fix(m4): retain compact obstacle evidence

docs/22_MILESTONE_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md

@@ -1007,44 +1007,60 @@ Missing republication never clears a cell. Retained occupancy is bounded to
 `3.0 s`, `12.0 m`, `65,536` cells and zero allowed capacity drops; it can block
 an intersecting corridor but cannot claim current motion or safe clearance.
 
-The accepted resealed M4.5R result is
-`m4-temporal-replay-b8611526dfcd2b9be9049560d751bbd23a9ad54b7dda8e9dc48a17374d46266e`:
+Review of exact CAMERA frame `2584` then exposed a separate geometry defect:
+the visible near concrete hemisphere produced six occupied points in one
+`0.45 m` voxel at frame `2572`, but `geometry_minimum_cluster_voxels = 2`
+discarded it before both temporal products. This was a real false negative.
+The minimum remains four source points, while a compact component may occupy
+one voxel. The former M4.5R/M4.6 results are withdrawn as current evidence.
+
+The accepted corrected M4.4 geometry result is
+`m4-geometry-replay-b7d72e9e411fd576243d10ab39717e90daa10703b67c6e32ab284f6bd78d344a`.
+It publishes `22,740` geometry-only observations and `2,173,778` source-point
+rows. Its frame ledger SHA-256 is
+`d4d4c0a98e09c0f26251284747108651cf4b21e9c9733e3a14963999b0300772`.
+
+The accepted corrected M4.5R result is
+`m4-temporal-replay-81e13d5654ac8d1219f6937dd425f7dbcdbacd5748d23fe653297134f0de6c22`:
 
 - frame ledger SHA-256
-  `08a03669d3487ecf7bd62b047ae5b8d1ff586a27e7435e5f235907a4d709dd25`;
+  `e83b80ea06b3462c2d04c5a1b74289a0ec401596c7150ae90f5a1b748b639c3a`;
 - manifest/report SHA-256
-  `5df4c31b1d3a9f834895af999c55829b40afeca89d50ffe04f7e23bd85e2bd8c` /
-  `2e708fb30f35b34ed99cbe107055772bfb61553a3321c0ff2fee725d3a07bdc9`;
+  `540640dacb10f0215133f3a2c833b0502856e132350fa262751894a7f62cdb84` /
+  `461bedc3ae03cda90630c92e6b4c0c637ae4b6514a90d956abfb1be592230ed0`;
 - `4,489 / 4,489` frames, zero failed;
-- `848,868` current increment cells;
-- `69,855` retained component and `1,776,145` retained cell publications;
+- `849,650` current increment cells;
+- `70,989` retained component and `1,779,135` retained cell publications;
 - peak `907` active cells and `35` retained components;
-- `29,620` time evictions, `6,512` radius evictions, zero capacity drops and
+- `29,720` time evictions, `6,513` radius evictions, zero capacity drops and
   maximum retained age exactly `3.0 s`.
 
-The accepted resealed M4.6 result is
-`m4-threat-replay-ef521b23eee704dee99856b6e93d5047a9b358e21ffda3ea9cacc2ef768164d9`:
+The accepted corrected M4.6 result is
+`m4-threat-replay-2a953c5f27f2a5b1dddc5c658c1de2c323d7796084a099c024987a1da03aa324`:
 
 - manifest/report SHA-256
-  `199ed52211f3d50ecce0e3f0bc1efc094b665e9a0c5e0426e01640a6b9a5f0bb` /
-  `e32402fd6d52b1c22e3a5ee5b794bbe8facaf132e02cdaa902175395fa6b9db8`;
+  `87c58e8123deede1de2908af98752fbe03b94785858df2492e817c77cf8b02c5` /
+  `8def86903c8d37e3112cf6452d6a22a5a835ccc542e9e01714868dd3a9831864`;
 - frame/visual SHA-256
-  `57219acd7dfe1cf04b12d4a415d1819e0a4947bc3173333bb56eea8fd2bd47b9` /
-  `bda54e144a1b4c878ba645a8dafedcdc0332e16a1489b62b7100670e8eae6f25`;
-- evidence: `27,299` current metric, `69,855` rolling-map, `37,995`
+  `b57be1839f5915e3b80b54355b694e0bd8c9ac318d0cbe6de2bff713082cfa4e` /
+  `14b9679b1df4d50aaceeb3e018e46398a92b47727aa83339179395db4dfcd005`;
+- evidence: `28,081` current metric, `70,989` rolling-map, `38,025`
   stale/held and `10,158` camera-only publications;
-- decisions: `6,626 threat`, `10,700 not-threat`, `127,981 unknown`;
+- decisions: `7,606 threat`, `10,769 not-threat`, `128,878 unknown`;
 - deterministic fixtures `10 / 10`, five critical, zero critical false-safe;
 - body-frame qualification unchanged at `3,861 / 3,928`, confirming the
-  representation fix did not regress the earlier route/gravity correction;
-- frame `1880` now binds two distinct engineering anchors to retained occupied
-  components; the near anchor asserts threat. The anchors are not independent
-  truth.
+  compact-component fix did not regress the earlier route/gravity correction;
+- frames `1880` and `2584` bind reviewed body-frame windows to produced occupied
+  cells/components. At `2584` the compact near hemisphere survives as retained
+  threat and the far hemisphere is accounted for inside a larger current
+  component. These windows are regression evidence, not independent truth.
 
