RobotArena360_Assets / droid41 /alignment /operation_surface_shadow_v2.json
pcseanlo's picture
Add files using upload-large-folder tool
31bfdcc verified
Raw History Blame Contribute Delete
195 kB
{
"version": 2,
"type": "operation_surface_render_receiver",
"source": {
"operation_surface_json": "/home/pangchil/user_data/scene_gaussian_alignment/optimization_results/droid41/operation_surface_plane_fit.json",
"gaussian_ply": "/home/pangchil/user_data/Eden/eden/assets/echo2/droid41/gaussian_trimmed.ply",
"result": "/home/pangchil/user_data/scene_gaussian_alignment/optimization_results/droid41/aligned_pose_refined.npy",
"scene_scale": "/home/pangchil/user_data/scene_gaussian_alignment/optimization_results/droid41/aligned_pose_scene_scale_refined.npy"
},
"parameters": {
"gaussian_plane_band": 0.025,
"refine_horizontal_plane_height": true,
"receiver_mode": "polygon",
"receiver_basis_mode": "support-edge",
"receiver_basis_angle_step_deg": 1.0,
"receiver_basis_quantile": 0.02,
"receiver_basis_max_samples": 20000,
"receiver_basis_min_area_gain": 0.12,
"receiver_auto_score_margin": 0.035,
"receiver_auto_surface_score_bias": 0.055,
"receiver_edge_alignment_score_margin": 0.12,
"receiver_edge_alignment_angle_threshold_deg": 10.0,
"receiver_tighten_to_support": true,
"receiver_support_edge_inset": 0.0,
"receiver_support_bounds_quantile": 0.05,
"receiver_grid_scales": [
1.0,
1.4
],
"receiver_clip_to_reference": true,
"receiver_reference_margin": 0.08,
"receiver_basis_unclipped_support": true,
"receiver_reference_edge_snap": false,
"receiver_reference_edge_band": 0.05,
"receiver_reference_edge_min_points": 40,
"receiver_reference_edge_min_span_fraction": 0.55,
"receiver_reference_edge_trim_quantile": 0.01,
"receiver_coverage_max_empty_fraction": 0.0,
"receiver_coverage_max_gap_cells": 0,
"receiver_coverage_boundary_weight": 1.0,
"receiver_coverage_boundary_refine": true,
"receiver_coverage_boundary_pass_fraction": 0.5,
"receiver_coverage_smooth_boundary_cells": 1,
"receiver_coverage_grid_aligned_edges": true,
"receiver_coverage_stop_after_coverage": 0.0,
"receiver_coverage_min_new_point_fraction": 0.0,
"grid_size": 0.025,
"erosion_cells": 1,
"receiver_contour_concavity_ratio": 0.12,
"receiver_contour_convex_max_overcoverage": 0.05,
"receiver_contour_simplify_tolerance": 0.012,
"receiver_physics_boundary_padding": 0.003,
"receiver_lighting_boundary_inset": 0.006,
"receiver_surface_lift": 0.015,
"min_area": 0.02,
"max_rectangles": 8,
"min_rectangle_cells": 2,
"min_opacity": null,
"max_gaussian_scale": null,
"min_gaussian_normal_confidence": 0.3,
"camera_filter_enabled": false
},
"reference_surface": {
"center": [
0.6555264963353707,
0.07474150618098196,
-0.06074084976560196
],
"size": [
0.5883355113669044,
0.9492533088050998,
0.01
],
"quat_wxyz": [
1.0,
0.0,
0.0,
0.0
],
"plane_normal": [
0.0,
0.0,
1.0
],
"plane_offset": 0.06874084976560196
},
"stats": {
"world_point_count": 901340,
"near_plane_count": 27044,
"basis_support_count": 27044,
"reference_footprint_count": 23136,
"support_count": 10075,
"receiver_clip_to_reference": true,
"receiver_reference_margin": 0.08,
"receiver_basis_unclipped_support": true,
"plane_fitted_normal": [
0.0,
0.0,
1.0
],
"plane_stabilized_normal": [
0.0,
0.0,
1.0
],
"plane_fitted_offset": 0.06874084976560196,
"plane_stabilized_offset": 0.06673758549737259,
"plane_height_refined": true,
"plane_height_method": "histogram_consensus_huber",
"plane_height_sample_count": 6856,
"plane_height_initial": -0.06874084976560196,
"plane_height_refined_value": -0.06673758549737259,
"plane_height_residual_p50": 0.004077691895124427,
"plane_height_residual_p90": 0.008407083563133227,
"plane_height_histogram_bin_width": 0.004166666666666667,
"raw_cell_count": 624,
"component_cell_count": 624,
"support_core_cell_count": 624,
"filled_interior_hole_cell_count": 0,
"closure_added_cell_count": 2,
"support_envelope_cell_count": 689,
"eroded_cell_count": 520,
"final_cell_count": 520,
"rectangle_cell_count": 520,
"tightened_rectangle_count": 5,
"rectangle_count": 2,
"receiver_area": 0.7079118456423873,
"receiver_geometry": "support_aligned_polygon",
"physics_boundary_vertex_count": 6,
"lighting_boundary_vertex_count": 6,
"physics_polygon_cell_count": 626,
"lighting_polygon_cell_count": 520,
"convex_hull_area": 0.7409288631689244,
"convex_hull_overcoverage_ratio": 0.04664001277811099,
"receiver_coverage": 1.0,
"polygon_precision": 0.8346153846153845,
"reference_mask_recall": 0.9519598585544738,
"reference_mask_overlap_iou": 0.8008834427801538,
"receiver_cell_coverage": 1.0,
"receiver_coverage_smooth_boundary_cells": 0,
"receiver_coverage_grid_aligned_edges": false,
"receiver_tighten_to_support": true,
"receiver_support_edge_inset": 0.0,
"receiver_support_bounds_quantile": 0.05,
"receiver_surface_lift": 0.015,
"receiver_physics_boundary_padding": 0.003,
"receiver_lighting_boundary_inset": 0.006,
"grid_size": 0.034999999999999996,
"erosion_cells": 1,
"receiver_support_point_count": 8227,
"receiver_covered_support_point_count": 8227,
"receiver_point_coverage": 1.0,
"receiver_basis_mode": "support-edge",
"receiver_basis_selected_mode": "support-edge",
"receiver_basis_angle_deg": 5.000000000000007,
"receiver_basis_point_count": 27044,
"receiver_basis_fit_mode": "support-edge",
"receiver_basis_candidate_angle_deg": 5.000000000000007,
"receiver_basis_edge_score": 9.633737795413849,
"receiver_basis_edge_point_count": 62,
"receiver_basis_edge_line_angle_deg": 95.0,
"receiver_basis_surface_trimmed_area": 25.221286730475896,
"receiver_basis_trimmed_area": 24.54211305561565,
"receiver_basis_support_trimmed_area": 24.54211305561565,
"receiver_basis_area_gain": 0.026928589414098834,
"receiver_basis_min_area_gain": 0.12,
"receiver_basis_quantile": 0.02,
"receiver_grid_scale": 1.4,
"contour_input_point_count": 10075,
"contour_retained_point_count": 10075,
"contour_rejected_point_count": 0,
"contour_concave_area": 0.7265549683696997,
"contour_convex_area": 0.7409288631689248,
"contour_convex_overcoverage_ratio": 0.019783630179390815,
"contour_unsupported_cell_count": 0,
"contour_hole_count": 0,
"contour_selected_mode": "convex",
"receiver_candidate_score": 1.0053857178828198,
"receiver_basis_chosen_candidate": "support-edge",
"receiver_auto_score_margin": 0.035,
"receiver_auto_surface_score_bias": 0.055,
"receiver_edge_alignment_score_margin": 0.12,
"receiver_edge_alignment_angle_threshold_deg": 10.0,
"receiver_auto_candidates": [
{
"basis_mode": "support-edge",
"score": 0.9993764429239107,
"receiver_area": 0.7079118456423875,
"rectangle_count": 3,
"basis_angle_deg": 6.999999999999997,
"basis_area_gain": 0.026882214619553958,
"basis_edge_score": 9.40893435270013,
"coverage": 0.9868173258003766,
"grid_size": 0.025,
"grid_scale": 1.0,
"reference_edge_valid_count": 0
},
{
"basis_mode": "support-edge",
"score": 1.0053857178828198,
"receiver_area": 0.7079118456423873,
"rectangle_count": 2,
"basis_angle_deg": 5.000000000000007,
"basis_area_gain": 0.026928589414098834,
"basis_edge_score": 9.633737795413849,
"coverage": 1.0,
"grid_size": 0.034999999999999996,
"grid_scale": 1.4,
"reference_edge_valid_count": 0
}
],
"gaussian": {
"input_count": 2195436,
"finite_count": 2195436,
"kept_count": 901340,
"normal_confidence_source": "gaussian_thinnest_axis",
"normal_confidence_count": 901340,
"normal_confidence_threshold": 0.3
},
"table_material": {
"albedo_linear": [
0.8724388868431112,
0.6585630929353087,
0.3340618802683588
],
"roughness": 0.9,
"metallic": 0.0,
