Hugging Face's logo

Datasets:
pcseanlo
/
RobotArena360_Assets

Tasks:
Robotics
Modalities:
3D
Size:
< 1K
Tags:
robotics
simulation
gaussian-splatting
digital-twin
droid
vla-evaluation
Libraries:
Datasets
License:
Dataset card Data Studio Files
xet
 Community
1
RobotArena360_Assets / droid45 /alignment /operation_surface_shadow_v2.json
pcseanlo's picture
pcseanlo
Add files using upload-large-folder tool
31bfdcc verified
Raw History Blame Contribute Delete
154 kB
{
"version": 2,
"type": "operation_surface_render_receiver",
"source": {
"operation_surface_json": "/home/pangchil/user_data/scene_gaussian_alignment/optimization_results/droid45/operation_surface_plane_fit.json",
"gaussian_ply": "/home/pangchil/user_data/Eden/eden/assets/echo2/droid45/gaussian_trimmed.ply",
"result": "/home/pangchil/user_data/scene_gaussian_alignment/optimization_results/droid45/aligned_pose_refined.npy",
"scene_scale": "/home/pangchil/user_data/scene_gaussian_alignment/optimization_results/droid45/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": [
0.49527860356955095,
0.1548126828283818,
0.09796526504920833
],
"size": [
0.49953402282357595,
0.7573440384569063,
0.01
],
"quat_wxyz": [
1.0,
0.0,
0.0,
0.0
],
"plane_normal": [
0.0,
0.0,
1.0
],
"plane_offset": -0.08996526504920832
},
"stats": {
"world_point_count": 1278864,
"near_plane_count": 34802,
"basis_support_count": 34802,
"reference_footprint_count": 68212,
"support_count": 23853,
"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": -0.08996526504920832,
"plane_stabilized_offset": -0.09235868521432478,
"plane_height_refined": true,
"plane_height_method": "histogram_consensus_huber",
"plane_height_sample_count": 19218,
"plane_height_initial": 0.08996526504920832,
"plane_height_refined_value": 0.09235868521432478,
"plane_height_residual_p50": 0.003076411447524817,
"plane_height_residual_p90": 0.007216001861987638,
"plane_height_histogram_bin_width": 0.004166666666666667,
"raw_cell_count": 341,
"component_cell_count": 329,
"support_core_cell_count": 332,
"filled_interior_hole_cell_count": 3,
"closure_added_cell_count": 5,
"support_envelope_cell_count": 401,
"eroded_cell_count": 252,
"final_cell_count": 252,
"rectangle_cell_count": 249,
"tightened_rectangle_count": 7,
"rectangle_count": 2,
"receiver_area": 0.3426270453261828,
"receiver_geometry": "support_aligned_polygon",
"physics_boundary_vertex_count": 24,
"lighting_boundary_vertex_count": 24,
"physics_polygon_cell_count": 334,
"lighting_polygon_cell_count": 252,
"convex_hull_area": 0.3890833600403476,
"convex_hull_overcoverage_ratio": 0.13558858049264066,
"receiver_coverage": 0.9880952380952381,
"polygon_precision": 0.9563492063492065,
"reference_mask_recall": 0.7803597252300142,
"reference_mask_overlap_iou": 0.7535207633452375,
"receiver_cell_coverage": 0.9880952380952381,
"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": 17213,
"receiver_covered_support_point_count": 17213,
"receiver_point_coverage": 1.0,
"receiver_basis_mode": "support-edge",
"receiver_basis_selected_mode": "support-edge",
"receiver_basis_angle_deg": 80.0,
"receiver_basis_point_count": 34802,
"receiver_basis_fit_mode": "support-edge",
"receiver_basis_candidate_angle_deg": 80.0,
"receiver_basis_edge_score": 2.6400712010624385,
"receiver_basis_edge_point_count": 12,
"receiver_basis_edge_line_angle_deg": 80.0,
"receiver_basis_surface_trimmed_area": 4.651658339567152,
"receiver_basis_trimmed_area": 4.9153023192722145,
"receiver_basis_support_trimmed_area": 4.9153023192722145,
"receiver_basis_area_gain": 0.0,
"receiver_basis_min_area_gain": 0.12,
"receiver_basis_quantile": 0.02,
"receiver_grid_scale": 1.4,
"contour_input_point_count": 23853,
"contour_retained_point_count": 23459,
"contour_rejected_point_count": 394,
"contour_concave_area": 0.3591525405348849,
"contour_convex_area": 0.38908336004034766,
"contour_convex_overcoverage_ratio": 0.08333734591125791,
"contour_unsupported_cell_count": 0,
"contour_hole_count": 0,
"contour_selected_mode": "concave",
"receiver_candidate_score": 1.01,
"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": 0.988,
"receiver_area": 0.34189723922372095,
"rectangle_count": 6,
"basis_angle_deg": 71.0,
"basis_area_gain": 0.0,
"basis_edge_score": 2.3754278498533954,
"coverage": 0.9285714285714286,
"grid_size": 0.025,
"grid_scale": 1.0,
"reference_edge_valid_count": 0
},
{
"basis_mode": "support-edge",
"score": 1.01,
"receiver_area": 0.3426270453261828,
"rectangle_count": 2,
"basis_angle_deg": 80.0,
"basis_area_gain": 0.0,
"basis_edge_score": 2.6400712010624385,
"coverage": 0.9880952380952381,
"grid_size": 0.034999999999999996,
"grid_scale": 1.4,
"reference_edge_valid_count": 0
}
],
"gaussian": {
"input_count": 2186166,
"finite_count": 2186166,
"kept_count": 1278864,
"normal_confidence_source": "gaussian_thinnest_axis",
"normal_confidence_count": 1278864,
"normal_confidence_threshold": 0.3
},
"table_material": {
"albedo_linear": [
0.48893745875461625,
0.5184375690926012,
0.5258125958889337
],
"roughness": 0.9,
"metallic": 0.0,
"source": "gaussian_sh_dc_trimmed_median",
"sample_count": 9264
}
},
"selected": {
"center": [
0.48893333212583157,
0.14971341248800515,
0.11535868521432478
],
"quat_wxyz": [
0.7660444431189781,
0.0,
0.0,
0.6427876096865394
],
"size": [
0.6647623073154756,
0.34996809194663986,
0.01
],
"basis_u": [
0.17364817766693041,
0.984807753012208,
0.0
],
"basis_v": [
-0.9848077530122081,
0.17364817766693044,
0.0
],
"extents": [
0.6647623073154756,
0.34996809194663986
],
"area": 0.3426270453261828,
"schema_version": 2,
"plane_normal": [
0.0,
0.0,
1.0
],
"plane_offset": -0.09235868521432478,
"support_boxes": [
{
"center": [
0.48893333212583157,
0.14971341248800515,
0.11535868521432478
],
"quat_wxyz": [
0.7660444431189781,
0.0,
0.0,
0.6427876096865394
],
"size": [
0.6647623073154756,
0.34996809194663986,
0.01
],
"basis_u": [
0.17364817766693041,
0.984807753012208,
0.0
],
"basis_v": [
