{
  "$defs": {
    "DisparityPoseResult": {
      "properties": {
        "status": {
          "title": "Status",
          "type": "string"
        },
        "accepted": {
          "title": "Accepted",
          "type": "boolean"
        },
        "output_T_camera_lidar": {
          "items": {
            "items": {
              "type": "number"
            },
            "type": "array"
          },
          "title": "Output T Camera Lidar",
          "type": "array"
        },
        "candidate_T_camera_lidar": {
          "items": {
            "items": {
              "type": "number"
            },
            "type": "array"
          },
          "title": "Candidate T Camera Lidar",
          "type": "array"
        },
        "options": {
          "additionalProperties": true,
          "title": "Options",
          "type": "object"
        },
        "diagnostics": {
          "additionalProperties": true,
          "title": "Diagnostics",
          "type": "object"
        }
      },
      "required": [
        "status",
        "accepted",
        "output_T_camera_lidar",
        "candidate_T_camera_lidar",
        "options",
        "diagnostics"
      ],
      "title": "DisparityPoseResult",
      "type": "object"
    },
    "PoseCaseResult": {
      "properties": {
        "case_id": {
          "title": "Case Id",
          "type": "string"
        },
        "input_sha256": {
          "additionalProperties": {
            "type": "string"
          },
          "title": "Input Sha256",
          "type": "object"
        },
        "initial_T_camera_lidar": {
          "items": {
            "items": {
              "type": "number"
            },
            "type": "array"
          },
          "title": "Initial T Camera Lidar",
          "type": "array"
        },
        "result": {
          "$ref": "#/$defs/DisparityPoseResult"
        },
        "initial": {
          "additionalProperties": true,
          "title": "Initial",
          "type": "object"
        },
        "d2d": {
          "additionalProperties": true,
          "title": "D2D",
          "type": "object"
        },
        "candidate": {
          "additionalProperties": true,
          "title": "Candidate",
          "type": "object"
        },
        "returned": {
          "additionalProperties": true,
          "title": "Returned",
          "type": "object"
        },
        "stage_recovered": {
          "title": "Stage Recovered",
          "type": "boolean"
        }
      },
      "required": [
        "case_id",
        "input_sha256",
        "initial_T_camera_lidar",
        "result",
        "initial",
        "d2d",
        "candidate",
        "returned",
        "stage_recovered"
      ],
      "title": "PoseCaseResult",
      "type": "object"
    }
  },
  "additionalProperties": false,
  "properties": {
    "scope": {
      "title": "Scope",
      "type": "string"
    },
    "source_commit": {
      "title": "Source Commit",
      "type": "string"
    },
    "plan_sha256": {
      "title": "Plan Sha256",
      "type": "string"
    },
    "cases": {
      "items": {
        "$ref": "#/$defs/PoseCaseResult"
      },
      "title": "Cases",
      "type": "array"
    }
  },
  "required": [
    "scope",
    "source_commit",
    "plan_sha256",
    "cases"
  ],
  "title": "PoseEvaluation",
  "type": "object"
}