"source": "gaussian_sh_dc_trimmed_median",
"sample_count": 5177
}
},
"selected": {
"center": [
0.6719962450989131,
0.07533830501581497,
-0.04373758549737259
],
"quat_wxyz": [
0.9990482215818578,
0.0,
0.0,
0.04361938736533606
],
"size": [
0.5599094267967129,
1.0146159010639733,
0.01
],
"basis_u": [
0.9961946980917455,
0.08715574274765829,
0.0
],
"basis_v": [
-0.08715574274765829,
0.9961946980917455,
0.0
],
"extents": [
0.5599094267967129,
1.0146159010639733
],
"area": 0.7079118456423873,
"schema_version": 2,
"plane_normal": [
0.0,
0.0,
1.0
],
"plane_offset": 0.06673758549737259,
"support_boxes": [
{
"center": [
0.6719962450989131,
0.07533830501581497,
-0.04373758549737259
],
"quat_wxyz": [
0.9990482215818578,
0.0,
0.0,
0.04361938736533606
],
"size": [
0.5599094267967129,
1.0146159010639733,
0.01
],
"basis_u": [
0.9961946980917455,
0.08715574274765829,
0.0
],
"basis_v": [
-0.08715574274765829,
0.9961946980917455,
0.0
],
"extents": [
0.5599094267967129,
1.0146159010639733
],
"area": 0.5680930075835596
},
{
"center": [
0.9660487931091832,
0.3287424431479552,
-0.04373758549737259
],
"quat_wxyz": [
0.9990482215818578,
0.0,
0.0,
0.04361938736533606
],
"size": [
0.06984044281056401,
0.5550811579567646,
0.01
],
"basis_u": [
0.9961946980917455,
0.08715574274765829,
0.0
],
"basis_v": [
-0.08715574274765829,
0.9961946980917455,
0.0
],
"extents": [
0.06984044281056401,
0.5550811579567646
],
"area": 0.03876711386750106
}
],
"footprints": {
"physics": {
"type": "support_aligned_polygon",
"role": "physics",
"vertices_uv": [
[
1.0767950987835044,
0.5055629406531218
],
[
0.36849552493712445,
0.6015491980969931
],
[
1.0375241507057429,
0.542043455937461
],
[
0.9337982901564305,
-0.5641753583806757
],
[
0.9844585120489848,
-0.5480017558679445
],
[
0.3659222807359177,
-0.5133079451782782
]
],
"vertices_world": [
[
1.0286348547409914,
0.5974879976518261,
-0.03873758549737259
],
[
0.3146648210534963,
0.6313766229606491,
-0.03873758549737259
],
[
0.9863338580714652,
0.6304070049136177,
-0.03873758549737259
],
[
0.9794160281405675,
-0.4806426172577625,
-0.03873758549737259
],
[
1.028473850254179,
-0.46011523091872963,
-0.03873758549737259
],
[
0.4092675712030476,
-0.47946242530951305,
-0.03873758549737259
]
],
"triangles": [
[
0,
1,
2
],
[
3,
0,
4
],
[
0,
3,
5
],
[
1,
0,
5
]
],
"boundary_uv": [
[
0.3659222807359177,
-0.5133079451782782
],
[
0.9337982901564305,
-0.5641753583806757
],
[
0.9844585120489848,
-0.5480017558679445
],
[
1.0767950987835044,
0.5055629406531218
],
[
1.0375241507057429,
0.542043455937461
],
[
0.36849552493712445,
0.6015491980969931
]
],
"holes_uv": [],
"plane_origin": [
-0.0,
-0.0,
-0.06673758549737259
],
"basis_u": [
0.9961946980917455,
0.08715574274765829,
0.0
],
"basis_v": [
-0.08715574274765829,
0.9961946980917455,
0.0
],
"plane_normal": [
0.0,
0.0,
1.0
],
"grid_size": 0.034999999999999996,
"uv_lo": [
0.36098797710519076,
-0.5611332947752399
],
"occupied_cells_rc": [
[
0,
8
],
[
0,
9
],
[
0,
11
],
[
0,
12
],
[
0,
13
],
[
0,
14
],
[
0,
15
],
[
0,
16
],
[
0,
17
],
[
1,
0
],
[
1,
2
],
[
1,
3
],
[
1,
4
],
[
1,
5
],
[
1,
6
],
[
1,
7
],
[
1,
8
],
[
1,
9
],
[
1,
10
],
[
1,
11
],
[
1,
12
],
[
1,
13
],
[
1,
14
],
[
1,
15
],
[
1,
16
],
[
1,
17
],
[
2,
0
],
[
2,
2
],
[
2,
3
],
[
2,
4
],
[
2,
5
],
[
2,
6
],
[
2,
7
],
[
2,
8
],
[
2,
9
],
[
2,
10
],
[
2,
11
],
[
2,
12
],
[
2,
13
],
[
2,
14
],
[
2,
15
],
[
2,
16
],
[
2,
17
],
[
3,
0
],
[
3,
1
],
[
3,
2
],
[
3,
3
],
[
3,
4
],
[
3,
5
],
[
3,
6
],
[
3,
7
],
[
3,
8
],
[
3,
9
],
[
3,
10
],
[
3,
11
],
[
3,
12
],
[
3,
13
],
[
3,
14
],
[
3,
15
],
[
3,
16
],
[
3,
17
],
[
4,
0
],
[
4,
1
],
[
4,
2
],
[
4,
3
],
[
4,
4
],
[
4,
5
],
[
4,
6
],
[
4,
7
],
[
4,
8
],
[
4,
9
],
[
4,
10
],
[
4,
11
],
[
4,
12
],
[
4,
13
],
[
4,
14
],
[
4,
15
],
[
4,
16
],
[
4,
17
],
[
5,
0
],
[
5,
1
],
[
5,
2
],
[
5,
3
],
[
5,
4
],
[
5,
5
],
[
5,
6
],
[
5,
7
],
[
5,
8
],
[
5,
9
],
[
5,
10
],
[
5,
11
],
[
5,
12
],
[
5,
13
],
[
5,
14
],
[
5,
15
],
[
5,
16
],
[
5,
17
],
[
5,
18
],
[
6,
0
],
[
6,
1
],
[
6,
2
],
[
6,
3
],
[
6,
4
],
[
6,
5
],
[
6,
6
],
[
6,
7
],
[
6,
8
],
[
6,
9
],
[
6,
10
],
[
6,
11
],
[
6,
12
],
[
6,
13
],
[
6,
14
],
[
6,
15
],
[
6,
16
],
[
6,
17
],
[
6,
18
],
[
7,
0
],
[
7,
1
],
[
7,
2
],
[
7,
3
],
[
7,
4
],
[
7,
5
],
[
7,
6
],
[
7,
7
],
[
7,
8
],
[
7,
9
],
[
7,
10
],
[
7,
11
],
[
7,
12
],
[
7,
13
],
[
7,
14
],
[
7,
15
],
[
7,
16
],
[
7,
17
],
[
7,
18
],
[
8,
0
],
[
8,
1
],
[
8,
2
],
[
8,
3
],
[
8,
4
],
[
8,
5
],
[
8,
6
],
[
8,
7
],
[
8,
8
],
[
8,
9
],
[
8,
10
],
[
8,
11
],
[
8,
12
],
[
8,
13
],
[
8,
14
],
[
8,
15
],
[
8,
16
],
[
8,
17
],
[
8,
18
],
[
9,
0
],
[
9,
1
],
[
9,
2
],
[
9,
3
],
[
9,
4
],
[
9,
5
],
[
9,
6
],
[
9,
7
],
[
9,
8
],
[
9,
9
],
[
9,
10
],
[
9,
11
],
[
9,
12
],
[
9,
13
],
[
9,
14
],
[
9,
15
],
[
9,
16
],
[
9,
17
],
[
9,
18
],
[
10,
0
],
[
10,
1
],
[
10,
2
],
[
10,
3
],
[
10,
4
],
[
10,
5
],
[
10,
6
],
[
10,
7
],
[
10,
8
],
[
10,
9
],
[
10,
10
],
[
10,
11
],
[
10,
12
],
[
10,
13
],
[
10,
14
],
[
10,
15
],
[
10,
16
],
[
10,
17
],
[
10,
18
],
[
11,
0
],
[
11,
1
],
[
11,
2
],
[
11,
3
],
[
11,
4
],
[
11,
5
],
[
11,
6
],
[
11,
7
],
[
11,
8
],
[
11,
9
],
[
11,
10
],
[
11,
11
],
[
11,
12
],
[
11,
13
],
[
11,
14
],
[
11,
15
],
[
11,
16
],
[
11,
17
],
[
11,
18
],
[
12,
0
],
[
12,
1
],
[
12,
2
],
[
12,
3
],
[
12,
4
],
[
12,
5
],
[
12,
6
],
[
12,
7
],
[
12,
8
],
[
12,
9
],
[
12,
10
],
[
12,
11
],
[
12,
12
],
[
12,
13
],
[
12,
14
],
[
12,
15
],
[
12,
16
],
[
12,
17
],
[
12,
18
],
[
13,
0
],
[
13,
1
],
[
13,
2
],
[
13,
3
],
[
13,
4
],
[
13,
5
],
[
13,
6
],
[
13,
7
],
[
13,
8
],
[
13,
9
],
[
13,
10
],
[
13,
11
],
[
13,
12
],
[
13,
13
],
[
13,
14
],
[
13,
15
],
[
13,
16
],
[
13,
17
],
[
13,
18
],
[
14,
0
],
[
14,
1
],
[
14,
2
],
[
14,
3
],
[
14,
4
],
[
14,
5
],
[
14,
6
],
[
14,
7
],
[
14,
8
],
[
14,
9
],
[
14,
10
],
[
14,
11
],
[
14,
12
],
[
14,
13
],
[
14,
14
],
[
14,
15
],
[
14,
16
],
[
14,
17
],
[
14,
18
],
[
14,
19
],
[
15,
0
],
[
15,
1
],
[
15,
2
],
[
15,
3
],
[
15,
4
],
[
15,
5
],
[
15,
6
],
[
15,
7
],
[
15,
8
],
[
15,
9
],
[
15,
10
],
[
15,
11
],
[
15,
12
],
[
15,
13
],
[
15,
14
],
[
15,
15
],
[
15,
16
],
[
15,
17
],
[
15,
18
],
[
15,
19
],
[
16,
0
],
[
16,
1
],
[
16,
2
],
[
16,
3
],
[
16,
4
],
[
16,
5
],
[
16,
6
],
[
16,
7
],
[
16,
8
],
[
16,
9
],
[
16,
10
],
[
16,
11
],
[
16,
12
],
[
16,
13
],
[
16,
14
],
[
16,
15
],
[
16,
16
],
[
16,
17
],
[
16,
18
],
[
16,
19
],
[
17,
0
],
[
17,
1
],
[
17,
2
],
[
17,
3
],
[
17,
4
],
[
17,
5
],
[
17,
6
],
[
17,
7
],
[
17,
8
],
[
17,
9
],
[
17,
10
],
[
17,
11
],
[
17,
12
],
[
17,
13
],
[
17,
14
],
[
17,
15
],
[
17,
16
],
[
17,
17
],
[
17,
18
],
[
17,
19
],
[
18,
0
],
[
18,
1
],
[
18,
2
],
[
18,
3
],
[
18,
4
],
[
18,
5
],
[
18,
6
],
[
18,
7
],
[
18,
8
],
[
18,
9
],
[
18,
10
],
[
18,
11
],
[
18,
12
],
[
18,
13
],
[
18,
14
],
[
18,
15
],
[
18,
16
],
[
18,
17
],
[
18,
18
],
[
18,
19
],
[
19,
0
],
[
19,
1
],
[
19,
2
],
[
19,
3
],
[
19,
4
],
[
19,
5
],
[
19,
6
],
[
19,
7
],
[
19,
8
],
[
19,
9
],
[
19,
10
],
[
19,
11
],
[
19,
12
],
[
19,
13
],
[
19,
14
],
[
19,
15
],
[
19,
16
],
[
19,
17
],
[
19,
18
],
[
19,
19
],
[
20,
0
],
[
20,
1
],
[
20,
2
],
[
20,
3
],
[
20,
4
],
[
20,
5
],
[
20,
6
],
[
20,
7
],
[
20,
8
],
[
20,
9
],
[
20,
10
],
[
20,
11
],
[
20,
12
],
[
20,
13
],
[
20,
14
],
[
20,
15
],
[
20,
16
],
[
20,
17
],
[
20,
18
],
[
20,
19
],
[
21,
0
],
[
21,
1
],
[
21,
2
],
[
21,
3
],
[
21,
4
],
[
21,
5
],
[
21,
6
],
[
21,
7
],
[
21,
8
],
[
21,
9
],
[
21,
10
],
[
21,
11
],
[
21,
12
],
[
21,
13
],
[
21,
14
],
[
21,
15
],
[
21,
16
],
[
21,
17
],
[
21,
18
],
[
21,
19
],
[
22,
0
],
[
22,
1
],
[
22,
2
