清理历史雷达RTK资料并归档当前车辆结果
This commit is contained in:
lichun.qu
@@ -15,7 +15,7 @@
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| 地面点 ROI | LiDAR 系 **`z ∈ [-2.5, -1.5]`**（约 2 m 车顶安装） |
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| 地面点 ROI | LiDAR 系 **`z ∈ [-2.5, -1.5]`**（约 2 m 车顶安装） |
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| pair 配准 | **禁止**使用外参 seed；B 与 X 独立 |
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| pair 配准 | **禁止**使用外参 seed；B 与 X 独立 |
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数据下载（历史 data4 等）：https://fs.fairylandtech.com:5001/FRLD/#file_id=963272954246902180
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数据下载：https://fs.fairylandtech.com:5001/FRLD/#file_id=966776353886090246
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账号：lichun.qu@fairylandtech.com 密码：lichun.qu
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账号：lichun.qu@fairylandtech.com 密码：lichun.qu
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---
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---
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@@ -191,8 +191,8 @@ $Out/
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```powershell
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```powershell
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$Repo = "D:\First-dev-dept\calibration-rtk-run"
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$Repo = "D:\First-dev-dept\calibration-rtk-run"
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$Out = "D:\data\rtk_lidar_run\outputs_baseline_h19165"
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$Out = "D:\data\rtk_lidar_run\outputs_vehicle_h19165"
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$Work = "D:\data\rtk_lidar_run\prepared_baseline_h19165"
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$Work = "D:\data\rtk_lidar_run\prepared_vehicle_h19165"
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powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.ps1" `
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powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.ps1" `
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-Frames "$Work\frames_all" `
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-Frames "$Work\frames_all" `
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@@ -229,10 +229,8 @@ powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.p
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> **状态：可作车头系候选交付**（`recommended_for_deployment: true`）。
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> **状态：可作车头系候选交付**（`recommended_for_deployment: true`）。
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> 约定：`HeadingOffsetDeg=-90`，双天线 pitch/roll，机械初值 \(t=(+0.21086,-0.41418,+0.07850)\)，yaw=0。
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> 约定：`HeadingOffsetDeg=-90`，双天线 pitch/roll，机械初值 \(t=(+0.21086,-0.41418,+0.07850)\)，yaw=0。
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> 旧 `outputs_baseline_h19165` 仍不可用。
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结果目录：`D:\data\rtk_lidar_run\outputs_vehicle_h19165\`
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仓库内结果：[`results/vehicle_20260808/`](results/vehicle_20260808/)（来自本机 `outputs_vehicle_h19165`）。
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文件：`final_T_RTK_lidar.json` / `summary.json`
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```text
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```text
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translation_m = [0.217822250, -0.411347802, 0.106542337]
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translation_m = [0.217822250, -0.411347802, 0.106542337]
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@@ -272,27 +270,22 @@ T_RTK_lidar ≈
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平面阿克曼运动不能独立观测 z。z 由「LiDAR 地面平面 + 外供 RTK 参考点离地高」约束：
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平面阿克曼运动不能独立观测 z。z 由「LiDAR 地面平面 + 外供 RTK 参考点离地高」约束：
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- 本次：**1.9165 m**（相位中心离地）；
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- 本次：**1.9165 m**（相位中心离地）；
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- 历史 data4/data5 文档中的 **0.758 m** 是**另一台车**的测量，不能用于本车。
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- 不得复用其他车辆或历史采集的天线离地高度。
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更改高度后必须重新求解，禁止只改 JSON 里的 z。
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更改高度后必须重新求解，禁止只改 JSON 里的 z。
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GGA 对应哪根天线、`rawHeading` 方向须现场确认；搞反会导致 yaw 差约 180°。
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GGA 对应哪根天线、`rawHeading` 方向须现场确认；搞反会导致 yaw 差约 180°。
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---
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---
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## 9. 历史 data4 / data4+data5（参考）
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旧联合实验使用 ANT1 离地 `0.758 m`，外参量级与本车不同，**不要与第 7 节结果混比**。联合流程见 `run/run_joint_rtk_lidar.ps1`。
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## 9. 仓库目录
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`results/reference_data4/` 若存在，仅为历史精简产物，不作为当前交付外参。
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---
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## 10. 仓库目录
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| 目录 | 职责 |
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| 目录 | 职责 |
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| [`code/`](code/) | GICP、运动对质量、AX=XB、结果封装、3D 可视化 |
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| [`code/`](code/) | GICP、运动对质量、AX=XB、结果封装、3D 可视化 |
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| [`tools/`](tools/) | dlog/rscap 解析、G90 窗导出、combined / prepared |
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| [`tools/`](tools/) | dlog/rscap 解析、G90 窗导出、combined / prepared |
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| [`run/`](run/) | PowerShell 入口；路径与高度均由参数传入 |
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| [`run/`](run/) | PowerShell 入口；路径与高度均由参数传入 |
