{
  "scope": "geometry/preprocessing boundary only; no CoFiI2P inference or pyramid",
  "frame_id": "test",
  "source_commit": "333e368b9dde82f9dbd170eaed790fdeeaa15a94",
  "driver_sha256": "14f9be0ee9bc56e688baff0ae5afbbb543e9bea915f3c397875efa7bb0156e22",
  "input_sha256": {
    "/workspace/work/cofii2p-boundary-smoke-20261030/inputs/image.png": "65f8f910176ef827cb99cce2de21fa42c3f3040ef23fae27cca12add58986c94",
    "/workspace/work/cofii2p-boundary-smoke-20261030/inputs/cloud.npz": "a6060c229ed242893992cf5578232dbf259ac6af2a5dddfeac6f92d39434f79c",
    "/workspace/work/cofii2p-boundary-smoke-20261030/inputs/initial.json": "d2bb88ff462dae8088139f10b2910667d84cab2e8c30e7d176a888f2bb034908",
    "/workspace/work/cofii2p-boundary-smoke-20261030/inputs/camera.json": "1e9ed07a14b4c316e5bfce88c5644c4ba3e78a4eb4c163ccef62d8d67fd081ff",
    "/workspace/work/cofii2p-boundary-smoke-20261030/inputs/request.json": "b650697e8cbba73cd601ccf15d543831bbc154618a238e65531b4bcbcea84a84"
  },
  "artifact": {
    "path": "/workspace/work/cofii2p-boundary-smoke-20261030/prepared/input.npz",
    "sha256": "5993aedd7eb63522cfbfdd3bdf0facd96f9de3c7e4806f42aa591032ea5b4450"
  },
  "array_shapes": {
    "point_lidar_m": [
      3,
      3
    ],
    "point_initial_camera_m": [
      3,
      3
    ],
    "normal_initial_camera": [
      3,
      3
    ],
    "intensity": [
      3,
      1
    ],
    "point_id": [
      3
    ],
    "image_bgr_chw": [
      3,
      160,
      512
    ],
    "input_intrinsics": [
      3,
      3
    ]
  },
  "source_to_input_pixel": [
    [
      0.5,
      0.0,
      -54.25
    ],
    [
      0.0,
      0.5013333333333333,
      -14.249333333333333
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "initial_camera_lidar": [
    [
      2.220446049250313e-16,
      -1.0,
      0.0,
      0.2
    ],
    [
      1.0,
      2.220446049250313e-16,
      0.0,
      -0.1
    ],
    [
      0.0,
      0.0,
      1.0,
      0.3
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "preprocessing": {
    "resize": "half dimensions rounded; OpenCV pixel-center affine",
    "crop": "center512x160",
    "source_crop_top_rows": 0,
    "channel_order": "BGR (explicit OpenCV convention; checkpoint parity pending)",
    "point_sampling": "none; original rows/IDs preserved"
  }
}