],
[
22,
3
],
[
22,
4
],
[
22,
5
],
[
22,
6
],
[
22,
7
],
[
22,
8
],
[
22,
9
],
[
22,
10
],
[
22,
11
],
[
22,
12
],
[
22,
13
],
[
22,
14
],
[
22,
15
],
[
22,
16
],
[
22,
17
],
[
22,
18
],
[
22,
19
],
[
23,
0
],
[
23,
1
],
[
23,
2
],
[
23,
3
],
[
23,
4
],
[
23,
5
],
[
23,
6
],
[
23,
7
],
[
23,
8
],
[
23,
9
],
[
23,
10
],
[
23,
11
],
[
23,
12
],
[
23,
13
],
[
23,
14
],
[
23,
15
],
[
23,
16
],
[
23,
17
],
[
23,
18
],
[
23,
19
],
[
24,
0
],
[
24,
1
],
[
24,
2
],
[
24,
3
],
[
24,
4
],
[
24,
5
],
[
24,
6
],
[
24,
7
],
[
24,
8
],
[
24,
9
],
[
24,
10
],
[
24,
11
],
[
24,
12
],
[
24,
13
],
[
24,
14
],
[
24,
15
],
[
24,
16
],
[
24,
17
],
[
24,
18
],
[
24,
19
],
[
25,
0
],
[
25,
1
],
[
25,
2
],
[
25,
3
],
[
25,
4
],
[
25,
5
],
[
25,
6
],
[
25,
7
],
[
25,
8
],
[
25,
9
],
[
25,
10
],
[
25,
11
],
[
25,
12
],
[
25,
13
],
[
25,
14
],
[
25,
15
],
[
25,
16
],
[
25,
17
],
[
25,
18
],
[
25,
19
],
[
26,
0
],
[
26,
1
],
[
26,
2
],
[
26,
3
],
[
26,
4
],
[
26,
5
],
[
26,
6
],
[
26,
7
],
[
26,
8
],
[
26,
9
],
[
26,
10
],
[
26,
11
],
[
26,
12
],
[
26,
13
],
[
26,
14
],
[
26,
15
],
[
26,
16
],
[
26,
17
],
[
26,
18
],
[
26,
19
],
[
27,
0
],
[
27,
1
],
[
27,
2
],
[
27,
3
],
[
27,
4
],
[
27,
5
],
[
27,
6
],
[
27,
7
],
[
27,
8
],
[
27,
9
],
[
27,
10
],
[
27,
11
],
[
27,
12
],
[
27,
13
],
[
27,
14
],
[
27,
15
],
[
27,
16
],
[
27,
17
],
[
27,
18
],
[
27,
19
],
[
28,
0
],
[
28,
1
],
[
28,
2
],
[
28,
3
],
[
28,
4
],
[
28,
5
],
[
28,
6
],
[
28,
7
],
[
28,
8
],
[
28,
9
],
[
28,
10
],
[
28,
11
],
[
28,
12
],
[
28,
13
],
[
28,
14
],
[
28,
15
],
[
28,
16
],
[
28,
17
],
[
28,
18
],
[
28,
19
],
[
29,
0
],
[
29,
1
],
[
29,
2
],
[
29,
3
],
[
29,
4
],
[
29,
5
],
[
29,
6
],
[
29,
7
],
[
29,
8
],
[
29,
9
],
[
29,
10
],
[
29,
11
],
[
29,
12
],
[
29,
13
],
[
29,
14
],
[
29,
15
],
[
29,
16
],
[
29,
17
],
[
29,
18
],
[
29,
19
],
[
30,
0
],
[
30,
1
],
[
30,
2
],
[
30,
3
],
[
30,
4
],
[
30,
5
],
[
30,
6
],
[
30,
7
],
[
30,
8
],
[
30,
9
],
[
30,
10
],
[
30,
11
],
[
30,
12
],
[
30,
13
],
[
30,
14
],
[
30,
15
],
[
30,
16
],
[
30,
17
],
[
30,
18
],
[
30,
19
],
[
30,
20
],
[
31,
0
],
[
31,
1
],
[
31,
2
],
[
31,
3
],
[
31,
4
],
[
31,
5
],
[
31,
6
],
[
31,
7
],
[
31,
8
],
[
31,
9
],
[
31,
10
],
[
31,
11
],
[
31,
12
],
[
31,
13
],
[
31,
14
],
[
31,
15
],
[
31,
16
],
[
31,
17
],
[
31,
18
],
[
31,
19
],
[
32,
0
],
[
32,
1
],
[
32,
2
],
[
32,
3
],
[
32,
4
],
[
32,
5
],
[
32,
6
],
[
32,
7
],
[
32,
8
],
[
32,
9
],
[
32,
10
],
[
32,
11
],
[
33,
0
]
],
"thickness": 0.01,
"clearance": 0.018,
"occupied_cell_count": 624,
"area": 0.7393012489212586,
"contour": {
"source": "gaussian_support_convex_hull_comparable",
"selected_mode": "convex",
"concavity_ratio": 0.12,
"concave_area": 0.7265549683696997,
"convex_area": 0.7409288631689248,
"convex_overcoverage_ratio": 0.019783630179390815,
"convex_max_overcoverage": 0.05,
"concave_unsupported_cell_count": 0,
"convex_unsupported_cell_count": 0,
"selected_unsupported_cell_count": 0,
"support_clip_area_retention": 1.0,
"support_envelope_cells": 1,
"input_support_point_count": 10075,
"retained_support_point_count": 10075,
"rejected_support_point_count": 0,
"simplify_tolerance": 0.012,
"boundary_offset": 0.003,
"boundary_vertex_count": 6,
"hole_count": 0
}
},
"lighting": {
"type": "support_aligned_polygon",
"role": "lighting",
"vertices_uv": [
[
1.0674452169102069,
0.5019644072584312
],
[
0.3774728506723693,
0.5917151942755658
],
[
1.0336568655989866,
0.533351896656468
],
[
0.9327917632542623,
-0.5550491645643684
],
[
0.9760157844719594,
-0.5412496170681179
],
[
0.3749412964325492,
-0.5050797879218737
]
],
"vertices_world": [
[
1.0196341848418449,
0.5930882618638592,
-0.03873758549737259
],
[
0.3244650752612296,
0.622362465985072,
-0.03873758549737259
],
[
0.9832388084568757,
0.6214114635338461,
-0.03873758549737259
],
[
0.9776179311766215,
-0.47163887596395343,
-0.03873758549737259
],
[
1.0194747621322793,
-0.4541246182383546,
-0.03873758549737259
],
[
0.4175351356649116,
-0.47047951966372503,
-0.03873758549737259
]
],
"triangles": [
[
0,
1,
2
],
[
3,
0,
4
],
[
0,
3,
5
],
[
1,
0,
5
]
],
"boundary_uv": [
[
0.3749412964325492,
-0.5050797879218737
],
[
0.9327917632542623,
-0.5550491645643684
],
[
0.9760157844719594,
-0.5412496170681179
],
[
1.0674452169102069,
0.5019644072584312
],
[
1.0336568655989866,
0.533351896656468
],
[
0.3774728506723693,
0.5917151942755658
]
],
"holes_uv": [],
"plane_origin": [
-0.0,
-0.0,
-0.06673758549737259
],
"basis_u": [
0.9961946980917455,
0.08715574274765829,
0.0
],
"basis_v": [
-0.08715574274765829,
0.9961946980917455,
0.0
],
"plane_normal": [
0.0,
0.0,
1.0
],
"grid_size": 0.034999999999999996,
"uv_lo": [
0.36098797710519076,
-0.5611332947752399
],
"occupied_cells_rc": [
[
0,
8
],
[
0,
9
],
[
0,
11
],
[
0,
12
],
[
0,
13
],
[
0,
14
],
[
0,
15
],
[
0,
16
],
[
0,
17
],
[
1,
0
],
[
1,
2
],
[
1,
3
],
[
1,
4
],
[
1,
5
],
[
1,
6
],
[
1,
7
],
[
1,
8
],
[
1,
9
],
[
1,
10
],
[
1,
11
],
[
1,
12
],
[
1,
13
],
[
1,
14
],
[
1,
15
],
[
1,
16
],
[
1,
17
],
[
2,
0
],
[
2,
2
],
[
2,
3
],
[
2,
4
],
[
2,
5
],
[
2,
6
],
[
2,
7
],
[
2,
8
],
[
2,
9
],
[
2,
10
],
[
2,
11
],
[
2,
12
],
[
2,
13
],
[
2,
14
],
[
2,
15
],
[
2,
16
],
[
2,
17
],
[
3,
0
],
[
3,
1
],
[
3,
2
],
[
3,
3
],
[
3,
4
],
[
3,
5
],
[
3,
6
],
[
3,
7
],
[
3,
8
],
[
3,
9
],
[
3,
10
],
[
3,
11
],
[
3,
12
],
[
3,
13
],
[
3,
14
],
[
3,
15
],
[
3,
16
],
[
3,
17
],
[
4,
0
],
[
4,
1
],
[
4,
2
],
[
4,
3
],
[
4,
4
],
[
4,
5
],
[
4,
6
],
[
4,
7
],
[
4,
8
],
[
4,
9
],
[
4,
10
],
[
4,
11
],
[
4,
12
],
[
4,
13
],
[
4,
14
],
[
4,
15
],
[
4,
16
],
[
4,
17
],
[
5,
0
],
[
5,
1
],
[
5,
2
],
[
5,
3
],
[
5,
4
],
[
5,
5
],
[
5,
6
],
[
5,
7
],
[
5,
8
],
[
5,
9
],
[
5,
10
],
[
5,
11
],
[
5,
12
],
[
5,
13
],
[
5,
14
],
[
5,
15
],
[
5,
16
],
[
5,
17
],
[
5,
18
],
[
6,
0
],
[
6,
1
],
[
6,
2
],
[
6,
3
],
[
6,
4
],
[
6,
5
],
[
6,
6
],
[
6,
7
],
[
6,
8
],
[
6,
9
],
[
6,
10
],
[
6,
11
],
[
6,
12
],
[
6,
13
],
[
6,
14
],
[
6,
15
],
[
6,
16
],
[
6,
17
],
[
6,
18
],
[
7,
0
],
[
7,
1
],
[
7,
2
],
[
7,
3
],
[
7,
4
],
[
7,
5
],
[
7,
6
],
[
7,
7
],
[
7,
8
],
[
7,
9
],
[
7,
10
],
[
7,
11
],
[
7,
12
],
[
7,
13
],
[
7,
14
],
[
7,
15
],
[
7,
16
],
[
7,
17
],
[
7,
18
],
[
8,
0
],
[
8,
1
],
[
8,
2
],
[
8,
3
],
[
8,
4
],
[
8,
5
],
[
8,
6
],
[
8,
7
],
[
8,
8
],
[
8,
9
],
[
8,
10
],
[
8,
11
],
[
8,
12
],
[
8,
13
],
[
8,
14
],
[
8,
15
],
[
8,
16
],
[
8,
17
],
[
8,
18
],
[
9,
0
],
[
9,
1
],
[
9,
2
],
[
9,
3
],
[
9,
4
],
[
9,
5
],
[
9,
6
],
[
9,
7
],
[
9,
8
],
[
9,
9
],
[
9,
10
],
[
9,
11
],
[
9,
12
],
[
9,
13
],
[
9,
14
],
[
9,
15
],
[
9,
16
],
[
9,
17
],
[
9,
18
],
[
10,
0
],
[
10,
1
],
[
10,
2
],
[
10,
3
],
[
10,
4
],
[
10,
5
],
[
10,
6
],
[
10,
7
],
[
10,
8
],
[
10,
9
],
[
10,
10
],
[
10,
11
],
[
10,
12
],
[
10,
13
],
[
10,
14
],
[
10,
15
],
[
10,
16
],
[
10,
17
],
[
10,
18
],
[
11,
0
],
[
11,
1
],
[
11,
2
],
[
11,
3
],
[
11,
4
],
[
11,
5
],
[
11,
6
],
[
11,
7
],
[
11,
8
],
[
11,
9
],
[
11,
10
],
[
11,
11
],
[
11,
12
],
[
11,
13
],
[
11,
14
],
[
11,
15
],
[
11,
16
],
[
11,
17
],
[
11,
18
],
[
12,
0
],
[
12,
1
],
[
12,
2
],
[
12,
3
],
[
12,
4
],
[
12,
5
],
[
12,
6
],
[
12,
7
],
[
12,
8
],
[
12,
9
],
[
12,
10
],
[
12,
11
],
[
12,
12
],
[
12,
13
],
[
12,
14
],
[
12,
15
],
[
12,
16
],
[
12,
17
],
[
12,
18
],
[
13,
0
],
[
13,
1
],
[
13,
2
],
[
13,
3
],
[
13,
4
],
[
13,
5
],
[
13,
6
],
[
13,
7
],
[
13,
8
],
[
13,
9
],
[
13,
10
],
[
13,
11
],
[
13,
12
],
[
13,
13
],
[
13,
14
],
[
13,
15
],
[
13,
16
],
[
13,
17
],
[
13,
18
],
[
14,
0
],
[
14,
1
],
[
14,
2
],
[
14,
3
],
[
14,
4
],
[
14,
5
],
[
14,
6
],
[
14,
7
],
[
14,
8
],
[
14,
9
],
[
14,
10
