docs: make K1 realtime map the primary lidar source

2026-07-25 22:20:13 +03:00
parent d8b7ed4526
commit cfe17e49bb
8 changed files with 222 additions and 52 deletions
@@ -71,6 +71,30 @@ define the normalization.
 - The 1.27 m run makes the effect of the operator estimate visible and
  repeatable, but remains diagnostic-only.

+## Architecture clarification — 2026-07-25
+
+This ADR rejects one algorithm/input pairing. It does not reject K1 as the
+physical LiDAR, downgrade its real-time report stream to an offline-only source
+or require replacement hardware.
+
+- `lio_pcl` and `lio_pose` were received while the handheld rig moved and are
+  admitted as the primary real-sensor replay/shadow source.
+- The pose permits points to be expressed relative to the current pivot. It
+  does not prove the original firing pose/time of every already mapped point.
+- The historical `1.27 m` value is never an operational constant. It remains
+  only in the immutable Patchwork++ diagnostic identity.
+- A ground-vehicle profile estimates the local surface over time and derives
+  sensor-to-surface height, slope and roughness from that surface. A free-flight
+  profile uses 3D occupancy/clearance and may publish ground as unavailable.
+- A future fixed rig contributes `T_body_from_lidar`; it does not make height
+  above terrain constant.
+- Persistent reconstruction and short-TTL perception are separate derivatives
+  of the same immutable K1 evidence. Neither derivative rewrites the source.
+- Current work is passive: no K1 firmware change, onboard exporter, internal
+  topic invocation or new application command is authorized.
+- `RAVNOVES00` is retained as an immutable private experimental dataset. All
+  prior benchmark artifacts remain valid records of the investigated approach.
+
 ## Real diagnostic evidence

 Benchmark