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| [`results/`](results/) | 当前车辆的最终外参与质量摘要；不含原始数据和中间点云 |
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| `tests/` | 坐标契约、G90 host 关联等回归 |
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| `tests/` | 坐标契约、G90 host 关联等回归 |
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| `work/`、`outputs/` | 本地生成物（`.gitignore`） |
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| `work/`、`outputs/` | 本地生成物（`.gitignore`） |
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@@ -1,41 +0,0 @@
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{
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"class_name" : "PinholeCameraParameters",
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"extrinsic" :
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[
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0.99504759165761958,
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-0.069911734310665122,
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0.070658614068252801,
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0.0,
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-0.09933361974813136,
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-0.67348569005019454,
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0.73249563635925308,
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0.0,
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-0.0036224748591220518,
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-0.7358867947607759,
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-0.67709489953226409,
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0.0,
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2.6365670299167046,
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1.9293765342813529,
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11.882725892422524,
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1.0
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],
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"intrinsic" :
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{
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"height" : 900,
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"intrinsic_matrix" :
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[
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779.4228634059948,
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0.0,
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0.0,
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0.0,
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779.4228634059948,
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0.0,
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699.5,
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449.5,
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1.0
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],
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"width" : 1400
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},
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"version_major" : 1,
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"version_minor" : 0
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}
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@@ -1,41 +0,0 @@
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{
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"class_name" : "PinholeCameraParameters",
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"extrinsic" :
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[
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0.99504759165761958,
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-0.069911734310665122,
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0.070658614068252801,
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0.0,
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-0.09933361974813136,
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-0.67348569005019454,
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0.73249563635925308,
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0.0,
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-0.0036224748591220518,
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-0.7358867947607759,
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-0.67709489953226409,
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0.0,
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2.6365670299167046,
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1.9293765342813529,
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11.882725892422524,
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1.0
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],
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"intrinsic" :
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{
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"height" : 900,
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"intrinsic_matrix" :
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[
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779.4228634059948,
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0.0,
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0.0,
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0.0,
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779.4228634059948,
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0.0,
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699.5,
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449.5,
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1.0
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],
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"width" : 1400
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},
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"version_major" : 1,
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"version_minor" : 0
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}
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Binary file not shown.