],
[
14,
11
],
[
14,
12
],
[
14,
13
],
[
14,
14
],
[
14,
15
],
[
14,
16
],
[
14,
17
],
[
14,
18
],
[
14,
19
],
[
15,
0
],
[
15,
1
],
[
15,
2
],
[
15,
3
],
[
15,
4
],
[
15,
5
],
[
15,
6
],
[
15,
7
],
[
15,
8
],
[
15,
9
],
[
15,
10
],
[
15,
11
],
[
15,
12
],
[
15,
13
],
[
15,
14
],
[
15,
15
],
[
15,
16
],
[
15,
17
],
[
15,
18
],
[
15,
19
],
[
16,
0
],
[
16,
1
],
[
16,
2
],
[
16,
3
],
[
16,
4
],
[
16,
5
],
[
16,
6
],
[
16,
7
],
[
16,
8
],
[
16,
9
],
[
16,
10
],
[
16,
11
],
[
16,
12
],
[
16,
13
],
[
16,
14
],
[
16,
15
],
[
16,
16
],
[
16,
17
],
[
16,
18
],
[
16,
19
],
[
17,
0
],
[
17,
1
],
[
17,
2
],
[
17,
3
],
[
17,
4
],
[
17,
5
],
[
17,
6
],
[
17,
7
],
[
17,
8
],
[
17,
9
],
[
17,
10
],
[
17,
11
],
[
17,
12
],
[
17,
13
],
[
17,
14
],
[
17,
15
],
[
17,
16
],
[
17,
17
],
[
17,
18
],
[
17,
19
],
[
18,
0
],
[
18,
1
],
[
18,
2
],
[
18,
3
],
[
18,
4
],
[
18,
5
],
[
18,
6
],
[
18,
7
],
[
18,
8
],
[
18,
9
],
[
18,
10
],
[
18,
11
],
[
18,
12
],
[
18,
13
],
[
18,
14
],
[
18,
15
],
[
18,
16
],
[
18,
17
],
[
18,
18
],
[
18,
19
],
[
19,
0
],
[
19,
1
],
[
19,
2
],
[
19,
3
],
[
19,
4
],
[
19,
5
],
[
19,
6
],
[
19,
7
],
[
19,
8
],
[
19,
9
],
[
19,
10
],
[
19,
11
],
[
19,
12
],
[
19,
13
],
[
19,
14
],
[
19,
15
],
[
19,
16
],
[
19,
17
],
[
19,
18
],
[
19,
19
],
[
20,
0
],
[
20,
1
],
[
20,
2
],
[
20,
3
],
[
20,
4
],
[
20,
5
],
[
20,
6
],
[
20,
7
],
[
20,
8
],
[
20,
9
],
[
20,
10
],
[
20,
11
],
[
20,
12
],
[
20,
13
],
[
20,
14
],
[
20,
15
],
[
20,
16
],
[
20,
17
],
[
20,
18
],
[
20,
19
],
[
21,
0
],
[
21,
1
],
[
21,
2
],
[
21,
3
],
[
21,
4
],
[
21,
5
],
[
21,
6
],
[
21,
7
],
[
21,
8
],
[
21,
9
],
[
21,
10
],
[
21,
11
],
[
21,
12
],
[
21,
13
],
[
21,
14
],
[
21,
15
],
[
21,
16
],
[
21,
17
],
[
21,
18
],
[
21,
19
],
[
22,
0
],
[
22,
1
],
[
22,
2
],
[
22,
3
],
[
22,
4
],
[
22,
5
],
[
22,
6
],
[
22,
7
],
[
22,
8
],
[
22,
9
],
[
22,
10
],
[
22,
11
],
[
22,
12
],
[
22,
13
],
[
22,
14
],
[
22,
15
],
[
22,
16
],
[
22,
17
],
[
22,
18
],
[
22,
19
],
[
23,
0
],
[
23,
1
],
[
23,
2
],
[
23,
3
],
[
23,
4
],
[
23,
5
],
[
23,
6
],
[
23,
7
],
[
23,
8
],
[
23,
9
],
[
23,
10
],
[
23,
11
],
[
23,
12
],
[
23,
13
],
[
23,
14
],
[
23,
15
],
[
23,
16
],
[
23,
17
],
[
23,
18
],
[
23,
19
],
[
24,
0
],
[
24,
1
],
[
24,
2
],
[
24,
3
],
[
24,
4
],
[
24,
5
],
[
24,
6
],
[
24,
7
],
[
24,
8
],
[
24,
9
],
[
24,
10
],
[
24,
11
],
[
24,
12
],
[
24,
13
],
[
24,
14
],
[
24,
15
],
[
24,
16
],
[
24,
17
],
[
24,
18
],
[
24,
19
],
[
25,
0
],
[
25,
1
],
[
25,
2
],
[
25,
3
],
[
25,
4
],
[
25,
5
],
[
25,
6
],
[
25,
7
],
[
25,
8
],
[
25,
9
],
[
25,
10
],
[
25,
11
],
[
25,
12
],
[
25,
13
],
[
25,
14
],
[
25,
15
],
[
25,
16
],
[
25,
17
],
[
25,
18
],
[
25,
19
],
[
26,
0
],
[
26,
1
],
[
26,
2
],
[
26,
3
],
[
26,
4
],
[
26,
5
],
[
26,
6
],
[
26,
7
],
[
26,
8
],
[
26,
9
],
[
26,
10
],
[
26,
11
],
[
26,
12
],
[
26,
13
],
[
26,
14
],
[
26,
15
],
[
26,
16
],
[
26,
17
],
[
26,
18
],
[
26,
19
],
[
27,
0
],
[
27,
1
],
[
27,
2
],
[
27,
3
],
[
27,
4
],
[
27,
5
],
[
27,
6
],
[
27,
7
],
[
27,
8
],
[
27,
9
],
[
27,
10
],
[
27,
11
],
[
27,
12
],
[
27,
13
],
[
27,
14
],
[
27,
15
],
[
27,
16
],
[
27,
17
],
[
27,
18
],
[
27,
19
],
[
28,
0
],
[
28,
1
],
[
28,
2
],
[
28,
3
],
[
28,
4
],
[
28,
5
],
[
28,
6
],
[
28,
7
],
[
28,
8
],
[
28,
9
],
[
28,
10
],
[
28,
11
],
[
28,
12
],
[
28,
13
],
[
28,
14
],
[
28,
15
],
[
28,
16
],
[
28,
17
],
[
28,
18
],
[
28,
19
],
[
29,
0
],
[
29,
1
],
[
29,
2
],
[
29,
3
],
[
29,
4
],
[
29,
5
],
[
29,
6
],
[
29,
7
],
[
29,
8
],
[
29,
9
],
[
29,
10
],
[
29,
11
],
[
29,
12
],
[
29,
13
],
[
29,
14
],
[
29,
15
],
[
29,
16
],
[
29,
17
],
[
29,
18
],
[
29,
19
],
[
30,
0
],
[
30,
1
],
[
30,
2
],
[
30,
3
],
[
30,
4
],
[
30,
5
],
[
30,
6
],
[
30,
7
],
[
30,
8
],
[
30,
9
],
[
30,
10
],
[
30,
11
],
[
30,
12
],
[
30,
13
],
[
30,
14
],
[
30,
15
],
[
30,
16
],
[
30,
17
],
[
30,
18
],
[
30,
19
],
[
30,
20
],
[
31,
0
],
[
31,
1
],
[
31,
2
],
[
31,
3
],
[
31,
4
],
[
31,
5
],
[
31,
6
],
[
31,
7
],
[
31,
8
],
[
31,
9
],
[
31,
10
],
[
31,
11
],
[
31,
12
],
[
31,
13
],
[
31,
14
],
[
31,
15
],
[
31,
16
],
[
31,
17
],
[
31,
18
],
[
31,
19
],
[
32,
0
],
[
32,
1
],
[
32,
2
],
[
32,
3
],
[
32,
4
],
[
32,
5
],
[
32,
6
],
[
32,
7
],
[
32,
8
],
[
32,
9
],
[
32,
10
],
[
32,
11
],
[
33,
0
]
],
"thickness": 0.01,
"clearance": 0.018,
"occupied_cell_count": 624,
"area": 0.7079118456423873,
"contour": {
"source": "gaussian_support_convex_hull_comparable",
"selected_mode": "convex",
"concavity_ratio": 0.12,
"concave_area": 0.7265549683696997,
"convex_area": 0.7409288631689248,
"convex_overcoverage_ratio": 0.019783630179390815,
"convex_max_overcoverage": 0.05,
"concave_unsupported_cell_count": 0,
"convex_unsupported_cell_count": 0,
"selected_unsupported_cell_count": 0,
"support_clip_area_retention": 1.0,
"support_envelope_cells": 1,
"input_support_point_count": 10075,
"retained_support_point_count": 10075,
"rejected_support_point_count": 0,
"simplify_tolerance": 0.012,
"boundary_offset": -0.006,
"boundary_vertex_count": 6,
"hole_count": 0
}
},
"convex_hull_diagnostic": {
"vertices_uv": [
[
0.3609879781051908,
-0.3287909987947484
],
[
0.3626160211465134,
-0.4243528711138116
],
[
0.36892861930146154,
-0.51056522609281
],
[
0.3742773371856626,
-0.5132753051363522
],
[
0.9334627811890412,
-0.5611332937752399
],
[
0.9816442695233096,
-0.545751042934669
],
[
0.9875209776158126,
-0.5074279934504741
],
[
1.0009355945066711,
-0.3693205670072656
],
[
1.0248076654366398,
-0.1007144646443132
],
[
1.0327121880236094,
-0.01020374255412628
],
[
1.0338820578713597,
0.00331836239062337
],
[
1.0736784714924053,
0.5043634295215582
],
[
1.0531078177223079,
0.5364777323617397
],
[
1.0362350556701574,
0.5391462695104633
],
[
0.9995679663818379,
0.5438535037638765
],
[
0.7422424772071655,
0.5665000940581029
],
[
0.432649738208624,
0.5935619433774624
],
[
0.37148796684887275,
0.5982711968231841
],
[
0.36648665721227575,
0.5920739910439979
],
[
0.3653954546513838,
0.5624307423624159
]
],
"area": 0.7409288631689244,
"overcoverage_ratio": 0.04664001277811099,
"acceptable_as_fallback": true
}
},
"footprint_stats": {
"world_point_count": 901340,
"near_plane_count": 27044,
"basis_support_count": 27044,
"reference_footprint_count": 23136,
"support_count": 10075,
"receiver_clip_to_reference": true,
"receiver_reference_margin": 0.08,
"receiver_basis_unclipped_support": true,
"plane_fitted_normal": [
0.0,
0.0,
1.0
],
"plane_stabilized_normal": [
0.0,
0.0,
1.0
],
"plane_fitted_offset": 0.06874084976560196,
"plane_stabilized_offset": 0.06673758549737259,
"plane_height_refined": true,
"plane_height_method": "histogram_consensus_huber",
"plane_height_sample_count": 6856,
"plane_height_initial": -0.06874084976560196,
"plane_height_refined_value": -0.06673758549737259,
"plane_height_residual_p50": 0.004077691895124427,
"plane_height_residual_p90": 0.008407083563133227,
"plane_height_histogram_bin_width": 0.004166666666666667,
"raw_cell_count": 624,
"component_cell_count": 624,
"support_core_cell_count": 624,
"filled_interior_hole_cell_count": 0,
"closure_added_cell_count": 2,
"support_envelope_cell_count": 689,
"eroded_cell_count": 520,
"final_cell_count": 520,
"rectangle_cell_count": 520,
"tightened_rectangle_count": 5,
"rectangle_count": 2,
"receiver_area": 0.7079118456423873,
"receiver_geometry": "support_aligned_polygon",
"physics_boundary_vertex_count": 6,
"lighting_boundary_vertex_count": 6,
"physics_polygon_cell_count": 626,
"lighting_polygon_cell_count": 520,
"convex_hull_area": 0.7409288631689244,
"convex_hull_overcoverage_ratio": 0.04664001277811099,
