60 lines
2.2 KiB
JSON
60 lines
2.2 KiB
JSON
{
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"schema_version": "missioncore.geometry-association-profile/v1",
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"profile_id": "m4-ravnoves00-e29-e32-geometry/v1",
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"provider_id": "ravnoves00-geometry-association/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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"frame_count": 4489,
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"point_count": 9207270
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},
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"local_surface": {
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"model_id": "k1-local-surface-23762244c8bdb97de26fb721ac957d7a00bc9a63571ac4cfa4be19c4effc7d55",
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"artifact_sha256": "f57eb2485b6cef47f2a97a2d9ff1aa9fd9265fe1eb69cd5852d12f39e13b8bc6",
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"valid_frame_count": 3928
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},
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"projection": {
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"model": "KB4",
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"width": 800,
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"height": 600,
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"coordinate_frame": "map"
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},
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"association": {
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"bbox_inset_fraction": 0.03,
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"depth_cluster_minimum_gap_m": 0.45,
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"depth_cluster_gap_fraction": 0.08,
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"spatial_cluster_radius_m": 0.6,
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"semantic_minimum_occupied_points": 2,
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"semantic_minimum_occupied_voxels": 1,
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"semantic_voxel_size_m": 0.35,
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"conflict_minimum_classified_points": 6,
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"conflict_surface_fraction": 0.8,
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"geometry_local_radius_m": 10.0,
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"geometry_voxel_size_m": 0.45,
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"geometry_minimum_cluster_points": 4,
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"geometry_minimum_cluster_voxels": 2,
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"maximum_geometry_clusters_per_frame": 64
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},
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"policy": {
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"camera_owns_semantic_hint": true,
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"geometry_can_invent_semantic_class": false,
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"geometry_only_range_estimator": "nearest-euclidean-sensor-distance/v1",
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"one_owner_per_source_point": true,
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"absence_of_points_means_free": false,
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"overlap_eligibility": "bbox-intersects-current-projected-point-extent/v1",
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"point_ownership_priority": "smallest-bbox-then-score-then-proposal-id/v1",
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"proposal_range_estimator": "median-camera-z-of-owned-current-points/v1",
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"unknown_is_occupied": true,
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"threshold_tuning_allowed": false
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},
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"authority": {
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"ground_truth": false,
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"physical_live": false,
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"commands_enabled": false,
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"actuation_allowed": false,
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"navigation_or_safety_accepted": false
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}
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}
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