+    "geometry_local_radius_m": 10.0,
+    "geometry_voxel_size_m": 0.45,
+    "geometry_minimum_cluster_points": 4,
+    "geometry_minimum_cluster_voxels": 2,
+    "maximum_geometry_clusters_per_frame": 64
+  },
+  "policy": {
+    "camera_owns_semantic_hint": true,
+    "geometry_can_invent_semantic_class": false,
+    "geometry_only_range_estimator": "nearest-euclidean-sensor-distance/v1",
+    "one_owner_per_source_point": true,
+    "absence_of_points_means_free": false,
+    "overlap_eligibility": "bbox-intersects-current-projected-point-extent/v1",
+    "point_ownership_priority": "smallest-bbox-then-score-then-proposal-id/v1",
+    "proposal_range_estimator": "median-camera-z-of-owned-current-points/v1",
+    "unknown_is_occupied": true,
+    "threshold_tuning_allowed": false
+  },
+  "authority": {
+    "ground_truth": false,
+    "physical_live": false,
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false
+  }
+}

config/perception/m4-reuse-inventory-v1.json

@@ -10,7 +10,7 @@
     {
       "module": "k1link.compute.semantic_geometry_fusion",
       "role": "camera and registered geometry association",
-      "admission": "adapt-behind-provider"
+      "admission": "reference-only-extracted-to-product"
     },
     {
       "module": "k1link.compute.track_geometry",
@@ -31,6 +31,16 @@
       "module": "k1link.perception.yolox_object_detector",
       "role": "product-owned frozen YOLOX preprocess, Triton transport and postprocess",
       "admission": "product-owned"
+    },
+    {
+      "module": "k1link.perception.geometry_math",
+      "role": "product-owned KB4 projection and occupied geometry association with E29 parity",
+      "admission": "product-owned"
+    },
+    {
+      "module": "k1link.perception.geometry",
+      "role": "digest-bound GeometryAssociationProvider and exact point ownership",
+      "admission": "product-owned"
     }
   ],
   "historical_wrappers": [