fix(perception): reconstruct rolling occupancy from K1 increments

2026-08-05 21:12:47 +03:00
parent c70ad345ea
commit 7aa3ce55c0
16 changed files with 1489 additions and 141 deletions
@@ -0,0 +1,38 @@
+{
+  "schema_version": "missioncore.rolling-local-map-profile/v1",
+  "profile_id": "ravnoves00-rolling-local-obstacle-map/v1",
+  "provider_id": "rolling-local-obstacle-map/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "representation_id": "registered-map-increment-v1"
+  },
+  "bounds": {
+    "coordinate_frame": "map",
+    "voxel_size_m": 0.45,
+    "retention_seconds": 3.0,
+    "local_radius_m": 12.0,
+    "maximum_cells": 65536,
+    "maximum_cells_per_component": 4096,
+    "maximum_components": 1024,
+    "neighbor_radius_cells": 1
+  },
+  "policy": {
+    "input_is_complete_scan": false,
+    "input_is_registered_map_increment": true,
+    "absence_of_republication_means_free": false,
+    "clearing_from_missing_points": false,
+    "retained_occupancy_can_assert_threat": true,
+    "retained_motion_claimed": false,
+    "local_radius_eviction": true,
+    "time_bound_eviction": true,
+    "capacity_eviction_allowed": false
+  },
+  "authority": {
+    "ground_truth": false,
+    "physical_live": false,
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false
+  }
+}