Lower synthetic visual marker candidates

docs/fensalir-rendering-rebuild-migration.md

@@ -426,12 +426,13 @@ Let Fensalir fuse Mimir observations into field claims:
 
 Acceptance:
 
-- one synthetic multi-camera marker creates a stable world-space claim;
+- implemented synthetic multi-camera marker proof: Mimir lowers a deterministic
+  camera marker candidate with calibration/marker identity and a world-space
+  confidence envelope, and Fensalir plans it as a `DebugOverlay` FieldEvidence
+  packet;
 - implemented synthetic audio source proof: Mimir lowers an SRP/PHAT-style
   source candidate with calibration/source identity and a world-space confidence
   envelope, and Fensalir plans it as a `DebugOverlay` FieldEvidence packet;
-- next remaining acceptance item: one synthetic multi-camera marker creates a
-  stable world-space claim;
 - claims can be inspected by source observation and calibration id.
 
 ### Phase 6: Program Output Receipts

docs/implementation-plan.md

@@ -274,6 +274,9 @@ a named invariant that the native runtime cannot protect yet.
   Phase 5 synthetic audio-source candidate: an SRP/PHAT-style localization
   result is lowered with calibration/source identity and a world-space
   confidence envelope, then planned as a FieldEvidence `DebugOverlay` packet.
+  It also proves a synthetic multi-camera marker candidate using the same
+  FieldEvidence authority: deterministic marker features plan as
+  `DebugOverlay` packets while ambiguous raw camera features still defer.
 - Fensalir now owns the first in-process D3D12 field resource resolver cut:
   shared structured/curve buffer resources import/alias GPU-resident handles,
   and Fensalir-owned resources allocate GPU slots only when Fensalir is the

notes/current-system-map.md

@@ -467,7 +467,10 @@ Mimir lowers an SRP/PHAT-style localized source with calibration/source
 identity and a world-space confidence envelope, and Fensalir plans it as a
 FieldEvidence `DebugOverlay` packet. Live room geometry must still come from an
 explicit measured coordinate frame, not inferred from the recent two-distance
-monitor notes.
+monitor notes. Phase 5's synthetic marker proof now exists too: Mimir lowers a
+deterministic multi-camera marker candidate with calibration/marker identity and
+world-space support, and Fensalir plans it as `DebugOverlay` evidence while
+ambiguous raw camera features still defer.
 
 The current teardown/migration map is
 `docs/fensalir-rendering-rebuild-migration.md`, paired with Fensalir's

