feat(perception): add full camera-first shadow

2026-07-30 23:15:06 +03:00
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+# ADR 0035: Camera-first shadow and physical rig-geometry boundary
+
+Date: 2026-07-30
+Status: accepted and implemented
+
+## Decision
+
+Mission Core preserves one perception ownership rule:
+
+```text
+camera owns semantic class and object proposal
+LiDAR owns metric support and range
+```
+
+The canonical E29 association is exposed as one reusable frame evaluator and
+is reused by E29 and full-source candidate shadows. A camera proposal remains
+an object when LiDAR support is unavailable; its range remains unavailable.
+Unassociated LiDAR geometry remains geometry without a semantic class.
+
+E53 runs a candidate camera detector over every RAVNOVES00 frame through that
+unchanged association. It is a diagnostic shadow and cannot mutate E29,
+persistent reconstruction or runtime detector selection.
+
+## Rig geometry
+
+Vehicle-body and LiDAR mount/extrinsic use
+`missioncore.rig-geometry/v1`. The contract has three states:
+
+- `unbound`: no physical body or mount values may be present;
+- `measured`: body and rigid transform require immutable measurement evidence
+  and uncertainty, but collision remains unavailable;
+- `qualified`: geometry passed its named qualification method, while
+  collision still requires a separate algorithm and safety gate.
+
+RAVNOVES00 binds `ravnoves00-portable-k1/unbound-v1`. It is portable K1
+evidence and supplies no vehicle body or measured LiDAR→body transform.
+Invented dimensions, sensor height or identity transforms are rejected.
+
+## Resource correction
+
+The first E53 full pass exposed repeated decompression of
+`cloud_points_map` inside the frame loop. That immutable result failed its
+50 ms p95 gate at 210.7093 ms.
+
+The accepted implementation materializes compressed source members once
+before sequential frame processing. The corrected run processed all 4 489
+frames at 1.7993 ms p95 and 36.8594 MiB peak-RSS growth. No Docker, worker,
+network service or second Mission Core backend participates in the path.
+
+## Authority
+
+E53 proves technical full-source execution, not detector accuracy:
+
+- E29 overlap is comparison, not ground truth;
+- adjacent image-space IoU is continuity diagnostics, not tracking truth;
+- the candidate detector is not operationally promoted;
+- collision, navigation, safety and commands remain false.