feat(observatory): add portable calculation profiles

2026-08-31 15:42:56 +03:00
parent d1b75efcea
commit 9beb534108
75 changed files with 24419 additions and 348 deletions
@@ -0,0 +1,60 @@
+{
+  "schema_version": "missioncore.m49-tgs-portable-profile/v2",
+  "profile_id": "m49-tgs-portable-v2",
+  "source_binding": {
+    "mode": "admitted-k1-recording",
+    "camera_timeline": "dynamic",
+    "lidar_replay": "dynamic",
+    "trajectory": "dynamic",
+    "frame_counts": "source-derived",
+    "filesystem_paths": "executor-resolved"
+  },
+  "alignment": {
+    "timeline": "recorded-camera-host-arrival",
+    "lidar_selection": "latest-not-newer-than-camera-frame",
+    "maximum_lidar_age_seconds": 1.0,
+    "future_frames_allowed": false
+  },
+  "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
+  },
+  "rolling_profile": {
+    "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"
+    ]
+  },
+  "invariants": {
+    "aos_allowed": false,
+    "gpu_allowed": false,
+    "missing_support_means_free": false,
+    "missing_lidar_means_unobserved": true,
+    "unobserved_cells_are_emitted": true,
+    "camera_projection_is_authoritative": false,
+    "navigation_or_actuation_allowed": false
+  }
+}