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Before Width: | Height: | Size: 80 KiB |
Binary file not shown.
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Before Width: | Height: | Size: 80 KiB |
@@ -1,240 +0,0 @@
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LiDAR、双天线 RTK、IMU 标定数据说明
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====================================
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文档日期：2026-07-23
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配套代码仓库：calibration
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标定目标：求解 3D LiDAR 到后轮轴中心车体系的外参 T_body_lidar。
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一、重要说明
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------------
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1. 三批数据的记录格式和用途并不完全相同。export 是每站多帧的完整解码数据，prepared 是从中每站选一帧并配好 RTK 车体位姿后的标定输入。
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2. 第一批（data1）、第二批(data2)目前上传的是已经从原始 dlog 数据以及导出的 NPZ 数据。
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3. data4 保留了完整逐站 LiDAR dlog 和独立 RTK/IMU rscap，可以从原始记录开始复现。
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4. 每一个站点采集 LiDAR 点云时车辆均静止，因此当前 LiDAR-RTK 标定没有使用 IMU进行点云运动畸变校正。
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5. data4 中的 IMU 数据保持在 IMU 原始传感器坐标系；当前流程只解析、关联和保存 IMU，没有求解 IMU 外参。
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6. 不要修改站点目录名称、prepared 中 station_*.npz 的顺序或 manifest。B 文件中的运动对索引依赖这些顺序。
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二、目录结构
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----------------------
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LiDAR_RTK_calibration_data/
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数据说明.txt
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data1/
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raw/
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export/
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prepared/
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data2/
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raw/
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export/
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prepared/
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data4/
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raw/
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RTKIMUraw/
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prepared/
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combined/(三传感器混合后的数据，data1、2没有IMU的数据。)
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说明：
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- data1/export 和 data2/export 是从逐站 dlog 导出的数据。raw 是完整原始数据。
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- data1/prepared 和 data2/prepared 是每站选择一帧并重建 RTK 车体位姿后的标定输入。
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- data4/raw 是完整原始数据，能够重新生成 export、parsed、combined 和 prepared。
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它们可以由 raw 重新生成。
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三、第一批数据（data1）
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-----------------------
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1. 数据范围
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- 静止站点数量：38 站。
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- 站点编号：01～38。
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- 传感器：3D LiDAR + 双天线 RTK。
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- 不包含 IMU。
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- 记录格式：旧式逐站 dlog 中同时记录 LiDAR 和 GPS-POST-Z；当前云盘包从已导出的 NPZ 开始。
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2. RTK 特点
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- 实际 RTK 记录约 10 秒一条，并非预期的 10 Hz。
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- 每站有效 RTK 样本较少，部分站点约 1～11 个有效样本。
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- 因车辆在每站静止，仍可对站内 RTK 样本做均值并构造站点位姿；但时间同步精度和航向统计能力弱于第二批。
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3. 当前用途
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- 第一批只作为辅助复核数据。
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- 不作为当前部署外参的主要求解数据。
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- 不应把第一批写成严格独立的“验证集”，因为 RTK 过于稀疏，且它和第二批的场景、采集流程相近。
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4. 上传内容
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data1/export/
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- 当前文件数约 803。
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- 当前大小约 0.088 GB（约 90 MB）。
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- 含逐站导出的 LiDAR NPZ、RTK sidecar、manifest 和质量报告。
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data1/prepared/
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- 当前文件数约 118。
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- 当前大小约 0.049 GB（约 50 MB）。
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- 核心内容包括：
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frames_all/station_*.npz
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body_poses_rear_gga_raw_rear_to_front.csv
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station_summary.csv
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manifest.json
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四、第二批数据（data2）
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-----------------------
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1. 数据范围
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- 静止站点数量：38 站。
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- 原始站点编号：39～76。
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- prepared 中重新顺序编号为 station_01～station_38。
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- 传感器：3D LiDAR + 双天线 RTK。
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- 不包含 IMU。
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- 记录格式与第一批相同，但 RTK 采样正常且明显更密集。
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2. RTK 特点
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- 每站约有 125～412 个有效 RTK 样本。
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- 已使用 fix 4/fix 5 和有效 heading 进行筛选。
