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fix(m4): retain compact obstacle evidence

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DCCONSTRUCTIONS
2026-08-05 22:16:33 +03:00
parent 13ed096f80
commit aacc6dc43b
24 changed files with 981 additions and 410 deletions
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config/perception/m4-geometry-association-v1.json
+1 -1
View File
@@ -34,7 +34,7 @@
"geometry_local_radius_m": 10.0,
"geometry_voxel_size_m": 0.45,
"geometry_minimum_cluster_points": 4,
"geometry_minimum_cluster_voxels": 2,
"geometry_minimum_cluster_voxels": 1,
"maximum_geometry_clusters_per_frame": 64
},
"policy": {
config/perception/m4-replay-threat-v3.json
+4 -4
View File
@@ -5,10 +5,10 @@
"source": {
"source_id": "RAVNOVES00",
"session_id": "20260720T065719Z_viewer_live",
"temporal_result_id": "m4-temporal-replay-b8611526dfcd2b9be9049560d751bbd23a9ad54b7dda8e9dc48a17374d46266e",
"temporal_frames_sha256": "08a03669d3487ecf7bd62b047ae5b8d1ff586a27e7435e5f235907a4d709dd25",
"geometry_result_id": "m4-geometry-replay-8daf3109e3cf30b960b4b376032ff3b5ec58ca42a1e5899b841cf29fbcf14ad8",
"geometry_frames_sha256": "b4db5d0ebaba4d6268a1006707dc313c229f3dbdfd73b1d863cad5d853be8ac4",
"temporal_result_id": "m4-temporal-replay-81e13d5654ac8d1219f6937dd425f7dbcdbacd5748d23fe653297134f0de6c22",
"temporal_frames_sha256": "e83b80ea06b3462c2d04c5a1b74289a0ec401596c7150ae90f5a1b748b639c3a",
"geometry_result_id": "m4-geometry-replay-b7d72e9e411fd576243d10ab39717e90daa10703b67c6e32ab284f6bd78d344a",
"geometry_frames_sha256": "d4d4c0a98e09c0f26251284747108651cf4b21e9c9733e3a14963999b0300772",
"detector_result_id": "m4-detector-replay-11f83f2e0b81758ac2a5a5fc54e9d293b501678df5f6ef97b5c6069ba08605c5",
"detector_frames_sha256": "9bf5ae17938cd57c112278781b38d54a7187cf2dabc7bb0332acdb1efad721f5",
"source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
config/perception/m4-temporal-motion-v1.json
+2 -2
View File
@@ -6,8 +6,8 @@
"source": {
"source_id": "RAVNOVES00",
"session_id": "20260720T065719Z_viewer_live",
"geometry_result_id": "m4-geometry-replay-8daf3109e3cf30b960b4b376032ff3b5ec58ca42a1e5899b841cf29fbcf14ad8",
"geometry_frames_sha256": "b4db5d0ebaba4d6268a1006707dc313c229f3dbdfd73b1d863cad5d853be8ac4"
"geometry_result_id": "m4-geometry-replay-b7d72e9e411fd576243d10ab39717e90daa10703b67c6e32ab284f6bd78d344a",
"geometry_frames_sha256": "d4d4c0a98e09c0f26251284747108651cf4b21e9c9733e3a14963999b0300772"
},
"temporal": {
"coordinate_frame": "map",