{
  "schema_version": "missioncore.e26-camera-ego-motion-profile/v1",
  "profile_id": "lab-e26-kb4-multiview-static-hypothesis-v1",
  "mode": "recorded-streaming-qualification",
  "source": {
    "source_id": "sensor.camera.right",
    "coordinate_frame": "k1-map",
    "calibration_slot": "camera_1",
    "calibration_sha256": "05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9"
  },
  "camera_evidence": {
    "history_seconds": 2.0,
    "maximum_observations_per_track": 32,
    "minimum_observations": 5,
    "minimum_span_seconds": 0.4,
    "minimum_ego_baseline_m": 0.25,
    "maximum_normal_matrix_condition": 1000000.0,
    "footpoint_inset_fraction": 0.03,
    "minimum_bbox_diagonal_px": 35.0,
    "minimum_median_detector_score": 0.6,
    "minimum_negative_depth_detector_score": 0.7,
    "minimum_valid_positive_depth_fraction": 0.8,
    "negative_depth_dynamic_fraction": 0.6,
    "minimum_static_hypothesis_range_m": 0.8,
    "maximum_static_hypothesis_range_m": 80.0,
    "dynamic_median_angular_residual_degrees": {
      "person": 1.8,
      "bicycle": 1.8,
      "motorcycle": 1.8,
      "vehicle": 3.5,
      "default": 3.5
    },
    "dynamic_p80_angular_residual_degrees": {
      "person": 2.8,
      "bicycle": 2.8,
      "motorcycle": 2.8,
      "vehicle": 5.0,
      "default": 5.0
    },
    "static_median_angular_residual_degrees": {
      "person": 1.0,
      "bicycle": 1.0,
      "motorcycle": 1.0,
      "vehicle": 1.4,
      "default": 1.4
    },
    "static_p80_angular_residual_degrees": {
      "person": 2.0,
      "bicycle": 2.0,
      "motorcycle": 2.0,
      "vehicle": 2.5,
      "default": 2.5
    },
    "dynamic_confirmation_frames": 2,
    "static_confirmation_frames": 4,
    "evidence_decay_frames": 1
  },
  "fusion": {
    "camera_only_confidence_scale": 0.65,
    "conflict_state": "unknown",
    "unknown_is_occupied": true,
    "camera_only_metric_velocity_valid": false
  },
  "bounds": {
    "maximum_tracks": 256,
    "maximum_track_idle_seconds": 2.5
  },
  "acceptance": {
    "maximum_processing_p95_ms": 12.0,
    "maximum_tracks_observed": 256,
    "maximum_static_control_false_dynamic_fraction": 0.1
  },
  "authority": {
    "commands_enabled": false,
    "navigation_or_safety_accepted": false
  }
}
