Task 9 of the ICP LiDAR plan: integrate the FusionWorker built in
earlier tasks into the live data_only_viz pipeline without
disturbing the existing ARKit pelvis fuse path or the Multi-HMR
worker thread.
A new IcpFusionThread pulls LiDAR frames from LidarTCPReader,
stages them into State, and applies in-place ICP registration on
state.persons_smplx[*].vertices_3d. It runs as a separate daemon
thread parallel to MultiHMRWorker rather than inline per frame —
the autonomous-worker architecture didn't fit the plan's
per-frame call site, so we adapted to a polling thread at 8 Hz.
Activation is opt-in via ICP_FUSION=1 plus ICP_LIDAR_HOST; the
default code path is untouched. Shutdown wired through
applicationWillTerminate_.
MultiHMRWorker.predict_once is added as a documented stub
(NotImplementedError) because the existing PyTorch run loop is
too coupled to the camera and MPS lifecycle for a clean
single-shot extraction. calibrate_lidar.py keeps its placeholder
until a follow-up refactor extracts a pure _infer(rgb) helper.
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