{ "version": 2, "type": "operation_surface_render_receiver", "source": { "operation_surface_json": "/home/pangchil/user_data/scene_gaussian_alignment/optimization_results/droid8/operation_surface_plane_fit.json", "gaussian_ply": "/home/pangchil/user_data/Eden/eden/assets/echo2/droid8/gaussian_trimmed.ply", "result": "/home/pangchil/user_data/scene_gaussian_alignment/optimization_results/droid8/aligned_pose_refined.npy", "scene_scale": "/home/pangchil/user_data/scene_gaussian_alignment/optimization_results/droid8/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": [ 0.5934576820346567, 0.12929190586442343, 0.12034193925792397 ], "size": [ 0.9506790599614388, 0.5582383350315208, 0.01 ], "quat_wxyz": [ 0.7724820120089526, -0.0, 0.0, -0.6350366454958333 ], "plane_normal": [ 0.0, 0.0, 1.0 ], "plane_offset": -0.11234193925792396 }, "stats": { "world_point_count": 741532, "near_plane_count": 16391, "basis_support_count": 16391, "reference_footprint_count": 25384, "support_count": 8979, "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": -0.11234193925792396, "plane_stabilized_offset": -0.11132961356916958, "plane_height_refined": true, "plane_height_method": "histogram_consensus_huber", "plane_height_sample_count": 6998, "plane_height_initial": 0.11234193925792396, "plane_height_refined_value": 0.11132961356916958, "plane_height_residual_p50": 0.003755379356210113, "plane_height_residual_p90": 0.008089424887964426, "plane_height_histogram_bin_width": 0.004166666666666667, "raw_cell_count": 835, "component_cell_count": 832, "support_core_cell_count": 839, "filled_interior_hole_cell_count": 7, "closure_added_cell_count": 18, "support_envelope_cell_count": 957, "eroded_cell_count": 708, "final_cell_count": 708, "rectangle_cell_count": 707, "tightened_rectangle_count": 8, "rectangle_count": 2, "receiver_area": 0.48903161637825, "receiver_geometry": "support_aligned_polygon", "physics_boundary_vertex_count": 13, "lighting_boundary_vertex_count": 13, "physics_polygon_cell_count": 850, "lighting_polygon_cell_count": 708, "convex_hull_area": 0.5641776443344093, "convex_hull_overcoverage_ratio": 0.15366292370355933, "receiver_coverage": 0.998587570621469, "polygon_precision": 0.9505649717514125, "reference_mask_recall": 0.7925770573348933, "reference_mask_overlap_iou": 0.761201315216211, "receiver_cell_coverage": 0.998587570621469, "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": 0.025, "erosion_cells": 1, "receiver_support_point_count": 7548, "receiver_covered_support_point_count": 7548, "receiver_point_coverage": 1.0, "receiver_basis_mode": "support-edge", "receiver_basis_selected_mode": "support-edge", "receiver_basis_angle_deg": 0.0, "receiver_basis_point_count": 16391, "receiver_basis_fit_mode": "support-edge", "receiver_basis_candidate_angle_deg": 0.0, "receiver_basis_edge_score": 16.395275515883945, "receiver_basis_edge_point_count": 109, "receiver_basis_edge_line_angle_deg": 90.0, "receiver_basis_surface_trimmed_area": 20.219419698407197, "receiver_basis_trimmed_area": 20.219419698407197, "receiver_basis_support_trimmed_area": 20.219419698407197, "receiver_basis_area_gain": 0.0, "receiver_basis_min_area_gain": 0.12, "receiver_basis_quantile": 0.02, "receiver_grid_scale": 1.0, "contour_input_point_count": 8979, "contour_retained_point_count": 8974, "contour_rejected_point_count": 5, "contour_concave_area": 0.5074724554097234, "contour_convex_area": 0.5641776443344093, "contour_convex_overcoverage_ratio": 0.11174042713097253, "contour_unsupported_cell_count": 0, "contour_hole_count": 0, "contour_selected_mode": "concave", "receiver_candidate_score": 0.99, "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": 0.99, "receiver_area": 0.48903161637825, "rectangle_count": 2, "basis_angle_deg": 0.0, "basis_area_gain": 0.0, "basis_edge_score": 16.395275515883945, "coverage": 0.998587570621469, "grid_size": 0.025, "grid_scale": 1.0, "reference_edge_valid_count": 0 }, { "basis_mode": "support-edge", "score": 0.984, "receiver_area": 0.49234538638348396, "rectangle_count": 3, "basis_angle_deg": 88.0, "basis_area_gain": 0.0, "basis_edge_score": 14.702493229414927, "coverage": 1.0, "grid_size": 0.034999999999999996, "grid_scale": 1.4, "reference_edge_valid_count": 0 } ], "gaussian": { "input_count": 2195474, "finite_count": 2195474, "kept_count": 741532, "normal_confidence_source": "gaussian_thinnest_axis", "normal_confidence_count": 741532, "normal_confidence_threshold": 0.3 }, "table_material": { "albedo_linear": [ 0.0833109523788938, 0.7028132537133037, 0.5405626515833687 ], "roughness": 0.9, "metallic": 0.0, "source": "gaussian_sh_dc_trimmed_median", "sample_count": 4488 } }, "selected": { "center": [ 0.515576322641953, 0.15755060995750356, 0.1343296135691696 ], "quat_wxyz": [ 0.7724820120089526, 0.0, 0.0, -0.6350366454958333 ], "size": [ 0.9748776236541197, 0.3746179848874875, 0.01 ], "basis_u": [ 0.19345691775479915, -0.9811087712240744, 0.0 ], "basis_v": [ 0.9811087712240744, 0.19345691775479915, 0.0 ], "extents": [ 0.9748776236541197, 0.3746179848874875 ], "area": 0.48903161637825, "schema_version": 2, "plane_normal": [ 0.0, 0.0, 1.0 ], "plane_offset": -0.11132961356916958, "support_boxes": [ { "center": [ 0.515576322641953, 0.15755060995750356, 0.1343296135691696 ], "quat_wxyz": [ 0.7724820120089526, 0.0, 0.0, -0.6350366454958333 ], "size": [ 0.9748776236541197, 0.3746179848874875, 0.01 ], "basis_u": [ 0.19345691775479915, -0.9811087712240744, 0.0 ], "basis_v": [ 0.9811087712240744, 0.19345691775479915, 0.0 ], "extents": [ 0.9748776236541197, 0.3746179848874875 ], "area": 0.36520669088520874 }, { "center": [ 0.7943063889268702, -0.09293057293933266, 0.1343296135691696 ], "quat_wxyz": [ 0.7724820120089526, 0.0, 0.0, -0.6350366454958333 ], "size": [ 0.4239416199134141, 0.07480078316909644, 0.01 ], "basis_u": [ 0.19345691775479915, -0.9811087712240744, 0.0 ], "basis_v": [ 0.9811087712240744, 0.19345691775479915, 0.0 ], "extents": [ 0.4239416199134141, 0.07480078316909644 ], "area": 0.03171116518749879 } ], "footprints": { "physics": { "type": "support_aligned_polygon", "role": "physics", "vertices_uv": [ [ 0.475779541755595, 0.7321022709713305 ], [ 0.2327893342208624, 0.8562910078506601 ], [ 0.32366401501067354, 0.8501106305398719 ], [ 0.522066456918453, 0.8314182573708641 ], [ 0.5140603072186891, 0.9437607974458098 ], [ 0.5319001846048387, 0.9311963812084015 ], [ 0.421641520448596, 0.8719800370286129 ], [ 0.11097550000334103, 0.8161875340591485 ], [ 0.5122145085450117, 0.5116840885084138 ], [ 0.44135909795406636, 0.3267532085039332 ], [ -0.37614819583494113, 0.7490273838333754 ], [ -0.5481288408361221, 0.2956859926977944 ], [ -0.5620875387549967, 0.7472952518327545 ] ], "vertices_world": [ [ 0.8103148031618647, -0.3251612327619826, 0.1393296135691696 ], [ 0.8851493256071452, -0.06273623857156146, 0.1393296135691696 ], [ 0.8966660388656047, -0.15308982172173985, 0.1393296135691696 ], [ 0.9167091124810022, -0.35136036660853587, 0.1393296135691696 ], [ 1.0253805188861236, -0.32177202137872063, 0.1393296135691696 ], [ 1.0165047076025404, -0.3417055547985113, 0.1393296135691696 ], [ 0.9370767316044978, -0.24498562371710136, 