"receiver_coverage": 1.0,
"polygon_precision": 0.8346153846153845,
"reference_mask_recall": 0.9519598585544738,
"reference_mask_overlap_iou": 0.8008834427801538,
"receiver_cell_coverage": 1.0,
"receiver_coverage_smooth_boundary_cells": 0,
"receiver_coverage_grid_aligned_edges": false,
"receiver_tighten_to_support": true,
"receiver_support_edge_inset": 0.0,
"receiver_support_bounds_quantile": 0.05,
"receiver_surface_lift": 0.015,
"receiver_physics_boundary_padding": 0.003,
"receiver_lighting_boundary_inset": 0.006,
"grid_size": 0.034999999999999996,
"erosion_cells": 1,
"receiver_support_point_count": 8227,
"receiver_covered_support_point_count": 8227,
"receiver_point_coverage": 1.0,
"receiver_basis_mode": "support-edge",
"receiver_basis_selected_mode": "support-edge",
"receiver_basis_angle_deg": 5.000000000000007,
"receiver_basis_point_count": 27044,
"receiver_basis_fit_mode": "support-edge",
"receiver_basis_candidate_angle_deg": 5.000000000000007,
"receiver_basis_edge_score": 9.633737795413849,
"receiver_basis_edge_point_count": 62,
"receiver_basis_edge_line_angle_deg": 95.0,
"receiver_basis_surface_trimmed_area": 25.221286730475896,
"receiver_basis_trimmed_area": 24.54211305561565,
"receiver_basis_support_trimmed_area": 24.54211305561565,
"receiver_basis_area_gain": 0.026928589414098834,
"receiver_basis_min_area_gain": 0.12,
"receiver_basis_quantile": 0.02,
"receiver_grid_scale": 1.4,
"contour_input_point_count": 10075,
"contour_retained_point_count": 10075,
"contour_rejected_point_count": 0,
"contour_concave_area": 0.7265549683696997,
"contour_convex_area": 0.7409288631689248,
"contour_convex_overcoverage_ratio": 0.019783630179390815,
"contour_unsupported_cell_count": 0,
"contour_hole_count": 0,
"contour_selected_mode": "convex",
"receiver_candidate_score": 1.0053857178828198,
"receiver_basis_chosen_candidate": "support-edge",
"receiver_auto_score_margin": 0.035,
"receiver_auto_surface_score_bias": 0.055,
"receiver_edge_alignment_score_margin": 0.12,
"receiver_edge_alignment_angle_threshold_deg": 10.0,
"receiver_auto_candidates": [
{
"basis_mode": "support-edge",
"score": 0.9993764429239107,
"receiver_area": 0.7079118456423875,
"rectangle_count": 3,
"basis_angle_deg": 6.999999999999997,
"basis_area_gain": 0.026882214619553958,
"basis_edge_score": 9.40893435270013,
"coverage": 0.9868173258003766,
"grid_size": 0.025,
"grid_scale": 1.0,
"reference_edge_valid_count": 0
},
{
"basis_mode": "support-edge",
"score": 1.0053857178828198,
"receiver_area": 0.7079118456423873,
"rectangle_count": 2,
"basis_angle_deg": 5.000000000000007,
"basis_area_gain": 0.026928589414098834,
"basis_edge_score": 9.633737795413849,
"coverage": 1.0,
"grid_size": 0.034999999999999996,
"grid_scale": 1.4,
"reference_edge_valid_count": 0
}
],
"gaussian": {
"input_count": 2195436,
"finite_count": 2195436,
"kept_count": 901340,
"normal_confidence_source": "gaussian_thinnest_axis",
"normal_confidence_count": 901340,
"normal_confidence_threshold": 0.3
}
},
"material": {
"albedo_linear": [
0.8724388868431112,
0.6585630929353087,
0.3340618802683588
],
"roughness": 0.9,
"metallic": 0.0,
"source": "gaussian_sh_dc_trimmed_median",
"sample_count": 5177
},
"fitted_plane": {
"origin": [
-0.0,
-0.0,
-0.06673758549737259
],
"fitted_origin": [
-0.0,
-0.0,
-0.06874084976560196
],
"fitted_normal": [
0.0,
0.0,
1.0
],
"fitted_offset": 0.06874084976560196,
"stabilized_origin": [
-0.0,
-0.0,
-0.06673758549737259
],
"stabilized_normal": [
0.0,
0.0,
1.0
],
"stabilized_offset": 0.06673758549737259,
"stabilized_horizontal": true
},
"surface_gaussian_prior": {
"space": "world",
"selection": "lighting_footprint_and_stabilized_plane_band",
"plane_band": 0.025,
"normal_confidence_threshold": 0.3,
"fit_support_count": 8227,
"runtime_subset": "persistent"
}
},
"candidates": [
{
"center": [
0.6719962450989131,
0.07533830501581497,
-0.04373758549737259
],
"quat_wxyz": [
0.9990482215818578,
0.0,
0.0,
0.04361938736533606
],
"size": [
0.5599094267967129,
1.0146159010639733,
0.01
],
"basis_u": [
0.9961946980917455,
0.08715574274765829,
0.0
],
"basis_v": [
-0.08715574274765829,
0.9961946980917455,
0.0
],
"extents": [
0.5599094267967129,
1.0146159010639733
],
"area": 0.7079118456423873,
"schema_version": 2,
"plane_normal": [
0.0,
0.0,
1.0
],
"plane_offset": 0.06673758549737259,
"support_boxes": [
{
"center": [
0.6719962450989131,
0.07533830501581497,
-0.04373758549737259
],
"quat_wxyz": [
0.9990482215818578,
0.0,
0.0,
0.04361938736533606
],
"size": [
0.5599094267967129,
1.0146159010639733,
0.01
],
"basis_u": [
0.9961946980917455,
0.08715574274765829,
0.0
],
"basis_v": [
-0.08715574274765829,
0.9961946980917455,
0.0
],
"extents": [
0.5599094267967129,
1.0146159010639733
],
"area": 0.5680930075835596
},
{
"center": [
0.9660487931091832,
0.3287424431479552,
-0.04373758549737259
],
"quat_wxyz": [
0.9990482215818578,
0.0,
0.0,
0.04361938736533606
],
"size": [
0.06984044281056401,
0.5550811579567646,
0.01
],
"basis_u": [
0.9961946980917455,
0.08715574274765829,
0.0
],
"basis_v": [
-0.08715574274765829,
0.9961946980917455,
0.0
],
"extents": [
0.06984044281056401,
0.5550811579567646
],
"area": 0.03876711386750106
}
],
"footprints": {
"physics": {
"type": "support_aligned_polygon",
"role": "physics",
"vertices_uv": [
[
1.0767950987835044,
0.5055629406531218
],
[
0.36849552493712445,
0.6015491980969931
],
[
1.0375241507057429,
0.542043455937461
],
[
0.9337982901564305,
-0.5641753583806757
],
[
0.9844585120489848,
-0.5480017558679445
],
[
0.3659222807359177,
-0.5133079451782782
]
],
"vertices_world": [
[
1.0286348547409914,
0.5974879976518261,
-0.03873758549737259
],
[
0.3146648210534963,
0.6313766229606491,
-0.03873758549737259
],
[
0.9863338580714652,
0.6304070049136177,
-0.03873758549737259
],
[
0.9794160281405675,
-0.4806426172577625,
-0.03873758549737259
],
[
1.028473850254179,
-0.46011523091872963,
-0.03873758549737259
],
[
0.4092675712030476,
-0.47946242530951305,
-0.03873758549737259
]
],
"triangles": [
[
0,
1,
2
],
[
3,
0,
4
],
[
0,
3,
5
],
[
1,
0,
5
]
],
"boundary_uv": [
[
0.3659222807359177,
-0.5133079451782782
],
[
0.9337982901564305,
-0.5641753583806757
],
[
0.9844585120489848,
-0.5480017558679445
],
[
1.0767950987835044,
0.5055629406531218
],
[
1.0375241507057429,
0.542043455937461
],
[
0.36849552493712445,
0.6015491980969931
]
],
"holes_uv": [],
"plane_origin": [
-0.0,
-0.0,
-0.06673758549737259
],
"basis_u": [
0.9961946980917455,
0.08715574274765829,
0.0
],
"basis_v": [
-0.08715574274765829,
0.9961946980917455,
0.0
],
"plane_normal": [
0.0,
0.0,
1.0
],
"grid_size": 0.034999999999999996,
"uv_lo": [
0.36098797710519076,
-0.5611332947752399
],
"occupied_cells_rc": [
[
0,
8
],
[
0,
9
],
[
0,
11
],
[
0,
12
],
[
0,
13
],
[
0,
14
],
[
0,
15
],
[
0,
16
],
[
0,
17
],
[
1,
0
],
[
1,
2
],
[
1,
3
],
[
1,
4
],
[
1,
5
],
[
1,
6
],
[
1,
7
],
[
1,
8
],
[
1,
9
],
[
1,
10
],
[
1,
11
],
[
1,
12
],
[
1,
13
],
[
1,
14
],
[
1,
15
],
[
1,
16
],
[
1,
17
],
[
2,
0
],
[
2,
2
],
[
2,
3
],
[
2,
4
],
[
2,
5
],
[
2,
6
],
[
2,
7
],
[
2,
8
],
[
2,
9
],
[
2,
10
],
[
2,
11
],
[
2,
12
],
[
2,
13
],
[
2,
14
],
[
2,
15
],
[
2,
16
],
[
2,
17
],
[
3,
0
],
[
3,
1
],
[
3,
2
],
[
3,
3
],
[
3,
4
],
[
3,
5
],
[
3,
6
],
[
3,
7
],
[
3,
8
],
[
3,
9
],
[
3,
10
],
[
3,
11
],
[
3,
12
],
[
3,
13
],
[
3,
14
],
[
3,
15
],
[
3,
16
],
[
3,
17
],
[
4,
0
],
[
4,
1
],
[
4,
2
],
[
4,
3
],
[
4,
4
],
[
4,
5
],
[
4,
6
],
[
4,
7
],
[
4,
8
],
[
4,
9
],
[
4,
10
],
[
4,
11
],
[
4,
12
],
[
4,
13
],
[
4,
14
],
[
4,
15
],
[
4,
16
],
[
4,
17
],
[
5,
0
],
[
5,
1
],
[
5,
2