src/Mimir.BufferSmoke/Program.cs

@@ -2192,6 +2192,20 @@ static int RunPerfectMachineProfileSmoke()
                     1_000_000_000L)
             ]);
     var acousticSourcePlan = AquariumFieldLoweringPlanner.Plan(acousticSourceFrame);
+    var visualMarkerFrame = lowerer.BuildVisualMarkerCandidateFrame(
+        [
+            new MimirVisualMarkerFieldCandidate(
+                "marker-a",
+                "synthetic-camera-rig-calibration",
+                "synthetic-marker-a",
+                "mimir-multi-camera-marker",
+                ["kiyo-pro-rgb:1", "leap-stereo-ir:1"],
+                new Vector3(0.0f, 1.2f, 2.5f),
+                0.05,
+                0.88,
+                1_000_000_000L)
+        ]);
+    var visualMarkerPlan = AquariumFieldLoweringPlanner.Plan(visualMarkerFrame);
     var authority = new MimirAuthorityPolicyEvaluator().Evaluate(new MimirAuthorityEvaluationInput(
         "raven-scarlett-witness",
         new HashSet<string>(["known-node", "matching-codebook", "clock-fit-confidence", "response-profile"], StringComparer.Ordinal),
@@ -2218,6 +2232,8 @@ static int RunPerfectMachineProfileSmoke()
         $"perfect-machine-fensalir cameraResources={cameraFieldFrame.Resources.Count} cameraClaims={cameraFieldFrame.Claims.Count} cameraPlanned={cameraPlan.Packets.Count} cameraDeferred={cameraPlan.DeferredRequests.Count} acousticClaims={acousticFieldEvidence.Claims.Count} acousticPlanned={acousticPlan.Packets.Count} acousticDeferred={acousticPlan.DeferredRequests.Count}");
     Console.WriteLine(
         $"perfect-machine-localization candidates={localizationGrid.Count} best=({localization?.PositionMeters.X ?? float.NaN:0.000},{localization?.PositionMeters.Y ?? float.NaN:0.000},{localization?.PositionMeters.Z ?? float.NaN:0.000}) score={localization?.Score ?? 0.0:0.000} sourceClaims={acousticSourceFrame.Claims.Count} sourcePlanned={acousticSourcePlan.Packets.Count} sourceDeferred={acousticSourcePlan.DeferredRequests.Count}");
+    Console.WriteLine(
+        $"perfect-machine-visual-marker claims={visualMarkerFrame.Claims.Count} planned={visualMarkerPlan.Packets.Count} deferred={visualMarkerPlan.DeferredRequests.Count}");
     Console.WriteLine(
         $"perfect-machine-authority appliesTo=raven-scarlett-witness decision={authority.Decision} rule={authority.RuleId}");
     Console.WriteLine(
@@ -2257,6 +2273,11 @@ static int RunPerfectMachineProfileSmoke()
         acousticSourcePlan.DeferredRequests.Count == 0 &&
         acousticSourceFrame.Claims[0].ClaimKey.Contains("synthetic-tdoa-calibration", StringComparison.Ordinal) &&
         acousticSourceFrame.Claims[0].ClaimKey.Contains("synthetic-audio-source", StringComparison.Ordinal) &&
+        visualMarkerFrame.Claims.Count == 1 &&
+        visualMarkerPlan.Packets.Count == 1 &&
+        visualMarkerPlan.DeferredRequests.Count == 0 &&
+        visualMarkerFrame.Claims[0].ClaimKey.Contains("synthetic-camera-rig-calibration", StringComparison.Ordinal) &&
+        visualMarkerFrame.Claims[0].ClaimKey.Contains("synthetic-marker-a", StringComparison.Ordinal) &&
         localization is { Score: > 0.90 } &&
         authority.Decision == MimirAuthorityDecision.TrustedEvidence &&
         transport.Transport?.Id == MimirNetworkTransportConfigurations.CultMeshTimingState.Id &&

src/Mimir.Runtime/Synchronization/MimirFensalirBridgeContracts.cs

@@ -150,6 +150,17 @@ public sealed record MimirAcousticSourceFieldCandidate(
     double Confidence,
     long ObservedTimeNs);
 
+public sealed record MimirVisualMarkerFieldCandidate(
+    string CandidateKey,
+    string CalibrationId,
+    string MarkerId,
+    string ProducerKey,
+    IReadOnlyList<string> SourceObservationKeys,
+    System.Numerics.Vector3 PositionMeters,
+    double RadiusMeters,
+    double Confidence,
+    long ObservedTimeNs);
+
 public readonly record struct MimirSurfaceAxes(
     string X,
     string Y,

src/Mimir.Runtime/Synchronization/MimirFensalirFieldLowering.cs

@@ -147,6 +147,39 @@ public sealed class MimirFensalirFieldLowering(MimirFensalirLoweringOptions? opt
         };
     }
 
