{
  "schema_version": 2,
  "room_id": "living_ground",
  "frame_id": "house_ground_v4",
  "sensor_hash": "ea61c1448cf7813f2a516df26385e62f00dd9f1059ed62fa2fb84ad67d90b30c",
  "revision": 1,
  "observations": [
    "obs-271537f3-4-2225"
  ],
  "walls": {
    "wall_main_w": {
      "axis": 0,
      "offset_m": -3.2167,
      "residual_std_m": 0.0045,
      "inlier_points": 7910,
      "observed_span_min_m": [
        -3.2288,
        -0.0056,
        0.9376
      ],
      "observed_span_max_m": [
        -3.2048,
        5.0832,
        3.229
      ]
    },
    "wall_wc_e": {
      "axis": 0,
      "offset_m": -1.2588,
      "residual_std_m": 0.0011,
      "inlier_points": 3267,
      "observed_span_min_m": [
        -1.2637,
        5.5496,
        0.005
      ],
      "observed_span_max_m": [
        -1.2554,
        7.3313,
        2.6952
      ]
    },
    "wall_vest_e": {
      "axis": 0,
      "offset_m": -1.2591,
      "residual_std_m": 0.0021,
      "inlier_points": 6855,
      "observed_span_min_m": [
        -1.2717,
        3.6531,
        0.0048
      ],
      "observed_span_max_m": [
        -1.254,
        6.2526,
        2.6967
      ]
    },
    "wall_vest_s": {
      "axis": 1,
      "offset_m": 3.6106,
      "residual_std_m": 0.0051,
      "inlier_points": 9115,
      "observed_span_min_m": [
        -3.2189,
        3.5987,
        0.9346
      ],
      "observed_span_max_m": [
        -1.3173,
        3.6225,
        2.7016
      ]
    },
    "wall_fitness_e": {
      "axis": 0,
      "offset_m": -1.2591,
      "residual_std_m": 0.004,
      "inlier_points": 230,
      "observed_span_min_m": [
        -1.3157,
        3.9748,
        0.0023
      ],
      "observed_span_max_m": [
        -1.2547,
        4.9031,
        2.0342
      ]
    }
  },
  "horizontal_planes": {
    "floor": {
      "offset_m": 0.0022713377855012595,
      "points": 6523
    },
    "ceiling": {
      "offset_m": 2.703843513682088,
      "points": 8564
    }
  },
  "objects": {
    "g_wc_frame": {
      "class": "door_frame",
      "observed_bbox_min_m": [
        -1.3176167030581563,
        6.248869425169903,
        0.01641970706530681
      ],
      "observed_bbox_max_m": [
        -1.237697677007533,
        7.175972819497363,
        2.0946791864219554
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.2776571900328446,
        6.712421122333633,
        1.055549446743631
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_vestibule_frame": {
      "class": "door_frame",
      "observed_bbox_min_m": [
        -1.3257335819963816,
        3.995693402334256,
        0.01647921380868702
      ],
      "observed_bbox_max_m": [
        -1.2373502843910522,
        4.925173103690809,
        2.0936246333926425
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.2815419331937168,
        4.460433253012532,
        1.0550519236006648
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_wc": {
      "class": "door_leaf",
      "observed_bbox_min_m": [
        -1.303260170257937,
        6.689777060683623,
        0.029826775802446557
      ],
      "observed_bbox_max_m": [
        -1.2981213001911738,
        7.085333663135695,
        2.0042675841057878
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.3006907352245554,
        6.887555361909659,
        1.0170471799541172
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_vestibule": {
      "class": "door_leaf",
      "observed_bbox_min_m": [
        -1.3046504391636513,
        4.321010725426316,
        0.027185625447734174
      ],
      "observed_bbox_max_m": [
        -1.2973579339489005,
        4.840120793111519,
        2.0023603841810456
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.301004186556276,
        4.580565759268918,
        1.01477300481439
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_kitchen_w": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -3.0920526577252048,
        -0.2814175204858537,
        0.00871412661832428
      ],
      "observed_bbox_max_m": [
        -2.5917590757501854,
        2.6846868007665483,
        0.9430503639109766
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -2.841905866737695,
        1.2016346401403473,
        0.47588224526465045
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_kitchen_n": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -3.0552883188564977,
        2.8505084731521304,
        0.8269896560619341
      ],
      "observed_bbox_max_m": [
        -1.2614004138932846,
        3.468113731241608,
        0.9438547334779841
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -2.158344366374891,
        3.1593111021968694,
        0.8854221947699591
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_island": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -1.71520262553723,
        0.7829985722503131,
        0.012947354224880976
      ],
      "observed_bbox_max_m": [
        -0.908501395943767,
        2.356747199409938,
        0.9427250944894342
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.3118520107404985,
        1.5698728858301254,
        0.4778362243571576
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_dining": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -0.351010779674496,
        1.808876319216303,
        0.0029190690168411715
      ],
      "observed_bbox_max_m": [
        -0.2642975481236659,
        2.5882299622887417,
        0.7633003858340979
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -0.30765416389908096,
        2.1985531407525225,
        0.3831097274254695
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_chair0": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -0.3079208393648641,
        1.3276069361425198,
        0.020151394421284715
      ],
      "observed_bbox_max_m": [
        -0.1878186026828192,
        1.7302461300163887,
        0.871219924650617
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -0.24786972102384164,
        1.5289265330794541,
        0.44568565953595085
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    }
  },
  "views": [
    {
      "pose": [
        0.0,
        -1.5,
        1.6
      ],
      "camera_head": {
        "pan_rad": 0.6,
        "tilt_rad": 0.0
      },
      "observation_id": "obs-271537f3-4-2225"
    }
  ],
  "dimensions": {
    "width": {
      "value_m": 1.9579,
      "sigma_floor_m": 0.02,
      "source_walls": [
        "wall_main_w",
        "wall_wc_e"
      ],
      "status": "measured_across_calibrated_views"
    },
    "length": {
      "value_m": null,
      "status": "opposing_planes_not_observed"
    },
    "height": {
      "value_m": 2.7016,
      "sigma_floor_m": 0.02,
      "status": "observed_floor_and_ceiling"
    }
  },
  "session_id": "271537f3",
  "coverage": {
    "dimensions_complete": false,
    "full_room_coverage_verified": false,
    "localization": "ideal drift-free simulated odometry, not learned SLAM"
  }
}