],
[
5,
3
],
[
5,
4
],
[
5,
5
],
[
5,
6
],
[
5,
7
],
[
5,
8
],
[
5,
9
],
[
5,
10
],
[
5,
11
],
[
5,
12
],
[
5,
13
],
[
5,
14
],
[
5,
15
],
[
5,
16
],
[
5,
17
],
[
5,
18
],
[
6,
0
],
[
6,
1
],
[
6,
2
],
[
6,
3
],
[
6,
4
],
[
6,
5
],
[
6,
6
],
[
6,
7
],
[
6,
8
],
[
6,
9
],
[
6,
10
],
[
6,
11
],
[
6,
12
],
[
6,
13
],
[
6,
14
],
[
6,
15
],
[
6,
16
],
[
6,
17
],
[
6,
18
],
[
7,
0
],
[
7,
1
],
[
7,
2
],
[
7,
3
],
[
7,
4
],
[
7,
5
],
[
7,
6
],
[
7,
7
],
[
7,
8
],
[
7,
9
],
[
7,
10
],
[
7,
11
],
[
7,
12
],
[
7,
13
],
[
7,
14
],
[
7,
15
],
[
7,
16
],
[
7,
17
],
[
7,
18
],
[
8,
0
],
[
8,
1
],
[
8,
2
],
[
8,
3
],
[
8,
4
],
[
8,
5
],
[
8,
6
],
[
8,
7
],
[
8,
8
],
[
8,
9
],
[
8,
10
],
[
8,
11
],
[
8,
12
],
[
8,
13
],
[
8,
14
],
[
8,
15
],
[
8,
16
],
[
8,
17
],
[
8,
18
],
[
9,
0
],
[
9,
1
],
[
9,
2
],
[
9,
3
],
[
9,
4
],
[
9,
5
],
[
9,
6
],
[
9,
7
],
[
9,
8
],
[
9,
9
],
[
9,
10
],
[
9,
11
],
[
9,
12
],
[
9,
13
],
[
9,
14
],
[
9,
15
],
[
9,
16
],
[
9,
17
],
[
9,
18
],
[
10,
0
],
[
10,
1
],
[
10,
2
],
[
10,
3
],
[
10,
4
],
[
10,
5
],
[
10,
6
],
[
10,
7
],
[
10,
8
],
[
10,
9
],
[
10,
10
],
[
10,
11
],
[
10,
12
],
[
10,
13
],
[
10,
14
],
[
10,
15
],
[
10,
16
],
[
10,
17
],
[
10,
18
],
[
11,
0
],
[
11,
1
],
[
11,
2
],
[
11,
3
],
[
11,
4
],
[
11,
5
],
[
11,
6
],
[
11,
7
],
[
11,
8
],
[
11,
9
],
[
11,
10
],
[
11,
11
],
[
11,
12
],
[
11,
13
],
[
11,
14
],
[
11,
15
],
[
11,
16
],
[
11,
17
],
[
11,
18
],
[
12,
0
],
[
12,
1
],
[
12,
2
],
[
12,
3
],
[
12,
4
],
[
12,
5
],
[
12,
6
],
[
12,
7
],
[
12,
8
],
[
12,
9
],
[
12,
10
],
[
12,
11
],
[
12,
12
],
[
12,
13
],
[
12,
14
],
[
12,
15
],
[
12,
16
],
[
12,
17
],
[
12,
18
],
[
13,
0
],
[
13,
1
],
[
13,
2
],
[
13,
3
],
[
13,
4
],
[
13,
5
],
[
13,
6
],
[
13,
7
],
[
13,
8
],
[
13,
9
],
[
13,
10
],
[
13,
11
],
[
13,
12
],
[
13,
13
],
[
13,
14
],
[
13,
15
],
[
13,
16
],
[
13,
17
],
[
13,
18
],
[
14,
0
],
[
14,
1
],
[
14,
2
],
[
14,
3
],
[
14,
4
],
[
14,
5
],
[
14,
6
],
[
14,
7
],
[
14,
8
],
[
14,
9
],
[
14,
10
],
[
14,
11
],
[
14,
12
],
[
14,
13
],
[
14,
14
],
[
14,
15
],
[
14,
16
],
[
14,
17
],
[
14,
18
],
[
14,
19
],
[
15,
0
],
[
15,
1
],
[
15,
2
],
[
15,
3
],
[
15,
4
],
[
15,
5
],
[
15,
6
],
[
15,
7
],
[
15,
8
],
[
15,
9
],
[
15,
10
],
[
15,
11
],
[
15,
12
],
[
15,
13
],
[
15,
14
],
[
15,
15
],
[
15,
16
],
[
15,
17
],
[
15,
18
],
[
15,
19
],
[
16,
0
],
[
16,
1
],
[
16,
2
],
[
16,
3
],
[
16,
4
],
[
16,
5
],
[
16,
6
],
[
16,
7
],
[
16,
8
],
[
16,
9
],
[
16,
10
],
[
16,
11
],
[
16,
12
],
[
16,
13
],
[
16,
14
],
[
16,
15
],
[
16,
16
],
[
16,
17
],
[
16,
18
],
[
16,
19
],
[
17,
0
],
[
17,
1
],
[
17,
2
],
[
17,
3
],
[
17,
4
],
[
17,
5
],
[
17,
6
],
[
17,
7
],
[
17,
8
],
[
17,
9
],
[
17,
10
],
[
17,
11
],
[
17,
12
],
[
17,
13
],
[
17,
14
],
[
17,
15
],
[
17,
16
],
[
17,
17
],
[
17,
18
],
[
17,
19
],
[
18,
0
],
[
18,
1
],
[
18,
2
],
[
18,
3
],
[
18,
4
],
[
18,
5
],
[
18,
6
],
[
18,
7
],
[
18,
8
],
[
18,
9
],
[
18,
10
],
[
18,
11
],
[
18,
12
],
[
18,
13
],
[
18,
14
],
[
18,
15
],
[
18,
16
],
[
18,
17
],
[
18,
18
],
[
18,
19
],
[
19,
0
],
[
19,
1
],
[
19,
2
],
[
19,
3
],
[
19,
4
],
[
19,
5
],
[
19,
6
],
[
19,
7
],
[
19,
8
],
[
19,
9
],
[
19,
10
],
[
19,
11
],
[
19,
12
],
[
19,
13
],
[
19,
14
],
[
19,
15
],
[
19,
16
],
[
19,
17
],
[
19,
18
],
[
19,
19
],
[
20,
0
],
[
20,
1
],
[
20,
2
],
[
20,
3
],
[
20,
4
],
[
20,
5
],
[
20,
6
],
[
20,
7
],
[
20,
8
],
[
20,
9
],
[
20,
10
],
[
20,
11
],
[
20,
12
],
[
20,
13
],
[
20,
14
],
[
20,
15
],
[
20,
16
],
[
20,
17
],
[
20,
18
],
[
20,
19
],
[
21,
0
],
[
21,
1
],
[
21,
2
],
[
21,
3
],
[
21,
4
],
[
21,
5
],
[
21,
6
],
[
21,
7
],
[
21,
8
],
[
21,
9
],
[
21,
10
],
[
21,
11
],
[
21,
12
],
[
21,
13
],
[
21,
14
],
[
21,
15
],
[
21,
16
],
[
21,
17
],
[
21,
18
],
[
21,
19
],
[
22,
0
],
[
22,
1
],
[
22,
2
],
[
22,
3
],
[
22,
4
],
[
22,
5
],
[
22,
6
],
[
22,
7
],
[
22,
8
],
[
22,
9
],
[
22,
10
],
[
22,
11
],
[
22,
12
],
[
22,
13
],
[
22,
14
],
[
22,
15
],
[
22,
16
],
[
22,
17
],
[
22,
18
],
[
22,
19
],
[
23,
0
],
[
23,
1
],
[
23,
2
],
[
23,
3
],
[
23,
4
],
[
23,
5
],
[
23,
6
],
[
23,
7
],
[
23,
8
],
[
23,
9
],
[
23,
10
],
[
23,
11
],
[
23,
12
],
[
23,
13
],
[
23,
14
],
[
23,
15
],
[
23,
16
],
[
23,
17
],
[
23,
18
],
[
23,
19
],
[
24,
0
],
[
24,
1
],
[
24,
2
],
[
24,
3
],
[
24,
4
],
[
24,
5
],
[
24,
6
],
[
24,
7
],
[
24,
8
],
[
24,
9
],
[
24,
10
],
[
24,
11
],
[
24,
12
],
[
24,
13
],
[
24,
14
],
[
24,
15
],
[
24,
16
],
[
24,
17
],
[
24,
18
],
[
24,
19
],
[
25,
0
],
[
25,
1
],
[
25,
2
],
[
25,
3
],
[
25,
4
],
[
25,
5
],
[
25,
6
],
[
25,
7
],
[
25,
8
],
[
25,
9
],
[
25,
10
],
[
25,
11
],
[
25,
12
],
[
25,
13
],
[
25,
14
],
[
25,
15
],
[
25,
16
],
[
25,
17
],
[
25,
18
],
[
25,
19
],
[
26,
0
],
[
26,
1
],
[
26,
2
],
[
26,
3
],
[
26,
4
],
[
26,
5
],
[
26,
6
],
[
26,
7
],
[
26,
8
],
[
26,
9
],
[
26,
10
],
[
26,
11
],
[
26,
12
],
[
26,
13
],
[
26,
14
],
[
26,
15
],
[
26,
16
],
[
26,
17
],
[
26,
18
],
[
26,
19
],
[
27,
0
],
[
27,
1
],
[
27,
2
],
[
27,
3
],
[
27,
4
],
[
27,
5
],
[
27,
6
],
[
27,
7
],
[
27,
8
],
[
27,
9
],
[
27,
10
],
[
27,
11
],
[
27,
12
],
[
27,
13
],
[
27,
14
],
[
27,
15
],
[
27,
16
],
[
27,
17
],
[
27,
18
],
[
27,
19
],
[
28,
0
],
[
28,
1
],
[
28,
2
],
[
28,
3
],
[
28,
4
],
[
28,
5
],
[
28,
6
],
[
28,
7
],
[
28,
8
],
[
28,
9
],
[
28,
10
],
[
28,
11
],
[
28,
12
],
[
28,
13
],
[
28,
14
],
[
28,
15
],
[
28,
16
],
[
28,
17
],
[
28,
18
],
[
28,
19
],
[
29,
0
],
[
29,
1
],
[
29,
2
],
[
29,
3
],
[
29,
4
],
[
29,
5
],
[
29,
6
],
[
29,
7
],
[
29,
8
],
[
29,
9
],
[
29,
10
],
[
29,
11
],
[
29,
12
],
[
29,
13
],
[
29,
14
],
[
29,
15
],
[
29,
16
],
[
29,
17
],
[
29,
18
],
[
29,
19
],
[
30,
0
],
[
30,
1
],
[
30,
2
],
[
30,
3
],
[
30,
4
],
[
30,
5
],
[
30,
6
],
[
30,
7
],
[
30,
8
],
[
30,
9
],
[
30,
10
],
[
30,
11
],
[
30,
12
],
[
30,
13
],
[
30,
14
],
[
30,
15
],
[
30,
16
],
[
30,
17
],
[
30,
18
],
[
30,
19
],
[
30,
20
],
[
31,
0
],
[
31,
1
],
[
31,
2
],
[
31,
3
],
[
31,
4
],
[
31,
5
],
[
31,
6
],
[
31,
7
],
[
31,
8
],
[
31,
9
],
[
31,
10
],
[
31,
11
],
[
31,
12
],
[
31,
13
],
[
31,
14
],
[
31,
15
],
[
31,
16
],
[
31,
17
],
[
31,
18
],
[
31,
19
],
[
32,
0
],
[
32,
1
],
[
32,
2
],
[
32,
3
],
[
32,
4
],
[
32,
5
],
[
32,
6
],
[
32,
7
],
[
32,
8
],
[
32,
9
],
[
32,
10
],
[
32,
11
],
[
33,
0
]
],
"thickness": 0.01,
"clearance": 0.018,
"occupied_cell_count": 624,
"area": 0.7393012489212586,
"contour": {
"source": "gaussian_support_convex_hull_comparable",
"selected_mode": "convex",
"concavity_ratio": 0.12,
"concave_area": 0.7265549683696997,
"convex_area": 0.7409288631689248,
"convex_overcoverage_ratio": 0.019783630179390815,
"convex_max_overcoverage": 0.05,
"concave_unsupported_cell_count": 0,
"convex_unsupported_cell_count": 0,
"selected_unsupported_cell_count": 0,
"support_clip_area_retention": 1.0,
"support_envelope_cells": 1,
"input_support_point_count": 10075,
"retained_support_point_count": 10075,
"rejected_support_point_count": 0,
"simplify_tolerance": 0.012,
"boundary_offset": 0.003,
"boundary_vertex_count": 6,
"hole_count": 0
}
},
"lighting": {
"type": "support_aligned_polygon",
"role": "lighting",
"vertices_uv": [
[
1.0674452169102069,
0.5019644072584312
],
[
0.3774728506723693,
0.5917151942755658
],
[
1.0336568655989866,
0.533351896656468
],
[
0.9327917632542623,
-0.5550491645643684
],
[
0.9760157844719594,
-0.5412496170681179
],
[
0.3749412964325492,
-0.5050797879218737
]
],
"vertices_world": [
[
1.0196341848418449,
0.5930882618638592,
-0.03873758549737259
],
[
0.3244650752612296,
0.622362465985072,
-0.03873758549737259
],
[
0.9832388084568757,
0.6214114635338461,
-0.03873758549737259
],
[
