{
  "kind": "original-svg",
  "title": "One ray, three depth hypotheses",
  "description": "Original two-panel SVG: camera at origin, image ray through pixel (70,60), samples at depths 8/10/12 with masses .2/.6/.2; right panel bird’s-eye x versus z showing cells for width 1 and pitch 0 or ±5 degrees. Use blue base markers and orange shifted markers, arrows for calibration displacement, and a mass-total=1 legend. Explicitly label depth as camera-z, not ray range.",
  "scatter_points": [
    {
      "pitch_degrees": 0,
      "depth_camera_z": 8,
      "x": 1.6,
      "world_z": 8.0,
      "mass": 0.2
    },
    {
      "pitch_degrees": 0,
      "depth_camera_z": 10,
      "x": 2.0,
      "world_z": 10.0,
      "mass": 0.6
    },
    {
      "pitch_degrees": 0,
      "depth_camera_z": 12,
      "x": 2.4000000000000004,
      "world_z": 12.0,
      "mass": 0.2
    },
    {
      "pitch_degrees": 5,
      "depth_camera_z": 8,
      "x": 1.6,
      "world_z": 8.039282,
      "mass": 0.2
    },
    {
      "pitch_degrees": 5,
      "depth_camera_z": 10,
      "x": 2.0,
      "world_z": 10.049103,
      "mass": 0.6
    },
    {
      "pitch_degrees": 5,
      "depth_camera_z": 12,
      "x": 2.4000000000000004,
      "world_z": 12.058923,
      "mass": 0.2
    },
    {
      "pitch_degrees": -5,
      "depth_camera_z": 8,
      "x": 1.6,
      "world_z": 7.899833,
      "mass": 0.2
    },
    {
      "pitch_degrees": -5,
      "depth_camera_z": 10,
      "x": 2.0,
      "world_z": 9.874791,
      "mass": 0.6
    },
    {
      "pitch_degrees": -5,
      "depth_camera_z": 12,
      "x": 2.4000000000000004,
      "world_z": 11.849749,
      "mass": 0.2
    }
  ],
  "chart": {
    "type": "scatter",
    "x_label": "Rightward x",
    "y_label": "Forward z after pitch rotation",
    "series": [
      {
        "label": "Pitch 0°",
        "points": [
          {
            "x": 1.6,
            "y": 8.0
          },
          {
            "x": 2.0,
            "y": 10.0
          },
          {
            "x": 2.4000000000000004,
            "y": 12.0
          }
        ]
      },
      {
        "label": "Pitch 5°",
        "points": [
          {
            "x": 1.6,
            "y": 8.039282
          },
          {
            "x": 2.0,
            "y": 10.049103
          },
          {
            "x": 2.4000000000000004,
            "y": 12.058923
          }
        ]
      },
      {
        "label": "Pitch -5°",
        "points": [
          {
            "x": 1.6,
            "y": 7.899833
          },
          {
            "x": 2.0,
            "y": 9.874791
          },
          {
            "x": 2.4000000000000004,
            "y": 11.849749
          }
        ]
      }
    ],
    "provenance": "Original synthetic mechanism illustration; values computed from the accompanying demo, not paper benchmark results."
