{
  "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
  }
}