feat(lab): project system obstacles into fisheye

tests/test_spatial_evidence.py

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+from __future__ import annotations
+
+import numpy as np
+import pytest
+
+from k1link.perception.geometry_math import Kb4ProjectionProfile
+from k1link.perception.spatial_evidence import project_metric_obstacles_to_camera
+
+
+def _identity_profile() -> Kb4ProjectionProfile:
+    transform = np.eye(4, dtype=np.float64)
+    transform.setflags(write=False)
+    return Kb4ProjectionProfile(
+        width=800,
+        height=600,
+        intrinsic_fx_fy_cx_cy=(100.0, 100.0, 400.0, 300.0),
+        distortion_kb4=(0.0, 0.0, 0.0, 0.0),
+        t_camera_from_lidar=transform,
+    )
+
+
+def test_metric_obstacle_projection_uses_native_kb4_voxel_bounds() -> None:
+    projections = project_metric_obstacles_to_camera(
+        [
+            {
+                "component_id": "static-a",
+                "cells": [{"x": -1, "y": -1, "z": 2}],
+            },
+            {
+                "component_id": "baseline-b",
+                "cells": [{"x": 1, "y": 1, "z": 2}],
+            },
+        ],
+        position_map_xyz=(0.0, 0.0, 0.0),
+        orientation_map_from_lidar_xyzw=(0.0, 0.0, 0.0, 1.0),
+        profile=_identity_profile(),
+        occupied_voxel_size_m=1.0,
+        component_ids={"static-a"},
+    )
+
+    assert set(projections) == {"static-a"}
+    projection = projections["static-a"]
+    assert projection["projection"] == "factory-kb4-occupied-voxel-bounds"
+    assert projection["authority"] == "visual-derived"
+    assert projection["projected_cell_count"] == 1
+    assert projection["nearest_depth_m"] == pytest.approx(2.0)
+    left, top, right, bottom = projection["bbox_xyxy"]
+    assert left < right == pytest.approx(400.0)
+    assert top < bottom == pytest.approx(300.0)