0.1393296135691696 ], [ 0.8222377268061225, 0.04901808820471784, 0.1393296135691696 ], [ 0.6011091873838076, -0.403549320454728, 0.1393296135691696 ], [ 0.4059644096020498, -0.3698086136786178, 0.1393296135691696 ], [ 0.6621088655806898, 0.5139468232041173, 0.1393296135691696 ], [ 0.18406080488323662, 0.5949765142757873, 0.1393296135691696 ], [ 0.624438203511296, 0.6960384505406402, 0.1393296135691696 ] ], "triangles": [ [ 0, 1, 2 ], [ 3, 4, 5 ], [ 6, 3, 0 ], [ 7, 8, 9 ], [ 10, 11, 12 ], [ 4, 3, 6 ], [ 7, 11, 10 ], [ 2, 6, 0 ], [ 11, 7, 9 ], [ 1, 0, 7 ], [ 8, 7, 0 ] ], "boundary_uv": [ [ -0.5620875387549967, 0.7472952518327545 ], [ -0.5481288408361221, 0.2956859926977944 ], [ 0.44135909795406636, 0.3267532085039332 ], [ 0.5122145085450117, 0.5116840885084138 ], [ 0.475779541755595, 0.7321022709713305 ], [ 0.522066456918453, 0.8314182573708641 ], [ 0.5319001846048387, 0.9311963812084015 ], [ 0.5140603072186891, 0.9437607974458098 ], [ 0.421641520448596, 0.8719800370286129 ], [ 0.32366401501067354, 0.8501106305398719 ], [ 0.2327893342208624, 0.8562910078506601 ], [ 0.11097550000334103, 0.8161875340591485 ], [ -0.37614819583494113, 0.7490273838333754 ] ], "holes_uv": [], "plane_origin": [ 0.0, 0.0, 0.11132961356916958 ], "basis_u": [ 0.19345691775479915, -0.9811087712240744, 0.0 ], "basis_v": [ 0.9811087712240744, 0.19345691775479915, 0.0 ], "plane_normal": [ 0.0, 0.0, 1.0 ], "grid_size": 0.025, "uv_lo": [ -0.5672939681228737, 0.2987787054666924 ], "occupied_cells_rc": [ [ 0, 0 ], [ 0, 1 ], [ 0, 2 ], [ 0, 3 ], [ 0, 4 ], [ 0, 5 ], [ 0, 6 ], [ 0, 7 ], [ 0, 8 ], [ 0, 9 ], [ 0, 10 ], [ 0, 11 ], [ 0, 12 ], [ 0, 13 ], [ 0, 14 ], [ 0, 15 ], [ 0, 16 ], [ 0, 17 ], [ 0, 18 ], [ 0, 19 ], [ 0, 20 ], [ 1, 0 ], [ 1, 1 ], [ 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 ], [ 1, 18 ], [ 1, 19 ], [ 1, 20 ], [ 1, 21 ], [ 1, 22 ], [ 1, 23 ], [ 1, 24 ], [ 1, 25 ], [ 1, 26 ], [ 1, 27 ], [ 1, 28 ], [ 1, 29 ], [ 1, 30 ], [ 1, 31 ], [ 1, 32 ], [ 1, 33 ], [ 1, 34 ], [ 1, 35 ], [ 1, 36 ], [ 1, 37 ], [ 1, 38 ], [ 1, 39 ], [ 1, 40 ], [ 2, 0 ], [ 2, 1 ], [ 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 ], [ 2, 18 ], [ 2, 19 ], [ 2, 20 ], [ 2, 21 ], [ 2, 22 ], [ 2, 23 ], [ 2, 24 ], [ 2, 25 ], [ 2, 26 ], [ 2, 27 ], [ 2, 28 ], [ 2, 29 ], [ 2, 30 ], [ 2, 31 ], [ 2, 32 ], [ 2, 33 ], [ 2, 34 ], [ 2, 35 ], [ 2, 36 ], [ 2, 37 ], [ 2, 38 ], [ 2, 39 ], [ 2, 40 ], [ 2, 41 ], [ 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 ], [ 3, 18 ], [ 3, 19 ], [ 3, 20 ], [ 3, 21 ], [ 3, 22 ], [ 3, 23 ], [ 3, 24 ], [ 3, 25 ], [ 3, 26 ], [ 3, 27 ], [ 3, 28 ], [ 3, 29 ], [ 3, 30 ], [ 3, 31 ], [ 3, 32 ], [ 3, 33 ], [ 3, 34 ], [ 3, 35 ], [ 3, 36 ], [ 3, 37 ], [ 3, 38 ], [ 3, 39 ], [ 3, 40 ], [ 3, 41 ], [ 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 ], [ 4, 18 ], [ 4, 19 ], [ 4, 20 ], [ 4, 21 ], [ 4, 22 ], [ 4, 23 ], [ 4, 24 ], [ 4, 25 ], [ 4, 26 ], [ 4, 27 ], [ 4, 28 ], [ 4, 29 ], [ 4, 30 ], [ 4, 31 ], [ 4, 32 ], [ 4, 33 ], [ 4, 34 ], [ 4, 35 ], [ 4, 36 ], [ 4, 37 ], [ 4, 38 ], [ 4, 39 ], [ 4, 40 ], [ 4, 41 ], [ 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 ], [ 5, 25 ], [ 5, 26 ], [ 5, 27 ], [ 5, 28 ], [ 5, 29 ], [ 5, 30 ], [ 5, 31 ], [ 5, 32 ], [ 5, 33 ], [ 5, 34 ], [ 5, 35 ], [ 5, 36 ], [ 5, 37 ], [ 5, 38 ], [ 5, 39 ], [ 5, 40 ], [ 5, 41 ], [ 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 ], [ 6, 25 ], [ 6, 26 ], [ 6, 27 ], [ 6, 28 ], [ 6, 29 ], [ 6, 30 ], [ 6, 31 ], [ 6, 32 ], [ 6, 33 ], [ 6, 34 ], [ 6, 35 ], [ 6, 36 ], [ 6, 37 ], [ 6, 38 ], [ 6, 39 ], [ 6, 40 ], [ 6, 41 ], [ 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 ], [ 7, 25 ], [ 7, 26 ], [ 7, 27 ], [ 7, 28 ], [ 7, 29 ], [ 7, 30 ], [ 7, 31 ], [ 7, 32 ], [ 7, 33 ], [ 7, 34 ], [ 7, 35 ], [ 7, 36 ], [ 7, 37 ], [ 7, 38 ], [ 7, 39 ], [ 7, 40 ], [ 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 ], [ 8, 25 ], [ 8, 26 ], [ 8, 27 ], [ 8, 28 ], [ 8, 29 ], [ 8, 30 ], [ 8, 31 ], [ 8, 32 ], [ 8, 33 ], [ 8, 34 ], [ 8, 35 ], [ 8, 36 ], [ 8, 37 ], [ 8, 38 ], [ 8, 39 ], [ 8, 40 ], [ 8, 41 ], [ 8, 43 ], [ 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 ], [ 9, 25 ], [ 9, 26 ], [ 9, 27 ], [ 9, 28 ], [ 9, 29 ], [ 9, 30 ], [ 9, 31 ], [ 9, 32 ], [ 9, 33 ], [ 9, 34 ], [ 9, 35 ], [ 9, 36 ], [ 9, 37 ], [ 9, 38 ], [ 9, 39 ], [ 9, 40 ], [ 9, 41 ], [ 9, 42 ], [ 9, 43 ], [ 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 ], [ 10, 25 ], [ 10, 26 ], [ 10, 27 ], [ 10, 28 ], [ 10, 29 ], [ 10, 30 ], [ 10, 31 ], [ 10, 32 ], [ 10, 33 ], [ 10, 34 ], [ 10, 35 ], [ 10, 36 ], [ 10, 37 ], [ 10, 38 ], [ 10, 39 ], [ 10, 40 ], [ 10, 41 ], [ 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 ], [ 11, 25 ], [ 11, 26 ], [ 11, 27 ], [ 11, 28 ], [ 11, 29 ], [ 11, 30 ], [ 11, 31 ], [ 11, 32 ], [ 11, 33 ], [ 11, 34 ], [ 11, 35 ], [ 11, 36 ], [ 11, 37 ], [ 11, 38 ], [ 11, 39 ], [ 11, 40 ], [ 11, 41 ], [ 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 ], [ 12, 19 ], [ 12, 20 ], [ 12, 21 ], [ 12, 22 ], [ 12, 23 ], [ 12, 24 ], [ 12, 25 ], [ 12, 26 ], [ 12, 27 ], [ 12, 28 ], [ 12, 29 ], [ 12, 30 ], [ 12, 31 ], [ 12, 32 ], [ 12, 33 ], [ 12, 34 ], [ 12, 35 ], [ 12, 36 ], [ 12, 37 ], [ 12, 38 ], [ 12, 39 ], [ 12, 40 ], [ 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 ], [ 13, 19 ], [ 13, 20 ], [ 13, 21 ], [ 13, 22 ], [ 13, 23 ], [ 13, 24 ], [ 13, 25 ], [ 13, 26 ], [ 13, 27 ], [ 13, 28 ], [ 13, 29 ], [ 13, 30 ], [ 13, 31 ], [ 13, 32 ], [ 13, 33 ], [ 13, 34 ], [ 13, 35 ], [ 13, 36 ], [ 13, 37 ], [ 13, 38 ], [ 13, 39 ], [ 13, 40 ], [ 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 ], [ 14, 20 ], [ 14, 21 ], [ 14, 22 ], [ 14, 23 ], [ 14, 24 ], [ 14, 25 ], [ 14, 26 ], [ 14, 27 ], [ 14, 28 ], [ 14, 29 ], [ 14, 30 ], [ 14, 31 ], [ 14, 32 ], [ 14, 33 ], [ 14, 34 ], [ 14, 35 ], [ 14, 36 ], [ 14, 37 ], [ 14, 38 ], [ 14, 39 ], [ 14, 40 ], [ 14, 41 ], [ 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 ], [ 15, 20 ], [ 15, 21 ], [ 15, 22 ], [ 15, 23 ], [ 15, 24 ], [ 15, 25 ], [ 15, 26 ], [ 15, 27 ], [ 15, 28 ], [ 15, 29 ], [ 15, 30 ], [ 15, 31 ], [ 15, 32 ], [ 15, 33 ], [ 15, 34 ], [ 15, 35 ], [ 15, 36 ], [ 15, 37 ], [ 15, 38 ], [ 15, 39 ], [ 15, 40 ], [ 15, 41 ], [ 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 ], [ 16, 20 ], [ 16, 21 ], [ 16, 22 ], [ 16, 23 ], [ 16, 24 ], [ 16, 25 ], [ 16, 26 ], [ 16, 27 ], [ 16, 28 ], [ 16, 29 ], [ 16, 30 ], [ 16, 31 ], [ 16, 32 ], [ 16, 33 ], [ 16, 34 ], [ 16, 35 ], [ 16, 36 ], [ 16, 37 ], [ 16, 38 ], [ 16, 39 ], [ 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 ], [ 17, 20 ], [ 17, 21 ], [ 17, 22 ], [ 17, 23 ], [ 17, 24 ], [ 17, 25 ], [ 17, 26 ], [ 17, 27 ], [ 17, 28 ], [ 17, 29 ], [ 17, 30 ], [ 17, 31 ], [ 17, 32 ], [ 17, 33 ], [ 17, 34 ], [ 17, 35 ], [ 17, 36 ], [ 17, 37 ], [ 17, 38 ], [ 17, 39 ], [ 17, 40 ], [ 17, 41 ], [ 18, 2 ], [ 18, 3 ], [ 18, 8 ], [ 18, 9 ], [ 18, 10 ], [ 18, 11 ], [ 18, 12 ], [ 18, 13 ], [ 18, 14 ], [ 18, 15 ], [ 18, 16 ], [ 18, 17 ], [ 18, 18 ], [ 18, 19 ], [ 18, 20 ], [ 18, 21 ], [ 18, 22 ], [ 18, 23 ], [ 18, 24 ], [ 18, 25 ], [ 18, 26 ], [ 18, 27 ], [ 18, 28 ], [ 18, 29 ], [ 18, 30 ], [ 18, 31 ], [ 18, 32 ], [ 18, 33 ], [ 18, 34 ], [ 18, 35 ], [ 18, 36 ], [ 18, 37 ], [ 18, 38 ], [ 18, 39 ], [ 18, 40 ], [ 18, 