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https://github.com/ruvnet/RuView.git
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feat(nlos): add consumer transient sensing pipeline
This commit is contained in:
rUv
159
docs/schemas/ruview-nlos-track-v1.schema.json
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159
docs/schemas/ruview-nlos-track-v1.schema.json
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@@ -0,0 +1,159 @@
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{
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"$id": "https://ruview.ai/schemas/ruview-nlos-track-v1.schema.json",
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"title": "RuView NLOS track envelope v1",
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"type": "object",
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"additionalProperties": false,
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"required": [
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"schema", "sessionId", "sequence", "capturedAtUnixMs", "expiresAtUnixMs",
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"source", "evidenceLevel", "algorithmVersion", "calibrationHash", "provenance", "tracks"
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],
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"properties": {
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"schema": { "const": "ruview.nlos.track.v1" },
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"sessionId": { "$ref": "#/$defs/label" },
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"sequence": { "type": "integer", "minimum": 0, "maximum": 9007199254740991 },
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"capturedAtUnixMs": { "type": "integer", "minimum": 0, "maximum": 9007199254740991 },
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"expiresAtUnixMs": { "type": "integer", "minimum": 0, "maximum": 9007199254740991 },
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"source": { "enum": ["live", "replay", "synthetic"] },
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"evidenceLevel": { "enum": ["l0_synthetic", "l1_measured", "l2_calibrated"] },
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"algorithmVersion": { "$ref": "#/$defs/label" },
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"calibrationHash": { "$ref": "#/$defs/sha256" },
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"provenance": { "$ref": "#/$defs/provenance" },
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"tracks": {
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"type": "array",
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"maxItems": 16,
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"items": { "$ref": "#/$defs/track" }
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}
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},
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"allOf": [
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{
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"if": { "properties": { "source": { "const": "synthetic" } }, "required": ["source"] },
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"then": {
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"properties": {
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"evidenceLevel": { "const": "l0_synthetic" },
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"calibrationHash": { "const": "0000000000000000000000000000000000000000000000000000000000000000" },
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"provenance": {
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"properties": {
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"transientKind": { "const": "replay" },
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"transport": { "const": "replay" }
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}
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}
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}
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}
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},
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{
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"if": { "properties": { "source": { "const": "live" } }, "required": ["source"] },
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"then": {
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"properties": {
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"evidenceLevel": { "enum": ["l1_measured", "l2_calibrated"] },
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"provenance": {
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"properties": {
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"transientKind": { "enum": ["raw_histogram", "compact_normalized_histogram"] },
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"histogramPreserved": { "const": true },
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"transport": { "enum": ["usb_serial", "ruview_server"] }
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}
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}
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}
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}
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},
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{
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"if": { "properties": { "source": { "const": "replay" } }, "required": ["source"] },
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"then": {
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"properties": {
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"provenance": {
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"properties": {
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"transientKind": { "const": "replay" },
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"histogramPreserved": { "const": true },
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"transport": { "const": "replay" }
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}
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}
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}
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}
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},
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{
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"if": {
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"properties": { "evidenceLevel": { "const": "l2_calibrated" } },
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"required": ["evidenceLevel"]
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},
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"then": {
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"properties": {
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"calibrationHash": {
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"not": { "const": "0000000000000000000000000000000000000000000000000000000000000000" }
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}
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}
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}
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}
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],
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"$defs": {
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"label": { "type": "string", "minLength": 1, "maxLength": 64, "pattern": "^[A-Za-z0-9_.:-]+$" },
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"sha256": { "type": "string", "pattern": "^[0-9a-f]{64}$" },
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"unit": { "type": "number", "minimum": 0, "maximum": 1 },
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"vector": {
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"type": "object",
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"additionalProperties": false,
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"required": ["x", "y", "z"],
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"properties": { "x": { "type": "number" }, "y": { "type": "number" }, "z": { "type": "number" } }
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},
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"positionVector": {
