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