41 ], [ 19, 16 ], [ 19, 17 ], [ 19, 18 ], [ 19, 19 ], [ 19, 20 ], [ 19, 21 ], [ 19, 22 ], [ 19, 23 ], [ 19, 24 ], [ 19, 25 ], [ 19, 26 ], [ 19, 27 ], [ 19, 28 ], [ 19, 29 ], [ 19, 30 ], [ 19, 31 ], [ 19, 32 ], [ 19, 33 ], [ 19, 34 ], [ 19, 35 ], [ 19, 36 ], [ 19, 37 ], [ 19, 38 ], [ 19, 39 ], [ 19, 40 ], [ 19, 41 ], [ 19, 42 ], [ 20, 23 ], [ 20, 24 ], [ 20, 26 ], [ 20, 27 ], [ 20, 28 ], [ 20, 29 ], [ 20, 30 ], [ 20, 31 ], [ 20, 32 ], [ 20, 33 ], [ 20, 34 ], [ 20, 35 ], [ 20, 36 ], [ 20, 37 ], [ 20, 38 ], [ 20, 39 ], [ 20, 40 ], [ 20, 41 ], [ 20, 42 ], [ 21, 29 ], [ 21, 30 ], [ 21, 31 ], [ 21, 32 ], [ 21, 33 ], [ 21, 34 ], [ 21, 35 ], [ 21, 36 ], [ 21, 37 ], [ 21, 38 ], [ 21, 39 ], [ 21, 40 ], [ 21, 41 ], [ 21, 43 ], [ 22, 32 ], [ 22, 37 ], [ 22, 38 ], [ 22, 39 ], [ 22, 40 ], [ 22, 41 ], [ 23, 41 ], [ 23, 42 ], [ 24, 42 ], [ 24, 43 ], [ 25, 43 ] ], "thickness": 0.01, "clearance": 0.018000000000000006, "occupied_cell_count": 839, "area": 0.5176065546036759, "contour": { "source": "gaussian_support_concave_hull", "selected_mode": "concave", "concavity_ratio": 0.12, "concave_area": 0.5074724554097234, "convex_area": 0.5641776443344093, "convex_overcoverage_ratio": 0.11174042713097253, "convex_max_overcoverage": 0.05, "concave_unsupported_cell_count": 0, "convex_unsupported_cell_count": 10, "selected_unsupported_cell_count": 0, "support_clip_area_retention": 1.0, "support_envelope_cells": 1, "input_support_point_count": 8979, "retained_support_point_count": 8974, "rejected_support_point_count": 5, "simplify_tolerance": 0.012, "boundary_offset": 0.003, "boundary_vertex_count": 13, "hole_count": 0 } }, "lighting": { "type": "support_aligned_polygon", "role": "lighting", "vertices_uv": [ [ 0.4664460437609907, 0.7333809776664082 ], [ 0.23393325674552246, 0.8471924197598677 ], [ 0.3243531335634872, 0.84104297361851 ], [ 0.5132604173003069, 0.8338287104516824 ], [ 0.5143220728813929, 0.9325683610905656 ], [ 0.5224290756370819, 0.9268586942102667 ], [ 0.42556987648648703, 0.8636354052644858 ], [ 0.11301395070433601, 0.8073834419712596 ], [ 0.5029369013987757, 0.5126246760751046 ], [ 0.4350957705489029, 0.3355609921033216 ], [ -0.37548898915683043, 0.7400331342217071 ], [ -0.5394113189369819, 0.3049641340044885 ], [ -0.5528077214346432, 0.7383813081709933 ] ], "vertices_world": [ [ 0.8097637237623215, -0.31575668135733187, 0.1393296135691696 ], [ 0.8764439207512849, -0.06561873580207145, 0.1393296135691696 ], [ 0.8879029958768008, -0.15552012293758322, 0.1393296135691696 ], [ 0.917370439859064, -0.34225436507601836, 0.1393296135691696 ], [ 1.014450161784907, -0.3241940962058568, 0.1393296135691696 ], [ 1.0104167132932236, -0.33325252227387026, 0.1393296135691696 ], [ 0.9296497078390115, -0.2504540950232541, 0.1393296135691696 ], [ 0.8139943072256398, 0.04531493382331138, 0.1393296135691696 ], [ 0.6002371888129415, -0.3942650155360542, 0.1393296135691696 ], [ 0.4133941193317612, -0.36195968155697483, 0.1393296135691696 ], [ 0.653412056488214, 0.5115600699427827, 0.1393296135691696 ], [ 0.19485013561695824, 0.5882185976968894, 0.1393296135691696 ], [ 0.6174879000546682, 0.68520947630644, 0.1393296135691696 ] ], "triangles": [ [ 0, 1, 2 ], [ 3, 4, 5 ], [ 6, 3, 0 ], [ 7, 8, 9 ], [ 10, 11, 12 ], [ 4, 3, 6 ], [ 7, 11, 10 ], [ 2, 6, 0 ], [ 11, 7, 9 ], [ 1, 0, 7 ], [ 8, 7, 0 ] ], "boundary_uv": [ [ -0.5528077214346432, 0.7383813081709933 ], [ -0.5394113189369819, 0.3049641340044885 ], [ 0.4350957705489029, 0.3355609921033216 ], [ 0.5029369013987757, 0.5126246760751046 ], [ 0.4664460437609907, 0.7333809776664082 ], [ 0.5132604173003069, 0.8338287104516824 ], [ 0.5224290756370819, 0.9268586942102667 ], [ 0.5143220728813929, 0.9325683610905656 ], [ 0.42556987648648703, 0.8636354052644858 ], [ 0.3243531335634872, 0.84104297361851 ], [ 0.23393325674552246, 0.8471924197598677 ], [ 0.11301395070433601, 0.8073834419712596 ], [ -0.37548898915683043, 0.7400331342217071 ] ], "holes_uv": [], "plane_origin": [ 0.0, 0.0, 0.11132961356916958 ], "basis_u": [ 0.19345691775479915, -0.9811087712240744, 0.0 ], "basis_v": [ 0.9811087712240744, 0.19345691775479915, 0.0 ], "plane_normal": [ 0.0, 0.0, 1.0 ], "grid_size": 0.025, "uv_lo": [ -0.5672939681228737, 0.2987787054666924 ], "occupied_cells_rc": [ [ 0, 0 ], [ 0, 1 ], [ 0, 2 ], [ 0, 3 ], [ 0, 4 ], [ 0, 5 ], [ 0, 6 ], [ 0, 7 ], [ 0, 8 ], [ 0, 9 ], [ 0, 10 ], [ 0, 11 ], [ 0, 12 ], [ 0, 13 ], [ 0, 14 ], [ 0, 15 ], [ 0, 16 ], [ 0, 17 ], [ 0, 18 ], [ 0, 19 ], [ 0, 20 ], [ 1, 0 ], [ 1, 1 ], [ 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 ], [ 1, 18 ], [ 1, 19 ], [ 1, 20 ], [ 1, 21 ], [ 1, 22 ], [ 1, 23 ], [ 1, 24 ], [ 1, 25 ], [ 1, 26 ], [ 1, 27 ], [ 1, 28 ], [ 1, 29 ], [ 1, 30 ], [ 1, 31 ], [ 1, 32 ], [ 1, 33 ], [ 1, 34 ], [ 1, 35 ], [ 1, 36 ], [ 1, 37 ], [ 1, 38 ], [ 1, 39 ], [ 1, 40 ], [ 2, 0 ], [ 2, 1 ], [ 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 ], [ 2, 18 ], [ 2, 19 ], [ 2, 20 ], [ 2, 21 ], [ 2, 22 ], [ 2, 23 ], [ 2, 24 ], [ 2, 25 ], [ 2, 26 ], [ 2, 27 ], [ 2, 28 ], [ 2, 29 ], [ 2, 30 ], [ 2, 31 ], [ 2, 32 ], [ 2, 33 ], [ 2, 34 ], [ 2, 35 ], [ 2, 36 ], [ 2, 37 ], [ 2, 38 ], [ 2, 39 ], [ 2, 40 ], [ 2, 41 ], [ 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 ], [ 3, 18 ], [ 3, 19 ], [ 3, 20 ], [ 3, 21 ], [ 3, 22 ], [ 3, 23 ], [ 3, 24 ], [ 3, 25 ], [ 3, 26 ], [ 3, 27 ], [ 3, 28 ], [ 3, 29 ], [ 3, 30 ], [ 3, 31 ], [ 3, 32 ], [ 3, 33 ], [ 3, 34 ], [ 3, 35 ], [ 3, 36 ], [ 3, 37 ], [ 3, 38 ], [ 3, 39 ], [ 3, 40 ], [ 3, 41 ], [ 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 ], [ 4, 18 ], [ 4, 19 ], [ 4, 20 ], [ 4, 21 ], [ 4, 22 ], [ 4, 23 ], [ 4, 24 ], [ 4, 25 ], [ 4, 26 ], [ 4, 27 ], [ 4, 28 ], [ 4, 29 ], [ 4, 30 ], [ 4, 31 ], [ 4, 32 ], [ 4, 33 ], [ 4, 34 ], [ 4, 35 ], [ 4, 36 ], [ 4, 37 ], [ 4, 38 ], [ 4, 39 ], [ 4, 40 ], [ 4, 41 ], [ 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 ], [ 5, 25 ], [ 5, 26 ], [ 5, 27 ], [ 5, 28 ], [ 5, 29 ], [ 5, 30 ], [ 5, 31 ], [ 5, 32 ], [ 5, 33 ], [ 5, 34 ], [ 5, 35 ], [ 5, 36 ], [ 5, 37 ], [ 5, 38 ], [ 5, 39 ], [ 5, 40 ], [ 5, 41 ], [ 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 ], [ 6, 25 ], [ 6, 26 ], [ 6, 27 ], [ 6, 28 ], [ 6, 29 ], [ 6, 30 ], [ 6, 31 ], [ 6, 32 ], [ 6, 33 ], [ 6, 34 ], [ 6, 35 ], [ 6, 36 ], [ 6, 37 ], [ 6, 38 ], [ 6, 39 ], [ 6, 40 ], [ 6, 41 ], [ 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 ], [ 7, 25 ], [ 7, 26 ], [ 7, 27 ], [ 7, 28 ], [ 7, 29 ], [ 7, 30 ], [ 7, 31 ], [ 7, 32 ], [ 7, 33 ], [ 7, 34 ], [ 7, 35 ], [ 7, 36 ], [ 7, 37 ], [ 7, 38 ], [ 7, 39 ], [ 7, 40 ], [ 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 ], [ 8, 25 ], [ 8, 26 ], [ 8, 27 ], [ 8, 28 ], [ 8, 29 ], [ 8, 30 ], [ 8, 31 ], [ 8, 32 ], [ 8, 33 ], [ 8, 34 ], [ 8, 35 ], [ 8, 36 ], [ 8, 37 ], [ 8, 38 ], [ 8, 39 ], [ 8, 40 ], [ 8, 41 ], [ 8, 43 ], [ 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 ], [ 9, 25 ], [ 9, 26 ], [ 9, 27 ], [ 9, 28 ], [ 9, 29 ], [ 9, 30 ], [ 9, 31 ], [ 9, 32 ], [ 9, 33 ], [ 9, 34 ], [ 9, 35 ], [ 9, 36 ], [ 9, 37 ], [ 9, 38 ], [ 9, 39 ], [ 9, 40 ], [ 9, 41 ], [ 9, 42 ], [ 9, 43 ], [ 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 ], [ 10, 25 ], [ 10, 26 ], [ 10, 27 ], [ 10, 28 ], [ 10, 29 ], [ 