  },
  "canvas": {
    "width": 720,
    "height": 360
  },
  "nodes": [
    {
      "id": "pixel",
      "label": "Pixel (70,60)",
      "x": 80,
      "y": 180
    },
    {
      "id": "d8",
      "label": "z=8, mass=.2",
      "x": 300,
      "y": 70
    },
    {
      "id": "d10",
      "label": "z=10, mass=.6",
      "x": 300,
      "y": 180
    },
    {
      "id": "d12",
      "label": "z=12, mass=.2",
      "x": 300,
      "y": 290
    },
    {
      "id": "bev",
      "label": "Rotate → floor into BEV cells",
      "x": 570,
      "y": 180
    }
  ],
  "edges": [
    {
      "source": "pixel",
      "target": "d8",
      "label": "unproject"
    },
    {
      "source": "pixel",
      "target": "d10",
      "label": "unproject"
    },
    {
      "source": "pixel",
      "target": "d12",
      "label": "unproject"
    },
    {
      "source": "d8",
      "target": "bev",
      "label": "add .2"
    },
    {
      "source": "d10",
      "target": "bev",
      "label": "add .6"
    },
    {
      "source": "d12",
      "target": "bev",
      "label": "add .2"
    }
  ],
  "provenance": "Original diagram specification and synthetic demo data; no copied paper figure or benchmark score.",
  "data": {
    "chart": {
      "type": "scatter",
      "x_label": "Rightward x",
      "y_label": "Forward z after pitch rotation",
      "series": [
        {
          "label": "Pitch 0°",
          "points": [
            {
              "x": 1.6,
              "y": 8.0
            },
            {
              "x": 2.0,
              "y": 10.0
            },
            {
              "x": 2.4000000000000004,
              "y": 12.0
            }
          ]
        },
        {
          "label": "Pitch 5°",
          "points": [
            {
              "x": 1.6,
              "y": 8.039282
            },
            {
              "x": 2.0,
              "y": 10.049103
            },
            {
              "x": 2.4000000000000004,
              "y": 12.058923
            }
          ]
        },
        {
          "label": "Pitch -5°",
          "points": [
            {
              "x": 1.6,
              "y": 7.899833
            },
            {
              "x": 2.0,
              "y": 9.874791
            },
            {
              "x": 2.4000000000000004,
              "y": 11.849749
            }
          ]
        }
      ],
      "provenance": "Original synthetic mechanism illustration; values computed from the accompanying demo, not paper benchmark results."
    },
    "nodes": [
      {
        "id": "pixel",
        "label": "Pixel (70,60)",
        "x": 80,
        "y": 180
      },
      {
        "id": "d8",
        "label": "z=8, mass=.2",
        "x": 300,
        "y": 70
      },
      {
        "id": "d10",
        "label": "z=10, mass=.6",
        "x": 300,
        "y": 180
      },
      {
        "id": "d12",
        "label": "z=12, mass=.2",
        "x": 300,
        "y": 290
      },
      {
        "id": "bev",
        "label": "Rotate → floor into BEV cells",
        "x": 570,
        "y": 180
      }
    ],
    "edges": [
      {
        "source": "pixel",
        "target": "d8",
        "label": "unproject"
      },
      {
        "source": "pixel",
        "target": "d10",
        "label": "unproject"
      },
      {
        "source": "pixel",
        "target": "d12",
        "label": "unproject"
      },
      {
        "source": "d8",
        "target": "bev",
        "label": "add .2"
      },
      {
        "source": "d10",
        "target": "bev",
        "label": "add .6"
      },
      {
        "source": "d12",
        "target": "bev",
        "label": "add .2"
      }
    ],
    "scatter_points": [
      {
        "pitch_degrees": 0,
        "depth_camera_z": 8,
        "x": 1.6,
        "world_z": 8.0,
        "mass": 0.2
      },
      {
        "pitch_degrees": 0,
        "depth_camera_z": 10,
        "x": 2.0,
        "world_z": 10.0,
        "mass": 0.6
      },
      {
        "pitch_degrees": 0,
        "depth_camera_z": 12,
        "x": 2.4000000000000004,
        "world_z": 12.0,
        "mass": 0.2
      },
      {
        "pitch_degrees": 5,
        "depth_camera_z": 8,
        "x": 1.6,
        "world_z": 8.039282,
        "mass": 0.2
      },
      {
        "pitch_degrees": 5,
        "depth_camera_z": 10,
        "x": 2.0,
        "world_z": 10.049103,
        "mass": 0.6
      },
      {
        "pitch_degrees": 5,
        "depth_camera_z": 12,
        "x": 2.4000000000000004,
        "world_z": 12.058923,
        "mass": 0.2
      },
      {
        "pitch_degrees": -5,
        "depth_camera_z": 8,
        "x": 1.6,
        "world_z": 7.899833,
        "mass": 0.2
      },
      {
        "pitch_degrees": -5,
        "depth_camera_z": 10,
        "x": 2.0,
        "world_z": 9.874791,
        "mass": 0.6
      },
      {
        "pitch_degrees": -5,
        "depth_camera_z": 12,
        "x": 2.4000000000000004,
        "world_z": 11.849749,
        "mass": 0.2
      }
    ]
  }
}