{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "$id": "https://rsasaki0109.github.io/lidar_slam_ros2/schemas/map-project-v1.schema.json",
  "title": "lidar_slam multi-session map project v1",
  "type": "object",
  "required": [
    "schema_version",
    "project_type",
    "anchor_session_index",
    "session_count",
    "sources",
    "transforms_to_anchor",
    "options",
    "receipt"
  ],
  "properties": {
    "schema_version": {"const": 1},
    "project_type": {"const": "gravity_aligned_multi_session_pointcloud_map"},
    "anchor_session_index": {"const": 0},
    "session_count": {"type": "integer", "minimum": 2},
    "sources": {
      "type": "array",
      "minItems": 2,
      "items": {"$ref": "#/definitions/source"}
    },
    "transforms_to_anchor": {
      "type": "array",
      "minItems": 2,
      "items": {"$ref": "#/definitions/alignment"}
    },
    "options": {"type": "object"},
    "receipt": {"const": "map_merge_receipt.json"}
  },
  "definitions": {
    "sha256": {
      "type": "string",
      "pattern": "^[0-9a-f]{64}$"
    },
    "source": {
      "type": "object",
      "required": [
        "session_index",
        "source_dir",
        "map_bundle_sha256",
        "full_map_sha256",
        "pointcloud_map_sha256",
        "trajectory_sha256",
        "projector_info_sha256",
        "point_count",
        "trajectory_pose_count"
      ],
      "properties": {
        "session_index": {"type": "integer", "minimum": 0},
        "source_dir": {"type": "string", "minLength": 1},
        "map_bundle_sha256": {"$ref": "#/definitions/sha256"},
        "full_map_sha256": {"$ref": "#/definitions/sha256"},
        "pointcloud_map_sha256": {"$ref": "#/definitions/sha256"},
        "trajectory_sha256": {"$ref": "#/definitions/sha256"},
        "projector_info_sha256": {"$ref": "#/definitions/sha256"},
        "point_count": {"type": "integer", "minimum": 1},
        "trajectory_pose_count": {"type": "integer", "minimum": 1}
      }
    },
    "alignment": {
      "type": "object",
      "required": [
        "session_index",
        "method",
        "rotation",
        "translation",
        "yaw_deg",
        "translation_norm_m"
      ],
      "properties": {
        "session_index": {"type": "integer", "minimum": 0},
        "method": {"type": "string", "minLength": 1},
        "rotation": {
          "type": "array",
          "minItems": 3,
          "maxItems": 3,
          "items": {
            "type": "array",
            "minItems": 3,
            "maxItems": 3,
            "items": {"type": "number"}
          }
        },
        "translation": {
          "type": "array",
          "minItems": 3,
          "maxItems": 3,
          "items": {"type": "number"}
        },
        "yaw_deg": {"type": "number"},
        "translation_norm_m": {"type": "number", "minimum": 0}
      }
    }
  }
}