10, 30 ], [ 10, 31 ], [ 10, 32 ], [ 10, 33 ], [ 10, 34 ], [ 10, 35 ], [ 10, 36 ], [ 10, 37 ], [ 10, 38 ], [ 10, 39 ], [ 10, 40 ], [ 10, 41 ], [ 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 ], [ 11, 25 ], [ 11, 26 ], [ 11, 27 ], [ 11, 28 ], [ 11, 29 ], [ 11, 30 ], [ 11, 31 ], [ 11, 32 ], [ 11, 33 ], [ 11, 34 ], [ 11, 35 ], [ 11, 36 ], [ 11, 37 ], [ 11, 38 ], [ 11, 39 ], [ 11, 40 ], [ 11, 41 ], [ 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 ], [ 12, 19 ], [ 12, 20 ], [ 12, 21 ], [ 12, 22 ], [ 12, 23 ], [ 12, 24 ], [ 12, 25 ], [ 12, 26 ], [ 12, 27 ], [ 12, 28 ], [ 12, 29 ], [ 12, 30 ], [ 12, 31 ], [ 12, 32 ], [ 12, 33 ], [ 12, 34 ], [ 12, 35 ], [ 12, 36 ], [ 12, 37 ], [ 12, 38 ], [ 12, 39 ], [ 12, 40 ], [ 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 ], [ 13, 19 ], [ 13, 20 ], [ 13, 21 ], [ 13, 22 ], [ 13, 23 ], [ 13, 24 ], [ 13, 25 ], [ 13, 26 ], [ 13, 27 ], [ 13, 28 ], [ 13, 29 ], [ 13, 30 ], [ 13, 31 ], [ 13, 32 ], [ 13, 33 ], [ 13, 34 ], [ 13, 35 ], [ 13, 36 ], [ 13, 37 ], [ 13, 38 ], [ 13, 39 ], [ 13, 40 ], [ 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 ], [ 14, 20 ], [ 14, 21 ], [ 14, 22 ], [ 14, 23 ], [ 14, 24 ], [ 14, 25 ], [ 14, 26 ], [ 14, 27 ], [ 14, 28 ], [ 14, 29 ], [ 14, 30 ], [ 14, 31 ], [ 14, 32 ], [ 14, 33 ], [ 14, 34 ], [ 14, 35 ], [ 14, 36 ], [ 14, 37 ], [ 14, 38 ], [ 14, 39 ], [ 14, 40 ], [ 14, 41 ], [ 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 ], [ 15, 20 ], [ 15, 21 ], [ 15, 22 ], [ 15, 23 ], [ 15, 24 ], [ 15, 25 ], [ 15, 26 ], [ 15, 27 ], [ 15, 28 ], [ 15, 29 ], [ 15, 30 ], [ 15, 31 ], [ 15, 32 ], [ 15, 33 ], [ 15, 34 ], [ 15, 35 ], [ 15, 36 ], [ 15, 37 ], [ 15, 38 ], [ 15, 39 ], [ 15, 40 ], [ 15, 41 ], [ 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 ], [ 16, 20 ], [ 16, 21 ], [ 16, 22 ], [ 16, 23 ], [ 16, 24 ], [ 16, 25 ], [ 16, 26 ], [ 16, 27 ], [ 16, 28 ], [ 16, 29 ], [ 16, 30 ], [ 16, 31 ], [ 16, 32 ], [ 16, 33 ], [ 16, 34 ], [ 16, 35 ], [ 16, 36 ], [ 16, 37 ], [ 16, 38 ], [ 16, 39 ], [ 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 ], [ 17, 20 ], [ 17, 21 ], [ 17, 22 ], [ 17, 23 ], [ 17, 24 ], [ 17, 25 ], [ 17, 26 ], [ 17, 27 ], [ 17, 28 ], [ 17, 29 ], [ 17, 30 ], [ 17, 31 ], [ 17, 32 ], [ 17, 33 ], [ 17, 34 ], [ 17, 35 ], [ 17, 36 ], [ 17, 37 ], [ 17, 38 ], [ 17, 39 ], [ 17, 40 ], [ 17, 41 ], [ 18, 2 ], [ 18, 3 ], [ 18, 8 ], [ 18, 9 ], [ 18, 10 ], [ 18, 11 ], [ 18, 12 ], [ 18, 13 ], [ 18, 14 ], [ 18, 15 ], [ 18, 16 ], [ 18, 17 ], [ 18, 18 ], [ 18, 19 ], [ 18, 20 ], [ 18, 21 ], [ 18, 22 ], [ 18, 23 ], [ 18, 24 ], [ 18, 25 ], [ 18, 26 ], [ 18, 27 ], [ 18, 28 ], [ 18, 29 ], [ 18, 30 ], [ 18, 31 ], [ 18, 32 ], [ 18, 33 ], [ 18, 34 ], [ 18, 35 ], [ 18, 36 ], [ 18, 37 ], [ 18, 38 ], [ 18, 39 ], [ 18, 40 ], [ 18, 41 ], [ 19, 16 ], [ 19, 17 ], [ 19, 18 ], [ 19, 19 ], [ 19, 20 ], [ 19, 21 ], [ 19, 22 ], [ 19, 23 ], [ 19, 24 ], [ 19, 25 ], [ 19, 26 ], [ 19, 27 ], [ 19, 28 ], [ 19, 29 ], [ 19, 30 ], [ 19, 31 ], [ 19, 32 ], [ 19, 33 ], [ 19, 34 ], [ 19, 35 ], [ 19, 36 ], [ 19, 37 ], [ 19, 38 ], [ 19, 39 ], [ 19, 40 ], [ 19, 41 ], [ 19, 42 ], [ 20, 23 ], [ 20, 24 ], [ 20, 26 ], [ 20, 27 ], [ 20, 28 ], [ 20, 29 ], [ 20, 30 ], [ 20, 31 ], [ 20, 32 ], [ 20, 33 ], [ 20, 34 ], [ 20, 35 ], [ 20, 36 ], [ 20, 37 ], [ 20, 38 ], [ 20, 39 ], [ 20, 40 ], [ 20, 41 ], [ 20, 42 ], [ 21, 29 ], [ 21, 30 ], [ 21, 31 ], [ 21, 32 ], [ 21, 33 ], [ 21, 34 ], [ 21, 35 ], [ 21, 36 ], [ 21, 37 ], [ 21, 38 ], [ 21, 39 ], [ 21, 40 ], [ 21, 41 ], [ 21, 43 ], [ 22, 32 ], [ 22, 37 ], [ 22, 38 ], [ 22, 39 ], [ 22, 40 ], [ 22, 41 ], [ 23, 41 ], [ 23, 42 ], [ 24, 42 ], [ 24, 43 ], [ 25, 43 ] ], "thickness": 0.01, "clearance": 0.018000000000000006, "occupied_cell_count": 839, "area": 0.48903161637825, "contour": { "source": "gaussian_support_concave_hull", "selected_mode": "concave", "concavity_ratio": 0.12, "concave_area": 0.5074724554097234, "convex_area": 0.5641776443344093, "convex_overcoverage_ratio": 0.11174042713097253, "convex_max_overcoverage": 0.05, "concave_unsupported_cell_count": 0, "convex_unsupported_cell_count": 10, "selected_unsupported_cell_count": 0, "support_clip_area_retention": 1.0, "support_envelope_cells": 1, "input_support_point_count": 8979, "retained_support_point_count": 8974, "rejected_support_point_count": 5, "simplify_tolerance": 0.012, "boundary_offset": -0.006, "boundary_vertex_count": 13, "hole_count": 0 } }, "convex_hull_diagnostic": { "vertices_uv": [ [ -0.5672939671228737, 0.7295701486890174 ], [ -0.5670514519458201, 0.6266793294030221 ], [ -0.5581717643689533, 0.34552019205162693 ], [ -0.5558464816813176, 0.3195031716268361 ], [ -0.5486804145088987, 0.3031293425717783 ], [ -0.5452230002030753, 0.2987787064666924 ], [ 0.4392713221523452, 0.329689136370396 ], [ 0.4458801630899432, 0.3400248079278731 ], [ 0.45813707232840495, 0.3640745146203556 ], [ 0.5091219728295997, 0.5119976176973108 ], [ 0.5111581040896083, 0.5298238181252072 ], [ 0.5300317007476268, 0.9143838840297083 ], [ 0.5299773738846543, 0.9174657240087275 ], [ 0.5287431482822531, 0.9297504855423565 ], [ 0.5190232740034583, 0.9424948724371796 ], [ -0.5589942663148789, 0.7443239372788341 ] ], "area": 0.5641776443344093, "overcoverage_ratio": 0.15366292370355933, "acceptable_as_fallback": false } }, "footprint_stats": { "world_point_count": 741532, "near_plane_count": 16391, "basis_support_count": 16391, "reference_footprint_count": 25384, "support_count": 8979, "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": -0.11234193925792396, "plane_stabilized_offset": -0.11132961356916958, "plane_height_refined": true, "plane_height_method": "histogram_consensus_huber", "plane_height_sample_count": 6998, "plane_height_initial": 0.11234193925792396, "plane_height_refined_value": 0.11132961356916958, "plane_height_residual_p50": 0.003755379356210113, "plane_height_residual_p90": 0.008089424887964426, "plane_height_histogram_bin_width": 0.004166666666666667, "raw_cell_count": 835, "component_cell_count": 832, "support_core_cell_count": 839, "filled_interior_hole_cell_count": 7, "closure_added_cell_count": 18, "support_envelope_cell_count": 957, "eroded_cell_count": 708, "final_cell_count": 708, "rectangle_cell_count": 707, "tightened_rectangle_count": 8, "rectangle_count": 2, "receiver_area": 0.48903161637825, "receiver_geometry": "support_aligned_polygon", "physics_boundary_vertex_count": 13, "lighting_boundary_vertex_count": 13, "physics_polygon_cell_count": 850, "lighting_polygon_cell_count": 708, "convex_hull_area": 0.5641776443344093, "convex_hull_overcoverage_ratio": 0.15366292370355933, "receiver_coverage": 0.998587570621469, "polygon_precision": 0.9505649717514125, "reference_mask_recall": 0.7925770573348933, "reference_mask_overlap_iou": 0.761201315216211, "receiver_cell_coverage": 0.998587570621469, "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": 0.025, "erosion_cells": 1, "receiver_support_point_count": 7548, "receiver_covered_support_point_count": 7548, "receiver_point_coverage": 1.0, "receiver_basis_mode": "support-edge", "receiver_basis_selected_mode": "support-edge", "receiver_basis_angle_deg": 0.0, "receiver_basis_point_count": 