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- 站内 heading 圆标准差上限使用 0.5°，本批 38 站均通过。
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3. 当前用途
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- 第二批是当前部署外参的主要求解数据。
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- 使用 small_gicp 和 Open3D GICP 分别求 B，再做与 X 无关的质量筛选和跨后端一致性筛选。
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- 当前部署外参主要由第二批求得，第一批仅辅助复核。
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4. 上传内容
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data2/export/
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- 当前文件数约 759。
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- 当前大小约 0.127 GB（约 130 MB）。
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- 含逐站导出的 LiDAR NPZ、RTK 信息、manifest 和质量报告。
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data2/prepared/
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- 当前文件数约 82。
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- 当前大小约 0.033 GB（约 34 MB）。
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- 核心内容包括：
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frames_all/station_*.npz
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body_poses_rear_gga_raw_rear_to_front.csv
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station_summary.csv
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manifest.json
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五、data4 数据
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--------------
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1. 数据范围
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- 静止站点数量：34 站。
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- 站点编号：001～034。
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- 传感器：3D LiDAR + 双天线 RTK + IMU。
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- LiDAR 位于每个站点自己的原始 dlog 中。
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- RTK 和 IMU 位于独立 rscap 文件中，存放在 RTKIMUraw 目录。
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- 原始目录共约 152 个文件，大小约 12.488 GB。
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2. RTK/IMU 原始记录
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- RTKIMUraw 中当前包含 3 个 RTK rscap 和 3 个 IMU rscap。
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- 本次 34 站标定使用 20260723-051627 开始的长时间 RTK/IMU session。
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- 该 session 的 capture 审计结果：
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|
||||||
RTK：54256 个记录块，missing_chunks=0，bad_record_crc=0，干净关闭，footer CRC 有效。
|
|
||||||
IMU：26719 个记录块，missing_chunks=0，bad_record_crc=0，干净关闭，footer CRC 有效。
|
|
||||||
|
|
||||||
3. 时间关联与导出结果
|
|
||||||
|
|
||||||
处理顺序为：
|
|
||||||
|
|
||||||
统一时间轴
|
|
||||||
-> 分别解析 LiDAR、RTK、IMU
|
|
||||||
-> 按每个 LiDAR 帧关联最近有效 RTK
|
|
||||||
-> 保存 LiDAR 帧前后各 100 ms 的 IMU 窗口
|
|
||||||
-> 导出 combined NPZ
|
|
||||||
-> 每站选择一个静止帧生成 prepared
|
|
||||||
|
|
||||||
当前关联统计：
|
|
||||||
|
|
||||||
- LiDAR 帧总数：11678。
|
|
||||||
- 34 个站点全部有数据。
|
|
||||||
- rtk_valid：11678。
|
|
||||||
- heading_valid：11678。
|
|
||||||
- fixed RTK：11678。
|
|
||||||
- IMU 窗口非空：11678。
|
|
||||||
- RTK 最大允许关联时间差：150 ms。
|
|
||||||
- IMU 窗口：LiDAR 时刻前后各 100 ms。
|
|
||||||
|
|
||||||
时间基础：LiDAR 和串口 host UTC 用于当前关联；RTK GNSS 时间和 IMU 设备时间同时保留，供后续进一步建立精确时钟模型。
|
|
||||||
|
|
||||||
4. 当前用途
|
|
||||||
|
|
||||||
- data4 用于独立重新求解一套外参，并与历史第二批结果做跨批比较。
|
|
||||||
- data4 中 IMU 没有参与当前 LiDAR-RTK 外参求解。
|
|
||||||
- data4 结果与历史部署外参相差约 1.592 cm / 0.234°，但 data4 自身 AX 残差更高，因此当前仍保留历史第二批结果作为部署值。
|
|
||||||
|
|
||||||
如果已经上传 data4/raw，则 export、combined 和 parsed 均可以用代码重新生成。为了节省云盘空间，可只额外上传 prepared 和 calibration。
|
|
||||||
|
|
||||||
|
|
||||||
六、三批数据差异汇总
|
|
||||||
--------------------
|
|
||||||
|
|
||||||
第一批：
|
|
||||||
- 38 站，旧式 LiDAR+RTK dlog，无 IMU。
|
|
||||||
- RTK 极稀疏，约 10 秒一条。
|
|
||||||
- 当前上传从 export 开始。
|
|
||||||
- 只用于辅助复核。
|
|
||||||
|
|
||||||
第二批：
|
|
||||||
- 38 站，旧式 LiDAR+RTK dlog，无 IMU。
|
|
||||||
- RTK 密集、航向稳定。
|
|
||||||
- 当前上传从 export 开始。
|
|
||||||
- 用于当前部署外参的主要求解。
|
|
||||||
|
|
||||||
data4：
|
|
||||||
- 34 站，逐站 LiDAR dlog + 独立 RTK/IMU rscap。
|
|
||||||
- 保存完整原始数据，可从 raw 开始复现。
|
|
||||||
- 用于独立重算和跨批比较。
|
|
||||||
- IMU 只保存和关联，尚未完成 IMU 外参标定。
|
|
||||||
|
|
||||||
|
|
||||||
七、标定坐标与主要参数
|
|
||||||
----------------------
|
|
||||||
|
|
||||||
- 外参定义：T_body_lidar，将 LiDAR 原始点变换到后轮轴中心车体系。
|
|
||||||
- 车体系：x 向前，y 向左，z 向上。
|
|
||||||
- 手眼方程：A_ij X = X B_ij。
|
|
||||||
- A_ij：由 RTK 后轮轴中心位置和双天线 heading 构造；当前为 yaw-only 姿态。
|
|
||||||
- B_ij：由两个静止站点的原始 LiDAR 点云通过 GICP 求得。
|
|
||||||
- heading_offset_deg：21.226°（本车安装参数，不是通用常数）。
|
|
||||||
- 后天线在车体系杆臂：[ -0.320, -0.365, 0.620 ] m。（手量）
|
|
||||||
- 后轮轴中心离地高度：0.2335 m，用于地面约束；不是 LiDAR 离地高度。
|
|
||||||
|
|
||||||
|
|
||||||
八、数据使用注意事项
|
|
||||||
--------------------
|
|
||||||
|
|
||||||
1. data1、2 的manifest 中可能仍保留旧脚本生成的 train/validation 字段。这些字段是历史元数据；当前严谨流程将第二批用于求解、第一批用于辅助复核，不把同一批内部的小样本划分描述为高可信度验证集。
|
|
||||||
2. 不要使用已经变换到车体系的点云求 B，必须使用 NPZ 中的 points_raw。
|
|
||||||
3. 可视化时，frames_all 必须与生成 B 文件时的站点数量和顺序完全一致。
|
|
||||||
4. 模式 3（GICP B）本身已经错位时，应优先检查点云配准和场景退化；只有模式 3 正常而模式 4（X^-1 A X）系统性错位时，才优先检查 RTK A、坐标约定或外参 X。
|
|
||||||
5. 当前结果是工程标定结果，不是由全站仪或高精度标靶认证的绝对真值。
|
|
||||||
|
|
||||||
|
|
||||||
九、配套代码位置
|
|
||||||
----------------
|
|
||||||
|
|
||||||
本机代码仓库：
|
|
||||||
calibration
|
|
||||||
|
|
||||||
根 README.md 包含：
|
|
||||||
- 从原始数据/导出数据开始的完整复现流程；
|
|
||||||
- code、tools、run 中每个主要文件的职责；
|
|
||||||
- small_gicp、Open3D GICP、consensus B 的处理逻辑；
|
|
||||||
- AX=XB 与地面约束求 X 的方式；
|
|
||||||
- 残差、Hessian/条件数、bootstrap、跨批检查和 3D 可视化方法。
|
|
||||||
|
|
||||||
@@ -1,13 +0,0 @@
|
|||||||
# 数据说明
|
|
||||||
|
|
||||||
原始 H32 dlog / G90·N300 `.rscap`（以及旧版 LiDAR dlog / `h32.rscap`）、逐帧 NPZ 和 prepared 点云体积较大，不进入 Git。请从项目云盘取得数据，并按根 README 中的目录示例放置；实际路径通过命令参数传入。
|
|
||||||
|
|
||||||
推荐原始布局：
|
|
||||||
|
|
||||||
```text
|
|
||||||
raw_dataset/
|
|
||||||
├── stations/<站号>/ # dobject/ + dobject_recording/（MSOP+DIFOP）
|
|
||||||
└── captures/rtk.rscap, imu.rscap
|
|
||||||
```
|
|
||||||
|
|
||||||
公开数据包应同时提供：采集日期、车辆/传感器安装版本、站点数量、ANT1/ANT2 接线、rawHeading 方向、RTK 参考点离地高度及其测量方法。
|
|
||||||
Binary file not shown.
Binary file not shown.