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"type": "object", "additionalProperties": false, "required": ["x", "y", "z"],
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"properties": {
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"x": { "type": "number", "minimum": -100, "maximum": 100 },
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"y": { "type": "number", "minimum": -100, "maximum": 100 },
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"z": { "type": "number", "minimum": -100, "maximum": 100 }
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}
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},
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"velocityVector": {
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"type": "object", "additionalProperties": false, "required": ["x", "y", "z"],
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"properties": {
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"x": { "type": "number", "minimum": -20, "maximum": 20 },
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"y": { "type": "number", "minimum": -20, "maximum": 20 },
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"z": { "type": "number", "minimum": -20, "maximum": 20 }
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}
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},
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"covarianceVector": {
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"type": "object", "additionalProperties": false, "required": ["x", "y", "z"],
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"properties": {
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"x": { "type": "number", "minimum": 0, "maximum": 10 },
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"y": { "type": "number", "minimum": 0, "maximum": 10 },
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"z": { "type": "number", "minimum": 0, "maximum": 10 }
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}
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},
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"provenance": {
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"type": "object",
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"additionalProperties": false,
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"required": ["sensorId", "sensorModel", "firmwareVersion", "transientKind", "histogramPreserved", "transport"],
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"properties": {
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"sensorId": { "$ref": "#/$defs/label" },
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"sensorModel": { "$ref": "#/$defs/label" },
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"firmwareVersion": { "$ref": "#/$defs/label" },
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"transientKind": { "enum": ["raw_histogram", "compact_normalized_histogram", "depth_only", "replay"] },
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"histogramPreserved": { "type": "boolean" },
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"transport": { "enum": ["usb_serial", "ruview_server", "replay"] }
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}
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},
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"track": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"trackId", "state", "positionM", "velocityMps", "covarianceDiagonalM2",
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"confidence", "posteriorEntropy", "signalQuality", "modalityContributions"
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],
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"properties": {
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"trackId": { "$ref": "#/$defs/label" },
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"state": { "enum": ["tracking", "degraded", "unknown"] },
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"positionM": { "$ref": "#/$defs/positionVector" },
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"velocityMps": { "$ref": "#/$defs/velocityVector" },
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"covarianceDiagonalM2": { "$ref": "#/$defs/covarianceVector" },
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"confidence": { "$ref": "#/$defs/unit" },
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"posteriorEntropy": { "type": "number", "minimum": 0 },
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"signalQuality": { "$ref": "#/$defs/unit" },
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"modalityContributions": {
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"type": "object",
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"additionalProperties": false,
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"required": ["lidar", "csi"],
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"properties": { "lidar": { "$ref": "#/$defs/unit" }, "csi": { "$ref": "#/$defs/unit" } }
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}
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}
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}
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}
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}
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132
docs/schemas/ruview-nlos-transient-v1.schema.json
Normal file
132
docs/schemas/ruview-nlos-transient-v1.schema.json
Normal file
@@ -0,0 +1,132 @@
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{
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"$id": "https://ruview.ai/schemas/ruview-nlos-transient-v1.schema.json",
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"title": "RuView raw optical transient frame v1",
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"type": "object",
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"additionalProperties": false,
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"required": [
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"schema", "sessionId", "sequence", "capturedAtUnixMs", "monotonicNs", "source",
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"evidenceLevel", "binWidthPs", "startBin", "sensorPose", "calibrationHash", "provenance", "zones"
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],
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"properties": {
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"schema": { "const": "ruview.nlos.transient.v1" },
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"sessionId": { "type": "string", "minLength": 1, "maxLength": 64, "pattern": "^[A-Za-z0-9_.:-]+$" },
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"sequence": { "type": "integer", "minimum": 0, "maximum": 9007199254740991 },
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"capturedAtUnixMs": { "type": "integer", "minimum": 0, "maximum": 9007199254740991 },
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"monotonicNs": { "type": "integer", "minimum": 0 },
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"source": { "enum": ["live", "replay", "synthetic"] },
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"evidenceLevel": { "enum": ["l0_synthetic", "l1_measured", "l2_calibrated"] },
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"binWidthPs": { "type": "number", "minimum": 1, "maximum": 10000 },
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"startBin": { "type": "integer", "minimum": 0, "maximum": 65535 },
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"sensorPose": {
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"type": "object",
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"additionalProperties": false,
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"required": ["translationM", "quaternionXyzw"],
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"properties": {
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"translationM": { "$ref": "#/$defs/vector" },
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"quaternionXyzw": {
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"type": "array", "minItems": 4, "maxItems": 4,
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"items": { "type": "number", "minimum": -1, "maximum": 1 }