16391, "receiver_basis_fit_mode": "support-edge", "receiver_basis_candidate_angle_deg": 0.0, "receiver_basis_edge_score": 16.395275515883945, "receiver_basis_edge_point_count": 109, "receiver_basis_edge_line_angle_deg": 90.0, "receiver_basis_surface_trimmed_area": 20.219419698407197, "receiver_basis_trimmed_area": 20.219419698407197, "receiver_basis_support_trimmed_area": 20.219419698407197, "receiver_basis_area_gain": 0.0, "receiver_basis_min_area_gain": 0.12, "receiver_basis_quantile": 0.02, "receiver_grid_scale": 1.0, "contour_input_point_count": 8979, "contour_retained_point_count": 8974, "contour_rejected_point_count": 5, "contour_concave_area": 0.5074724554097234, "contour_convex_area": 0.5641776443344093, "contour_convex_overcoverage_ratio": 0.11174042713097253, "contour_unsupported_cell_count": 0, "contour_hole_count": 0, "contour_selected_mode": "concave", "receiver_candidate_score": 0.99, "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": 0.99, "receiver_area": 0.48903161637825, "rectangle_count": 2, "basis_angle_deg": 0.0, "basis_area_gain": 0.0, "basis_edge_score": 16.395275515883945, "coverage": 0.998587570621469, "grid_size": 0.025, "grid_scale": 1.0, "reference_edge_valid_count": 0 }, { "basis_mode": "support-edge", "score": 0.984, "receiver_area": 0.49234538638348396, "rectangle_count": 3, "basis_angle_deg": 88.0, "basis_area_gain": 0.0, "basis_edge_score": 14.702493229414927, "coverage": 1.0, "grid_size": 0.034999999999999996, "grid_scale": 1.4, "reference_edge_valid_count": 0 } ], "gaussian": { "input_count": 2195474, "finite_count": 2195474, "kept_count": 741532, "normal_confidence_source": "gaussian_thinnest_axis", "normal_confidence_count": 741532, "normal_confidence_threshold": 0.3 } }, "material": { "albedo_linear": [ 0.0833109523788938, 0.7028132537133037, 0.5405626515833687 ], "roughness": 0.9, "metallic": 0.0, "source": "gaussian_sh_dc_trimmed_median", "sample_count": 4488 }, "fitted_plane": { "origin": [ 0.0, 0.0, 0.11132961356916958 ], "fitted_origin": [ 0.0, 0.0, 0.11234193925792396 ], "fitted_normal": [ 0.0, 0.0, 1.0 ], "fitted_offset": -0.11234193925792396, "stabilized_origin": [ 0.0, 0.0, 0.11132961356916958 ], "stabilized_normal": [ 0.0, 0.0, 1.0 ], "stabilized_offset": -0.11132961356916958, "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": 7548, "runtime_subset": "persistent" } }, "candidates": [ { "center": [ 0.515576322641953, 0.15755060995750356, 0.1343296135691696 ], "quat_wxyz": [ 0.7724820120089526, 0.0, 0.0, -0.6350366454958333 ], "size": [ 0.9748776236541197, 0.3746179848874875, 0.01 ], "basis_u": [ 0.19345691775479915, -0.9811087712240744, 0.0 ], "basis_v": [ 0.9811087712240744, 0.19345691775479915, 0.0 ], "extents": [ 0.9748776236541197, 0.3746179848874875 ], "area": 0.48903161637825, "schema_version": 2, "plane_normal": [ 0.0, 0.0, 1.0 ], "plane_offset": -0.11132961356916958, "support_boxes": [ { "center": [ 0.515576322641953, 0.15755060995750356, 0.1343296135691696 ], "quat_wxyz": [ 0.7724820120089526, 0.0, 0.0, -0.6350366454958333 ], "size": [ 0.9748776236541197, 0.3746179848874875, 0.01 ], "basis_u": [ 0.19345691775479915, -0.9811087712240744, 0.0 ], "basis_v": [ 0.9811087712240744, 0.19345691775479915, 0.0 ], "extents": [ 0.9748776236541197, 0.3746179848874875 ], "area": 0.36520669088520874 }, { "center": [ 0.7943063889268702, -0.09293057293933266, 0.1343296135691696 ], "quat_wxyz": [ 0.7724820120089526, 0.0, 0.0, -0.6350366454958333 ], "size": [ 0.4239416199134141, 0.07480078316909644, 0.01 ], "basis_u": [ 0.19345691775479915, -0.9811087712240744, 0.0 ], "basis_v": [ 0.9811087712240744, 0.19345691775479915, 0.0 ], "extents": [ 0.4239416199134141, 0.07480078316909644 ], "area": 0.03171116518749879 } ], "footprints": { "physics": { "type": "support_aligned_polygon", "role": "physics", "vertices_uv": [ [ 0.475779541755595, 0.7321022709713305 ], [ 0.2327893342208624, 0.8562910078506601 ], [ 0.32366401501067354, 0.8501106305398719 ], [ 0.522066456918453, 0.8314182573708641 ], [ 0.5140603072186891, 0.9437607974458098 ], [ 0.5319001846048387, 0.9311963812084015 ], [ 0.421641520448596, 0.8719800370286129 ], [ 0.11097550000334103, 0.8161875340591485 ], [ 0.5122145085450117, 0.5116840885084138 ], [ 0.44135909795406636, 0.3267532085039332 ], [ -0.37614819583494113, 0.7490273838333754 ], [ -0.5481288408361221, 0.2956859926977944 ], [ -0.5620875387549967, 0.7472952518327545 ] ], "vertices_world": [ [ 0.8103148031618647, -0.3251612327619826, 0.1393296135691696 ], [ 0.8851493256071452, -0.06273623857156146, 0.1393296135691696 ], [ 0.8966660388656047, -0.15308982172173985, 0.1393296135691696 ], [ 0.9167091124810022, -0.35136036660853587, 0.1393296135691696 ], [ 1.0253805188861236, -0.32177202137872063, 0.1393296135691696 ], [ 1.0165047076025404, -0.3417055547985113, 0.1393296135691696 ], [ 0.9370767316044978, -0.24498562371710136, 0.1393296135691696 ], [ 0.8222377268061225, 0.04901808820471784, 0.1393296135691696 ], [ 0.6011091873838076, -0.403549320454728, 0.1393296135691696 ], [ 0.4059644096020498, -0.3698086136786178, 0.1393296135691696 ], [ 0.6621088655806898, 0.5139468232041173, 0.1393296135691696 ], [ 0.18406080488323662, 0.5949765142757873, 0.1393296135691696 ], [ 0.624438203511296, 0.6960384505406402, 0.1393296135691696 ] ], "triangles": [ [ 0, 1, 2 ], [ 3, 4, 5 ], [ 6, 3, 0 ], [ 7, 8, 9 ], [ 10, 11, 12 ], [ 4, 3, 6 ], [ 7, 11, 10 ], [ 2, 6, 0 ], [ 11, 7, 9 ], [ 1, 0, 7 ], [ 8, 7, 0 ] ], "boundary_uv": [ [ -0.5620875387549967, 0.7472952518327545 ], [ -0.5481288408361221, 0.2956859926977944 ], [ 0.44135909795406636, 0.3267532085039332 ], [ 0.5122145085450117, 0.5116840885084138 ], [ 0.475779541755595, 0.7321022709713305 ], [ 0.522066456918453, 0.8314182573708641 ], [ 0.5319001846048387, 0.9311963812084015 ], [ 0.5140603072186891, 0.9437607974458098 ], [ 0.421641520448596, 0.8719800370286129 ], [ 0.32366401501067354, 0.8501106305398719 ], [ 0.2327893342208624, 0.8562910078506601 ], [ 0.11097550000334103, 0.8161875340591485 ], [ -0.37614819583494113, 0.7490273838333754 ] ], "holes_uv": [], "plane_origin": [ 0.0, 0.0, 0.11132961356916958 ], "basis_u": [ 0.19345691775479915, -0.9811087712240744, 0.0 ], "basis_v": [ 0.9811087712240744, 0.19345691775479915, 0.0 ], "plane_normal": [ 0.0, 0.0, 1.0 ], "grid_size": 0.025, "uv_lo": [ -0.5672939681228737, 0.2987787054666924 ], "occupied_cells_rc": [ [ 0, 0 ], [ 0, 1 ], [ 0, 2 ], [ 0, 3 ], [ 0, 4 ], [ 0, 5 ], [ 0, 6 ], [ 0, 7 ], [ 0, 8 ], [ 0, 9 ], [ 0, 10 ], [ 0, 11 ], [ 0, 12 ], [ 0, 13 ], [ 0, 14 ], [ 0, 15 ], [ 0, 16 ], [ 0, 17 ], [ 0, 18 ], [ 0, 19 ], [ 0, 20 ], [ 1, 0 ], [ 1, 1 ], [ 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 ], [ 1, 18 ], [ 1, 19 ], [ 1, 20 ], [ 1, 21 ], [ 1, 22 ], [ 1, 23 ], [ 1, 24 ], [ 1, 25 ], [ 1, 26 ], [ 1, 27 ], [ 1, 28 ], [ 1, 29 ], [ 1, 30 ], [ 1, 31 ], [ 1, 32 ], [ 1, 33 ], [ 1, 34 ], [ 1, 35 ], [ 1, 36 ], [ 1, 37 ], [ 1, 38 ], [ 1, 39 ], [ 1, 40 ], [ 2, 0 ], [ 2, 1 ], [ 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 ], [ 2, 18 ], [ 2, 19 ], [ 2, 20 ], [ 2, 21 ], [ 2, 22 ], [ 2, 23 ], [ 2, 24 ], [ 2, 25 ], [ 2, 26 ], [ 2, 27 ], [ 2, 28 ], [ 2, 29 ], [ 2, 30 ], [ 2, 31 ], [ 2, 32 ], [ 2, 33 ], [ 2, 34 ], [ 2, 35 ], [ 