+13
-3
@@ -1,5 +1,15 @@
|
|||||||
# results目录
|
# 当前车辆标定结果
|
||||||
|
|
||||||
`reference_data4/`是本仓库附带的精简参考结果。新的运行结果应写到仓库外目录或`outputs/`，不要覆盖参考结果。
|
本目录只保存当前车辆、当前传感器安装条件下的最终可交付结果；不保存历史车辆数据、原始采集包、点云帧或中间配准产物。
|
||||||
|
|
||||||
参考结果保留最终矩阵、共识B、两后端精筛B、逐对CSV/筛选审计和地面平面；未保留原始点云、逐帧combined数据、冗长的初筛JSON和带本机绝对路径的过程文件。
|
## 2026-08 车辆 / 27 个静止站点
|
||||||
|
|
||||||
|
目录 [`vehicle_20260808/`](vehicle_20260808/) 对应本机运行目录 `D:\data\rtk_lidar_run\outputs_vehicle_h19165`。
|
||||||
|
|
||||||
|
- 外参：`final_T_RTK_lidar.json`
|
||||||
|
- 质量摘要：`summary.json`
|
||||||
|
- 坐标约定：`p_RTK = T_RTK_lidar · p_lidar`，RTK 为车头向前坐标系（`HeadingOffsetDeg=-90`）。
|
||||||
|
- RTK 参考点高度：1.9165 m（ANT1 相位中心）。
|
||||||
|
- 质量：27 个站点、20 个共识运动对、平移 RMS 0.07116 m、旋转 RMS 0.98209°。
|
||||||
|
|
||||||
|
这些文件记录的是 host 时间关联版本的现有最终结果。后续采用 RTK 测量时间重新导出后，应写入新的结果目录，不能覆盖本目录。
|
||||||
|
|||||||
@@ -1,45 +0,0 @@
|
|||||||
{
|
|
||||||
"convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame: p_RTK = T_RTK_lidar * p_lidar",
|
|
||||||
"translation_m": [
|
|
||||||
1.6381793500373911,
|
|
||||||
-0.24084479868828831,
|
|
||||||
0.08448123595331278
|
|
||||||
],
|
|
||||||
"rotation_rpy_deg_xyz": [
|
|
||||||
-0.8171674587248069,
|
|
||||||
1.323288118779805,
|
|
||||||
-22.104163317857477
|
|
||||||
],
|
|
||||||
"quaternion_xyzw": [
|
|
||||||
-0.004784711987091957,
|
|
||||||
0.012700096588977744,
|
|
||||||
-0.19160273666049008,
|
|
||||||
0.9813787267829084
|
|
||||||
],
|
|
||||||
"matrix_4x4": [
|
|
||||||
[
|
|
||||||
0.926254197701683,
|
|
||||||
0.37594816689521215,
|
|
||||||
0.026760737062740007,
|
|
||||||
1.6381793500373911
|
|
||||||
],
|
|
||||||
[
|
|
||||||
-0.3761912321127582,
|
|
||||||
0.926530995670823,
|
|
||||||
0.004524482591229066,
|
|
||||||
-0.24084479868828831
|
|
||||||
],
|
|
||||||
[
|
|
||||||
-0.02309368141930373,
|
|
||||||
-0.014257975640431828,
|
|
||||||
0.9996316281556624,
|
|
||||||
0.08448123595331278
|
|
||||||
],
|
|
||||||
[
|
|
||||||
0.0,
|
|
||||||
0.0,
|
|
||||||
0.0,
|
|
||||||
1.0
|
|
||||||
]
|
|
||||||
]
|
|
||||||
}
|
|
||||||
@@ -1,23 +0,0 @@
|
|||||||
# data4参考结果
|
|
||||||
|
|
||||||
推荐下游只读取`final_T_RTK_lidar.json`，其方向为：
|
|
||||||
|
|
||||||
```text
|
|
||||||
p_RTK = T_RTK_lidar · p_lidar
|
|
||||||
```
|
|
||||||
|
|
||||||
```text
|
|
||||||
translation_m = [1.638179350, -0.240844799, 0.084481236]
|
|
||||||
RPY_deg_xyz = [-0.817167459, 1.323288119, -22.104163318]
|
|
||||||
```
|
|
||||||
|
|
||||||
| 路径 | 内容 |
|
|
||||||
|---|---|
|
|
||||||
| `final_T_RTK_lidar.json` | 唯一推荐使用的最终外参 |
|
|
||||||
| `summary.json` | 最终残差、条件数和两后端差异摘要 |
|
|
||||||
| `common/ground_planes.csv` | 34站地面RANSAC平面 |
|
|
||||||
| `open3d_gicp/` | Open3D精筛B、精筛审计、逐对质量CSV和独立X |
|
|
||||||
| `small_gicp/` | small_gicp对应产物 |
|
|
||||||
| `consensus/` | 两后端共同认可的25对B、共识审计和最终X原始求解记录 |
|
|
||||||
|
|
||||||
`z=0.084481 m`依赖RTK参考点离地`0.8535 m`，不是平面AX=XB独立观测值。当前AX RMS约`0.100207 m / 1.252794°`，结果适合算法联调和继续验证，不应据此单独宣称逐帧GT达到±3 cm。
|
|
||||||
@@ -1,35 +0,0 @@
|
|||||||
time,nx,ny,nz,d,inliers,rms_m,frame_counter
|
|
||||||
1784783825.357129,-0.0071009788712051635,-0.01614775434066578,0.9998444009588814,0.9449714797885561,2216,0.01353681235386204,382
|
|
||||||
1784783905.353819,0.0037577953662433442,-0.00645689216229629,0.999972093369405,0.9404093678203617,1992,0.01182484680356077,1182
|
|
||||||
1784783971.0503054,-0.021571557237587136,-0.004187980739348835,0.9997585352152151,0.9464426916222599,1922,0.01241302113439391,1839
|
|
||||||
1784784059.7468228,-0.02328381206588687,0.004386003115594592,0.999719274132669,0.9506398743758987,1825,0.013207042662497559,2726
|
|
||||||
1784784149.2434597,-0.03034651356298797,8.407602826756324e-05,0.9995394349628197,0.9287260086761917,1631,0.012431422856007433,3621
|
|
||||||
1784784224.2408776,-0.02735108660242708,0.010336463557273514,0.9995724463903534,0.8697042041945898,1745,0.012010699567274814,4371
|
|
||||||
1784784301.6372502,-0.008085199791897242,-0.01261499998640764,0.9998877393586082,0.9555128377061561,2057,0.011385954851802133,5145
|
|
||||||
1784784387.733771,-0.007167201772462397,-0.008280272080485561,0.9999400323584541,0.9272403036781977,2190,0.012588169113362788,6006
|
|
||||||
