{
  "schema_version": 2,
  "room_id": "living_ground",
  "frame_id": "house_ground_v4",
  "sensor_hash": "ea61c1448cf7813f2a516df26385e62f00dd9f1059ed62fa2fb84ad67d90b30c",
  "revision": 2,
  "observations": [
    "obs-6a2d6a9a-1-350",
    "obs-6a2d6a9a-2-913"
  ],
  "walls": {
    "wall_main_w": {
      "axis": 0,
      "offset_m": -3.2164,
      "residual_std_m": 0.0034,
      "inlier_points": 1429,
      "observed_span_min_m": [
        -3.2285,
        3.9092,
        2.8491
      ],
      "observed_span_max_m": [
        -3.2046,
        5.1766,
        3.2313
      ]
    },
    "wall_office_s": {
      "axis": 1,
      "offset_m": 6.2399,
      "residual_std_m": 0.0051,
      "inlier_points": 7603,
      "observed_span_min_m": [
        -0.1214,
        6.2279,
        0.0054
      ],
      "observed_span_max_m": [
        2.6251,
        6.2519,
        2.6891
      ]
    },
    "wall_office_w": {
      "axis": 1,
      "offset_m": 6.3005,
      "residual_std_m": 0.0055,
      "inlier_points": 750,
      "observed_span_min_m": [
        -0.1868,
        6.2881,
        0.6529
      ],
      "observed_span_max_m": [
        -0.1349,
        6.3131,
        2.6863
      ]
    },
    "wall_wc_e": {
      "axis": 0,
      "offset_m": -1.2585,
      "residual_std_m": 0.001,
      "inlier_points": 2021,
      "observed_span_min_m": [
        -1.2623,
        5.5859,
        0.0113
      ],
      "observed_span_max_m": [
        -1.2547,
        6.342,
        2.6921
      ]
    },
    "wall_vest_e": {
      "axis": 0,
      "offset_m": -1.2588,
      "residual_std_m": 0.0019,
      "inlier_points": 5551,
      "observed_span_min_m": [
        -1.271,
        3.651,
        0.0038
      ],
      "observed_span_max_m": [
        -1.2473,
        6.2581,
        2.696
      ]
    },
    "wall_vest_s": {
      "axis": 1,
      "offset_m": 3.61,
      "residual_std_m": 0.0053,
      "inlier_points": 7934,
      "observed_span_min_m": [
        -3.0353,
        3.598,
        0.9425
      ],
      "observed_span_max_m": [
        -1.3161,
        3.622,
        2.6983
      ]
    }
  },
  "horizontal_planes": {
    "floor": {
      "offset_m": 0.0025001919114452376,
      "points": 6550
    },
    "ceiling": {
      "offset_m": 2.704038975619676,
      "points": 5670
    }
  },
  "objects": {
    "collection_bin": {
      "class": "container",
      "observed_bbox_min_m": [
        -0.7046946161845131,
        -1.1533851843314915,
        0.005786402721778593
      ],
      "observed_bbox_max_m": [
        -0.22788645117759496,
        -0.7520045564739319,
        0.27035386458882676
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -0.46629053368105405,
        -0.9526948704027117,
        0.13807013365530268
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_entrance_frame": {
      "class": "door_frame",
      "observed_bbox_min_m": [
        -1.2606998371052787,
        3.816830723285674,
        0.015734873278401618
      ],
      "observed_bbox_max_m": [
        -1.2562504991722638,
        6.261686422824858,
        2.6966262940413874
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.2584751681387711,
        5.039258573055266,
        1.3561805836598946
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_garage_utility_frame": {
      "class": "door_frame",
      "observed_bbox_min_m": [
        -1.2595734988293652,
        4.006061553955077,
        2.0424657790897665
      ],
      "observed_bbox_max_m": [
        2.632039508092187,
        6.258406996726988,
        2.7024428665327798
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        0.6862330046314108,
        5.132234275341032,
        2.372454322811273
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_office_frame": {
      "class": "door_frame",
      "observed_bbox_min_m": [
        -1.2604240257165897,
        3.989362337589263,
        0.015768105871008006
      ],
      "observed_bbox_max_m": [
        -1.253692549553584,
        4.018836479187011,
        2.0205994894888746
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.2570582876350869,
        4.004099408388138,
        1.0181837976799413
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_wc_frame": {
      "class": "door_frame",
      "observed_bbox_min_m": [
        -1.2516991480315849,
        4.458987951278685,
        0.003587926630128768
      ],
      "observed_bbox_max_m": [
        2.250034944231986,
        6.448824787139891,
        2.0919296336454622
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        0.49916789810020046,
        5.453906369209288,
        1.0477587801377954
      ],
      "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": [
        -1.3313525830095565,
        3.994514136314391,
        0.0070765619973203655
      ],
      "observed_bbox_max_m": [
        -1.2358967941328383,
        4.928387718200683,
        2.0950403326965255
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.2836246885711975,
        4.461450927257537,
        1.0510584473469229
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_vestibule": {
      "class": "door_leaf",
