fix(m4): retain compact obstacle evidence

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.