{
  "schema_version": "missioncore.e10-integrated-perception-profile/v1",
  "mode": "qualification",
  "source": {
    "source_id": "sensor.camera.right",
    "resolution": [800, 600],
    "calibration_slot": "camera_1",
    "calibration_sha256": "05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9"
  },
  "replay": {
    "speed": 1.0,
    "detector_queue_capacity": 2,
    "semantic_queue_capacity": 1,
    "semantic_sample_every_frames": 5,
    "semantic_ttl_ms": 750.0
  },
  "association": {
    "box_inset": {
      "bottom_fraction": 0.02,
      "horizontal_fraction": 0.05,
      "top_fraction": 0.04
    },
    "depth_cluster_gap_fraction": 0.06,
    "depth_cluster_minimum_gap_m": 0.5,
    "group_nms_iou_threshold": 0.55,
    "maximum_cuboid_span_m": 12.0,
    "maximum_distance_innovation_fraction": 0.25,
    "maximum_distance_innovation_m": 1.5,
    "maximum_oriented_extent_m": {
      "bicycle": [3.5, 2.0, 2.5],
      "motorcycle": [3.5, 2.0, 2.5],
      "person": [1.5, 1.5, 2.8],
      "vehicle": [6.5, 3.5, 4.0]
    },
    "minimum_cuboid_extent_m": 0.15,
    "minimum_support_points": {
      "bicycle": 3,
      "motorcycle": 3,
      "person": 3,
      "vehicle": 5
    },
    "semantic_ids": {
      "bicycle": [2],
      "motorcycle": [3],
      "person": [1],
      "vehicle": [4, 5]
    },
    "spatial_cluster_radius_m": {
      "bicycle": 0.9,
      "motorcycle": 0.9,
      "person": 0.9,
      "vehicle": 1.5
    },
    "vehicle_labels": ["car", "truck", "bus"],
    "distance_history_frames": 5
  },
  "world_state": {
    "velocity_history_limit_s": 1.0,
    "clearance": {
      "sector_count": 72,
      "minimum_range_m": 0.5,
      "maximum_range_m": 30.0,
      "ground_percentile": 5.0,
      "minimum_height_above_ground_m": 0.2,
      "maximum_height_above_ground_m": 3.0,
      "front_half_angle_degrees": 15.0
    }
  },
  "acceptance": {
    "detector_minimum_effective_fps": 9.5,
    "detector_maximum_drop_fraction": 0.005,
    "maximum_p95_world_state_age_ms": 175.0,
    "semantic_minimum_effective_fps": 1.8,
    "semantic_maximum_drop_fraction": 0.05,
    "semantic_maximum_p95_completion_age_ms": 400.0,
    "minimum_fresh_semantic_coverage": 0.9,
    "minimum_lidar_fused_frames": 450,
    "minimum_accepted_cuboids": 100,
    "require_zero_failures": true
  }
}
