{
  "schema_version": 2,
  "room_id": "living_ground",
  "frame_id": "house_ground_v4",
  "sensor_hash": "ea61c1448cf7813f2a516df26385e62f00dd9f1059ed62fa2fb84ad67d90b30c",
  "revision": 1,
  "observations": [
    "obs-332a92a6-2-913"
  ],
  "walls": {
    "wall_main_w": {
      "axis": 0,
      "offset_m": -3.217,
      "residual_std_m": 0.0046,
      "inlier_points": 7663,
      "observed_span_min_m": [
        -3.2292,
        -0.6764,
        0.9397
      ],
      "observed_span_max_m": [
        -3.205,
        5.0966,
        3.2303
      ]
    },
    "wall_vest_s": {
      "axis": 1,
      "offset_m": 3.6108,
      "residual_std_m": 0.0052,
      "inlier_points": 8521,
      "observed_span_min_m": [
        -3.214,
        3.5987,
        0.9347
      ],
      "observed_span_max_m": [
        -1.3151,
        3.6229,
        2.7014
      ]
    }
  },
  "horizontal_planes": {
    "floor": {
      "offset_m": 0.0019422559848549792,
      "points": 8306
    }
  },
  "objects": {
    "g_tv": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -2.7910327869165967,
        -0.790427584573577,
        0.05808465967859513
      ],
      "observed_bbox_max_m": [
        -2.7577973740772106,
        -0.503672309834787,
        1.2448752752378536
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -2.7744150804969037,
        -0.647049947204182,
        0.6514799674582243
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_kitchen_w": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -3.0871837167264493,
        -0.5530087271799444,
        0.008635461723263288
      ],
      "observed_bbox_max_m": [
        -2.591965359722908,
        2.669772935570768,
        0.9429980278481065
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -2.839574538224679,
        1.0583821041954118,
        0.47581674478568486
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_kitchen_n": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -3.0679926037414673,
        2.8542644560141754,
        0.8243119983725563
      ],
      "observed_bbox_max_m": [
        -1.2611470140897882,
        3.4527290210592594,
        0.9438175038618878
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -2.164569808915628,
        3.1534967385367176,
        0.884064751117222
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_island": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -1.7136930345764854,
        0.7826450120310195,
        0.017740409087943557
      ],
      "observed_bbox_max_m": [
        -0.9085589063280176,
        2.17822129423375,
        0.9426973224340439
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.3111259704522515,
        1.4804331531323847,
        0.48021886576099376
      ],
      "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": 0.785,
        "tilt_rad": 0.0
      },
      "observation_id": "obs-332a92a6-2-913"
    }
  ],
  "dimensions": {
    "width": {
      "value_m": null,
      "status": "opposing_planes_not_observed"
    },
    "length": {
      "value_m": null,
      "status": "opposing_planes_not_observed"
    },
    "height": {
      "value_m": null,
      "status": "floor_or_ceiling_not_observed"
    }
  },
  "session_id": "332a92a6",
  "coverage": {
    "dimensions_complete": false,
    "full_room_coverage_verified": false,
    "localization": "ideal drift-free simulated odometry, not learned SLAM"
  }
}