2, 36 ], [ 2, 37 ], [ 2, 38 ], [ 2, 39 ], [ 2, 40 ], [ 2, 41 ], [ 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 ], [ 3, 18 ], [ 3, 19 ], [ 3, 20 ], [ 3, 21 ], [ 3, 22 ], [ 3, 23 ], [ 3, 24 ], [ 3, 25 ], [ 3, 26 ], [ 3, 27 ], [ 3, 28 ], [ 3, 29 ], [ 3, 30 ], [ 3, 31 ], [ 3, 32 ], [ 3, 33 ], [ 3, 34 ], [ 3, 35 ], [ 3, 36 ], [ 3, 37 ], [ 3, 38 ], [ 3, 39 ], [ 3, 40 ], [ 3, 41 ], [ 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 ], [ 4, 18 ], [ 4, 19 ], [ 4, 20 ], [ 4, 21 ], [ 4, 22 ], [ 4, 23 ], [ 4, 24 ], [ 4, 25 ], [ 4, 26 ], [ 4, 27 ], [ 4, 28 ], [ 4, 29 ], [ 4, 30 ], [ 4, 31 ], [ 4, 32 ], [ 4, 33 ], [ 4, 34 ], [ 4, 35 ], [ 4, 36 ], [ 4, 37 ], [ 4, 38 ], [ 4, 39 ], [ 4, 40 ], [ 4, 41 ], [ 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 ], [ 5, 25 ], [ 5, 26 ], [ 5, 27 ], [ 5, 28 ], [ 5, 29 ], [ 5, 30 ], [ 5, 31 ], [ 5, 32 ], [ 5, 33 ], [ 5, 34 ], [ 5, 35 ], [ 5, 36 ], [ 5, 37 ], [ 5, 38 ], [ 5, 39 ], [ 5, 40 ], [ 5, 41 ], [ 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 ], [ 6, 25 ], [ 6, 26 ], [ 6, 27 ], [ 6, 28 ], [ 6, 29 ], [ 6, 30 ], [ 6, 31 ], [ 6, 32 ], [ 6, 33 ], [ 6, 34 ], [ 6, 35 ], [ 6, 36 ], [ 6, 37 ], [ 6, 38 ], [ 6, 39 ], [ 6, 40 ], [ 6, 41 ], [ 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 ], [ 7, 25 ], [ 7, 26 ], [ 7, 27 ], [ 7, 28 ], [ 7, 29 ], [ 7, 30 ], [ 7, 31 ], [ 7, 32 ], [ 7, 33 ], [ 7, 34 ], [ 7, 35 ], [ 7, 36 ], [ 7, 37 ], [ 7, 38 ], [ 7, 39 ], [ 7, 40 ], [ 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 ], [ 8, 25 ], [ 8, 26 ], [ 8, 27 ], [ 8, 28 ], [ 8, 29 ], [ 8, 30 ], [ 8, 31 ], [ 8, 32 ], [ 8, 33 ], [ 8, 34 ], [ 8, 35 ], [ 8, 36 ], [ 8, 37 ], [ 8, 38 ], [ 8, 39 ], [ 8, 40 ], [ 8, 41 ], [ 8, 43 ], [ 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 ], [ 9, 25 ], [ 9, 26 ], [ 9, 27 ], [ 9, 28 ], [ 9, 29 ], [ 9, 30 ], [ 9, 31 ], [ 9, 32 ], [ 9, 33 ], [ 9, 34 ], [ 9, 35 ], [ 9, 36 ], [ 9, 37 ], [ 9, 38 ], [ 9, 39 ], [ 9, 40 ], [ 9, 41 ], [ 9, 42 ], [ 9, 43 ], [ 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 ], [ 10, 25 ], [ 10, 26 ], [ 10, 27 ], [ 10, 28 ], [ 10, 29 ], [ 10, 30 ], [ 10, 31 ], [ 10, 32 ], [ 10, 33 ], [ 10, 34 ], [ 10, 35 ], [ 10, 36 ], [ 10, 37 ], [ 10, 38 ], [ 10, 39 ], [ 10, 40 ], [ 10, 41 ], [ 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 ], [ 11, 25 ], [ 11, 26 ], [ 11, 27 ], [ 11, 28 ], [ 11, 29 ], [ 11, 30 ], [ 11, 31 ], [ 11, 32 ], [ 11, 33 ], [ 11, 34 ], [ 11, 35 ], [ 11, 36 ], [ 11, 37 ], [ 11, 38 ], [ 11, 39 ], [ 11, 40 ], [ 11, 41 ], [ 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 ], [ 12, 19 ], [ 12, 20 ], [ 12, 21 ], [ 12, 22 ], [ 12, 23 ], [ 12, 24 ], [ 12, 25 ], [ 12, 26 ], [ 12, 27 ], [ 12, 28 ], [ 12, 29 ], [ 12, 30 ], [ 12, 31 ], [ 12, 32 ], [ 12, 33 ], [ 12, 34 ], [ 12, 35 ], [ 12, 36 ], [ 12, 37 ], [ 12, 38 ], [ 12, 39 ], [ 12, 40 ], [ 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 ], [ 13, 19 ], [ 13, 20 ], [ 13, 21 ], [ 13, 22 ], [ 13, 23 ], [ 13, 24 ], [ 13, 25 ], [ 13, 26 ], [ 13, 27 ], [ 13, 28 ], [ 13, 29 ], [ 13, 30 ], [ 13, 31 ], [ 13, 32 ], [ 13, 33 ], [ 13, 34 ], [ 13, 35 ], [ 13, 36 ], [ 13, 37 ], [ 13, 38 ], [ 13, 39 ], [ 13, 40 ], [ 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 ], [ 14, 20 ], [ 14, 21 ], [ 14, 22 ], [ 14, 23 ], [ 14, 24 ], [ 14, 25 ], [ 14, 26 ], [ 14, 27 ], [ 14, 28 ], [ 14, 29 ], [ 14, 30 ], [ 14, 31 ], [ 14, 32 ], [ 14, 33 ], [ 14, 34 ], [ 14, 35 ], [ 14, 36 ], [ 14, 37 ], [ 14, 38 ], [ 14, 39 ], [ 14, 40 ], [ 14, 41 ], [ 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 ], [ 15, 20 ], [ 15, 21 ], [ 15, 22 ], [ 15, 23 ], [ 15, 24 ], [ 15, 25 ], [ 15, 26 ], [ 15, 27 ], [ 15, 28 ], [ 15, 29 ], [ 15, 30 ], [ 15, 31 ], [ 15, 32 ], [ 15, 33 ], [ 15, 34 ], [ 15, 35 ], [ 15, 36 ], [ 15, 37 ], [ 15, 38 ], [ 15, 39 ], [ 15, 40 ], [ 15, 41 ], [ 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 ], [ 16, 20 ], [ 16, 21 ], [ 16, 22 ], [ 16, 23 ], [ 16, 24 ], [ 16, 25 ], [ 16, 26 ], [ 16, 27 ], [ 16, 28 ], [ 16, 29 ], [ 16, 30 ], [ 16, 31 ], [ 16, 32 ], [ 16, 33 ], [ 16, 34 ], [ 16, 35 ], [ 16, 36 ], [ 16, 37 ], [ 16, 38 ], [ 16, 39 ], [ 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 ], [ 17, 20 ], [ 17, 21 ], [ 17, 22 ], [ 17, 23 ], [ 17, 24 ], [ 17, 25 ], [ 17, 26 ], [ 17, 27 ], [ 17, 28 ], [ 17, 29 ], [ 17, 30 ], [ 17, 31 ], [ 17, 32 ], [ 17, 33 ], [ 17, 34 ], [ 17, 35 ], [ 17, 36 ], [ 17, 37 ], [ 17, 38 ], [ 17, 39 ], [ 17, 40 ], [ 17, 41 ], [ 18, 2 ], [ 18, 3 ], [ 18, 8 ], [ 18, 9 ], [ 18, 10 ], [ 18, 11 ], [ 18, 12 ], [ 18, 13 ], [ 18, 14 ], [ 18, 15 ], [ 18, 16 ], [ 18, 17 ], [ 18, 18 ], [ 18, 19 ], [ 18, 20 ], [ 18, 21 ], [ 18, 22 ], [ 18, 23 ], [ 18, 24 ], [ 18, 25 ], [ 18, 26 ], [ 18, 27 ], [ 18, 28 ], [ 18, 29 ], [ 18, 30 ], [ 18, 31 ], [ 18, 32 ], [ 18, 33 ], [ 18, 34 ], [ 18, 35 ], [ 18, 36 ], [ 18, 37 ], [ 18, 38 ], [ 18, 39 ], [ 18, 40 ], [ 18, 41 ], [ 19, 16 ], [ 19, 17 ], [ 19, 18 ], [ 19, 19 ], [ 19, 20 ], [ 19, 21 ], [ 19, 22 ], [ 19, 23 ], [ 19, 24 ], [ 19, 25 ], [ 19, 26 ], [ 19, 27 ], [ 19, 28 ], [ 19, 29 ], [ 19, 30 ], [ 19, 31 ], [ 19, 32 ], [ 19, 33 ], [ 19, 34 ], [ 19, 35 ], [ 19, 36 ], [ 19, 37 ], [ 19, 38 ], [ 19, 39 ], [ 19, 40 ], [ 19, 41 ], [ 19, 42 ], [ 20, 23 ], [ 20, 24 ], [ 20, 26 ], [ 20, 27 ], [ 20, 28 ], [ 20, 29 ], [ 20, 30 ], [ 20, 31 ], [ 20, 32 ], [ 20, 33 ], [ 20, 34 ], [ 20, 35 ], [ 20, 36 ], [ 20, 37 ], [ 20, 38 ], [ 20, 39 ], [ 20, 40 ], [ 20, 41 ], [ 20, 42 ], [ 21, 29 ], [ 21, 30 ], [ 21, 31 ], [ 21, 32 ], [ 21, 33 ], [ 21, 34 ], [ 21, 35 ], [ 21, 36 ], [ 21, 37 ], [ 21, 38 ], [ 21, 39 ], [ 21, 40 ], [ 21, 41 ], [ 21, 43 ], [ 22, 32 ], [ 22, 37 ], [ 22, 38 ], [ 22, 39 ], [ 22, 40 ], [ 22, 41 ], [ 23, 41 ], [ 23, 42 ], [ 24, 42 ], [ 24, 43 ], [ 25, 43 ] ], "thickness": 0.01, "clearance": 0.018000000000000006, "occupied_cell_count": 839, "area": 0.5176065546036759, "contour": { "source": "gaussian_support_concave_hull", "selected_mode": "concave", "concavity_ratio": 0.12, "concave_area": 0.5074724554097234, "convex_area": 0.5641776443344093, "convex_overcoverage_ratio": 0.11174042713097253, "convex_max_overcoverage": 0.05, "concave_unsupported_cell_count": 0, "convex_unsupported_cell_count": 10, "selected_unsupported_cell_count": 0, "support_clip_area_retention": 1.0, "support_envelope_cells": 1, "input_support_point_count": 8979, "retained_support_point_count": 8974, "rejected_support_point_count": 5, "simplify_tolerance": 0.012, "boundary_offset": 0.003, "boundary_vertex_count": 13, "hole_count": 0 } }, "lighting": { "type": "support_aligned_polygon", "role": "lighting", "vertices_uv": [ [ 0.4664460437609907, 0.7333809776664082 ], [ 0.23393325674552246, 0.8471924197598677 ], [ 0.3243531335634872, 0.84104297361851 ], [ 0.5132604173003069, 0.8338287104516824 ], [ 0.5143220728813929, 0.9325683610905656 ], [ 0.5224290756370819, 0.9268586942102667 ], [ 0.42556987648648703, 0.8636354052644858 ], [ 0.11301395070433601, 0.8073834419712596 ], [ 0.5029369013987757, 0.5126246760751046 ], [ 0.4350957705489029, 0.3355609921033216 ], [ -0.37548898915683043, 0.7400331342217071 ], [ -0.5394113189369819, 0.3049641340044885 ], [ -0.5528077214346432, 0.7383813081709933 ] ], "vertices_world": [ [ 