-0.9848077530122081,
0.17364817766693044,
0.0
],
"extents": [
0.6647623073154756,
0.34996809194663986
],
"area": 0.23264559628924283
},
{
"center": [
0.439514374931175,
-0.23238982567960387,
0.11535868521432478
],
"quat_wxyz": [
0.7660444431189781,
0.0,
0.0,
0.6427876096865394
],
"size": [
0.10344083513260673,
0.17289105045073588,
0.01
],
"basis_u": [
0.17364817766693041,
0.984807753012208,
0.0
],
"basis_v": [
-0.9848077530122081,
0.17364817766693044,
0.0
],
"extents": [
0.10344083513260673,
0.17289105045073588
],
"area": 0.01788399464557776
}
],
"footprints": {
"physics": {
"type": "support_aligned_polygon",
"role": "physics",
"vertices_uv": [
[
-0.12847723403779832,
-0.31719768852883007
],
[
-0.129411446278666,
-0.27103063740309985
],
[
-0.11020395358046063,
-0.25391258363816044
],
[
0.5108821228342084,
-0.6448656364733534
],
[
0.33480097719549434,
-0.2057100573103604
],
[
0.5889934486887105,
-0.2462226783689095
],
[
0.6286218971475601,
-0.6264929490059747
],
[
0.5445577781735298,
-0.6600706110195631
],
[
0.3164783790716319,
-0.7253244802362322
],
[
0.39388538827891373,
-0.7302968547376925
],
[
0.33391611502083357,
-0.7517118388132823
],
[
0.28868688312239627,
-0.732543190024359
],
[
0.262705214281729,
-0.774359670465097
],
[
0.18360845456205735,
-0.7374974390152075
],
[
-0.1244246785800212,
-0.6010576821484666
],
[
-0.05842129712599087,
-0.6995885648975443
],
[
-0.10433060428403136,
-0.6740190541720362
],
[
-0.15634065601166405,
-0.5857366283528237
],
[
-0.204389919822662,
-0.6069053591278074
],
[
-0.24366524588977445,
-0.3652916306473806
],
[
0.3989748195544881,
-0.6582948401740786
],
[
0.1882882861233571,
-0.6966083419290959
],
[
0.16634801749599717,
-0.684703799588097
],
[
-0.15454589284751785,
-0.34442090678219983
]
],
"vertices_world": [
[
0.290068905338392,
-0.18160617673918167,
0.12035868521432477
],
[
0.24444101120288106,
-0.174509371900708,
0.12035868521432477
],
[
0.23091836524328316,
-0.15262116533410375,
0.12035868521432477
],
[
0.7237824280828838,
0.3911409328288406,
0.12035868521432477
],
[
0.2607224388829337,
0.29399342147848234,
0.12035868521432477
],
[
0.34475964164768863,
0.5372891953430083,
0.12035868521432477
],
[
0.7261341602697683,
0.5102823591080914,
0.12035868521432477
],
[
0.7446041210817572,
0.42166466317334983,
0.12035868521432477
],
[
0.7692610653829645,
0.18571908716024438,
0.12035868521432477
],
[
0.7875994844303745,
0.26108666619420684,
0.12035868521432477
],
[
0.7982755717613726,
0.19830978798764928,
0.12035868521432477
],
[
0.7715441641228341,
0.15709629068181513,
0.12035868521432477
],
[
0.8082136888176289,
0.12424798614635127,
0.12035868521432477
],
[
0.758176469307767,
0.05275394325228486,
0.12035868521432477
],
[
0.5703201466951432,
-0.2269069593094472,
0.12035868521432477
],
[
0.6788154908469194,
-0.1790160257617873,
0.12035868521432477
],
[
0.6456623709177651,
-0.21978776844512493,
0.12035868521432477
],
[
0.5496897028134133,
-0.2556775882575414,
0.12035868521432477
],
[
0.5621931659030279,
-0.30667278730773884,
0.12035868521432477
],
[
0.31743000406248856,
-0.303395649270775,
0.12035868521432477
],
[
0.7175751127219943,
0.2786017961901346,
0.12035868521432477
],
[
0.7187212137061034,
0.06446299485209353,
0.12035868521432477
],
[
0.7031876404479617,
0.04492325028817225,
0.12035868521432477
],
[
0.31235176663972525,
-0.21200605628555025,
0.12035868521432477
]
],
"triangles": [
[
0,
1,
2
],
[
3,
4,
5
],
[
3,
6,
7
],
[
8,
9,
10
],
[
11,
12,
13
],
[
14,
15,
16
],
[
17,
18,
19
],
[
4,
0,
2
],
[
6,
3,
5
],
[
9,
8,
20
],
[
21,
11,
13
],
[
15,
14,
22
],
[
23,
17,
19
],
[
20,
22,
4
],
[
4,
3,
20
],
[
21,
8,
11
],
[
17,
23,
14
],
[
4,
22,
0
],
[
8,
21,
20
],
[
0,
14,
23
],
[
22,
20,
21
],
[
14,
0,
22
]
],
"boundary_uv": [
[
-0.24366524588977445,
-0.3652916306473806
],
[
-0.204389919822662,
-0.6069053591278074
],
[
-0.15634065601166405,
-0.5857366283528237
],
[
-0.1244246785800212,
-0.6010576821484666
],
[
-0.10433060428403136,
-0.6740190541720362
],
[
-0.05842129712599087,
-0.6995885648975443
],
[
0.16634801749599717,
-0.684703799588097
],
[
0.1882882861233571,
-0.6966083419290959
],
[
0.18360845456205735,
-0.7374974390152075
],
[
0.262705214281729,
-0.774359670465097
],
[
0.28868688312239627,
-0.732543190024359
],
[
0.3164783790716319,
-0.7253244802362322
],
[
0.33391611502083357,
-0.7517118388132823
],
[
0.39388538827891373,
-0.7302968547376925
],
[
0.3989748195544881,
-0.6582948401740786
],
[
0.5108821228342084,
-0.6448656364733534
],
[
0.5445577781735298,
-0.6600706110195631
],
[
0.6286218971475601,
-0.6264929490059747
],
[
0.5889934486887105,
-0.2462226783689095
],
[
0.33480097719549434,
-0.2057100573103604
],
[
-0.11020395358046063,
-0.25391258363816044
],
[
-0.129411446278666,
-0.27103063740309985
],
[
-0.12847723403779832,
-0.31719768852883007
],
[
-0.15454589284751785,
-0.34442090678219983
]
],
"holes_uv": [],
"plane_origin": [
0.0,
0.0,
0.09235868521432478
],
"basis_u": [
0.17364817766693041,
0.984807753012208,
0.0
],
"basis_v": [
-0.9848077530122081,
0.17364817766693044,
0.0
],
"plane_normal": [
0.0,
0.0,
1.0
],
"grid_size": 0.034999999999999996,
"uv_lo": [
-0.240254841083045,
-0.7705166582393248
],
"occupied_cells_rc": [
[
0,
12
],
[
0,
13
],
[
0,
14
],
[
0,
16
],
[
0,
17
],
[
1,
11
],
[
1,
12
],
[
1,
13
],
[
1,
14
],
[
1,
15
],
[
1,
16
],
[
1,
17
],
[
1,
18
],
[
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,
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
],
[
3,
18
],
[
3,
19
],
[
3,
20
],
[
3,
21
],
[
3,
22
],
[
3,
23
],
[
3,
24
],
[
4,
1
],
[
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
],
[
4,
18
],
[
4,
19
],
[
4,
20
],
[
4,
21
],
[
4,
22
],
[
4,
23
],
[
4,
24
],
[
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
],
[
5,
19
],
[
5,
20
],
[
5,
21
],
[
5,
22
],
[
5,
23
],
[
5,
24
],
[
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
],
[
6,
19
],
[
6,
20
],
[
6,
21
],
[
6,
22
],
[
6,
23
],
[
6,
24
],