1784784474.9314597,-0.015033673776128801,-0.05115510005163043,0.9985775605287256,0.9072885818985176,1852,0.011643717831315507,6878
|
|
||||||
1784784549.4274275,-0.03189811408163763,0.004490776571011993,0.999481036960594,0.9463330979345341,1638,0.013973864979699106,7623
|
|
||||||
1784784614.7244046,-0.027669126419476022,-0.013618714393779237,0.999524361914928,0.9348654978703125,1794,0.011102769699524444,8276
|
|
||||||
1784784682.921899,-0.022151829941254066,-0.026156017173182243,0.9994124069651578,0.9227652769218206,1638,0.01266204532799032,8958
|
|
||||||
1784784758.8187964,-0.022601789108727538,-0.030665670278286643,0.999274124450077,0.9305425654631599,1795,0.013340493954266352,9717
|
|
||||||
1784784836.0155501,-0.017598498968453644,-0.02647415434199472,0.999494578267403,0.961769336191532,2015,0.01382548272951725,10489
|
|
||||||
1784784921.1126208,-0.021874728045639568,-0.019005922983034846,0.9995800474021539,0.9186945373736978,1808,0.01319739563436461,11340
|
|
||||||
1784784992.709947,-0.019622211270580107,-0.02528822634559132,0.9994876059427386,0.9414876680920201,2158,0.013280256398986076,12056
|
|
||||||
1784785067.6067727,-0.031060743296391496,-0.010214597374617485,0.9994653031628212,0.9402571806911639,1758,0.013392641298608525,12805
|
|
||||||
1784785215.9006598,-0.023673459396853343,-0.027330465291762113,0.9993460926961797,0.9143984233881569,2134,0.012198902426752438,14288
|
|
||||||
1784785296.4990919,-0.013579953767407775,-0.025158411654770292,0.9995912360453568,0.929929365058787,2445,0.012790980094197171,15094
|
|
||||||
1784785363.1952267,-0.0316919344947604,-0.008177115456525313,0.9994642345130668,0.9579125765731408,1861,0.012743464679231025,15761
|
|
||||||
1784785434.592462,-0.022678088603046032,0.004435617789851151,0.9997329791459992,0.9537383917106543,1853,0.013464094518301148,16475
|
|
||||||
1784785506.389296,-0.0273694753756875,-0.01771941378886425,0.9994683257575693,0.9327361226688458,1749,0.011502338837958854,17193
|
|
||||||
1784785587.5863533,-0.034617559115875766,0.0015843237885758451,0.999399376885433,0.9191959537091571,1744,0.013401267879037225,18005
|
|
||||||
1784785681.9825997,-0.033298152875437845,-0.018946770164947627,0.9992658569747096,0.9446967789786688,2037,0.012804059875312601,18949
|
|
||||||
1784785815.4779446,-0.006681441650905292,-0.023720354219030532,0.9996963054514052,0.964084392350492,2080,0.013159652224503205,20284
|
|
||||||
1784785891.9768085,-0.026044255070688936,0.004021590005713901,0.9996527014876911,0.934003424141447,1610,0.012619787010493816,21049
|
|
||||||
1784785967.8726046,-0.026983516555153,-0.01791249491380091,0.9994753785663161,0.9339463871372334,1482,0.013831424226303278,21808
|
|
||||||
1784786031.5701303,-0.028810092762610772,-0.015551490666087386,0.9994639211562729,0.938325903591574,1592,0.013415706854842701,22445
|
|
||||||
1784786087.9670725,-0.026424364888569394,-0.014575043111831797,0.9995445568150146,0.9345909622822591,1466,0.013090809334738121,23009
|
|
||||||
1784786160.8647907,-0.032665212336793446,0.0597663130328534,0.9976777895340014,1.0611447790248285,1511,0.012251618222434443,23738
|
|
||||||
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||||||
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|
||||||
|
@@ -1,332 +0,0 @@
|
|||||||
{
|
|
||||||
"selection_is_X_independent": true,
|
|
||||||
"B_source": "Open3D; small_gicp is used only as an agreement gate",
|
|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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|
||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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|
||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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|
||||||
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|
||||||
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|
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||||||
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||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
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||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
]
|
|
||||||
}
|
|
||||||
Binary file not shown.
