[
  {
    "name": "Denisovy sady — inferred complete visible wall faces",
    "file": "denis-wall-complete-mobile.glb",
    "position": [
      0,
      0,
      0
    ],
    "rotation": [
      0,
      0,
      0
    ],
    "scale": 1,
    "boundsGame": [
      [
        -117.84642447035745,
        -3.341820334863348,
        282.0972331762076
      ],
      [
        -82.47084752167468,
        7.655504215618902,
        296.16758949998655
      ]
    ],
    "triangles": 40818,
    "vertices": 21242,
    "sizeBytes": 706736,
    "geometry": "Calibrated ray reconstruction on LiDAR fitted lower wall and mapped upper wall plane. Inferred surface beyond measured core; not full photogrammetric scan.",
    "texture": "Original1920x1200 camera photograph projected via supplied calibration; vegetation/sky alpha-masked with neutral stone backing. Source photograph boundary hints are stored in layers. WebP quality88 atlas and Meshopt geometry compression.",
    "registration": "GNSS x/z refined against OSM retaining wall165638150; vertical offset fitted to Bpv road terrain. Municipal building mesh has no surface here.",
    "license": "MIT",
    "licenseSource": "https://github.com/Robotics-BUT/Brno-Urban-Dataset/blob/master/LICENSE",
    "datasetSource": "https://github.com/Robotics-BUT/Brno-Urban-Dataset",
    "paper": "https://dspace.vut.cz/items/65a4766e-3212-47a2-b5c3-1f77310e84b1",
    "authors": "Adam Ligocki, Aleš Jelínek, Luděk Žalud / Brno University of Technology",
    "osmAttribution": "© OpenStreetMap contributors, ODbL1.0. Map line used only for position alignment.",
    "limitations": [
      "Partial visible lower-wall patch; holes are unsupported or occluded areas.",
      "Single fitted plane gives horizontal cross-wall constraint; along-wall position remains GNSS dependent.",
      "Source camera/lidar calibration was manually estimated by dataset authors; not surveyed reconstruction.",
      "Texture contains captured daylight/shadows; dynamic lighting can double-shade.",
      "6.3cm plane residual is scanner/stone fit, not independent geodetic accuracy.",
      "Coping/base outlines reviewed from photograph; upper wall plane and neutral backing under vegetation are inferred. See source polygons."
    ],
    "evidence": {
      "reference": {
        "zone": "denis",
        "file": "/private/tmp/brno-v8/bud-reconstruction-portable/inputs/denis-frame-0053.jpg",
        "frameOutput": 53,
        "encodedSampleIndex": 1750,
        "sourceCameraSequence": 1748,
        "presentationIndex": 1748,
        "timestampNanoseconds": "1568110791521700038",
        "nearestGNSSNanoseconds": "1568110791526331524",
        "gnssDeltaMilliseconds": -4.631,
        "latitude": 49.1903216,
        "longitude": 16.60587164,
        "altitudeMeters": 218.757,
        "headingDegrees": 113.1038,
        "x": -118.3818,
        "z": 297.8381,
        "recommendedForProjection": true,
        "usableRegionNormalized": [
          0,
          0,
          1,
          0.72
        ],
        "qualityNote": "Retaining wall; crop away road; exposure varies; manually mask isolated vegetation/shadow if needed",
        "sha256": "47afb6f8f773907af53a639a1c2fe584a6c60d72c59731f2ff21f162dfc1cd2f"
      },
      "lidar": {
        "file": "/private/tmp/brno-v8/bud-reconstruction-portable/inputs/denis-scan001800.pcd",
        "scanSequence": 1800,
        "timestampNanoseconds": "1568110791582871722",
        "bytes": 812800,
        "crc32": 2675586303,
        "sha256": "31f99cc81122037f2b51edfc8c88bcea2409885fc3d2554d15ab52d51228b63e"
      },
      "wallPoints": 2837,
      "planeNormalBody": [
        -0.12110108892283537,
        0.9607985351482402,
        -0.2494006838777694
      ],
      "planeRmsMeters": 0.06284207316914461,
      "osmWallId": 165638150,
      "initialOSMRmsMeters": 0.28950217171312304,
      "fittedOSMRmsMeters": 0.23679317261075747,
      "poseCorrection": [
        0.4222183891586088,
        -0.007160845185086244,
        0.10046509842170541
      ],
      "rigOriginGame": [
        -117.44352414015742,
        -1.3521128446689934,
        297.84452911255096
      ],
      "groundPoints": 18993,
      "groundFitNote": "Bpv vertical origin fitted from terrain road samples; no GNSS ellipsoidal altitude subtraction",
      "municipalNote": "Grey vertex visual verifies municipal walls lack most lower retaining-wall geometry; source OSM wall line constrains horizontal registration."
