feat(perception): add mixed-route vegetation review

config/laboratory-value-review.json

@@ -291,7 +291,7 @@
     },
     {
       "catalog_id": "lab-v1-vegetation-shadow",
-      "evidence_id": "lab-v1-vegetation-shadow-394a5bca860e49a619a90c0f267259fd17e550a0abc4b51f821b1f482040c00e",
+      "evidence_id": "lab-v1-vegetation-shadow-d179462134967ace1c5ebd6fbdbdd8659905d390484b9c01ea7930f083bb74d1",
       "signal": "progress",
       "lifecycle": "current",
       "visual_evidence": "available"

config/perception/mixed-route-tgs-review-v1.json

@@ -0,0 +1,68 @@
+{
+  "schema_version": "missioncore.mixed-route-tgs-review-profile/v1",
+  "profile_id": "ravnoves004tree-mixed-route-tgs-review/v1",
+  "source": {
+    "source_id": "RAVNOVES004TREE",
+    "session_id": "20260828T130511Z_viewer_live",
+    "review_pack_id": "mixed-route-review-pack-a8d245eb08a9581a994c4ae5ad242fec20f02c7c512c5ca5d3a6dd9464012753",
+    "source_pack_id": "mixed-route-lidar-pack-e3fe195588cc4a2ec17e15af6f46582ed71c9bed643943779c4ed5e565a3c839",
+    "source_pack_sha256": "10c759463da7711fbbe67e70df931597d85ab21325f7f8026e2c945b677e1bc6",
+    "input_coordinate_frame": "map-gravity-local-translation-only"
+  },
+  "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
+  },
+  "profiles": {
+    "current_increment": {
+      "role": "diagnostic-current-evidence"
+    },
+    "causal_rolling_1s": {
+      "role": "primary-local-evidence",
+      "history_seconds": 1.0,
+      "local_radius_m": 12.0
+    }
+  },
+  "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
+  },
+  "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,
+    "unobserved_cells_are_emitted": true,
+    "camera_projection_is_authoritative": false,
+    "future_frames_used": false,
+    "gpu_allowed": false,
+    "navigation_or_actuation_allowed": false
+  }
+}