0.9776179311766215,
-0.47163887596395343,
-0.03873758549737259
],
[
1.0194747621322793,
-0.4541246182383546,
-0.03873758549737259
],
[
0.4175351356649116,
-0.47047951966372503,
-0.03873758549737259
]
],
"triangles": [
[
0,
1,
2
],
[
3,
0,
4
],
[
0,
3,
5
],
[
1,
0,
5
]
],
"boundary_uv": [
[
0.3749412964325492,
-0.5050797879218737
],
[
0.9327917632542623,
-0.5550491645643684
],
[
0.9760157844719594,
-0.5412496170681179
],
[
1.0674452169102069,
0.5019644072584312
],
[
1.0336568655989866,
0.533351896656468
],
[
0.3774728506723693,
0.5917151942755658
]
],
"holes_uv": [],
"plane_origin": [
-0.0,
-0.0,
-0.06673758549737259
],
"basis_u": [
0.9961946980917455,
0.08715574274765829,
0.0
],
"basis_v": [
-0.08715574274765829,
0.9961946980917455,
0.0
],
"plane_normal": [
0.0,
0.0,
1.0
],
"grid_size": 0.034999999999999996,
"uv_lo": [
0.36098797710519076,
-0.5611332947752399
],
"occupied_cells_rc": [
[
0,
8
],
[
0,
9
],
[
0,
11
],
[
0,
12
],
[
0,
13
],
[
0,
14
],
[
0,
15
],
[
0,
16
],
[
0,
17
],
[
1,
0
],
[
1,
2
],
[
1,
3
],
[
1,
4
],
[
1,
5
],
[
1,
6
],
[
1,
7
],
[
1,
8
],
[
1,
9
],
[
1,
10
],
[
1,
11
],
[
1,
12
],
[
1,
13
],
[
1,
14
],
[
1,
15
],
[
1,
16
],
[
1,
17
],
[
2,
0
],
[
2,
2
],
[
2,
3
],
[
2,
4
],
[
2,
5
],
[
2,
6
],
[
2,
7
],
[
2,
8
],
[
2,
9
],
[
2,
10
],
[
2,
11
],
[
2,
12
],
[
2,
13
],
[
2,
14
],
[
2,
15
],
[
2,
16
],
[
2,
17
],
[
3,
0
],
[
3,
1
],
[
3,
2
],
[
3,
3
],
[
3,
4
],
[
3,
5
],
[
3,
6
],
[
3,
7
],
[
3,
8
],
[
3,
9
],
[
3,
10
],
[
3,
11
],
[
3,
12
],
[
3,
13
],
[
3,
14
],
[
3,
15
],
[
3,
16
],
[
3,
17
],
[
4,
0
],
[
4,
1
],
[
4,
2
],
[
4,
3
],
[
4,
4
],
[
4,
5
],
[
4,
6
],
[
4,
7
],
[
4,
8
],
[
4,
9
],
[
4,
10
],
[
4,
11
],
[
4,
12
],
[
4,
13
],
[
4,
14
],
[
4,
15
],
[
4,
16
],
[
4,
17
],
[
5,
0
],
[
5,
1
],
[
5,
2
],
[
5,
3
],
[
5,
4
],
[
5,
5
],
[
5,
6
],
[
5,
7
],
[
5,
8
],
[
5,
9
],
[
5,
10
],
[
5,
11
],
[
5,
12
],
[
5,
13
],
[
5,
14
],
[
5,
15
],
[
5,
16
],
[
5,
17
],
[
5,
18
],
[
6,
0
],
[
6,
1
],
[
6,
2
],
[
6,
3
],
[
6,
4
],
[
6,
5
],
[
6,
6
],
[
6,
7
],
[
6,
8
],
[
6,
9
],
[
6,
10
],
[
6,
11
],
[
6,
12
],
[
6,
13
],
[
6,
14
],
[
6,
15
],
[
6,
16
],
[
6,
17
],
[
6,
18
],
[
7,
0
],
[
7,
1
],
[
7,
2
],
[
7,
3
],
[
7,
4
],
[
7,
5
],
[
7,
6
],
[
7,
7
],
[
7,
8
],
[
7,
9
],
[
7,
10
],
[
7,
11
],
[
7,
12
],
[
7,
13
],
[
7,
14
],
[
7,
15
],
[
7,
16
],
[
7,
17
],
[
7,
18
],
[
8,
0
],
[
8,
1
],
[
8,
2
],
[
8,
3
],
[
8,
4
],
[
8,
5
],
[
8,
6
],
[
8,
7
],
[
8,
8
],
[
8,
9
],
[
8,
10
],
[
8,
11
],
[
8,
12
],
[
8,
13
],
[
8,
14
],
[
8,
15
],
[
8,
16
],
[
8,
17
],
[
8,
18
],
[
9,
0
],
[
9,
1
],
[
9,
2
],
[
9,
3
],
[
9,
4
],
[
9,
5
],
[
9,
6
],
[
9,
7
],
[
9,
8
],
[
9,
9
],
[
9,
10
],
[
9,
11
],
[
9,
12
],
[
9,
13
],
[
9,
14
],
[
9,
15
],
[
9,
16
],
[
9,
17
],
[
9,
18
],
[
10,
0
],
[
10,
1
],
[
10,
2
],
[
10,
3
],
[
10,
4
],
[
10,
5
],
[
10,
6
],
[
10,
7
],
[
10,
8
],
[
10,
9
],
[
10,
10
],
[
10,
11
],
[
10,
12
],
[
10,
13
],
[
10,
14
],
[
10,
15
],
[
10,
16
],
[
10,
17
],
[
10,
18
],
[
11,
0
],
[
11,
1
],
[
11,
2
],
[
11,
3
],
[
11,
4
],
[
11,
5
],
[
11,
6
],
[
11,
7
],
[
11,
8
],
[
11,
9
],
[
11,
10
],
[
11,
11
],
[
11,
12
],
[
11,
13
],
[
11,
14
],
[
11,
15
],
[
11,
16
],
[
11,
17
],
[
11,
18
],
[
12,
0
],
[
12,
1
],
[
12,
2
],
[
12,
3
],
[
12,
4
],
[
12,
5
],
[
12,
6
],
[
12,
7
],
[
12,
8
],
[
12,
9
],
[
12,
10
],
[
12,
11
],
[
12,
12
],
[
12,
13
],
[
12,
14
],
[
12,
15
],
[
12,
16
],
[
12,
17
],
[
12,
18
],
[
13,
0
],
[
13,
1
],
[
13,
2
],
[
13,
3
],
[
13,
4
],
[
13,
5
],
[
13,
6
],
[
13,
7
],
[
13,
8
],
[
13,
9
],
[
13,
10
],
[
13,
11
],
[
13,
12
],
[
13,
13
],
[
13,
14
],
[
13,
15
],
[
13,
16
],
[
13,
17
],
[
13,
18
],
[
14,
0
],
[
14,
1
],
[
14,
2
],
[
14,
3
],
[
14,
4
],
[
14,
5
],
[
14,
6
],
[
14,
7
],
[
14,
8
],
[
14,
9
],
[
14,
10
],
[
14,
11
],
[
14,
12
],
[
14,
13
],
[
14,
14
],
[
14,
15
],
[
14,
16
],
[
14,
17
],
[
14,
18
],
[
14,
19
],
[
15,
0
],
[
15,
1
],
[
15,
2
],
[
15,
3
],
[
15,
4
],
[
15,
5
],
[
15,
6
],
[
15,
7
],
[
15,
8
],
[
15,
9
],
[
15,
10
],
[
15,
11
],
[
15,
12
],
[
15,
13
],
[
15,
14
],
[
15,
15
],
[
15,
16
],
[
15,
17
],
[
15,
18
],
[
15,
19
],
[
16,
0
],
[
16,
1
],
[
16,
2
],
[
16,
3
],
[
16,
4
],
[
16,
5
],
[
16,
6
],
[
16,
7
],
[
16,
8
],
[
16,
9
],
[
16,
10
],
[
16,
11
],
[
16,
12
],
[
16,
13
],
[
16,
14
],
[
16,
15
],
[
16,
16
],
[
16,
17
],
[
16,
18
],
[
16,
19
],
[
17,
0
],
[
17,
1
],
[
17,
2
],
[
17,
3
],
[
17,
4
],
[
17,
5
],
[
17,
6
],
[
17,
7
],
[
17,
8
],
[
17,
9
],
[
17,
10
],
[
17,
11
],
[
17,
12
],
[
17,
13
],
[
17,
14
],
[
17,
15
],
[
17,
16
],
[
17,
17
],
[
17,
18
],
[
17,
19
],
[
18,
0
],
[
18,
1
],
[
18,
2
],
[
18,
3
],
[
18,
4
],
[
18,
5
],
[
18,
6
],
[
18,
7
],
[
18,
8
],
[
18,
9
],
[
18,
10
],
[
18,
11
],
[
18,
12
],
[
18,
13
],
[
18,
14
],
[
18,
15
],
[
18,
16
],
[
18,
17
],
[
18,
18
],
[
18,
19
],
[
19,
0
],
[
19,
1
],
[
19,
2
],
[
19,
3
],
[
19,
4
],
[
19,
5
],
[
19,
6
],
[
19,
7
],
[
19,
8
],
[
19,
9
],
[
19,
10
],
[
19,
11
],
[
19,
12
],
[
19,
13
],
[
19,
14
],
[
19,
15
],
[
19,
16
],
[
19,
17
],
[
19,
18
],
[
19,
19
],
[
20,
0
],
[
20,
1
],
[
20,
2
],
[
20,
3
],
[
20,
4
],
[
20,
5
],
[
20,
6
],
[
20,
7
],
[
20,
8
],
[
20,
9
],
[
20,
10
],
[
20,
11
],
[
20,
12
],
[
20,
13
],
[
20,
14
],
[
20,
15
],
[
20,
16
],
[
20,
17
],
[
20,
18
],
[
20,
19
],
[
21,
0
],
[
21,
1
],
[
21,
2
],
[
21,
3
],
[
21,
4
],
[
21,
5
],
[
21,
6
],
[
21,
7
],
[
21,
8
],
[
21,
9
],
[
21,
10
],
[
21,
11
],
[
21,
12
],
[
21,
13
],
[
21,
14
],
[
21,
15
],
[
21,
16
],
[
21,
17
],
[
21,
18
],
[
21,
19
],
[
22,
0
],
[
22,
1
],
[
22,
2
],
[
22,
3
],
[
22,
4
],
[
22,
5
],
[
22,
6
],
[
22,
7
],
[
22,
8
],
[
22,
9
],
[
22,
10
],
[
22,
11
],
[
22,
12
],
[
22,
13
],
[
22,
14
],
[
22,
15
],
[
22,
16
],
[
22,
17
],
[
22,
18
],
[
22,
19
],
[
23,
0
],
[
23,
1
],
[
23,
2
],
[
23,
3
],
[
23,
4
],
[
23,
5
],
[
23,
6
],
[
23,
7
],
[
23,
8
],
[
23,
9
],
[
23,
10
],
[
23,
11
],
[
23,
12
],
[
23,
13
],
[
23,
14
],
[
23,
15
],
[
23,
16
],
[
23,
17
],
[
23,
18
],
[
23,
19
],
[
24,
0
],
[
24,
1
],
[
24,
2
],
[
24,
3
],
[
24,
4
],
[
24,
5
],
[
24,
6
],
[
24,
7
],
[
24,
8
],
[
24,
9
],
[
24,
10
],
[
24,
11
],
[
24,
12
],
[
24,
13
],
[
24,
14
],
[
24,
15
],
[
24,
16
],
[
24,
17
],
[
24,
18
],
[
24,
19
],
[
25,
0
],
[
25,
1
],
[
25,
2
],
[
25,
3
],
[
25,
4
],
[
25,
5
],
[
25,
6
],
[
25,
7
],
[
25,
8
],
[
25,
9
],
[
25,
10
],
[
25,
11
],
[
25,
12
],
[
25,
13
],
[
25,
14
],
[
25,
15
],
[
25,
16
],
[
25,
17
],
[
25,
18
],
[
25,
19
],
[
26,
0
],
[
26,
1
],
[
26,
2
],
[
26,
3
],
[
26,
4
],
[
26,
5
],
[
26,
6
],
[
26,
7
],
[
26,
8
],
[
26,
9
],
[
26,
10
],
[
26,
11
],
[
26,
12
],
[
26,
13
],
[
26,
14
],
[
26,
15
],
[
26,
16
],
[
26,
17
],
[
26,
18
],
[
26,
19
],
[
27,
0
],
[
27,
1
],
[
27,
2
],
[
27,
3
],
[
27,
4
],
[
27,
5
],
[
27,
6
],
[
27,
7
],
[
27,
8
],
[
27,
9
],
[
27,
10
],
[
27,
11
],
[
27,
12
],
[
27,
13
],
[
27,
14
],
[
27,
15
],
[
27,
16
],
[
27,
17
],
[
27,
18
],
[
27,
19
],
[
28,
0
],
[
28,
1
],
[
28,
2
],
[
28,
3
],
[
28,
4
],
[
28,
5
],
[
28,
6
],
[
28,
7
],
[
28,
8
],
[
28,
9
],
[
28,
10
],
[
28,
11
],
[
28,
12
],
[
28,
13
],
[
28,
14
],
[
28,
15
],
[
28,
16
],
[
28,
17
],
[
28,
18
],
[
28,
19
],
[
29,
0
],
[
29,
1
],
[
29,
2
],
[
29,
3
],
[
29,
4
],
[
29,
5
],
[
29,
6
],
[
29,
7
],
[
29,
8
],
[
29,
9
],
[
29,
10
],
[
29,
11
],
[
29,
12
],
[
29,
13
],
[
29,
14
],
[
29,
15
],
[
29,
16
],
[
29,
17
],
[
29,
18
],
[
29,
19
],
[
30,
0
],
[
30,
1
],
[
30,
2
],
[
30,
3
],
[
30,
4
],
[
30,
5
],
[
30,
6
],
[
30,
7
],
[
30,
8
],
[
30,
9
],
[
30,
10
],
[
30,
11
],
[
30,
12
],
[
30,
13
],
[
30,
14
],
[
30,
15
],
[
30,
16
],
[
30,
