{
  "schema_version": "missioncore.e25-persistent-support-profile/v1",
  "profile_id": "lab-e25-map-frame-persistent-support-v1",
  "mode": "recorded-streaming-qualification",
  "source": {
    "source_id": "sensor.camera.right",
    "coordinate_frame": "k1-map",
    "calibration_slot": "camera_1",
    "calibration_sha256": "05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9"
  },
  "support": {
    "minimum_evidence_points": {
      "person": 2,
      "bicycle": 2,
      "motorcycle": 2,
      "vehicle": 2,
      "default": 2
    },
    "maximum_points_per_object": 256
  },
  "occupancy": {
    "voxel_size_m": 0.25,
    "neighbor_radius_cells": 1,
    "reference_minimum_age_seconds": {
      "person": 0.3,
      "bicycle": 0.3,
      "motorcycle": 0.3,
      "vehicle": 0.55,
      "default": 0.55
    },
    "reference_maximum_age_seconds": 2.5,
    "history_seconds": 2.0,
    "static_overlap_enter": 0.55,
    "static_overlap_exit": 0.35,
    "dynamic_overlap_enter": 0.25,
    "dynamic_overlap_exit": 0.4,
    "dynamic_minimum_speed_mps": {
      "person": 0.4,
      "bicycle": 0.5,
      "motorcycle": 0.6,
      "vehicle": 0.7,
      "default": 0.7
    },
    "dynamic_minimum_displacement_m": {
      "person": 0.4,
      "bicycle": 0.45,
      "motorcycle": 0.55,
      "vehicle": 0.65,
      "default": 0.65
    },
    "minimum_direction_consistency": 0.6,
    "dynamic_confirmation_frames": {
      "person": 2,
      "bicycle": 2,
      "motorcycle": 2,
      "vehicle": 5,
      "default": 5
    },
    "static_confirmation_frames": 4,
    "contradiction_frames": 2,
    "maximum_support_hold_seconds": 0.45,
    "maximum_snapshots_per_track": 32,
    "maximum_cells_per_snapshot": 256
  },
  "bounds": {
    "maximum_tracks": 192,
    "maximum_track_idle_seconds": 1.5
  },
  "acceptance": {
    "maximum_processing_p95_ms": 12.0,
    "maximum_tracks_observed": 192
  },
  "authority": {
    "commands_enabled": false,
    "navigation_or_safety_accepted": false
  }
}
