61 lines
1.6 KiB
JSON
61 lines
1.6 KiB
JSON
{
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"schema_version": "missioncore.m49-tgs-portable-profile/v2",
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"profile_id": "m49-tgs-portable-v2",
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"source_binding": {
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"mode": "admitted-k1-recording",
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"camera_timeline": "dynamic",
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"lidar_replay": "dynamic",
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"trajectory": "dynamic",
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"frame_counts": "source-derived",
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"filesystem_paths": "executor-resolved"
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},
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"alignment": {
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"timeline": "recorded-camera-host-arrival",
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"lidar_selection": "latest-not-newer-than-camera-frame",
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"maximum_lidar_age_seconds": 1.0,
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"future_frames_allowed": false
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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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"rolling_profile": {
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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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"invariants": {
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"aos_allowed": false,
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"gpu_allowed": false,
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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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"camera_projection_is_authoritative": false,
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"navigation_or_actuation_allowed": false
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}
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}
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