[
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
],
[
7,
19
],
[
7,
20
],
[
7,
21
],
[
7,
22
],
[
7,
23
],
[
7,
24
],
[
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
],
[
8,
19
],
[
8,
20
],
[
8,
21
],
[
8,
22
],
[
8,
23
],
[
8,
24
],
[
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
],
[
9,
19
],
[
9,
20
],
[
9,
21
],
[
9,
22
],
[
9,
23
],
[
9,
24
],
[
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
],
[
10,
19
],
[
10,
20
],
[
10,
21
],
[
10,
22
],
[
10,
23
],
[
10,
24
],
[
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
],
[
11,
19
],
[
11,
20
],
[
11,
21
],
[
11,
22
],
[
11,
23
],
[
11,
24
],
[
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
],
[
12,
19
],
[
12,
20
],
[
12,
21
],
[
12,
22
],
[
12,
23
],
[
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
],
[
13,
19
],
[
13,
20
],
[
13,
21
],
[
13,
22
],
[
13,
23
],
[
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
],
[
14,
20
],
[
14,
21
],
[
14,
22
],
[
14,
23
],
[
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
],
[
15,
20
],
[
15,
21
],
[
15,
22
],
[
16,
14
],
[
16,
15
],
[
16,
16
]
],
"thickness": 0.01,
"clearance": 0.018000000000000006,
"occupied_cell_count": 332,
"area": 0.36582271194535465,
"contour": {
"source": "gaussian_support_concave_hull",
"selected_mode": "concave",
"concavity_ratio": 0.12,
"concave_area": 0.3591525405348849,
"convex_area": 0.38908336004034766,
"convex_overcoverage_ratio": 0.08333734591125791,
"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": 23853,
"retained_support_point_count": 23459,
"rejected_support_point_count": 394,
"simplify_tolerance": 0.012,
"boundary_offset": 0.003,
"boundary_vertex_count": 24,
"hole_count": 0
}
},
"lighting": {
"type": "support_aligned_polygon",
"role": "lighting",
"vertices_uv": [
[
-0.11940380761547924,
-0.32073523698336215
],
[
-0.12032944127157305,
-0.2749921237429604
],
[
-0.10636835565923705,
-0.26254975982363327
],
[
0.5122999192757457,
-0.6356309252326114
],
[
0.334573315750104,
-0.21478736202711576
],
[
0.5807576615582428,
-0.2540236661303949
],
[
0.6189651686455276,
-0.6206587382941862
],
[
0.5447733911143818,
-0.6502930990717939
],
[
0.32044095450952637,
-0.7149965708206207
],
[
0.3853222943771012,
-0.7237981028053027
],
[
0.3375345003066902,
-0.7408630894797498
],
[
0.28294138983805467,
-0.724736905599249
],
[
0.2592727658332568,
-0.7628306307877806
],
[
0.19328738003275792,
-0.7320788203178088
],
[
-0.11683574748864595,
-0.5947174236110285
],
[
-0.056364026408435575,
-0.690432614731637
],
[
-0.09665540037934088,
-0.6679920513106294
],
[
-0.15617929227291424,
-0.5758308152518739
],
[
-0.19737298361675884,
-0.5939792340313106
],
[
-0.23343402846958616,
-0.3721391025221977
],
[
0.39052138446490925,
-0.6502447055885083
],
[
0.1979207852426172,
-0.6915953642396133
],
[
0.16835151296476034,
-0.6755514105486675
],
[
-0.1498929843000167,
-0.35257475421005013
]
],
"vertices_world": [
[
0.29512829444650224,
-0.173284884894634,
0.12035868521432477
],
[
0.24991938728287136,
-0.16625324784059642,
0.12035868521432477
],
[
0.24009036790415275,
-0.1503436686686408,
0.12035868521432477
],
[
0.7149342106245478,
0.3941407805348948,
0.12035868521432477
],
[
0.2696223059493316,
0.29219296129980804,
0.12035868521432477
],
[
0.3510119854494944,
0.5278239010159818,
0.12035868521432477
],
[
0.7187117110214897,
0.5017854380687827,
0.12035868521432477
],
[
0.735012592304685,
0.42357484760099745,
0.12035868521432477
],
[
0.7597781541217207,
0.19141488482250868,
0.12035868521432477
],
[
0.7797124974912135,
0.25378216136009923,
0.12035868521432477
],
[
0.7882199653182096,
0.20375706742227942,
0.12035868521432477
],
[
0.762858780260144,
0.152793631415286,
0.12035868521432477
],
[
0.7962637627406093,
0.12286968103269688,
0.12035868521432477
],
[
0.7545208993737131,
0.06322675735893332,
0.12035868521432477
],
[
0.5653940149858295,
-0.21833234679262215,
0.12035868521432477
],
[
0.6701558814484114,
-0.1754000955479748,
0.12035868521432477
],
[
0.6410597169436966,
-0.2111825900701595,
0.12035868521432477
],
[
0.5399624017908834,
-0.2537985496032764,
0.12035868521432477
],
[
0.5506818958765524,
-0.29751785606247194,
0.12035868521432477
],
[
0.32595007971367124,
-0.29450891804530754,
0.12035868521432477
],
[
0.708179354171002,
0.27167467897508973,
0.12035868521432477
],
[
0.7154570603302616,
0.07481964910608777,
0.12035868521432477
],
[
0.6945222001004622,
0.04848560383693076,
0.12035868521432477
],
[
0.3211897078936753,
-0.20883973662073474,
0.12035868521432477
]
],
"triangles": [
[
0,
1,
2
],
[
3,
4,
5
],
[
3,
6,
7
],
[
8,
9,
10
],
[
11,
12,
13
],
[
14,
15,
16
],
[
17,
18,
19
],
[
4,
0,
2
],
[
6,
3,
5
],
[
9,
8,
20
],
[
21,
11,
13
],
[
15,
14,
22
],
[
23,
17,
19
],
[
20,
22,
4
],
[
4,
3,
20
],
[
21,
8,
11
],
[
17,
23,
14
],
[
4,
22,
0
],
[
8,
21,
20
],
[
0,
14,
23
],
[
22,
20,
21
],
[
14,
0,
22
]
],
"boundary_uv": [
[
-0.23343402846958616,
-0.3721391025221977
],
[
-0.19737298361675884,
-0.5939792340313106
],
[
-0.15617929227291424,
-0.5758308152518739
],
[
-0.11683574748864595,
-0.5947174236110285
],
[
-0.09665540037934088,
-0.6679920513106294
],
[
-0.056364026408435575,
-0.690432614731637
],
[
0.16835151296476034,
-0.6755514105486675
],
[
0.1979207852426172,
-0.6915953642396133
],
[
0.19328738003275792,
-0.7320788203178088
],
[
0.2592727658332568,
-0.7628306307877806
],
[
0.28294138983805467,
-0.724736905599249
],
[
0.32044095450952637,
-0.7149965708206207
],
[
0.3375345003066902,
-0.7408630894797498
],
[
0.3853222943771012,
-0.7237981028053027
],
[
0.39052138446490925,
-0.6502447055885083
],
[
0.5122999192757457,
-0.6356309252326114
],
[
0.5447733911143818,
-0.6502930990717939
],
[
0.6189651686455276,
-0.6206587382941862
],
[
0.5807576615582428,
-0.2540236661303949
],
[
0.334573315750104,
-0.21478736202711576
],
[
-0.10636835565923705,
-0.26254975982363327
],
[
-0.12032944127157305,
-0.2749921237429604
],
[
-0.11940380761547924,
