{
  "schema_version": "missioncore.e24-world-motion-profile/v1",
  "profile_id": "lab-e24-world-frame-motion-v1",
  "mode": "recorded-streaming-qualification",
  "source": {
    "source_id": "sensor.camera.right",
    "coordinate_frame": "k1-map",
    "calibration_slot": "camera_1",
    "calibration_sha256": "05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9"
  },
  "association": {
    "maximum_center_distance_m": 2.2,
    "maximum_speed_mps": 16.0,
    "maximum_gap_allowance_m": 2.5,
    "maximum_reassociation_gap_seconds": 0.55,
    "maximum_reassociation_distance_m": {
      "person": 1.2,
      "bicycle": 1.2,
      "motorcycle": 1.2,
      "vehicle": 0.75,
      "default": 0.75
    },
    "source_track_alias_bonus": 0.8,
    "size_distance_weight": 0.35
  },
  "filter": {
    "initial_position_sigma_m": 0.8,
    "initial_velocity_sigma_mps": 2.0,
    "measurement_sigma_m": 1.6,
    "provisional_measurement_sigma_m": 2.8,
    "minimum_measurement_sigma_m": 0.18,
    "support_points_saturation": 64,
    "acceleration_sigma_mps2": 2.0,
    "shape_alpha": 0.18
  },
  "provisional": {
    "allowed_groups": [
      "person",
      "bicycle",
      "motorcycle",
      "vehicle"
    ],
    "nominal_half_size_m": {
      "person": [0.35, 0.35, 0.9],
      "bicycle": [0.9, 0.325, 0.75],
      "motorcycle": [0.9, 0.35, 0.75],
      "vehicle": [2.25, 0.925, 0.775],
      "default": [0.5, 0.5, 0.5]
    }
  },
  "tracking": {
    "minimum_confirmation_hits": 4,
    "provisional_confirmation_hits": 3,
    "hold_seconds": 0.45
  },
  "motion": {
    "history_seconds": 1.8,
    "minimum_history_seconds": 0.8,
    "dynamic_enter_speed_mps": {
      "person": 0.45,
      "bicycle": 0.55,
      "motorcycle": 0.65,
      "vehicle": 0.75,
      "default": 0.75
    },
    "dynamic_exit_speed_mps": 0.4,
    "dynamic_minimum_displacement_m": {
      "person": 0.45,
      "bicycle": 0.5,
      "motorcycle": 0.55,
      "vehicle": 0.65,
      "default": 0.65
    },
    "minimum_direction_consistency": 0.62,
    "dynamic_confirmation_frames": {
      "person": 1,
      "bicycle": 1,
      "motorcycle": 1,
      "vehicle": 2,
      "default": 2
    },
    "static_enter_speed_mps": 0.28,
    "static_exit_speed_mps": 0.55,
    "static_maximum_displacement_m": 0.42,
    "static_confirmation_frames": 7
  },
  "bounds": {
    "track_id_start": 240001,
    "maximum_tracks": 192,
    "maximum_track_idle_seconds": 1.5
  },
  "acceptance": {
    "maximum_processing_p95_ms": 8.0,
    "maximum_tracks_observed": 192
  },
  "authority": {
    "commands_enabled": false,
    "navigation_or_safety_accepted": false
  }
}