    },
    "layers": [
      {
        "layer": "lower",
        "triangles": 14523,
        "sourcePolygon": [
          [
            20,
            280
          ],
          [
            300,
            303
          ],
          [
            900,
            350
          ],
          [
            1200,
            378
          ],
          [
            1550,
            419
          ],
          [
            1890,
            461
          ],
          [
            1890,
            674
          ],
          [
            1600,
            702
          ],
          [
            1300,
            741
          ],
          [
            800,
            786
          ],
          [
            300,
            808
          ],
          [
            20,
            800
          ]
        ],
        "boundsGame": [
          [
            -117.58662115869264,
            -3.341820334863348,
            286.03867997745505
          ],
          [
            -82.47084752167468,
            1.9713530962073085,
            296.16758949998655
          ]
        ],
        "geometry": "LiDAR fitted inclined plane extended to photo coping/base boundary"
      },
      {
        "layer": "upper",
        "triangles": 5886,
        "sourcePolygon": [
          [
            50,
            0
          ],
          [
            180,
            0
          ],
          [
            1100,
            100
          ],
          [
            1508,
            195
          ],
          [
            1490,
            384
          ],
          [
            1200,
            376
          ],
          [
            800,
            300
          ],
          [
            400,
            220
          ],
          [
            40,
            130
          ]
        ],
        "boundsGame": [
          [
            -117.84642447035745,
            2.495737839095825,
            282.0972331762076
          ],
          [
            -92.796265528867,
            7.655504215618902,
            289.2899350649207
          ]
        ],
        "geometry": "Inferred vertical plane at OSM upper retaining wall75606981; photo-ray intersection determines extent"
      }
    ],
    "terrainCorrection": "Ground datum refitted against original-triangle terrain with local1m Denis patch on2026-09-08."
  },
  {
    "name": "Malinovského connecting frontage — municipal walls with BUD photo",
    "file": "malinovskeho-facades-mobile.glb",
    "position": [
      0,
      0,
      0
    ],
    "rotation": [
      0,
      0,
      0
    ],
    "scale": 1,
    "sizeBytes": 159624,
    "triangles": 4227,
    "boundsGame": [
      [
        390.9802514555711,
        -9.741333333326718,
        -476.0449875710492
      ],
      [
        420.7823697366438,
        11.042830188685857,
        -424.95398467123425
      ]
    ],
    "sourceFrame": {
      "zone": "malinovskeho",
      "file": "/private/tmp/brno-v8/bud-reconstruction-portable/inputs/malinovskeho-frame-0069.jpg",
      "frameOutput": 69,
      "encodedSampleIndex": 8562,
      "sourceCameraSequence": 8563,
      "presentationIndex": 8563,
      "timestampNanoseconds": "1568111473703654322",
      "nearestGNSSNanoseconds": "1568111473724223255",
      "gnssDeltaMilliseconds": -20.569,
      "latitude": 49.19701523,
      "longitude": 16.61342486,
      "altitudeMeters": 211.453,
      "headingDegrees": 329.6055,
      "x": 430.7373,
      "z": -446.4936,
      "recommendedForProjection": true,
      "usableRegionNormalized": [
        0,
        0,
        1,
        0.6
      ],
      "qualityNote": "Upper facade only; mask cars, poles and trees. Lower floors are partly occluded",
