feat(perception): add full TGS shadow runner

2026-08-26 21:59:39 +03:00
parent 6544d9e918
commit 40c850b167
8 changed files with 1194 additions and 0 deletions
@@ -0,0 +1,77 @@
+{
+  "schema_version": "missioncore.m49-tgs-full-shadow-profile/v1",
+  "profile_id": "m49-ravnoves00-tgs-full-shadow/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
+    "travel_revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
+    "input_coordinate_frame": "map-gravity-local-translation-only",
+    "expected_timeline_frames": 4489,
+    "expected_available_lidar_frames": 3928
+  },
+  "tgs": {
+    "max_range_m": 80.0,
+    "min_range_m": 1.0,
+    "resolution_m": 8.0,
+    "num_iterations": 3,
+    "num_lowest_representative_points": 5,
+    "minimum_points": 10,
+    "seed_threshold_m": 0.5,
+    "distance_threshold_m": 0.125,
+    "outlier_threshold_m": 0.3,
+    "normal_threshold": 0.94,
+    "weight_threshold": 200.0,
+    "lcc_normal_similarity": 0.03,
+    "lcc_planar_distance_m": 0.1,
+    "obstacle_height_m": 1.0,
+    "refine_mode": true
+  },
+  "profile": {
+    "id": "causal_rolling_1s",
+    "history_seconds": 1.0,
+    "local_radius_m": 12.0,
+    "missing_lidar_policy": "all-cells-unobserved"
+  },
+  "costmap": {
+    "coordinate_frame": "map-gravity-local",
+    "cell_size_m": 0.45,
+    "radius_m": 12.0,
+    "state_priority": [
+      "NONGROUND_OCCUPIED",
+      "UNKNOWN_REJECTED",
+      "GROUND_SUPPORT",
+      "UNOBSERVED"
+    ]
+  },
+  "state_codes": {
+    "UNOBSERVED": 0,
+    "GROUND_SUPPORT": 1,
+    "NONGROUND_OCCUPIED": 2,
+    "UNKNOWN_REJECTED": 3
+  },
+  "acceptance": {
+    "recorded_source_rate_hz": 10.0,
+    "minimum_effective_timeline_fps": 10.0,
+    "candidate_stage_p95_ms_max": 25.0,
+    "candidate_stage_p99_ms_max": 50.0,
+    "completion_age_p99_ms_max": 100.0,
+    "capacity_drop_count_max": 0,
+    "unaccounted_available_frame_count_max": 0,
+    "unaccounted_eligible_point_count_max": 0
+  },
+  "invariants": {
+    "all_eligible_input_points_accounted": true,
+    "aos_allowed": false,
+    "lidar_orientation_applied_to_tgs_input": false,
+    "map_gravity_axis_preserved": true,
+    "missing_support_means_free": false,
+    "missing_lidar_means_unobserved": true,
+    "unobserved_cells_are_emitted": true,
+    "future_frames_used": false,
+    "camera_projection_is_authoritative": false,
+    "gpu_allowed": false,
+    "navigation_or_actuation_allowed": false
+  }
+}