17
],
[
30,
18
],
[
30,
19
],
[
30,
20
],
[
31,
0
],
[
31,
1
],
[
31,
2
],
[
31,
3
],
[
31,
4
],
[
31,
5
],
[
31,
6
],
[
31,
7
],
[
31,
8
],
[
31,
9
],
[
31,
10
],
[
31,
11
],
[
31,
12
],
[
31,
13
],
[
31,
14
],
[
31,
15
],
[
31,
16
],
[
31,
17
],
[
31,
18
],
[
31,
19
],
[
32,
0
],
[
32,
1
],
[
32,
2
],
[
32,
3
],
[
32,
4
],
[
32,
5
],
[
32,
6
],
[
32,
7
],
[
32,
8
],
[
32,
9
],
[
32,
10
],
[
32,
11
],
[
33,
0
]
],
"thickness": 0.01,
"clearance": 0.018,
"occupied_cell_count": 624,
"area": 0.7079118456423873,
"contour": {
"source": "gaussian_support_convex_hull_comparable",
"selected_mode": "convex",
"concavity_ratio": 0.12,
"concave_area": 0.7265549683696997,
"convex_area": 0.7409288631689248,
"convex_overcoverage_ratio": 0.019783630179390815,
"convex_max_overcoverage": 0.05,
"concave_unsupported_cell_count": 0,
"convex_unsupported_cell_count": 0,
"selected_unsupported_cell_count": 0,
"support_clip_area_retention": 1.0,
"support_envelope_cells": 1,
"input_support_point_count": 10075,
"retained_support_point_count": 10075,
"rejected_support_point_count": 0,
"simplify_tolerance": 0.012,
"boundary_offset": -0.006,
"boundary_vertex_count": 6,
"hole_count": 0
}
},
"convex_hull_diagnostic": {
"vertices_uv": [
[
0.3609879781051908,
-0.3287909987947484
],
[
0.3626160211465134,
-0.4243528711138116
],
[
0.36892861930146154,
-0.51056522609281
],
[
0.3742773371856626,
-0.5132753051363522
],
[
0.9334627811890412,
-0.5611332937752399
],
[
0.9816442695233096,
-0.545751042934669
],
[
0.9875209776158126,
-0.5074279934504741
],
[
1.0009355945066711,
-0.3693205670072656
],
[
1.0248076654366398,
-0.1007144646443132
],
[
1.0327121880236094,
-0.01020374255412628
],
[
1.0338820578713597,
0.00331836239062337
],
[
1.0736784714924053,
0.5043634295215582
],
[
1.0531078177223079,
0.5364777323617397
],
[
1.0362350556701574,
0.5391462695104633
],
[
0.9995679663818379,
0.5438535037638765
],
[
0.7422424772071655,
0.5665000940581029
],
[
0.432649738208624,
0.5935619433774624
],
[
0.37148796684887275,
0.5982711968231841
],
[
0.36648665721227575,
0.5920739910439979
],
[
0.3653954546513838,
0.5624307423624159
]
],
"area": 0.7409288631689244,
"overcoverage_ratio": 0.04664001277811099,
"acceptable_as_fallback": true
}
},
"footprint_stats": {
"world_point_count": 901340,
"near_plane_count": 27044,
"basis_support_count": 27044,
"reference_footprint_count": 23136,
"support_count": 10075,
"receiver_clip_to_reference": true,
"receiver_reference_margin": 0.08,
"receiver_basis_unclipped_support": true,
"plane_fitted_normal": [
0.0,
0.0,
1.0
],
"plane_stabilized_normal": [
0.0,
0.0,
1.0
],
"plane_fitted_offset": 0.06874084976560196,
"plane_stabilized_offset": 0.06673758549737259,
"plane_height_refined": true,
"plane_height_method": "histogram_consensus_huber",
"plane_height_sample_count": 6856,
"plane_height_initial": -0.06874084976560196,
"plane_height_refined_value": -0.06673758549737259,
"plane_height_residual_p50": 0.004077691895124427,
"plane_height_residual_p90": 0.008407083563133227,
"plane_height_histogram_bin_width": 0.004166666666666667,
"raw_cell_count": 624,
"component_cell_count": 624,
"support_core_cell_count": 624,
"filled_interior_hole_cell_count": 0,
"closure_added_cell_count": 2,
"support_envelope_cell_count": 689,
"eroded_cell_count": 520,
"final_cell_count": 520,
"rectangle_cell_count": 520,
"tightened_rectangle_count": 5,
"rectangle_count": 2,
"receiver_area": 0.7079118456423873,
"receiver_geometry": "support_aligned_polygon",
"physics_boundary_vertex_count": 6,
"lighting_boundary_vertex_count": 6,
"physics_polygon_cell_count": 626,
"lighting_polygon_cell_count": 520,
"convex_hull_area": 0.7409288631689244,
"convex_hull_overcoverage_ratio": 0.04664001277811099,
"receiver_coverage": 1.0,
"polygon_precision": 0.8346153846153845,
"reference_mask_recall": 0.9519598585544738,
"reference_mask_overlap_iou": 0.8008834427801538,
"receiver_cell_coverage": 1.0,
"receiver_coverage_smooth_boundary_cells": 0,
"receiver_coverage_grid_aligned_edges": false,
"receiver_tighten_to_support": true,
"receiver_support_edge_inset": 0.0,
"receiver_support_bounds_quantile": 0.05,
"receiver_surface_lift": 0.015,
"receiver_physics_boundary_padding": 0.003,
"receiver_lighting_boundary_inset": 0.006,
"grid_size": 0.034999999999999996,
"erosion_cells": 1,
"receiver_support_point_count": 8227,
"receiver_covered_support_point_count": 8227,
"receiver_point_coverage": 1.0,
"receiver_basis_mode": "support-edge",
"receiver_basis_selected_mode": "support-edge",
"receiver_basis_angle_deg": 5.000000000000007,
"receiver_basis_point_count": 27044,
"receiver_basis_fit_mode": "support-edge",
"receiver_basis_candidate_angle_deg": 5.000000000000007,
"receiver_basis_edge_score": 9.633737795413849,
"receiver_basis_edge_point_count": 62,
"receiver_basis_edge_line_angle_deg": 95.0,
"receiver_basis_surface_trimmed_area": 25.221286730475896,
"receiver_basis_trimmed_area": 24.54211305561565,
"receiver_basis_support_trimmed_area": 24.54211305561565,
"receiver_basis_area_gain": 0.026928589414098834,
"receiver_basis_min_area_gain": 0.12,
"receiver_basis_quantile": 0.02,
"receiver_grid_scale": 1.4,
"contour_input_point_count": 10075,
"contour_retained_point_count": 10075,
"contour_rejected_point_count": 0,
"contour_concave_area": 0.7265549683696997,
"contour_convex_area": 0.7409288631689248,
"contour_convex_overcoverage_ratio": 0.019783630179390815,
"contour_unsupported_cell_count": 0,
"contour_hole_count": 0,
"contour_selected_mode": "convex",
"receiver_candidate_score": 1.0053857178828198,
"receiver_basis_chosen_candidate": "support-edge",
"receiver_auto_score_margin": 0.035,
"receiver_auto_surface_score_bias": 0.055,
"receiver_edge_alignment_score_margin": 0.12,
"receiver_edge_alignment_angle_threshold_deg": 10.0,
"receiver_auto_candidates": [
{
"basis_mode": "support-edge",
"score": 0.9993764429239107,
"receiver_area": 0.7079118456423875,
"rectangle_count": 3,
"basis_angle_deg": 6.999999999999997,
"basis_area_gain": 0.026882214619553958,
"basis_edge_score": 9.40893435270013,
"coverage": 0.9868173258003766,
"grid_size": 0.025,
"grid_scale": 1.0,
"reference_edge_valid_count": 0
},
{
"basis_mode": "support-edge",
"score": 1.0053857178828198,
"receiver_area": 0.7079118456423873,
"rectangle_count": 2,
"basis_angle_deg": 5.000000000000007,
"basis_area_gain": 0.026928589414098834,
"basis_edge_score": 9.633737795413849,
"coverage": 1.0,
"grid_size": 0.034999999999999996,
"grid_scale": 1.4,
"reference_edge_valid_count": 0
}
],
"gaussian": {
"input_count": 2195436,
"finite_count": 2195436,
"kept_count": 901340,
"normal_confidence_source": "gaussian_thinnest_axis",
"normal_confidence_count": 901340,
"normal_confidence_threshold": 0.3
}
},
"material": {
"albedo_linear": [
0.8724388868431112,
0.6585630929353087,
0.3340618802683588
],
"roughness": 0.9,
"metallic": 0.0,
"source": "gaussian_sh_dc_trimmed_median",
"sample_count": 5177
},
"fitted_plane": {
"origin": [
-0.0,
-0.0,
-0.06673758549737259
],
"fitted_origin": [
-0.0,
-0.0,
-0.06874084976560196
],
"fitted_normal": [
0.0,
0.0,
1.0
],
"fitted_offset": 0.06874084976560196,
"stabilized_origin": [
-0.0,
-0.0,
-0.06673758549737259
],
"stabilized_normal": [
0.0,
0.0,
1.0
],
"stabilized_offset": 0.06673758549737259,
"stabilized_horizontal": true
},
"surface_gaussian_prior": {
"space": "world",
"selection": "lighting_footprint_and_stabilized_plane_band",
"plane_band": 0.025,
"normal_confidence_threshold": 0.3,
"fit_support_count": 8227,
"runtime_subset": "persistent"
}
}
]
}