feat: add camera-first lidar geometry fusion

docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md

@@ -5,7 +5,8 @@ Status: accepted architecture plan; L0/L1 implemented; L2 diagnostic A/B
 complete; full GOOSE and RELLIS qualification complete; L2.6d K1 replay
 local-surface temporal qualification, operator triage and prior-plane residual
 explainability implemented; L2.6e recorded-source-paced bounded shadow
-qualified; E28 complete worker replay accepted; dynamic-observation layer next
+qualified; E28 complete worker replay accepted; E29 camera-first semantic and
+parallel geometry-only replay implemented; operator review and shadow gate next
 Scope: passively received real-time K1 point/pose evidence, immutable replay and
 future live shadow processing
 Explicitly out of scope: K1 firmware modification, a new onboard exporter, new
@@ -585,16 +586,36 @@ independent gate without increasing unsafe false-free or false-dynamic output.
 - [x] Run the complete accepted K1 local-surface profile on the NVIDIA worker.
 - [ ] Commission physical K1 acquisition separately; do not block replay
   development on device presence.
-- [ ] Fuse K1 geometric evidence with E26 camera evidence as independent
+- [x] Fuse K1 geometric evidence with E26 camera evidence as independent
   sources; a LiDAR-native detector remains optional.
-- [ ] Publish `agree`, `single-source`, `conflict` and `unknown`; unknown remains
+- [x] Publish `agree`, `single-source`, `conflict` and `unknown`; unknown remains
   occupied.
+- [x] Preserve unassociated L2.6 occupied components as a separate bounded
+  geometry-only layer without inventing semantic classes or free space.
+- [ ] Review E29 conflict, camera-only and geometry-only episodes in the
+  operator surface and freeze a vehicle-footprint/self-filter contract.
+- [ ] Replay the E29 contract at recorded source pace with staleness/deadline
+  health and exact bounded-queue accounting.
 - [ ] Measure sensor-to-result latency, deadline misses, drops, memory and GPU
   headroom on a physical run.
 
 Exit: repeatable shadow telemetry only. Navigation and safety acceptance remain
 false.
 
+LAB E29 binds the complete E26 camera-first result to the complete L2.6
+source-aligned local-surface derivative. It processed `4,489` frames and
+`20,513` observations. Of `19,625` current semantic observations, `6,341`
+have connected occupied LiDAR support, `13,246` remain explicit camera-only and
+`38` are conflicts; `888` held or unavailable observations remain `unknown`.
+The independent layer retains `21,321` unassociated occupied components rather
+than calling them free or assigning a guessed class. Postprocessing p95 was
+`2.517 ms/frame`. These are coverage and runtime measurements on one replay,
+not detection accuracy or planner acceptance. The immutable diagnostic result
+is
+`e29-camera-geometry-421a9d930638bef12cd5eb10979a477917fa4a389e655ed95f73ba4bd62e13dc`;
+the detailed interpretation and reproduction contract are in
+`experiments/perception/LAB_E29_REPORT_2026-07-26.md`.
+
 ### L5 — local occupancy and Nav2
 
 - [ ] Qualify conservative hit-based occupied/unknown output from the existing