 The common viewer keeps VIDEO/CAMERA/3D/PLAN synchronized and independently
-toggles `CURRENT INCREMENT` and `ROLLING MAP`. Regression frames are now `138`,
-`274` and `1880`. M4.7 may proceed only from the resealed identities above;
-physical-live, collision, navigation and actuation authority remain false.
+toggles `CURRENT INCREMENT` and `ROLLING MAP`. CAMERA requests one exact JPEG
+decoded from the bounded fMP4 GOP instead of preparing the complete video.
+Regression frames are now `138`, `274`, `1880` and `2584`. M4.7 may proceed only
+from the corrected identities above; physical-live, collision, navigation and
+actuation authority remain false.
 
 ## Implementation order
 

docs/adr/0041-registered-map-increment-rolling-local-occupancy.md

@@ -52,24 +52,24 @@ is not a map-clearing policy.
 
 ## Evidence and acceptance
 
-The accepted M4.5R result is
-`m4-temporal-replay-b8611526dfcd2b9be9049560d751bbd23a9ad54b7dda8e9dc48a17374d46266e`.
+The current accepted M4.5R result is
+`m4-temporal-replay-81e13d5654ac8d1219f6937dd425f7dbcdbacd5748d23fe653297134f0de6c22`.
 Its frame ledger SHA-256 is
-`08a03669d3487ecf7bd62b047ae5b8d1ff586a27e7435e5f235907a4d709dd25`.
+`e83b80ea06b3462c2d04c5a1b74289a0ec401596c7150ae90f5a1b748b639c3a`.
 Across all `4,489` source frames it records:
 
-- `848,868` current increment occupied cells;
-- `69,855` retained component publications and `1,776,145` retained cell
+- `849,650` current increment occupied cells;
+- `70,989` retained component publications and `1,779,135` retained cell
   publications;
 - peak `907` active cells and `35` retained components;
-- `29,620` time evictions, `6,512` radius evictions and zero capacity drops;
+- `29,720` time evictions, `6,513` radius evictions and zero capacity drops;
 - maximum retained age exactly `3.0 s` and `587` active cells at replay end.
 
-The accepted M4.6 result is
-`m4-threat-replay-ef521b23eee704dee99856b6e93d5047a9b358e21ffda3ea9cacc2ef768164d9`.
-All `4,489` frames completed with `27,299` current metric, `69,855` rolling-map,
-`37,995` stale/held and `10,158` camera-only evidence publications assessed
-exactly once. Decisions are `6,626 threat`, `10,700 not-threat` and `127,981
+The current accepted M4.6 result is
+`m4-threat-replay-2a953c5f27f2a5b1dddc5c658c1de2c323d7796084a099c024987a1da03aa324`.
+All `4,489` frames completed with `28,081` current metric, `70,989` rolling-map,
+`38,025` stale/held and `10,158` camera-only evidence publications assessed
+exactly once. Decisions are `7,606 threat`, `10,769 not-threat` and `128,878
 unknown`. All `10/10` deterministic fixtures pass with zero critical false-safe
 outcomes.
 
@@ -78,6 +78,14 @@ separate body-frame regions to two retained components. The near region must
 assert threat; both regions are present in the accepted result. These anchors
 encode a reproducible owner-reviewed visual case, not independent object truth.
 
+Frame `2584` is a second mandatory visual regression added after operator
+review found that a compact hemisphere had six valid points in one voxel and
+was discarded by a two-voxel geometry filter. The corrected geometry contract
+retains the four-point minimum but permits one-voxel compact components. At
+`2584` the near hemisphere is a retained threat and occupied cells for the far
+hemisphere are present inside a larger current component. This is still an
+engineering regression window, not independent truth.
+
 The common LAB viewer exposes `CURRENT INCREMENT` and `ROLLING MAP` as separate
 layers over the same selected frame. The current point count is not relabelled
 as a complete scan, and retained occupied cells remain independently hideable.
@@ -92,7 +100,7 @@ as a complete scan, and retained occupied cells remain independently hideable.
 - No ray-level free-space clearing is available in this recording. A future raw
   scan/ray provider must add explicit observation and clearing semantics rather
   than weakening this contract.
-- The two frame-1880 anchors are regression evidence, not independent truth,
+- The frame-1880 and frame-2584 anchors are regression evidence, not independent truth,
   detector accuracy or physical collision acceptance.
 - Live K1, measured `T_body_from_sensor`, physical body geometry, navigation,
   commands and actuation remain outside M4.5R/M4.6 authority.