-0.32073523698336215
],
[
-0.1498929843000167,
-0.35257475421005013
]
],
"holes_uv": [],
"plane_origin": [
0.0,
0.0,
0.09235868521432478
],
"basis_u": [
0.17364817766693041,
0.984807753012208,
0.0
],
"basis_v": [
-0.9848077530122081,
0.17364817766693044,
0.0
],
"plane_normal": [
0.0,
0.0,
1.0
],
"grid_size": 0.034999999999999996,
"uv_lo": [
-0.240254841083045,
-0.7705166582393248
],
"occupied_cells_rc": [
[
0,
12
],
[
0,
13
],
[
0,
14
],
[
0,
16
],
[
0,
17
],
[
1,
11
],
[
1,
12
],
[
1,
13
],
[
1,
14
],
[
1,
15
],
[
1,
16
],
[
1,
17
],
[
1,
18
],
[
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,
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
],
[
3,
18
],
[
3,
19
],
[
3,
20
],
[
3,
21
],
[
3,
22
],
[
3,
23
],
[
3,
24
],
[
4,
1
],
[
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
],
[
4,
18
],
[
4,
19
],
[
4,
20
],
[
4,
21
],
[
4,
22
],
[
4,
23
],
[
4,
24
],
[
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
],
[
5,
19
],
[
5,
20
],
[
5,
21
],
[
5,
22
],
[
5,
23
],
[
5,
24
],
[
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
],
[
6,
19
],
[
6,
20
],
[
6,
21
],
[
6,
22
],
[
6,
23
],
[
6,
24
],
[
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
],
[
7,
19
],
[
7,
20
],
[
7,
21
],
[
7,
22
],
[
7,
23
],
[
7,
24
],
[
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
],
[
8,
19
],
[
8,
20
],
[
8,
21
],
[
8,
22
],
[
8,
23
],
[
8,
24
],
[
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
],
[
9,
19
],
[
9,
20
],
[
9,
21
],
[
9,
22
],
[
9,
23
],
[
9,
24
],
[
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
],
[
10,
19
],
[
10,
20
],
[
10,
21
],
[
10,
22
],
[
10,
23
],
[
10,
24
],
[
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
],
[
11,
19
],
[
11,
20
],
[
11,
21
],
[
11,
22
],
[
11,
23
],
[
11,
24
],
[
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
],
[
12,
19
],
[
12,
20
],
[
12,
21
],
[
12,
22
],
[
12,
23
],
[
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
],
[
13,
19
],
[
13,
20
],
[
13,
21
],
[
13,
22
],
[
13,
23
],
[
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
],
[
14,
20
],
[
14,
21
],
[
14,
22
],
[
14,
23
],
[
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
],
[
15,
20
],
[
15,
21
],
[
15,
22
],
[
16,
14
],
[
16,
15
],
[
16,
16
]
],
"thickness": 0.01,
"clearance": 0.018000000000000006,
"occupied_cell_count": 332,
"area": 0.3426270453261828,
"contour": {
"source": "gaussian_support_concave_hull",
"selected_mode": "concave",
"concavity_ratio": 0.12,
"concave_area": 0.3591525405348849,
"convex_area": 0.38908336004034766,
"convex_overcoverage_ratio": 0.08333734591125791,
"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": 23853,
"retained_support_point_count": 23459,
"rejected_support_point_count": 394,
"simplify_tolerance": 0.012,
"boundary_offset": -0.006,
"boundary_vertex_count": 24,
"hole_count": 0
}
},
"convex_hull_diagnostic": {
"vertices_uv": [
[
-0.240254840083045,
-0.36757412127231964
],
[
-0.2297058339449137,
-0.4467921637784241
],
[
-0.2104459640657877,
-0.5555625596340679
],
[
-0.20205094108736094,
-0.6025966507623085
],
[
-0.08917820951368323,
-0.6821881963762917
],
[
-0.07177449890531926,
-0.6925494995744083
],
[
-0.057735540220139166,
-0.6965365815089085
],
[
0.26156106479890495,
-0.7705166572393248
],
[
0.35613199967352954,
-0.7445019659670554
],
[
0.6219915237151236,
-0.6290861687148334
],
[
0.6254029876468826,
-0.6245482121020453
],
[
0.6266635395003879,
-0.6183651596918595
],
[
0.6289569720015838,
-0.5909651352333346
],
[
0.628883814144965,
-0.5706871603282242
],
[
0.6286526395069787,
-0.5664661171020996
],
[
0.5923043961110952,
-0.270933393442488
],
[
0.586248186311888,
-0.24882300762273796
],
[
0.5617770551661462,
-0.24343520091809348
],
[
0.5367890295454885,
-0.23847662993533406
],
[
0.37011850674288077,
-0.21329648900479412
],
[
0.3347250900470309,
-0.20873582554927886
],
[
0.29312286098366075,
-0.20970377161102263
],
[
0.27691293782754856,
-0.2101660034827159
],
[
0.23688550609216705,
-0.21431512620693588
],
[
-0.010554821541671443,
-0.24188564847263366
],
[
-0.10892542094005277,
-0.25679164236665136
]
],
"area": 0.3890833600403476,
"overcoverage_ratio": 0.13558858049264066,
"acceptable_as_fallback": false
}
},
"footprint_stats": {
"world_point_count": 1278864,
"near_plane_count": 34802,
"basis_support_count": 34802,
"reference_footprint_count": 68212,
"support_count": 23853,
"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": -0.08996526504920832,
"plane_stabilized_offset": -0.09235868521432478,
"plane_height_refined": true,
"plane_height_method": "histogram_consensus_huber",
"plane_height_sample_count": 19218,
"plane_height_initial": 0.08996526504920832,
"plane_height_refined_value": 0.09235868521432478,
"plane_height_residual_p50": 0.003076411447524817,
"plane_height_residual_p90": 0.007216001861987638,
"plane_height_histogram_bin_width": 0.004166666666666667,
"raw_cell_count": 341,
"component_cell_count": 329,
"support_core_cell_count": 332,
"filled_interior_hole_cell_count": 3,
"closure_added_cell_count": 5,
"support_envelope_cell_count": 401,
"eroded_cell_count": 252,
"final_cell_count": 252,
"rectangle_cell_count": 249,
"tightened_rectangle_count": 7,
"rectangle_count": 2,
"receiver_area": 0.3426270453261828,
"receiver_geometry": "support_aligned_polygon",
"physics_boundary_vertex_count": 24,
"lighting_boundary_vertex_count": 24,
"physics_polygon_cell_count": 334,
"lighting_polygon_cell_count": 252,
"convex_hull_area": 0.3890833600403476,
"convex_hull_overcoverage_ratio": 0.13558858049264066,
"receiver_coverage": 0.9880952380952381,
"polygon_precision": 0.9563492063492065,
"reference_mask_recall": 0.7803597252300142,
"reference_mask_overlap_iou": 0.7535207633452375,
"receiver_cell_coverage": 0.9880952380952381,
"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": 17213,
"receiver_covered_support_point_count": 17213,
"receiver_point_coverage": 1.0,
