feat(perception): canonicalize temporal motion

src/k1link/perception/geometry.py

@@ -235,6 +235,16 @@ class RecordedGeometryStore:
             surface_valid=bool(self._surface["frame_valid"][frame_index]),
         )
 
+    def current_points(self, packet: SourcePacket) -> FloatArray | None:
+        """Expose the verified frame-local point index space to temporal occupancy."""
+
+        frame = self.frame(packet)
+        if frame is None or not frame.surface_valid:
+            return None
+        points = np.asarray(frame.points_map, dtype=np.float64)
+        points.setflags(write=False)
+        return points
+
     def _validate(self) -> None:
         source_required = {
             "frame_indices",