@@ -1,266 +0,0 @@
|
|||||||
{
|
|
||||||
"schema_version": 1,
|
|
||||||
"success": true,
|
|
||||||
"convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame",
|
|
||||||
"equation": "A_RTK_ij X = X B_LiDAR_ij",
|
|
||||||
"frames": {
|
|
||||||
"RTK": {
|
|
||||||
"origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration",
|
|
||||||
"x_axis": "horizontal projection of the rawHeading baseline direction reported by the receiver",
|
|
||||||
"y_axis": "left",
|
|
||||||
"z_axis": "up",
|
|
||||||
"yaw_enu_deg": "90 - rawHeadingDeg"
|
|
||||||
},
|
|
||||||
"LiDAR": "raw LiDAR sensor frame"
|
|
||||||
},
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
@@ -1,300 +0,0 @@
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|||||||
{
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|
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|
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|
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|
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"pair_index": 16,
|
|
||||||
"translation_m": 0.04916024916487916,
|
|
||||||
"rotation_deg": 0.9331159567430728
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 17,
|
|
||||||
"translation_m": 0.02802786916783814,
|
|
||||||
"rotation_deg": 0.8755591753060336
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 18,
|
|
||||||
"translation_m": 0.054001671602238746,
|
|
||||||
"rotation_deg": 0.48777111889991587
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 19,
|
|
||||||
"translation_m": 0.10122861599246656,
|
|
||||||
"rotation_deg": 0.9367994244405716
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 20,
|
|
||||||
"translation_m": 0.023164324685695653,
|
|
||||||
"rotation_deg": 0.2827650802657415
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 21,
|
|
||||||
"translation_m": 0.06461070522327692,
|
|
||||||
"rotation_deg": 1.1522606437088527
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 22,
|
|
||||||
"translation_m": 0.35253378022021187,
|
|
||||||
"rotation_deg": 0.7805430662091233
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 23,
|
|
||||||
"translation_m": 0.11095170748867093,
|
|
||||||
"rotation_deg": 0.8561868088481429
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 24,
|
|
||||||
"translation_m": 0.12163042992227363,
|
|
||||||
"rotation_deg": 0.17586872890763125
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"weighted_jacobian_condition_number": 7.739413195936781,
|
|
||||||
"linearized_one_sigma": {
|
|
||||||
"translation_m": [
|
|
||||||
0.008936804232414386,
|
|
||||||
0.009199590403303341,
|
|
||||||
0.004827611183429192
|
|
||||||
],
|
|
||||||
"rotation_deg": [
|
|
||||||
0.08042474849565617,
|
|
||||||
0.07825800357808266,
|
|
||||||
0.1694976028248396
|
|
||||||
],
|
|
||||||
"warning": "conditional local estimate; bootstrap is the primary stability check"
|
|
||||||
},
|
|
||||||
"bootstrap": {
|
|
||||||
"runs": 200,
|
|
||||||
"order": [
|
|
||||||
"x_m",
|
|
||||||
"y_m",
|
|
||||||
"z_m",
|
|
||||||
"roll_deg",
|
|
||||||
"pitch_deg",
|
|
||||||
"yaw_deg"
|
|
||||||
],
|
|
||||||
"std": [
|
|
||||||
0.004007472116212317,
|
|
||||||
0.00447369016783699,
|
|
||||||
0.003161844455893403,
|
|
||||||
0.10272261218646783,
|
|
||||||
0.09618742156951016,
|
|
||||||
0.14509879375374413
|
|
||||||
],
|
|
||||||
"p025": [
|
|
||||||
1.6309949623104336,
|
|
||||||
-0.2470615833911814,
|
|
||||||
0.07875765037498306,
|
|
||||||
-0.9881676010783537,
|
|
||||||
1.1135179371917805,
|
|
||||||
-22.3851229846878
|
|
||||||
],
|
|
||||||
"p975": [
|
|
||||||
1.6456999445482652,
|
|
||||||
-0.22784916633142768,
|
|
||||||
0.09114084095723367,
|
|
||||||
-0.5808877804701225,
|
|
||||||
1.4821798187931374,
|
|
||||||
-21.82296828752347
|
|
||||||
]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"z_constraint": {
|
|
||||||
"observable_from_planar_AX_XB": false,
|
|
||||||
"method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground",
|
|
||||||
"rtk_reference_height_above_ground_m": 0.8535,
|
|
||||||
"warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion"
|
|
||||||
},
|
|
||||||
"important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification",
|
|
||||||
"selection": {
|
|
||||||
"recommended": true,
|
|
||||||