"receiver_basis_mode": "support-edge",
"receiver_basis_selected_mode": "support-edge",
"receiver_basis_angle_deg": 80.0,
"receiver_basis_point_count": 34802,
"receiver_basis_fit_mode": "support-edge",
"receiver_basis_candidate_angle_deg": 80.0,
"receiver_basis_edge_score": 2.6400712010624385,
"receiver_basis_edge_point_count": 12,
"receiver_basis_edge_line_angle_deg": 80.0,
"receiver_basis_surface_trimmed_area": 4.651658339567152,
"receiver_basis_trimmed_area": 4.9153023192722145,
"receiver_basis_support_trimmed_area": 4.9153023192722145,
"receiver_basis_area_gain": 0.0,
"receiver_basis_min_area_gain": 0.12,
"receiver_basis_quantile": 0.02,
"receiver_grid_scale": 1.4,
"contour_input_point_count": 23853,
"contour_retained_point_count": 23459,
"contour_rejected_point_count": 394,
"contour_concave_area": 0.3591525405348849,
"contour_convex_area": 0.38908336004034766,
"contour_convex_overcoverage_ratio": 0.08333734591125791,
"contour_unsupported_cell_count": 0,
"contour_hole_count": 0,
"contour_selected_mode": "concave",
"receiver_candidate_score": 1.01,
"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": 0.988,
"receiver_area": 0.34189723922372095,
"rectangle_count": 6,
"basis_angle_deg": 71.0,
"basis_area_gain": 0.0,
"basis_edge_score": 2.3754278498533954,
"coverage": 0.9285714285714286,
"grid_size": 0.025,
"grid_scale": 1.0,
"reference_edge_valid_count": 0
},
{
"basis_mode": "support-edge",
"score": 1.01,
"receiver_area": 0.3426270453261828,
"rectangle_count": 2,
"basis_angle_deg": 80.0,
"basis_area_gain": 0.0,
"basis_edge_score": 2.6400712010624385,
"coverage": 0.9880952380952381,
"grid_size": 0.034999999999999996,
"grid_scale": 1.4,
"reference_edge_valid_count": 0
}
],
"gaussian": {
"input_count": 2186166,
"finite_count": 2186166,
"kept_count": 1278864,
"normal_confidence_source": "gaussian_thinnest_axis",
"normal_confidence_count": 1278864,
"normal_confidence_threshold": 0.3
}
},
"material": {
"albedo_linear": [
0.48893745875461625,
0.5184375690926012,
0.5258125958889337
],
"roughness": 0.9,
"metallic": 0.0,
"source": "gaussian_sh_dc_trimmed_median",
"sample_count": 9264
},
"fitted_plane": {
"origin": [
0.0,
0.0,
0.09235868521432478
],
"fitted_origin": [
0.0,
0.0,
0.08996526504920832
],
"fitted_normal": [
0.0,
0.0,
1.0
],
"fitted_offset": -0.08996526504920832,
"stabilized_origin": [
0.0,
0.0,
0.09235868521432478
],
"stabilized_normal": [
0.0,
0.0,
1.0
],
"stabilized_offset": -0.09235868521432478,
"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": 17213,
"runtime_subset": "persistent"
}
},
"candidates": [
{
"center": [
0.48893333212583157,
0.14971341248800515,
0.11535868521432478
],
"quat_wxyz": [
0.7660444431189781,
0.0,
0.0,
0.6427876096865394
],
"size": [
0.6647623073154756,
0.34996809194663986,
0.01
],
"basis_u": [
0.17364817766693041,
0.984807753012208,
0.0
],
"basis_v": [
-0.9848077530122081,
0.17364817766693044,
0.0
],
"extents": [
0.6647623073154756,
0.34996809194663986
],
"area": 0.3426270453261828,
"schema_version": 2,
"plane_normal": [
0.0,
0.0,
1.0
],
"plane_offset": -0.09235868521432478,
"support_boxes": [
{
"center": [
0.48893333212583157,
0.14971341248800515,
0.11535868521432478
],
"quat_wxyz": [
0.7660444431189781,
0.0,
0.0,
0.6427876096865394
],
"size": [
0.6647623073154756,
0.34996809194663986,
0.01
],
"basis_u": [
0.17364817766693041,
0.984807753012208,
0.0
],
"basis_v": [
-0.9848077530122081,
0.17364817766693044,
0.0
],
"extents": [
0.6647623073154756,
0.34996809194663986
],
"area": 0.23264559628924283
},
{
"center": [
0.439514374931175,
-0.23238982567960387,
0.11535868521432478
],
"quat_wxyz": [
0.7660444431189781,
0.0,
0.0,
0.6427876096865394
],
"size": [
0.10344083513260673,
0.17289105045073588,
0.01
],
"basis_u": [
0.17364817766693041,
0.984807753012208,
0.0
],
"basis_v": [
-0.9848077530122081,
0.17364817766693044,
0.0
],
"extents": [
0.10344083513260673,
0.17289105045073588
],
"area": 0.01788399464557776
}
],
"footprints": {
"physics": {
"type": "support_aligned_polygon",
"role": "physics",
"vertices_uv": [
[
-0.12847723403779832,
-0.31719768852883007
],
[
-0.129411446278666,
-0.27103063740309985
],
[
-0.11020395358046063,
-0.25391258363816044
],
[
0.5108821228342084,
-0.6448656364733534
],
[
0.33480097719549434,
-0.2057100573103604
],
[
0.5889934486887105,
-0.2462226783689095
],
[
0.6286218971475601,
-0.6264929490059747
],
[
0.5445577781735298,
-0.6600706110195631
],
[
0.3164783790716319,
-0.7253244802362322
],
[
0.39388538827891373,
-0.7302968547376925
],
[
0.33391611502083357,
-0.7517118388132823
],
[
0.28868688312239627,
-0.732543190024359
],
[
0.262705214281729,
-0.774359670465097
],
[
0.18360845456205735,
-0.7374974390152075
],
[
-0.1244246785800212,
-0.6010576821484666
],
[
-0.05842129712599087,
-0.6995885648975443
],
[
-0.10433060428403136,
-0.6740190541720362
],
[
-0.15634065601166405,
-0.5857366283528237
],
[
-0.204389919822662,
-0.6069053591278074
],
[
-0.24366524588977445,
-0.3652916306473806
],
[
0.3989748195544881,
-0.6582948401740786
],
[
0.1882882861233571,
-0.6966083419290959
],
[
0.16634801749599717,
-0.684703799588097
],
[
-0.15454589284751785,
-0.34442090678219983
]
],
"vertices_world": [
[
0.290068905338392,
-0.18160617673918167,
0.12035868521432477
],
[
0.24444101120288106,
-0.174509371900708,
0.12035868521432477
],
[
0.23091836524328316,
-0.15262116533410375,
0.12035868521432477
],
[
0.7237824280828838,
0.3911409328288406,
0.12035868521432477
],
[
0.2607224388829337,
0.29399342147848234,
0.12035868521432477
],
[
0.34475964164768863,
0.5372891953430083,
0.12035868521432477
],
[
0.7261341602697683,
0.5102823591080914,
0.12035868521432477
],
[
0.7446041210817572,
0.42166466317334983,
0.12035868521432477
],
[
0.7692610653829645,
0.18571908716024438,
0.12035868521432477
],
[
0.7875994844303745,
0.26108666619420684,
0.12035868521432477
],
[
0.7982755717613726,
0.19830978798764928,
0.12035868521432477
],
[
0.7715441641228341,
0.15709629068181513,
