{
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      "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"]
  },
  "inputs": {
    "semantic_result_id": "result-793785170472c519486ccd666be102fb04d169d92383acda3fcc29eecf045d30",
    "tracking_result_id": "e5-tracking-88aace13ef9963f8dc07f85228e530f9d28c2b49aca9192409f7975512b058f6"
  },
  "presentation": {
    "contact_sheet_columns": 3,
    "contact_sheet_frames": 6,
    "distance_history_frames": 5,
    "jpeg_quality": 85,
    "overlay_crf": 20,
    "point_radius_ui": 1.5,
    "support_radius_ui": 3.0
  },
  "projection": {
    "occlusion_policy": "nearest-depth-per-rounded-pixel",
    "pixel_rounding": "nearest",
    "source_coordinates": "k1-map-frame",
    "visible_point_policy": "camera-front-in-frame"
  },
  "schema_version": "missioncore.e6-tracking-lidar-profile/v1",
  "source": {
    "calibration_sha256": "05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9",
    "calibration_slot": "camera_1",
    "resolution": [800, 600],
    "source_id": "sensor.camera.right"
  },
  "temporal": {
    "binding": "nearest-host-arrival-best-effort",
    "maximum_lidar_camera_delta_ms": 100.0,
    "maximum_pose_point_delta_ms": 100.0
  }
}