      "observed_bbox_min_m": [
        -1.3043074663943497,
        4.312975158691406,
        0.026272465924034216
      ],
      "observed_bbox_max_m": [
        -1.2973477162253677,
        4.845177555084228,
        2.0036110333045642
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.3008275913098588,
        4.579076356887817,
        1.0149417496142992
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_coffee": {
      "class": "furniture",
      "observed_bbox_min_m": [
        1.31864397561525,
        0.737747929096221,
        0.03935420160616414
      ],
      "observed_bbox_max_m": [
        1.5639742658328177,
        1.197308851480483,
        0.4553393429967033
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        1.4413091207240338,
        0.967528390288352,
        0.24734677230143373
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_kitchen_n": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -2.8336593742208165,
        2.877530829906463,
        0.8250968206430161
      ],
      "observed_bbox_max_m": [
        -1.261271084293823,
        3.4596864652633657,
        0.9436525545916103
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -2.0474652292573197,
        3.1686086475849145,
        0.8843746876173133
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_island": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -1.6340612898534748,
        0.7809909880161281,
        0.02259001723636944
      ],
      "observed_bbox_max_m": [
        -0.9080618939753058,
        2.3612836587429036,
        0.9427519365272796
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -1.2710615919143904,
        1.5711373233795158,
        0.48267097688182453
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_dining": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -0.3429987042156892,
        1.811945016384124,
        0.008017735125483533
      ],
      "observed_bbox_max_m": [
        1.1435571314393365,
        2.6186092472076408,
        0.7637667440052817
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        0.4002792136118236,
        2.215277131795882,
        0.3858922395653826
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_chair0": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -0.30755191947208416,
        1.3299258017539974,
        0.014015362146030254
      ],
      "observed_bbox_max_m": [
        0.10776849820125614,
        1.7325410079956045,
        0.8715802800172707
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -0.09989171063541401,
        1.531233404874801,
        0.4427978210816505
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_chair1": {
      "class": "furniture",
      "observed_bbox_min_m": [
        0.5394598269868414,
        1.3299000000953665,
        0.008926379644236959
      ],
      "observed_bbox_max_m": [
        0.9546125711330676,
        1.7377061331272117,
        0.8716713646442654
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        0.7470361990599546,
        1.5338030666112892,
        0.4402988721442512
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_chair2": {
      "class": "furniture",
      "observed_bbox_min_m": [
        -0.30691351835071706,
        3.052563762664794,
        0.7338434601790044
      ],
      "observed_bbox_max_m": [
        0.10984351732836325,
        3.1034557008743278,
        0.8734387367433258
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        -0.0985350005111769,
        3.078009731769561,
        0.803641098461165
      ],
      "interpretation": "union of visible surfaces across views; viewpoint change is not evidence of furniture motion"
    },
    "g_chair3": {
      "class": "furniture",
      "observed_bbox_min_m": [
        0.5397588425274971,
        2.7289625358581535,
        0.00925953454605522
      ],
      "observed_bbox_max_m": [
        0.9567359136570566,
        3.1567533707618702,
        0.8731553829478187
      ],
      "full_object_size_verified": false,
      "structurally_immovable_verified": false,
      "observation_count": 1,
      "surface_bbox_center_m": [
        0.7482473780922768,
        2.942857953310012,
        0.44120745874693695
      ],
      "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": 0.0,
        "tilt_rad": -0.9
      },
      "observation_id": "obs-6a2d6a9a-1-350"
    },
    {
      "pose": [
        0.0,
        -1.5,
        1.6
      ],
      "camera_head": {
        "pan_rad": 0.0,
        "tilt_rad": 0.0
      },
      "observation_id": "obs-6a2d6a9a-2-913"
    }
  ],
  "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": 2.6905,
      "sigma_floor_m": 0.02,
      "source_walls": [
        "wall_vest_s",
        "wall_office_w"
      ],
      "status": "measured_across_calibrated_views"
    },
    "height": {
      "value_m": 2.7015,
      "sigma_floor_m": 0.02,
      "status": "observed_floor_and_ceiling"
    }
  },
  "session_id": "6a2d6a9a",
  "coverage": {
    "dimensions_complete": true,
    "full_room_coverage_verified": false,
    "localization": "ideal drift-free simulated odometry, not learned SLAM"
  }
}