0.8097637237623215, -0.31575668135733187, 0.1393296135691696 ], [ 0.8764439207512849, -0.06561873580207145, 0.1393296135691696 ], [ 0.8879029958768008, -0.15552012293758322, 0.1393296135691696 ], [ 0.917370439859064, -0.34225436507601836, 0.1393296135691696 ], [ 1.014450161784907, -0.3241940962058568, 0.1393296135691696 ], [ 1.0104167132932236, -0.33325252227387026, 0.1393296135691696 ], [ 0.9296497078390115, -0.2504540950232541, 0.1393296135691696 ], [ 0.8139943072256398, 0.04531493382331138, 0.1393296135691696 ], [ 0.6002371888129415, -0.3942650155360542, 0.1393296135691696 ], [ 0.4133941193317612, -0.36195968155697483, 0.1393296135691696 ], [ 0.653412056488214, 0.5115600699427827, 0.1393296135691696 ], [ 0.19485013561695824, 0.5882185976968894, 0.1393296135691696 ], [ 0.6174879000546682, 0.68520947630644, 0.1393296135691696 ] ], "triangles": [ [ 0, 1, 2 ], [ 3, 4, 5 ], [ 6, 3, 0 ], [ 7, 8, 9 ], [ 10, 11, 12 ], [ 4, 3, 6 ], [ 7, 11, 10 ], [ 2, 6, 0 ], [ 11, 7, 9 ], [ 1, 0, 7 ], [ 8, 7, 0 ] ], "boundary_uv": [ [ -0.5528077214346432, 0.7383813081709933 ], [ -0.5394113189369819, 0.3049641340044885 ], [ 0.4350957705489029, 0.3355609921033216 ], [ 0.5029369013987757, 0.5126246760751046 ], [ 0.4664460437609907, 0.7333809776664082 ], [ 0.5132604173003069, 0.8338287104516824 ], [ 0.5224290756370819, 0.9268586942102667 ], [ 0.5143220728813929, 0.9325683610905656 ], [ 0.42556987648648703, 0.8636354052644858 ], [ 0.3243531335634872, 0.84104297361851 ], [ 0.23393325674552246, 0.8471924197598677 ], [ 0.11301395070433601, 0.8073834419712596 ], [ -0.37548898915683043, 0.7400331342217071 ] ], "holes_uv": [], "plane_origin": [ 0.0, 0.0, 0.11132961356916958 ], "basis_u": [ 0.19345691775479915, -0.9811087712240744, 0.0 ], "basis_v": [ 0.9811087712240744, 0.19345691775479915, 0.0 ], "plane_normal": [ 0.0, 0.0, 1.0 ], "grid_size": 0.025, "uv_lo": [ -0.5672939681228737, 0.2987787054666924 ], "occupied_cells_rc": [ [ 0, 0 ], [ 0, 1 ], [ 0, 2 ], [ 0, 3 ], [ 0, 4 ], [ 0, 5 ], [ 0, 6 ], [ 0, 7 ], [ 0, 8 ], [ 0, 9 ], [ 0, 10 ], [ 0, 11 ], [ 0, 12 ], [ 0, 13 ], [ 0, 14 ], [ 0, 15 ], [ 0, 16 ], [ 0, 17 ], [ 0, 18 ], [ 0, 19 ], [ 0, 20 ], [ 1, 0 ], [ 1, 1 ], [ 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 ], [ 1, 18 ], [ 1, 19 ], [ 1, 20 ], [ 1, 21 ], [ 1, 22 ], [ 1, 23 ], [ 1, 24 ], [ 1, 25 ], [ 1, 26 ], [ 1, 27 ], [ 1, 28 ], [ 1, 29 ], [ 1, 30 ], [ 1, 31 ], [ 1, 32 ], [ 1, 33 ], [ 1, 34 ], [ 1, 35 ], [ 1, 36 ], [ 1, 37 ], [ 1, 38 ], [ 1, 39 ], [ 1, 40 ], [ 2, 0 ], [ 2, 1 ], [ 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 ], [ 2, 18 ], [ 2, 19 ], [ 2, 20 ], [ 2, 21 ], [ 2, 22 ], [ 2, 23 ], [ 2, 24 ], [ 2, 25 ], [ 2, 26 ], [ 2, 27 ], [ 2, 28 ], [ 2, 29 ], [ 2, 30 ], [ 2, 31 ], [ 2, 32 ], [ 2, 33 ], [ 2, 34 ], [ 2, 35 ], [ 2, 36 ], [ 2, 37 ], [ 2, 38 ], [ 2, 39 ], [ 2, 40 ], [ 2, 41 ], [ 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 ], [ 3, 18 ], [ 3, 19 ], [ 3, 20 ], [ 3, 21 ], [ 3, 22 ], [ 3, 23 ], [ 3, 24 ], [ 3, 25 ], [ 3, 26 ], [ 3, 27 ], [ 3, 28 ], [ 3, 29 ], [ 3, 30 ], [ 3, 31 ], [ 3, 32 ], [ 3, 33 ], [ 3, 34 ], [ 3, 35 ], [ 3, 36 ], [ 3, 37 ], [ 3, 38 ], [ 3, 39 ], [ 3, 40 ], [ 3, 41 ], [ 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 ], [ 4, 18 ], [ 4, 19 ], [ 4, 20 ], [ 4, 21 ], [ 4, 22 ], [ 4, 23 ], [ 4, 24 ], [ 4, 25 ], [ 4, 26 ], [ 4, 27 ], [ 4, 28 ], [ 4, 29 ], [ 4, 30 ], [ 4, 31 ], [ 4, 32 ], [ 4, 33 ], [ 4, 34 ], [ 4, 35 ], [ 4, 36 ], [ 4, 37 ], [ 4, 38 ], [ 4, 39 ], [ 4, 40 ], [ 4, 41 ], [ 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 ], [ 5, 25 ], [ 5, 26 ], [ 5, 27 ], [ 5, 28 ], [ 5, 29 ], [ 5, 30 ], [ 5, 31 ], [ 5, 32 ], [ 5, 33 ], [ 5, 34 ], [ 5, 35 ], [ 5, 36 ], [ 5, 37 ], [ 5, 38 ], [ 5, 39 ], [ 5, 40 ], [ 5, 41 ], [ 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 ], [ 6, 25 ], [ 6, 26 ], [ 6, 27 ], [ 6, 28 ], [ 6, 29 ], [ 6, 30 ], [ 6, 31 ], [ 6, 32 ], [ 6, 33 ], [ 6, 34 ], [ 6, 35 ], [ 6, 36 ], [ 6, 37 ], [ 6, 38 ], [ 6, 39 ], [ 6, 40 ], [ 6, 41 ], [ 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 ], [ 7, 25 ], [ 7, 26 ], [ 7, 27 ], [ 7, 28 ], [ 7, 29 ], [ 7, 30 ], [ 7, 31 ], [ 7, 32 ], [ 7, 33 ], [ 7, 34 ], [ 7, 35 ], [ 7, 36 ], [ 7, 37 ], [ 7, 38 ], [ 7, 39 ], [ 7, 40 ], [ 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 ], [ 8, 25 ], [ 8, 26 ], [ 8, 27 ], [ 8, 28 ], [ 8, 29 ], [ 8, 30 ], [ 8, 31 ], [ 8, 32 ], [ 8, 33 ], [ 8, 34 ], [ 8, 35 ], [ 8, 36 ], [ 8, 37 ], [ 8, 38 ], [ 8, 39 ], [ 8, 40 ], [ 8, 41 ], [ 8, 43 ], [ 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 ], [ 9, 25 ], [ 9, 26 ], [ 9, 27 ], [ 9, 28 ], [ 9, 29 ], [ 9, 30 ], [ 9, 31 ], [ 9, 32 ], [ 9, 33 ], [ 9, 34 ], [ 9, 35 ], [ 9, 36 ], [ 9, 37 ], [ 9, 38 ], [ 9, 39 ], [ 9, 40 ], [ 9, 41 ], [ 9, 42 ], [ 9, 43 ], [ 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 ], [ 10, 25 ], [ 10, 26 ], [ 10, 27 ], [ 10, 28 ], [ 10, 29 ], [ 10, 30 ], [ 10, 31 ], [ 10, 32 ], [ 10, 33 ], [ 10, 34 ], [ 10, 35 ], [ 10, 36 ], [ 10, 37 ], [ 10, 38 ], [ 10, 39 ], [ 10, 40 ], [ 10, 41 ], [ 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 ], [ 11, 25 ], [ 11, 26 ], [ 11, 27 ], [ 11, 28 ], [ 11, 29 ], [ 11, 30 ], [ 11, 31 ], [ 11, 32 ], [ 11, 33 ], [ 11, 34 ], [ 11, 35 ], [ 11, 36 ], [ 11, 37 ], [ 11, 38 ], [ 11, 39 ], [ 11, 40 ], [ 11, 41 ], [ 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 ], [ 12, 19 ], [ 12, 20 ], [ 12, 21 ], [ 12, 22 ], [ 12, 23 ], [ 12, 24 ], [ 12, 25 ], [ 12, 26 ], [ 12, 27 ], [ 12, 28 ], [ 12, 29 ], [ 12, 30 ], [ 12, 31 ], [ 12, 32 ], [ 12, 33 ], [ 12, 34 ], [ 12, 35 ], [ 12, 36 ], [ 12, 37 ], [ 12, 38 ], [ 12, 39 ], [ 12, 40 ], [ 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 ], [ 13, 19 ], [ 13, 20 ], [ 13, 21 ], [ 13, 22 ], [ 13, 23 ], [ 13, 24 ], [ 13, 25 ], [ 13, 26 ], [ 13, 27 ], [ 13, 28 ], [ 13, 29 ], [ 13, 30 ], [ 13, 31 ], [ 13, 32 ], [ 13, 33 ], [ 13, 34 ], [ 13, 35 ], [ 13, 36 ], [ 13, 37 ], [ 13, 38 ], [ 13, 39 ], [ 13, 40 ], [ 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 ], [ 14, 20 ], [ 14, 21 ], [ 14, 22 ], [ 14, 23 ], [ 14, 24 ], [ 14, 25 ], [ 14, 26 ], [ 14, 27 ], [ 14, 28 ], [ 14, 29 ], [ 14, 30 ], [ 14, 31 ], [ 14, 32 ], [ 14, 33 ], [ 14, 34 ], [ 14, 35 ], [ 14, 36 ], [ 14, 37 ], [ 14, 38 ], [ 14, 39 ], [ 14, 40 ], [ 14, 41 ], [ 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 ], [ 15, 20 ], [ 15, 21 ], [ 15, 22 ], [ 15, 23 ], [ 15, 24 ], [ 15, 25 ], [ 15, 26 ], [ 15, 27 ], [ 15, 28 ], [ 15, 29 ], [ 15, 30 ], [ 15, 31 ], [ 15, 32 ], [ 15, 33 ], [ 15, 34 ], [ 15, 35 ], [ 15, 36 ], [ 15, 37 ], [ 15, 38 ], [ 15, 39 ], [ 15, 40 ], [ 15, 41 ], [ 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 ], [ 16, 20 ], [ 16, 21 ], [ 16, 22 ], [ 16, 23 ], [ 16, 24 ], [ 16, 25 ], [ 16, 26 ], [ 16, 27 ], [ 16, 28 ], [ 16, 29 ], [ 16, 30 ], [ 16, 31 ], [ 16, 32 ], [ 16, 33 ], [ 16, 34 ], [ 16, 35 ], [ 16, 36 ], [ 16, 37 ], [ 16, 38 ], [ 16, 39 ], [ 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 ], [ 17, 20 ], [ 17, 21 ], [ 17, 22 ], [ 17, 23 ], [ 17, 24 ], [ 17, 25 ], [ 17, 26 ], [ 17, 27 ], [ 17, 28 ], [ 17, 29 ], [ 17, 30 ], [ 17, 31 ], [ 17, 32 ], [ 17, 33 ], [ 17, 34 ], [ 17, 35 ], [ 17, 36 ], [ 17, 37 ], [ 17, 38 ], [ 17, 39 ], [ 17, 40 ], [ 17, 41 ], [ 18, 2 ], [ 