| { |
| "version": "0.1.0-review", |
| "what": "frozen configuration of the recording window: no detector, calibration, study-area or threshold change was made inside it", |
| "frame": "shared coordinate frame = the frame of node N2; x, y horizontal, z up, meters", |
| "detector": { |
| "checkpoint_id": "dataset_v1_B_fourday_gts_off_ep091", |
| "checkpoint_sha256": "68d85a71effe3f57505134d8fd52bd7d72b5029665d08d33d5f97b4167418e72", |
| "architecture": "VoxelNeXt (OpenPCDet)", |
| "model_cfg_sha256": "cf5154b16aa6231d89695697e62e66945252ccb7c1d6e1fc277ebe803e389a5e", |
| "voxel_size_m": [ |
| 0.05, |
| 0.05, |
| 0.1 |
| ], |
| "point_cloud_range_m": [ |
| -22.5, |
| -29.8, |
| -3.2, |
| 25.5, |
| 18.2, |
| 0.0 |
| ], |
| "inference_score_threshold": 0.0 |
| }, |
| "calibration": { |
| "reference_node": "N2", |
| "floor_z_m": -2.65, |
| "transform": "p_room = T @ [x, y, z, 1] for a point in the node's own frame (4x4, row-major)", |
| "node_to_room": { |
| "N1": [ |
| [ |
| -0.016397, |
| -0.999847, |
| -0.005972, |
| -16.36699 |
| ], |
| [ |
| 0.999411, |
| -0.016209, |
| -0.030235, |
| -2.914998 |
| ], |
| [ |
| 0.030134, |
| -0.006464, |
| 0.999525, |
| 0.064405 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "N2": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "N3": [ |
| [ |
| 0.02487, |
| -0.999681, |
| 0.004279, |
| 8.605209 |
| ], |
| [ |
| 0.999529, |
| 0.024943, |
| 0.017868, |
| -3.511407 |
| ], |
| [ |
| -0.017969, |
| 0.003833, |
| 0.999831, |
| 0.123632 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "N4": [ |
| [ |
| 0.017525, |
| 0.999714, |
| -0.016257, |
| 9.603484 |
| ], |
| [ |
| -0.999736, |
| 0.017763, |
| 0.014558, |
| 5.502161 |
| ], |
| [ |
| 0.014842, |
| 0.015997, |
| 0.999762, |
| 0.462986 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "N5": [ |
| [ |
| 0.99963, |
| -0.008674, |
| -0.025763, |
| 9.788371 |
| ], |
| [ |
| 0.008295, |
| 0.999857, |
| -0.01477, |
| -7.876142 |
| ], |
| [ |
| 0.025888, |
| 0.014551, |
| 0.999559, |
| 0.049393 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "N6": [ |
| [ |
| -0.999991, |
| -0.002847, |
| 0.003013, |
| 2.791946 |
| ], |
| [ |
| 0.002777, |
| -0.999732, |
| -0.023001, |
| -14.593296 |
| ], |
| [ |
| 0.003077, |
| -0.022992, |
| 0.999731, |
| 0.240212 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "N7": [ |
| [ |
| 0.999719, |
| 0.008145, |
| -0.022237, |
| 19.8819 |
| ], |
| [ |
| -0.007409, |
| 0.99943, |
| 0.032909, |
| 7.080066 |
| ], |
| [ |
| 0.022492, |
| -0.032735, |
| 0.999212, |
| 0.659604 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ] |
| } |
| }, |
| "study_area": { |
| "file": "environment/study_area.json", |
| "sha256": "6bee01fffe506ecf626abde732ba05748793baf44a972db74addb099a8f05476", |
| "n_vertices": 81, |
| "area_m2": 595.3, |
| "use": "every node crops its points to this polygon and removes the floor before recording" |
| }, |
| "thresholds": { |
| "tracker": { |
| "variant": "v4.1+C-MERGE", |
| "dt": 0.4, |
| "fps": 2.5, |
| "score_thresh": 0.45, |
| "r3_low_thresh": 0.2, |
| "r3_radius_m": 0.5, |
| "max_age": 20, |
| "static_max_age": 90, |
| "transitioning_max_age": 45, |
| "min_hits": 3, |
| "merge_window_frames": 20, |
| "static_merge_window_frames": 90, |
| "transitioning_merge_window_frames": 60, |
| "association": "Hungarian on the Mahalanobis distance of box centers", |
| "association_gate_chi2": 16.0, |
| "note": "shared by the live and offline pipelines; fps/dt are the live values; score_thresh is the entry score, r3_low_thresh the lower entry score within r3_radius_m of a static track; max ages in tracker frames (moving / static / transitioning)" |
| }, |
| "live": { |
| "tick_rate_hz_target": 2.5, |
| "input_nodes": [ |
| "N1", |
| "N2", |
| "N3", |
| "N4", |
| "N5", |
| "N6", |
| "N7" |
| ], |
| "static_false_positive_radius_m": 0.5, |
| "daily_restart_utc": "11:05" |
| }, |
| "offline": { |
| "tracker_fps": 10.0, |
| "transitioning_max_age_frames": 45, |
| "transitioning_merge_window_frames": 60, |
| "stitch_rules": "v5.2", |
| "export_rate_hz": 5.0 |
| }, |
| "recorder": { |
| "segment_rotate_s": 600, |
| "frame_period_ms": 100.0, |
| "verifier_interval_gap_s": 1.0, |
| "verifier_min_outage_s": 2.0 |
| } |
| } |
| } |
|
|