0.12035868521432477
],
[
0.8082136888176289,
0.12424798614635127,
0.12035868521432477
],
[
0.758176469307767,
0.05275394325228486,
0.12035868521432477
],
[
0.5703201466951432,
-0.2269069593094472,
0.12035868521432477
],
[
0.6788154908469194,
-0.1790160257617873,
0.12035868521432477
],
[
0.6456623709177651,
-0.21978776844512493,
0.12035868521432477
],
[
0.5496897028134133,
-0.2556775882575414,
0.12035868521432477
],
[
0.5621931659030279,
-0.30667278730773884,
0.12035868521432477
],
[
0.31743000406248856,
-0.303395649270775,
0.12035868521432477
],
[
0.7175751127219943,
0.2786017961901346,
0.12035868521432477
],
[
0.7187212137061034,
0.06446299485209353,
0.12035868521432477
],
[
0.7031876404479617,
0.04492325028817225,
0.12035868521432477
],
[
0.31235176663972525,
-0.21200605628555025,
0.12035868521432477
]
],
"triangles": [
[
0,
1,
2
],
[
3,
4,
5
],
[
3,
6,
7
],
[
8,
9,
10
],
[
11,
12,
13
],
[
14,
15,
16
],
[
17,
18,
19
],
[
4,
0,
2
],
[
6,
3,
5
],
[
9,
8,
20
],
[
21,
11,
13
],
[
15,
14,
22
],
[
23,
17,
19
],
[
20,
22,
4
],
[
4,
3,
20
],
[
21,
8,
11
],
[
17,
23,
14
],
[
4,
22,
0
],
[
8,
21,
20
],
[
0,
14,
23
],
[
22,
20,
21
],
[
14,
0,
22
]
],
"boundary_uv": [
[
-0.24366524588977445,
-0.3652916306473806
],
[
-0.204389919822662,
-0.6069053591278074
],
[
-0.15634065601166405,
-0.5857366283528237
],
[
-0.1244246785800212,
-0.6010576821484666
],
[
-0.10433060428403136,
-0.6740190541720362
],
[
-0.05842129712599087,
-0.6995885648975443
],
[
0.16634801749599717,
-0.684703799588097
],
[
0.1882882861233571,
-0.6966083419290959
],
[
0.18360845456205735,
-0.7374974390152075
],
[
0.262705214281729,
-0.774359670465097
],
[
0.28868688312239627,
-0.732543190024359
],
[
0.3164783790716319,
-0.7253244802362322
],
[
0.33391611502083357,
-0.7517118388132823
],
[
0.39388538827891373,
-0.7302968547376925
],
[
0.3989748195544881,
-0.6582948401740786
],
[
0.5108821228342084,
-0.6448656364733534
],
[
0.5445577781735298,
-0.6600706110195631
],
[
0.6286218971475601,
-0.6264929490059747
],
[
0.5889934486887105,
-0.2462226783689095
],
[
0.33480097719549434,
-0.2057100573103604
],
[
-0.11020395358046063,
-0.25391258363816044
],
[
-0.129411446278666,
-0.27103063740309985
],
[
-0.12847723403779832,
-0.31719768852883007
],
[
-0.15454589284751785,
-0.34442090678219983
]
],
"holes_uv": [],
"plane_origin": [
0.0,
0.0,
0.09235868521432478
],
"basis_u": [
0.17364817766693041,
0.984807753012208,
0.0
],
"basis_v": [
-0.9848077530122081,
0.17364817766693044,
0.0
],
"plane_normal": [
0.0,
0.0,
1.0
],
"grid_size": 0.034999999999999996,
"uv_lo": [
-0.240254841083045,
-0.7705166582393248
],
"occupied_cells_rc": [
[
0,
12
],
[
0,
13
],
[
0,
14
],
[
0,
16
],
[
0,
17
],
[
1,
11
],
[
1,
12
],
[
1,
13
],
[
1,
14
],
[
1,
15
],
[
1,
16
],
[
1,
17
],
[
1,
18
],
[
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,
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
],
[
3,
18
],
[
3,
19
],
[
3,
20
],
[
3,
21
],
[
3,
22
],
[
3,
23
],
[
3,
24
],
[
4,
1
],
[
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
],
[
4,
18
],
[
4,
19
],
[
4,
20
],
[
4,
21
],
[
4,
22
],
[
4,
23
],
[
4,
24
],
[
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
],
[
5,
19
],
[
5,
20
],
[
5,
21
],
[
5,
22
],
[
5,
23
],
[
5,
24
],
[
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
],
[
6,
19
],
[
6,
20
],
[
6,
21
],
[
6,
22
],
[
6,
23
],
[
6,
24
],
[
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
],
[
7,
19
],
[
7,
20
],
[
7,
21
],
[
7,
22
],
[
7,
23
],
[
7,
24
],
[
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
],
[
8,
19
],
[
8,
20
],
[
8,
21
],
[
8,
22
],
[
8,
23
],
[
8,
24
],
[
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
],
[
9,
19
],
[
9,
20
],
[
9,
21
],
[
9,
22
],
[
9,
23
],
[
9,
24
],
[
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
],
[
10,
19
],
[
10,
20
],
[
10,
21
],
[
10,
22
],
[
10,
23
],
[
10,
24
],
[
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
],
[
11,
19
],
[
11,
20
],
[
11,
21
],
[
11,
22
],
[
11,
23
],
[
11,
24
],
[
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
],
[
12,
19
],
[
12,
20
],
[
12,
21
],
[
12,
22
],
[
12,
23
],
[
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
],
[
13,
19
],
[
13,
20
],
[
13,
21
],
[
13,
22
],
[
13,
23
],
[
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
],
[
14,
20
],
[
14,
21
],
[
14,
22
],
[
14,
23
],
[
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
],
[
15,
20
],
[
15,
21
],
[
15,
22
],
[
16,
14
],
[
16,
15
],
[
16,
16
]
],
"thickness": 0.01,
"clearance": 0.018000000000000006,
"occupied_cell_count": 332,
"area": 0.36582271194535465,
"contour": {
"source": "gaussian_support_concave_hull",
"selected_mode": "concave",
"concavity_ratio": 0.12,
"concave_area": 0.3591525405348849,
"convex_area": 0.38908336004034766,
"convex_overcoverage_ratio": 0.08333734591125791,
"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": 23853,
"retained_support_point_count": 23459,
"rejected_support_point_count": 394,
"simplify_tolerance": 0.012,
"boundary_offset": 0.003,
"boundary_vertex_count": 24,
"hole_count": 0
}
},
"lighting": {
"type": "support_aligned_polygon",
"role": "lighting",
"vertices_uv": [
[
-0.11940380761547924,
-0.32073523698336215
],
[
-0.12032944127157305,
-0.2749921237429604
],
[
-0.10636835565923705,
-0.26254975982363327
],
[
0.5122999192757457,
-0.6356309252326114
],
[
0.334573315750104,
-0.21478736202711576
],
[
0.5807576615582428,
-0.2540236661303949
],
[
0.6189651686455276,
-0.6206587382941862
],
[
0.5447733911143818,
-0.6502930990717939
],
[
0.32044095450952637,
-0.7149965708206207
],
[
0.3853222943771012,
-0.7237981028053027
],
[
0.3375345003066902,
-0.7408630894797498
],
[
0.28294138983805467,
-0.724736905599249
],
[
0.2592727658332568,
-0.7628306307877806
],
[
0.19328738003275792,
-0.7320788203178088
],
[
-0.11683574748864595,
-0.5947174236110285
],
[
-0.056364026408435575,
-0.690432614731637
],
[
-0.09665540037934088,