+    public AquariumFieldEvidenceFrame BuildVisualMarkerCandidateFrame(
+        IEnumerable<MimirVisualMarkerFieldCandidate> markerCandidates)
+    {
+        var domains = new List<AquariumFieldDomain>();
+        var claims = new List<AquariumFieldClaim>();
+        var candidates = new List<AquariumFieldCandidate>();
+        var seenDomains = new HashSet<string>(StringComparer.Ordinal);
+
+        foreach (var markerCandidate in markerCandidates)
+        {
+            if (string.IsNullOrWhiteSpace(markerCandidate.CandidateKey))
+            {
+                continue;
+            }
+
+            var domain = DomainForVisualMarkerCandidate(markerCandidate);
+            AddDomain(domains, seenDomains, domain);
+
+            var claim = ClaimForVisualMarkerCandidate(markerCandidate, domain.DomainKey);
+            claims.Add(claim);
+            candidates.Add(CandidateForClaim(claim, AquariumFieldGuide.Valid(claim.Confidence)));
+        }
+
+        return new AquariumFieldEvidenceFrame
+        {
+            Domains = domains,
+            Claims = claims,
+            Candidates = candidates,
+            AccumulationWindowSeconds = (float)options.AccumulationWindowSeconds,
+            PresentationDelaySeconds = (float)options.PresentationDelaySeconds
+        };
+    }
+
     private static void AddDomain(
         ICollection<AquariumFieldDomain> domains,
         ISet<string> seenDomains,
@@ -304,6 +337,23 @@ public sealed class MimirFensalirFieldLowering(MimirFensalirLoweringOptions? opt
             "Mimir.Runtime");
     }
 
+    private static AquariumFieldDomain DomainForVisualMarkerCandidate(MimirVisualMarkerFieldCandidate candidate)
+    {
+        var radius = Math.Max(0.001f, (float)candidate.RadiusMeters);
+        var center = candidate.PositionMeters;
+        var boundsRadius = new Vector3(radius);
+        return new AquariumFieldDomain(
+            DomainKeyForVisualMarkerCandidate(candidate),
+            "",
+            AquariumFieldDomainKind.CameraSensor,
+            Matrix4x4.Identity,
+            Matrix4x4.Identity,
+            center - boundsRadius,
+            center + boundsRadius,
+            Vector3.Zero,
+            "Mimir.Runtime");
+    }
+
     private static AquariumFieldDomain DomainForSurfaceIntent(MimirSurfaceIntent intent) =>
         new(
             DomainKeyForSurfaceIntent(intent.IntentKey),
@@ -387,6 +437,31 @@ public sealed class MimirFensalirFieldLowering(MimirFensalirLoweringOptions? opt
             Confidence: confidence);
     }
 
+    private AquariumFieldClaim ClaimForVisualMarkerCandidate(
+        MimirVisualMarkerFieldCandidate markerCandidate,
+        string domainKey)
+    {
+        var confidence = Clamp01((float)markerCandidate.Confidence);
+        var proposal = new AquariumFieldProposalPolicy(
+            AquariumFieldProposalKind.DeterministicStructural,
+            SourcePdf: 1.0f,
+            TargetContribution: confidence,
+            RepresentedCandidateCount: Math.Max(1, markerCandidate.SourceObservationKeys.Count),
+            Seed: StableSeed(markerCandidate.CandidateKey));
+
+        return new AquariumFieldClaim(
+            ClaimKey: $"visual-marker:{markerCandidate.CalibrationId}:{markerCandidate.MarkerId}:{markerCandidate.CandidateKey}",
+            DomainKey: domainKey,
+            ProducerKey: markerCandidate.ProducerKey,
+            Layer: AquariumFieldLayer.Form,
+            Encoding: AquariumFieldEncoding.Feature,
+            Support: SupportForVisualMarkerCandidate(markerCandidate),
+            Proposal: proposal,
+            PayloadHandle: markerCandidate.CalibrationId,
+            ObservedTimeNs: markerCandidate.ObservedTimeNs,
+            Confidence: confidence);
+    }
+
     private AquariumFieldClaim ClaimForSurfaceIntent(
         MimirSurfaceIntent intent,
         string domainKey,
@@ -515,6 +590,19 @@ public sealed class MimirFensalirFieldLowering(MimirFensalirLoweringOptions? opt
             TemporalUncertainty: 0.0f);
     }
 
