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feat(lidar): add dataset gateway boundary

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DCCONSTRUCTIONS
2026-07-25 11:21:22 +03:00
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@@ -121,6 +121,19 @@ performance, direct worker transport and bounded live fan-out remain open. See
[ADR 0014](docs/adr/0014-bounded-external-perception-worker.md)
and the [external worker contract](docs/10_EXTERNAL_PERCEPTION_WORKER.md).
## LiDAR Dataset Gateway
Mission Core now distinguishes a single native LiDAR scan, a normalized
sensor-frame scan and a pose-registered rolling local map. The first Dataset
Gateway adapter reads GOOSE/SemanticKITTI XYZI plus point-wise semantic and
instance labels without silently accumulating or transforming them. Current
K1 `lio_pcl` remains a post-LIO vendor-map increment and is not promoted to a
raw scan. Large dataset bytes are admitted only on the Windows/WSL worker under
`D:\NDC_MISSIONCORE\datasets`; no archive is downloaded automatically.
See [the Dataset Gateway plan](docs/14_LIDAR_DATASET_GATEWAY.md) and
[ADR 0021](docs/adr/0021-dataset-gateway-representation-boundary.md).
## Simulation Polygon
Mission Core now has a parallel Polygon product branch for reproducible