{
  "original": {
    "checked_cells": 23256,
    "mismatches": 4647,
    "cell_counts": {
      "0": 22673,
      "100": 583
    },
    "origin": {
      "x": -4.287145205330973,
      "y": -3.398563958568981,
      "z": 0.0,
      "qx": 0.0,
      "qy": 0.0,
      "qz": 0.0,
      "qw": 1.0
    },
    "resolution_m": 0.05000000074505806,
    "frame": "map",
    "process_exit_code": 0,
    "free_thresh": 0.25
  },
  "corrected": {
    "checked_cells": 23256,
    "mismatches": 0,
    "cell_counts": {
      "-1": 4647,
      "100": 583,
      "0": 18026
    },
    "origin": {
      "x": -4.287145205330973,
      "y": -3.398563958568981,
      "z": 0.0,
      "qx": 0.0,
      "qy": 0.0,
      "qz": 0.0,
      "qw": 1.0
    },
    "resolution_m": 0.05000000074505806,
    "frame": "map",
    "process_exit_code": 0,
    "free_thresh": 0.196
  },
  "nav2_map_server_version": "1.3.13-1noble.20260921.044109",
  "reference_grid_sha256": "9a1b0c3ec9086b03cdd82ea24babfde941c181a07b6af778cbf617a5928502fa",
  "pgm_sha256": "4e6baad2ed3643de8004f81898eadb6ea0dfd85e9fae41d916cdff775abf527f",
  "scope": "Same previously captured SLAM PGM reloaded twice with Nav2 map_server; only YAML free_thresh changed from 0.25 to 0.196. No new SLAM run.",
  "checked_at": "2026-10-12",
  "occupied_thresh": 0.65,
  "negate": 0,
  "map_mode": "trinary"
}