feat(perception): add dual evidence replay threat

tests/test_perception_graph.py

@@ -234,8 +234,7 @@ class _Threat:
     provider_id = "test-threat/v1"
 
     def assess(self, obstacle_map: LocalObstacleMap) -> tuple[ThreatAssessment, ...]:
-        occupied = obstacle_map.occupied
-        return tuple(
+        metric = tuple(
             ThreatAssessment(
                 assessment_id=f"assessment-{item.component_id}",
                 component_id=item.component_id,
@@ -249,8 +248,41 @@ class _Threat:
                 decision=ThreatDecision.NOT_THREAT,
                 reason_codes=("qualified-corridor-clear",),
             )
-            for item in occupied
+            for item in obstacle_map.occupied
         )
+        unknown = tuple(
+            ThreatAssessment(
+                assessment_id=f"assessment-{item.component_id}",
+                component_id=item.component_id,
+                rig_profile_id="ravnoves00-virtual-rig/v1",
+                corridor_profile_id="ravnoves00-virtual-corridor/v1",
+                qualification=QualificationState.UNQUALIFIED,
+                relative_speed_mps=None,
+                closest_approach_m=None,
+                ttc_seconds=None,
+                corridor_intersection=CorridorIntersection.UNKNOWN,
+                decision=ThreatDecision.UNKNOWN,
+                reason_codes=("incomplete-evidence",),
+            )
+            for item in obstacle_map.unknown
+        )
+        camera = tuple(
+            ThreatAssessment(
+                assessment_id=f"assessment-{item.proposal_id}",
+                component_id=item.proposal_id,
+                rig_profile_id="ravnoves00-virtual-rig/v1",
+                corridor_profile_id="ravnoves00-virtual-corridor/v1",
+                qualification=QualificationState.UNQUALIFIED,
+                relative_speed_mps=None,
+                closest_approach_m=None,
+                ttc_seconds=None,
+                corridor_intersection=CorridorIntersection.UNKNOWN,
+                decision=ThreatDecision.UNKNOWN,
+                reason_codes=("camera-only",),
+            )
+            for item in obstacle_map.camera_uncertainty
+        )
+        return (*metric, *unknown, *camera)
 
 
 def _config(