18, 3 ], [ 18, 8 ], [ 18, 9 ], [ 18, 10 ], [ 18, 11 ], [ 18, 12 ], [ 18, 13 ], [ 18, 14 ], [ 18, 15 ], [ 18, 16 ], [ 18, 17 ], [ 18, 18 ], [ 18, 19 ], [ 18, 20 ], [ 18, 21 ], [ 18, 22 ], [ 18, 23 ], [ 18, 24 ], [ 18, 25 ], [ 18, 26 ], [ 18, 27 ], [ 18, 28 ], [ 18, 29 ], [ 18, 30 ], [ 18, 31 ], [ 18, 32 ], [ 18, 33 ], [ 18, 34 ], [ 18, 35 ], [ 18, 36 ], [ 18, 37 ], [ 18, 38 ], [ 18, 39 ], [ 18, 40 ], [ 18, 41 ], [ 19, 16 ], [ 19, 17 ], [ 19, 18 ], [ 19, 19 ], [ 19, 20 ], [ 19, 21 ], [ 19, 22 ], [ 19, 23 ], [ 19, 24 ], [ 19, 25 ], [ 19, 26 ], [ 19, 27 ], [ 19, 28 ], [ 19, 29 ], [ 19, 30 ], [ 19, 31 ], [ 19, 32 ], [ 19, 33 ], [ 19, 34 ], [ 19, 35 ], [ 19, 36 ], [ 19, 37 ], [ 19, 38 ], [ 19, 39 ], [ 19, 40 ], [ 19, 41 ], [ 19, 42 ], [ 20, 23 ], [ 20, 24 ], [ 20, 26 ], [ 20, 27 ], [ 20, 28 ], [ 20, 29 ], [ 20, 30 ], [ 20, 31 ], [ 20, 32 ], [ 20, 33 ], [ 20, 34 ], [ 20, 35 ], [ 20, 36 ], [ 20, 37 ], [ 20, 38 ], [ 20, 39 ], [ 20, 40 ], [ 20, 41 ], [ 20, 42 ], [ 21, 29 ], [ 21, 30 ], [ 21, 31 ], [ 21, 32 ], [ 21, 33 ], [ 21, 34 ], [ 21, 35 ], [ 21, 36 ], [ 21, 37 ], [ 21, 38 ], [ 21, 39 ], [ 21, 40 ], [ 21, 41 ], [ 21, 43 ], [ 22, 32 ], [ 22, 37 ], [ 22, 38 ], [ 22, 39 ], [ 22, 40 ], [ 22, 41 ], [ 23, 41 ], [ 23, 42 ], [ 24, 42 ], [ 24, 43 ], [ 25, 43 ] ], "thickness": 0.01, "clearance": 0.018000000000000006, "occupied_cell_count": 839, "area": 0.48903161637825, "contour": { "source": "gaussian_support_concave_hull", "selected_mode": "concave", "concavity_ratio": 0.12, "concave_area": 0.5074724554097234, "convex_area": 0.5641776443344093, "convex_overcoverage_ratio": 0.11174042713097253, "convex_max_overcoverage": 0.05, "concave_unsupported_cell_count": 0, "convex_unsupported_cell_count": 10, "selected_unsupported_cell_count": 0, "support_clip_area_retention": 1.0, "support_envelope_cells": 1, "input_support_point_count": 8979, "retained_support_point_count": 8974, "rejected_support_point_count": 5, "simplify_tolerance": 0.012, "boundary_offset": -0.006, "boundary_vertex_count": 13, "hole_count": 0 } }, "convex_hull_diagnostic": { "vertices_uv": [ [ -0.5672939671228737, 0.7295701486890174 ], [ -0.5670514519458201, 0.6266793294030221 ], [ -0.5581717643689533, 0.34552019205162693 ], [ -0.5558464816813176, 0.3195031716268361 ], [ -0.5486804145088987, 0.3031293425717783 ], [ -0.5452230002030753, 0.2987787064666924 ], [ 0.4392713221523452, 0.329689136370396 ], [ 0.4458801630899432, 0.3400248079278731 ], [ 0.45813707232840495, 0.3640745146203556 ], [ 0.5091219728295997, 0.5119976176973108 ], [ 0.5111581040896083, 0.5298238181252072 ], [ 0.5300317007476268, 0.9143838840297083 ], [ 0.5299773738846543, 0.9174657240087275 ], [ 0.5287431482822531, 0.9297504855423565 ], [ 0.5190232740034583, 0.9424948724371796 ], [ -0.5589942663148789, 0.7443239372788341 ] ], "area": 0.5641776443344093, "overcoverage_ratio": 0.15366292370355933, "acceptable_as_fallback": false } }, "footprint_stats": { "world_point_count": 741532, "near_plane_count": 16391, "basis_support_count": 16391, "reference_footprint_count": 25384, "support_count": 8979, "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": -0.11234193925792396, "plane_stabilized_offset": -0.11132961356916958, "plane_height_refined": true, "plane_height_method": "histogram_consensus_huber", "plane_height_sample_count": 6998, "plane_height_initial": 0.11234193925792396, "plane_height_refined_value": 0.11132961356916958, "plane_height_residual_p50": 0.003755379356210113, "plane_height_residual_p90": 0.008089424887964426, "plane_height_histogram_bin_width": 0.004166666666666667, "raw_cell_count": 835, "component_cell_count": 832, "support_core_cell_count": 839, "filled_interior_hole_cell_count": 7, "closure_added_cell_count": 18, "support_envelope_cell_count": 957, "eroded_cell_count": 708, "final_cell_count": 708, "rectangle_cell_count": 707, "tightened_rectangle_count": 8, "rectangle_count": 2, "receiver_area": 0.48903161637825, "receiver_geometry": "support_aligned_polygon", "physics_boundary_vertex_count": 13, "lighting_boundary_vertex_count": 13, "physics_polygon_cell_count": 850, "lighting_polygon_cell_count": 708, "convex_hull_area": 0.5641776443344093, "convex_hull_overcoverage_ratio": 0.15366292370355933, "receiver_coverage": 0.998587570621469, "polygon_precision": 0.9505649717514125, "reference_mask_recall": 0.7925770573348933, "reference_mask_overlap_iou": 0.761201315216211, "receiver_cell_coverage": 0.998587570621469, "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": 0.025, "erosion_cells": 1, "receiver_support_point_count": 7548, "receiver_covered_support_point_count": 7548, "receiver_point_coverage": 1.0, "receiver_basis_mode": "support-edge", "receiver_basis_selected_mode": "support-edge", "receiver_basis_angle_deg": 0.0, "receiver_basis_point_count": 16391, "receiver_basis_fit_mode": "support-edge", "receiver_basis_candidate_angle_deg": 0.0, "receiver_basis_edge_score": 16.395275515883945, "receiver_basis_edge_point_count": 109, "receiver_basis_edge_line_angle_deg": 90.0, "receiver_basis_surface_trimmed_area": 20.219419698407197, "receiver_basis_trimmed_area": 20.219419698407197, "receiver_basis_support_trimmed_area": 20.219419698407197, "receiver_basis_area_gain": 0.0, "receiver_basis_min_area_gain": 0.12, "receiver_basis_quantile": 0.02, "receiver_grid_scale": 1.0, "contour_input_point_count": 8979, "contour_retained_point_count": 8974, "contour_rejected_point_count": 5, "contour_concave_area": 0.5074724554097234, "contour_convex_area": 0.5641776443344093, "contour_convex_overcoverage_ratio": 0.11174042713097253, "contour_unsupported_cell_count": 0, "contour_hole_count": 0, "contour_selected_mode": "concave", "receiver_candidate_score": 0.99, "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": 0.99, "receiver_area": 0.48903161637825, "rectangle_count": 2, "basis_angle_deg": 0.0, "basis_area_gain": 0.0, "basis_edge_score": 16.395275515883945, "coverage": 0.998587570621469, "grid_size": 0.025, "grid_scale": 1.0, "reference_edge_valid_count": 0 }, { "basis_mode": "support-edge", "score": 0.984, "receiver_area": 0.49234538638348396, "rectangle_count": 3, "basis_angle_deg": 88.0, "basis_area_gain": 0.0, "basis_edge_score": 14.702493229414927, "coverage": 1.0, "grid_size": 0.034999999999999996, "grid_scale": 1.4, "reference_edge_valid_count": 0 } ], "gaussian": { "input_count": 2195474, "finite_count": 2195474, "kept_count": 741532, "normal_confidence_source": "gaussian_thinnest_axis", "normal_confidence_count": 741532, "normal_confidence_threshold": 0.3 } }, "material": { "albedo_linear": [ 0.0833109523788938, 0.7028132537133037, 0.5405626515833687 ], "roughness": 0.9, "metallic": 0.0, "source": "gaussian_sh_dc_trimmed_median", "sample_count": 4488 }, "fitted_plane": { "origin": [ 0.0, 0.0, 0.11132961356916958 ], "fitted_origin": [ 0.0, 0.0, 0.11234193925792396 ], "fitted_normal": [ 0.0, 0.0, 1.0 ], "fitted_offset": -0.11234193925792396, "stabilized_origin": [ 0.0, 0.0, 0.11132961356916958 ], "stabilized_normal": [ 0.0, 0.0, 1.0 ], "stabilized_offset": -0.11132961356916958, "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": 7548, "runtime_subset": "persistent" } } ] }