-0.6679920513106294
],
[
-0.15617929227291424,
-0.5758308152518739
],
[
-0.19737298361675884,
-0.5939792340313106
],
[
-0.23343402846958616,
-0.3721391025221977
],
[
0.39052138446490925,
-0.6502447055885083
],
[
0.1979207852426172,
-0.6915953642396133
],
[
0.16835151296476034,
-0.6755514105486675
],
[
-0.1498929843000167,
-0.35257475421005013
]
],
"vertices_world": [
[
0.29512829444650224,
-0.173284884894634,
0.12035868521432477
],
[
0.24991938728287136,
-0.16625324784059642,
0.12035868521432477
],
[
0.24009036790415275,
-0.1503436686686408,
0.12035868521432477
],
[
0.7149342106245478,
0.3941407805348948,
0.12035868521432477
],
[
0.2696223059493316,
0.29219296129980804,
0.12035868521432477
],
[
0.3510119854494944,
0.5278239010159818,
0.12035868521432477
],
[
0.7187117110214897,
0.5017854380687827,
0.12035868521432477
],
[
0.735012592304685,
0.42357484760099745,
0.12035868521432477
],
[
0.7597781541217207,
0.19141488482250868,
0.12035868521432477
],
[
0.7797124974912135,
0.25378216136009923,
0.12035868521432477
],
[
0.7882199653182096,
0.20375706742227942,
0.12035868521432477
],
[
0.762858780260144,
0.152793631415286,
0.12035868521432477
],
[
0.7962637627406093,
0.12286968103269688,
0.12035868521432477
],
[
0.7545208993737131,
0.06322675735893332,
0.12035868521432477
],
[
0.5653940149858295,
-0.21833234679262215,
0.12035868521432477
],
[
0.6701558814484114,
-0.1754000955479748,
0.12035868521432477
],
[
0.6410597169436966,
-0.2111825900701595,
0.12035868521432477
],
[
0.5399624017908834,
-0.2537985496032764,
0.12035868521432477
],
[
0.5506818958765524,
-0.29751785606247194,
0.12035868521432477
],
[
0.32595007971367124,
-0.29450891804530754,
0.12035868521432477
],
[
0.708179354171002,
0.27167467897508973,
0.12035868521432477
],
[
0.7154570603302616,
0.07481964910608777,
0.12035868521432477
],
[
0.6945222001004622,
0.04848560383693076,
0.12035868521432477
],
[
0.3211897078936753,
-0.20883973662073474,
0.12035868521432477
]
],
"triangles": [
[
0,
1,
2
],
[
3,
4,
5
],
[
3,
6,
7
],
[
8,
9,
10
],
[
11,
12,
13
],
[
14,
15,
16
],
[
17,
18,
19
],
[
4,
0,
2
],
[
6,
3,
5
],
[
9,
8,
20
],
[
21,
11,
13
],
[
15,
14,
22
],
[
23,
17,
19
],
[
20,
22,
4
],
[
4,
3,
20
],
[
21,
8,
11
],
[
17,
23,
14
],
[
4,
22,
0
],
[
8,
21,
20
],
[
0,
14,
23
],
[
22,
20,
21
],
[
14,
0,
22
]
],
"boundary_uv": [
[
-0.23343402846958616,
-0.3721391025221977
],
[
-0.19737298361675884,
-0.5939792340313106
],
[
-0.15617929227291424,
-0.5758308152518739
],
[
-0.11683574748864595,
-0.5947174236110285
],
[
-0.09665540037934088,
-0.6679920513106294
],
[
-0.056364026408435575,
-0.690432614731637
],
[
0.16835151296476034,
-0.6755514105486675
],
[
0.1979207852426172,
-0.6915953642396133
],
[
0.19328738003275792,
-0.7320788203178088
],
[
0.2592727658332568,
-0.7628306307877806
],
[
0.28294138983805467,
-0.724736905599249
],
[
0.32044095450952637,
-0.7149965708206207
],
[
0.3375345003066902,
-0.7408630894797498
],
[
0.3853222943771012,
-0.7237981028053027
],
[
0.39052138446490925,
-0.6502447055885083
],
[
0.5122999192757457,
-0.6356309252326114
],
[
0.5447733911143818,
-0.6502930990717939
],
[
0.6189651686455276,
-0.6206587382941862
],
[
0.5807576615582428,
-0.2540236661303949
],
[
0.334573315750104,
-0.21478736202711576
],
[
-0.10636835565923705,
-0.26254975982363327
],
[
-0.12032944127157305,
-0.2749921237429604
],
[
-0.11940380761547924,
-0.32073523698336215
],
[
-0.1498929843000167,
-0.35257475421005013
]
],
"holes_uv": [],
"plane_origin": [
0.0,
0.0,
0.09235868521432478
],
"basis_u": [
0.17364817766693041,
0.984807753012208,
0.0
],
"basis_v": [
-0.9848077530122081,
0.17364817766693044,
0.0
],
"plane_normal": [
0.0,
0.0,
1.0
],
"grid_size": 0.034999999999999996,
"uv_lo": [
-0.240254841083045,
-0.7705166582393248
],
"occupied_cells_rc": [
[
0,
12
],
[
0,
13
],
[
0,
14
],
[
0,
16
],
[
0,
17
],
[
1,
11
],
[
1,
12
],
[
1,
13
],
[
1,
14
],
[
1,
15
],
[
1,
16
],
[
1,
17
],
[
1,
18
],
[
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,
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
],
[
3,
18
],
[
3,
19
],
[
3,
20
],
[
3,
21
],
[
3,
22
],
[
3,
23
],
[
3,
24
],
[
4,
1
],
[
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
],
[
4,
18
],
[
4,
19
],
[
4,
20
],
[
4,
21
],
[
4,
22
],
[
4,
23
],
[
4,
24
],
[
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
],
[
5,
19
],
[
5,
20
],
[
5,
21
],
[
5,
22
],
[
5,
23
],
[
5,
24
],
[
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
],
[
6,
19
],
[
6,
20
],
[
6,
21
],
[
6,
22
],
[
6,
23
],
[
6,
24
],
[
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
],
[
7,
19
],
[
7,
20
],
[
7,
21
],
[
7,
22
],
[
7,
23
],
[
7,
24
],
[
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
],
[
8,
19
],
[
8,
20
],
[
8,
21
],
[
8,
22
],
[
8,
23
],
[
8,
24
],
[
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
],
[
9,
19
],
[
9,
20
],
[
9,
21
],
[
9,
22
],
[
9,
23
],
[
9,
24
],
[
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
],
[
10,
19
],
[
10,
20
],
[
10,
21
],
[
10,
22
],
[
10,
23
],
[
10,
24
],
[
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
],
[
11,
19
],
[
11,
20
],
[
11,
21
],
[
11,
22
],
[
11,
23
],
[
11,
24
],
[
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
],
[
12,
19
],
[
12,
20
],
[
12,
21
],
[
12,
22
],
[
12,
23
],
[
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
],
[
13,
19
],
[
13,
20
],
[
13,
21
],
[
13,
22
],
[
13,
23
],
[
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
],
[
14,
20
],
[
14,
21
],
[
14,
22
],
[
14,
23
],
[
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
],
[
15,
20
],
[
15,
21
],
[
15,
22
],
[
16,
14
],
[
16,
15
],
[
16,
16
]
],
"thickness": 0.01,
"clearance": 0.018000000000000006,
"occupied_cell_count": 332,
"area": 0.3426270453261828,
"contour": {
"source": "gaussian_support_concave_hull",
"selected_mode": "concave",
"concavity_ratio": 0.12,
"concave_area": 0.3591525405348849,
"convex_area": 0.38908336004034766,
