70 lines
2.1 KiB
JSON
70 lines
2.1 KiB
JSON
{
|
|
"schema_version": "missioncore.m49-tgs-fail-closed-evidence-profile/v1",
|
|
"profile_id": "m49-ravnoves00-tgs-fail-closed-evidence/v1",
|
|
"source": {
|
|
"source_id": "RAVNOVES00",
|
|
"session_id": "20260720T065719Z_viewer_live",
|
|
"source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
|
|
"source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
|
|
"travel_revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
|
|
"compatibility_decision_sha256": "ff0b27f469cccad258c53ae07cb04ad00e696d82b32021c4f1f38ba7fa39d66a",
|
|
"input_coordinate_frame": "map-gravity-local-translation-only"
|
|
},
|
|
"anchors": [171, 306, 368, 402, 450, 509, 525, 744, 1122, 1856],
|
|
"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,
|
|
"gpu_allowed": false,
|
|
"navigation_or_actuation_allowed": false
|
|
}
|
|
}
|