      "sha256": "d6620e04e307f30ebd8ebba8439016efd1f51460ed9949c398249c131c70778f"
    },
    "sourceScan": {
      "file": "/private/tmp/brno-v8/bud-reconstruction-portable/inputs/malinovskeho-scan008880.pcd",
      "scanSequence": 8880,
      "timestampNanoseconds": "1568111473658796361",
      "bytes": 800896,
      "crc32": 1028082711,
      "sha256": "81569eb5d037e62ebb3b403fead0c5cfa48aebfe75bcd0db4da8342e93180ce3"
    },
    "geometry": "Existing municipal Brno LOD2 wall triangles subdivided for calibrated camera reprojection; source building volume preserved.",
    "texture": "Brno Urban Dataset camera_left_side, photograph8563. Foreground removed using actual lidar depth consistency plus a reviewed555px crop above the parked vehicles; native green plaster is preserved. WebP quality88 atlas and Meshopt geometry compression.",
    "source": "https://github.com/Robotics-BUT/Brno-Urban-Dataset",
    "license": "MIT for photograph/data; retain municipal mesh attribution and terms",
    "fit": {
      "reference": {
        "zone": "malinovskeho",
        "file": "/private/tmp/brno-v8/bud-reconstruction-portable/inputs/malinovskeho-frame-0069.jpg",
        "frameOutput": 69,
        "encodedSampleIndex": 8562,
        "sourceCameraSequence": 8563,
        "presentationIndex": 8563,
        "timestampNanoseconds": "1568111473703654322",
        "nearestGNSSNanoseconds": "1568111473724223255",
        "gnssDeltaMilliseconds": -20.569,
        "latitude": 49.19701523,
        "longitude": 16.61342486,
        "altitudeMeters": 211.453,
        "headingDegrees": 329.6055,
        "x": 430.7373,
        "z": -446.4936,
        "recommendedForProjection": true,
        "usableRegionNormalized": [
          0,
          0,
          1,
          0.6
        ],
        "qualityNote": "Upper facade only; mask cars, poles and trees. Lower floors are partly occluded",
        "sha256": "d6620e04e307f30ebd8ebba8439016efd1f51460ed9949c398249c131c70778f"
      },
      "lidar": {
        "file": "/private/tmp/brno-v8/bud-reconstruction-portable/inputs/malinovskeho-scan008880.pcd",
        "scanSequence": 8880,
        "timestampNanoseconds": "1568111473658796361",
        "bytes": 800896,
        "crc32": 1028082711,
        "sha256": "81569eb5d037e62ebb3b403fead0c5cfa48aebfe75bcd0db4da8342e93180ce3"
      },
      "wallPoints": 846,
      "planeNormalBody": [
        0.04838982245373603,
        -0.9985832690538199,
        -0.022133229513161264
      ],
      "planeRmsMeters": 0.060434779607083766,
      "municipalWallSegments": 540,
      "initialMunicipalWallRmsMeters": 0.7511273810320485,
      "fittedMunicipalWallRmsMeters": 0.1543040491140932,
      "poseCorrection": [
        -1.220960184091363,
        0.00832935199781022,
        2.437060447944671
      ],
      "rigOriginGame": [
        429.10959652623876,
        -10.405768018308523,
        -446.80316984005617
      ],
      "groundPoints": 11849,
      "groundFitNote": "Bpv vertical origin fitted from terrain road samples; no GNSS ellipsoidal altitude subtraction",
      "municipalNote": "Municipal wall mesh constrains horizontal pose; actual mesh is used for projected photographic detail."
    },
    "limitations": [
      "Only camera-visible facade parts are mapped; upper roofline lies outside source photo.",
      "Parked cars/vegetation mask portions of lower floors; existing wall remains underneath.",
      "Calibration is manually estimated by dataset authors.",
      "Single facade plane constrains cross-wall pose; along-wall accuracy is GNSS-dependent."
    ],
    "terrainCorrection": "Ground datum refitted against original-triangle terrain with local1m Denis patch on2026-09-08."
  }
]