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}
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}
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},
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"calibrationHash": { "type": "string", "pattern": "^[0-9a-f]{64}$" },
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"provenance": {
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"type": "object",
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"additionalProperties": false,
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"required": ["sensorId", "sensorModel", "firmwareVersion", "transientKind", "histogramPreserved", "transport"],
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"properties": {
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"sensorId": { "$ref": "#/$defs/label" },
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"sensorModel": { "$ref": "#/$defs/label" },
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"firmwareVersion": { "$ref": "#/$defs/label" },
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"transientKind": { "enum": ["raw_histogram", "compact_normalized_histogram", "depth_only", "replay"] },
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"histogramPreserved": { "type": "boolean" },
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"transport": { "enum": ["usb_serial", "ruview_server", "replay"] }
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}
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},
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"zones": {
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"type": "array", "minItems": 1, "maxItems": 64,
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"items": {
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"type": "object", "additionalProperties": false,
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"required": ["zoneId", "wallPointM", "distanceM", "ambient", "histogram"],
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"properties": {
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"zoneId": { "type": "integer", "minimum": 0, "maximum": 63 },
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"wallPointM": { "$ref": "#/$defs/vector" },
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"distanceM": { "type": "number", "minimum": 0.01, "maximum": 10 },
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"ambient": { "type": "integer", "minimum": 0, "maximum": 4294967295 },
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"histogram": {
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"type": "array", "minItems": 8, "maxItems": 128,
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"items": { "type": "integer", "minimum": 0, "maximum": 65535 }
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}
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}
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}
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}
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},
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"allOf": [
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{
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"if": { "properties": { "source": { "const": "synthetic" } }, "required": ["source"] },
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"then": {
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"properties": {
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"evidenceLevel": { "const": "l0_synthetic" },
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"calibrationHash": { "const": "0000000000000000000000000000000000000000000000000000000000000000" },
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"provenance": {
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"properties": {
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"transientKind": { "const": "replay" },
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"transport": { "const": "replay" }
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}
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}
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}
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}
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},
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{
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"if": { "properties": { "source": { "const": "live" } }, "required": ["source"] },
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"then": {
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"properties": {
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"evidenceLevel": { "enum": ["l1_measured", "l2_calibrated"] },
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"provenance": {
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"properties": {
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"transientKind": { "enum": ["raw_histogram", "compact_normalized_histogram"] },
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"histogramPreserved": { "const": true },
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"transport": { "enum": ["usb_serial", "ruview_server"] }
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}
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}
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}
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}
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},
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{
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"if": { "properties": { "source": { "const": "replay" } }, "required": ["source"] },
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"then": {
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"properties": {
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"provenance": {
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"properties": {
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"transientKind": { "const": "replay" },
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"histogramPreserved": { "const": true },
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"transport": { "const": "replay" }
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}
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}
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}
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}
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},
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{
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"if": {
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"properties": { "evidenceLevel": { "const": "l2_calibrated" } },
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"required": ["evidenceLevel"]
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},
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"then": {
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"properties": {
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"calibrationHash": {
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"not": { "const": "0000000000000000000000000000000000000000000000000000000000000000" }
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}
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}
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}
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}
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],
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"$defs": {
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"label": { "type": "string", "minLength": 1, "maxLength": 64, "pattern": "^[A-Za-z0-9_.:-]+$" },
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"vector": {
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"type": "object", "additionalProperties": false,
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"required": ["x", "y", "z"],
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"properties": { "x": { "type": "number" }, "y": { "type": "number" }, "z": { "type": "number" } }
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}
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}
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}
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