15.30 14.2.6 Modelo de superficies locales
Cada objeto escalable puede contener varias
SurfacePatch. Esto permite distinguir la cara frontal,
superior, lateral o inferior de un volumen y las zonas convexas,
cóncavas o planas de una presa.
| Campo | Definición |
|---|---|
surfacePatchId |
string persistent within scene revision |
ownerObjectId |
string |
frameId |
S_i |
boundary2D |
polygon in owner-local parameterization |
boundary3D |
polyline or mesh boundary in W |
originWorld |
3D point in W |
normalWorld |
unit vector directed toward usable/free side |
tangentXWorld |
unit tangent vector |
tangentYWorld |
normal cross tangentX |
planeModel |
ax+by+c*z+d=0|null |
planarityResidualM |
robust RMS or MAD|null |
areaM2 |
float|null |
curvature |
principal curvature estimates or categorical proxy |
roughnessProxy |
geometric/photometric descriptor, not friction coefficient |
edgeSharpness |
descriptor with uncertainty |
inclinationDeg |
signed angle: positive overhang, zero vertical, negative slab |
azimuthDeg |
surface outward-normal azimuth in W |
climbableState |
Allowed|Forbidden|Unknown |
affordanceHypotheses |
array<{label, probability, scale, orientation}> |
depthCoverage |
fraction 0..1 |
uncertainty |
normal covariance, boundary covariance and fit residuals |
15.30.1 Frame local
S_i
origin = representative point on patch
z_S = outward usable/free-space normal
x_S = stable tangent chosen from geometry or parent frame
y_S = z_S × x_SCuando una superficie sea curva, S_i representa un patch
local y no toda la instancia. Las normales pueden variar por vértice o
surfel.