"convex_overcoverage_ratio": 0.08333734591125791,
"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": 23853,
"retained_support_point_count": 23459,
"rejected_support_point_count": 394,
"simplify_tolerance": 0.012,
"boundary_offset": -0.006,
"boundary_vertex_count": 24,
"hole_count": 0
}
},
"convex_hull_diagnostic": {
"vertices_uv": [
[
-0.240254840083045,
-0.36757412127231964
],
[
-0.2297058339449137,
-0.4467921637784241
],
[
-0.2104459640657877,
-0.5555625596340679
],
[
-0.20205094108736094,
-0.6025966507623085
],
[
-0.08917820951368323,
-0.6821881963762917
],
[
-0.07177449890531926,
-0.6925494995744083
],
[
-0.057735540220139166,
-0.6965365815089085
],
[
0.26156106479890495,
-0.7705166572393248
],
[
0.35613199967352954,
-0.7445019659670554
],
[
0.6219915237151236,
-0.6290861687148334
],
[
0.6254029876468826,
-0.6245482121020453
],
[
0.6266635395003879,
-0.6183651596918595
],
[
0.6289569720015838,
-0.5909651352333346
],
[
0.628883814144965,
-0.5706871603282242
],
[
0.6286526395069787,
-0.5664661171020996
],
[
0.5923043961110952,
-0.270933393442488
],
[
0.586248186311888,
-0.24882300762273796
],
[
0.5617770551661462,
-0.24343520091809348
],
[
0.5367890295454885,
-0.23847662993533406
],
[
0.37011850674288077,
-0.21329648900479412
],
[
0.3347250900470309,
-0.20873582554927886
],
[
0.29312286098366075,
-0.20970377161102263
],
[
0.27691293782754856,
-0.2101660034827159
],
[
0.23688550609216705,
-0.21431512620693588
],
[
-0.010554821541671443,
-0.24188564847263366
],
[
-0.10892542094005277,
-0.25679164236665136
]
],
"area": 0.3890833600403476,
"overcoverage_ratio": 0.13558858049264066,
"acceptable_as_fallback": false
}
},
"footprint_stats": {
"world_point_count": 1278864,
"near_plane_count": 34802,
"basis_support_count": 34802,
"reference_footprint_count": 68212,
"support_count": 23853,
"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": -0.08996526504920832,
"plane_stabilized_offset": -0.09235868521432478,
"plane_height_refined": true,
"plane_height_method": "histogram_consensus_huber",
"plane_height_sample_count": 19218,
"plane_height_initial": 0.08996526504920832,
"plane_height_refined_value": 0.09235868521432478,
"plane_height_residual_p50": 0.003076411447524817,
"plane_height_residual_p90": 0.007216001861987638,
"plane_height_histogram_bin_width": 0.004166666666666667,
"raw_cell_count": 341,
"component_cell_count": 329,
"support_core_cell_count": 332,
"filled_interior_hole_cell_count": 3,
"closure_added_cell_count": 5,
"support_envelope_cell_count": 401,
"eroded_cell_count": 252,
"final_cell_count": 252,
"rectangle_cell_count": 249,
"tightened_rectangle_count": 7,
"rectangle_count": 2,
"receiver_area": 0.3426270453261828,
"receiver_geometry": "support_aligned_polygon",
"physics_boundary_vertex_count": 24,
"lighting_boundary_vertex_count": 24,
"physics_polygon_cell_count": 334,
"lighting_polygon_cell_count": 252,
"convex_hull_area": 0.3890833600403476,
"convex_hull_overcoverage_ratio": 0.13558858049264066,
"receiver_coverage": 0.9880952380952381,
"polygon_precision": 0.9563492063492065,
"reference_mask_recall": 0.7803597252300142,
"reference_mask_overlap_iou": 0.7535207633452375,
"receiver_cell_coverage": 0.9880952380952381,
"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": 17213,
"receiver_covered_support_point_count": 17213,
"receiver_point_coverage": 1.0,
"receiver_basis_mode": "support-edge",
"receiver_basis_selected_mode": "support-edge",
"receiver_basis_angle_deg": 80.0,
"receiver_basis_point_count": 34802,
"receiver_basis_fit_mode": "support-edge",
"receiver_basis_candidate_angle_deg": 80.0,
"receiver_basis_edge_score": 2.6400712010624385,
"receiver_basis_edge_point_count": 12,
"receiver_basis_edge_line_angle_deg": 80.0,
"receiver_basis_surface_trimmed_area": 4.651658339567152,
"receiver_basis_trimmed_area": 4.9153023192722145,
"receiver_basis_support_trimmed_area": 4.9153023192722145,
"receiver_basis_area_gain": 0.0,
"receiver_basis_min_area_gain": 0.12,
"receiver_basis_quantile": 0.02,
"receiver_grid_scale": 1.4,
"contour_input_point_count": 23853,
"contour_retained_point_count": 23459,
"contour_rejected_point_count": 394,
"contour_concave_area": 0.3591525405348849,
"contour_convex_area": 0.38908336004034766,
"contour_convex_overcoverage_ratio": 0.08333734591125791,
"contour_unsupported_cell_count": 0,
"contour_hole_count": 0,
"contour_selected_mode": "concave",
"receiver_candidate_score": 1.01,
"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": 0.988,
"receiver_area": 0.34189723922372095,
"rectangle_count": 6,
"basis_angle_deg": 71.0,
"basis_area_gain": 0.0,
"basis_edge_score": 2.3754278498533954,
"coverage": 0.9285714285714286,
"grid_size": 0.025,
"grid_scale": 1.0,
"reference_edge_valid_count": 0
},
{
"basis_mode": "support-edge",
"score": 1.01,
"receiver_area": 0.3426270453261828,
"rectangle_count": 2,
"basis_angle_deg": 80.0,
"basis_area_gain": 0.0,
"basis_edge_score": 2.6400712010624385,
"coverage": 0.9880952380952381,
"grid_size": 0.034999999999999996,
"grid_scale": 1.4,
"reference_edge_valid_count": 0
}
],
"gaussian": {
"input_count": 2186166,
"finite_count": 2186166,
"kept_count": 1278864,
"normal_confidence_source": "gaussian_thinnest_axis",
"normal_confidence_count": 1278864,
"normal_confidence_threshold": 0.3
}
},
"material": {
"albedo_linear": [
0.48893745875461625,
0.5184375690926012,
0.5258125958889337
],
"roughness": 0.9,
"metallic": 0.0,
"source": "gaussian_sh_dc_trimmed_median",
"sample_count": 9264
},
"fitted_plane": {
"origin": [
0.0,
0.0,
0.09235868521432478
],
"fitted_origin": [
0.0,
0.0,
0.08996526504920832
],
"fitted_normal": [
0.0,
0.0,
1.0
],
"fitted_offset": -0.08996526504920832,
"stabilized_origin": [
0.0,
0.0,
0.09235868521432478
],
"stabilized_normal": [
0.0,
0.0,
1.0
],
"stabilized_offset": -0.09235868521432478,
"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": 17213,
"runtime_subset": "persistent"
}
}
]
}