+    private AquariumFieldSupport SupportForVisualMarkerCandidate(MimirVisualMarkerFieldCandidate markerCandidate)
+    {
+        var radius = Math.Max(options.DefaultSupportRadius, (float)markerCandidate.RadiusMeters);
+        return new AquariumFieldSupport(
+            Center: markerCandidate.PositionMeters,
+            Radius: new Vector3(radius),
+            LocalFrame: Matrix4x4.Identity,
+            ConservativeRadius: radius,
+            ProjectedError: radius,
+            Curvature: 0.0f,
+            TemporalUncertainty: 0.0f);
+    }
+
     private AquariumFieldSupport SupportForSurfaceIntent(MimirSurfaceIntent intent)
     {
         var age = Math.Max(0.0f, (float)intent.SupportPolicy.MaximumAgeSeconds);
@@ -681,6 +769,9 @@ public sealed class MimirFensalirFieldLowering(MimirFensalirLoweringOptions? opt
     private static string DomainKeyForAcousticSourceCandidate(MimirAcousticSourceFieldCandidate candidate) =>
         $"mimir:acoustic-source:{candidate.CalibrationId}:{candidate.SourceId}:{candidate.CandidateKey}";
 
+    private static string DomainKeyForVisualMarkerCandidate(MimirVisualMarkerFieldCandidate candidate) =>
+        $"mimir:visual-marker:{candidate.CalibrationId}:{candidate.MarkerId}:{candidate.CandidateKey}";
+
     private static string DomainKeyForSurfaceIntent(string intentKey) => $"mimir:intent:{intentKey}";
 
     private static float Clamp01(float value) => Math.Clamp(value, 0.0f, 1.0f);

state/evidence.jsonl

@@ -206,3 +206,4 @@
 {"ts": "2026-05-28T08:20:48+01:00", "type": "verification", "status": "blocked", "note": "ASIO monitor split proof 20260528-081813 added --play-output-channel and captured output 0/output 1 separately. Loopback channels confirmed distinct ASIO output buffers, but physical mic delays were nearly identical across outputs (shotgun delta about 20.885 us; cardioid delta about 24.789 us), inconsistent with declared left/right monitor geometry. Downstream monitor routing/isolation must be verified before learning left/right acoustic paths."}
 {"ts": "2026-05-28T12:06:53+01:00", "type": "implementation", "status": "ok", "note": "Fensalir now selects FieldEvidence AudioPath Phase/Confidence claims as DebugOverlay backend packets, so Mimir acoustic calibration constraints are planned rather than deferred. Mimir profile smoke now reports acousticPlanned=1 acousticDeferred=0; acoustic source volumes remain Phase 5 fusion work."}
 {"ts": "2026-05-28T12:10:23+01:00", "type": "implementation", "status": "ok", "note": "Phase 5 synthetic audio-source proof added: Mimir lowers an SRP/PHAT-style localized source candidate with calibration/source identity and a world-space confidence envelope; Fensalir plans it as a FieldEvidence DebugOverlay packet. Live room geometry still needs an explicit coordinate frame before physical candidates become runtime truth."}
+{"ts": "2026-05-28T12:13:46+01:00", "type": "implementation", "status": "ok", "note": "Phase 5 synthetic marker proof added: deterministic multi-camera marker candidates lower with calibration/marker identity and world-space support, and Fensalir plans them as FieldEvidence DebugOverlay packets. Ambiguous raw camera feature claims still defer."}

state/map.yaml

@@ -503,7 +503,10 @@ accepted_design:
     localization result with calibration/source identity and a world-space
     confidence envelope, and Fensalir plans it as a FieldEvidence DebugOverlay
     packet. Live room geometry still needs an explicit measured coordinate
-    frame before those candidates become runtime truth.
+    frame before those candidates become runtime truth. Phase 5's synthetic
+    marker proof now lowers a deterministic multi-camera marker candidate with
+    calibration/marker identity and world-space support, and Fensalir plans it
+    as DebugOverlay evidence while ambiguous raw camera features still defer.
   - `config/perfect-machine.example.json` declares live owners, sensors,
     reservoir views, and runtime policy.
   - `src/Mimir.Runtime/Synchronization` now includes the Perfect Machine module