{
 "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
  }
 }
}