78 lines
2.4 KiB
JSON
78 lines
2.4 KiB
JSON
{
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"schema_version": "missioncore.m49-tgs-full-shadow-profile/v1",
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"profile_id": "m49-ravnoves00-tgs-full-shadow/v1",
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"source": {
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"source_id": "RAVNOVES00",
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"session_id": "20260720T065719Z_viewer_live",
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"source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
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"source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
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"travel_revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
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"input_coordinate_frame": "map-gravity-local-translation-only",
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"expected_timeline_frames": 4489,
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"expected_available_lidar_frames": 3928
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},
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"tgs": {
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"max_range_m": 80.0,
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"min_range_m": 1.0,
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"resolution_m": 8.0,
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"num_iterations": 3,
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"num_lowest_representative_points": 5,
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"minimum_points": 10,
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"seed_threshold_m": 0.5,
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"distance_threshold_m": 0.125,
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"outlier_threshold_m": 0.3,
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"normal_threshold": 0.94,
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"weight_threshold": 200.0,
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"lcc_normal_similarity": 0.03,
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"lcc_planar_distance_m": 0.1,
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"obstacle_height_m": 1.0,
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"refine_mode": true
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},
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"profile": {
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"id": "causal_rolling_1s",
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"history_seconds": 1.0,
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"local_radius_m": 12.0,
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"missing_lidar_policy": "all-cells-unobserved"
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},
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"costmap": {
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"coordinate_frame": "map-gravity-local",
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"cell_size_m": 0.45,
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"radius_m": 12.0,
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"state_priority": [
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"NONGROUND_OCCUPIED",
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"UNKNOWN_REJECTED",
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"GROUND_SUPPORT",
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"UNOBSERVED"
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]
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},
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"state_codes": {
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"UNOBSERVED": 0,
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"GROUND_SUPPORT": 1,
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"NONGROUND_OCCUPIED": 2,
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"UNKNOWN_REJECTED": 3
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},
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"acceptance": {
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"recorded_source_rate_hz": 10.0,
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"minimum_effective_timeline_fps": 10.0,
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"candidate_stage_p95_ms_max": 25.0,
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"candidate_stage_p99_ms_max": 50.0,
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"completion_age_p99_ms_max": 100.0,
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"capacity_drop_count_max": 0,
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"unaccounted_available_frame_count_max": 0,
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"unaccounted_eligible_point_count_max": 0
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},
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"invariants": {
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"all_eligible_input_points_accounted": true,
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"aos_allowed": false,
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"lidar_orientation_applied_to_tgs_input": false,
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"map_gravity_axis_preserved": true,
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"missing_support_means_free": false,
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"missing_lidar_means_unobserved": true,
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"unobserved_cells_are_emitted": true,
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"future_frames_used": false,
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"camera_projection_is_authoritative": false,
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"gpu_allowed": false,
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"navigation_or_actuation_allowed": false
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}
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}
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