feat(perception): add ground-aware cuboid refusion

tests/test_e10_integrated_perception.py

@@ -120,6 +120,22 @@ def test_e13_profile_pins_provenance_marked_amodal_completion() -> None:
     assert profile["cuboid_completion"]["temporal"]["confirmation_hits"] == 3
 
 
+def test_e19_profile_adds_ground_aware_support_without_mutating_e14() -> None:
+    _fusion, runner = _worker_modules()
+    root = Path(__file__).resolve().parents[1] / "experiments" / "perception" / "worker"
+    e14, _e14_digest = runner.read_profile(root / "e14_full_session_amodal_profile.json")
+    e19, _e19_digest = runner.read_profile(root / "e19_ground_aware_cuboid_profile.json")
+
+    assert "object_support_ground_filter" not in e14["association"]
+    assert "support_duplicate_overlap_threshold" not in e14["association"]
+    assert e19["profile_id"] == "lab-e19-ground-aware-cuboids-v1"
+    assert (
+        e19["association"]["object_support_ground_filter"]["mode"]
+        == "local-ground-relative-object-support-v1"
+    )
+    assert e19["association"]["support_duplicate_overlap_threshold"] == 0.6
+
+
 def test_e14_profile_combines_full_session_and_amodal_gates() -> None:
     _fusion, runner = _worker_modules()
     profile_path = (
@@ -278,6 +294,84 @@ def test_e13_temporal_filter_reduces_cuboid_center_jitter() -> None:
     assert outputs[-1].temporal_status == "confirmed"
 
 
+def test_e19_ground_filter_preserves_cloud_and_excludes_ground_from_box_support() -> None:
+    fusion, runner = _worker_modules()
+    profile, _digest = runner.read_profile(
+        Path(__file__).resolve().parents[1]
+        / "experiments"
+        / "perception"
+        / "worker"
+        / "e19_ground_aware_cuboid_profile.json"
+    )
+    ground = np.asarray(
+        [[x, y, 0.0] for x in (9.5, 10.0, 10.5) for y in (-0.6, 0.0, 0.6)],
+        dtype=np.float64,
+    )
+    vehicle = np.asarray(
+        [[x, y, z] for x in (9.8, 10.2) for y in (-0.4, 0.4) for z in (0.3, 0.9, 1.4)],
+        dtype=np.float64,
+    )
+    cloud = np.concatenate((ground, vehicle))
+    unchanged = cloud.copy()
+    indices = np.arange(cloud.shape[0], dtype=np.int64)
+
+    filtered, ground_z, rejected = fusion._filter_object_support_by_ground(
+        indices,
+        cloud,
+        group="vehicle",
+        profile=profile["association"]["object_support_ground_filter"],
+    )
+
+    assert ground_z == 0.0
+    assert rejected == ground.shape[0]
+    assert filtered.tolist() == list(range(ground.shape[0], cloud.shape[0]))
+    np.testing.assert_array_equal(cloud, unchanged)
+
+
+def test_e19_duplicate_tracks_cannot_publish_the_same_lidar_support_twice() -> None:
+    fusion, _runner = _worker_modules()
+    cuboid = fusion.Cuboid(
+        center_map=(10.0, 0.0, 0.8),
+        half_size=(2.25, 0.925, 0.775),
+        quaternion_xyzw=(0.0, 0.0, 0.0, 1.0),
+    )
+
+    def item(track_id: int, score: float, indices: list[int]) -> object:
+        source = np.asarray(indices, dtype=np.int64)
+        return fusion.TrackFusion(
+            track_id=track_id,
+            label="car",
+            association_group="vehicle",
+            score=score,
+            bbox_xyxy=(100.0, 100.0, 200.0, 200.0),
+            candidate_points=source.size,
+            semantic_points=source.size,
+            clustered_points=source.size,
+            distance_p10_m=9.5,
+            distance_median_m=10.0,
+            distance_smoothed_m=10.0,
+            status="accepted-class-prior-amodal-v1",
+            cuboid=cuboid,
+            source_indices=source,
+        )
+
+    result = fusion._suppress_duplicate_support_fusions(
+        [
+            item(10, 0.91, [1, 2, 3, 4, 5]),
+            item(11, 0.72, [1, 2, 3, 4]),
+            item(12, 0.80, [20, 21, 22, 23]),
+        ],
+        overlap_threshold=0.6,
+    )
+    by_track = {value.track_id: value for value in result}
+
+    assert by_track[10].cuboid is not None
+    assert by_track[11].cuboid is None
+    assert by_track[11].status == "rejected-duplicate-lidar-support"
+    assert by_track[11].source_indices.size == 0
+    assert by_track[12].cuboid is not None
+
+
 def test_e10_semantic_binding_is_explicit_about_freshness() -> None:
     _fusion, runner = _worker_modules()
     assert runner.semantic_binding(None, 2.0, 750.0) == ("unavailable", None)