"reason": "Uses only motion pairs accepted independently by both Open3D GICP and small_gicp",
|
|
||||||
"open3d_vs_small_gicp": {
|
|
||||||
"translation_m": 0.003889255293759414,
|
|
||||||
"rotation_deg": 0.1884307130161592,
|
|
||||||
"delta_matrix_4x4": [
|
|
||||||
[
|
|
||||||
0.9999968771376496,
|
|
||||||
0.0024968749848742764,
|
|
||||||
-0.00010644368722136346,
|
|
||||||
0.0008526003522697501
|
|
||||||
],
|
|
||||||
[
|
|
||||||
-0.0024970968314049877,
|
|
||||||
0.9999945974960792,
|
|
||||||
-0.0021376356258303525,
|
|
||||||
-0.003658904827736509
|
|
||||||
],
|
|
||||||
[
|
|
||||||
0.00010110570323801577,
|
|
||||||
0.0021378947504826257,
|
|
||||||
0.9999977095892133,
|
|
||||||
0.0010058801324768218
|
|
||||||
],
|
|
||||||
[
|
|
||||||
0.0,
|
|
||||||
0.0,
|
|
||||||
0.0,
|
|
||||||
1.0
|
|
||||||
]
|
|
||||||
]
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,97 +0,0 @@
|
|||||||
i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
|
|
||||||
0,1,1.6721594124489447,24.171297449440814,0.8061657032755298,0.10961296014103396,6,2.7038608113687213,0.004225163540003575,0.1530449067720668,1.0,True,
|
|
||||||
0,2,2.0412175279332088,80.09074797031303,0.7489394523717702,0.116305716193008,6,3.0720058333957327,0.02073003109723684,0.12418344306819311,1.0,True,
|
|
||||||
0,3,6.30529961936688,79.9158388329924,0.6310283235519265,0.12470979645173097,6,5.235632990817998,0.02154775870989652,0.25399044979598373,1.0,True,
|
|
||||||
1,2,1.2843386040405174,55.9194505208722,0.7867383512544803,0.11079021393934946,6,3.282529873989144,0.00768232673944143,0.0508043300468843,1.0,True,
|
|
||||||
1,3,5.433888607887495,55.744541383551606,0.6794562317367552,0.11907169138096609,6,4.183386002322132,0.024832409186708038,0.29364088503444125,1.0,True,
|
|
||||||
1,4,1.5299424710613851,106.08652205569952,0.6786112833230006,0.1125501582315264,6,3.2941312581877567,0.0077657602443488094,0.07274574571529673,1.0,True,
|
|
||||||
2,3,4.340252832276203,0.1749091373206093,0.7586776859504132,0.11541610277862546,6,3.730803369806122,0.007879904085790266,0.11659483159927261,1.0,True,
|
|
||||||
2,4,0.2520257253555564,50.1670715348273,0.7854572527608884,0.1098649389241602,6,2.641287751481567,0.017042953274276868,0.09383247792992644,1.0,True,
|
|
||||||
2,5,5.8286926576588955,8.735318060700322,0.7074574574574575,0.11912871456224486,6,3.8527093190832513,0.016640250279170064,0.24773491621516538,1.0,True,
|
|
||||||
3,4,4.1070657333447205,50.34198067214791,0.6974624291697462,0.11727630888949149,6,3.5010457716923216,0.0121487212194689,0.20793086843827258,1.0,True,
|
|
||||||
3,5,2.2886212019715484,8.910227198020936,0.7962985964476462,0.10646082199215787,6,3.037745853837991,0.011008298723512349,0.0821707761041294,1.0,True,
|
|
||||||
3,6,2.618668779147775,47.63555775102663,0.8376509054325956,0.10956583416752531,6,3.1930663579156175,0.001222821038315667,0.092075215117626,1.0,True,
|
|
||||||
4,5,5.5767898078953735,41.431753474126985,0.6652516676773802,0.12322094568315027,6,4.985227704290953,0.005399786589871835,0.13893507775898076,0.0,False,multistart_instability
|
|
||||||
4,6,6.68811709459501,97.97753842317455,0.04910385465259023,0.15664415071522125,6,4.835889397197473,2.574198069897065,12.647326063758534,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
4,7,6.153247042777442,123.28910472998353,0.020756115641215715,0.16997351387143192,6,17.054474046975617,5.52282870653845,6.186988956437115,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
5,6,2.0562758992403367,56.545784949047565,0.7526921648718901,0.10924852668609375,6,3.289802074469562,0.012374747586500019,0.14461856068328793,1.0,True,
|
|
||||||
5,7,0.5812996709001959,81.85735125585653,0.7833561729164071,0.11683079277948678,6,2.8807765869032624,0.013689874812447942,0.20006562776472953,1.0,True,
|
|
||||||
5,8,2.6887856969568644,172.47951556359513,0.3979730564825114,0.13180114830799514,6,4.4867592164383865,2.902311115345869,2.1073169352638135,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
6,7,1.9723544820714844,25.311566306808967,0.8497729566094854,0.10415909908074775,6,3.3759361297847534,0.008986805974950147,0.13099479506412062,1.0,True,
|
|
||||||
6,8,0.7288530799256238,115.93373061454484,0.7678928928928929,0.1116672507978127,6,3.260920573387359,0.010085391730567652,0.1175283699615622,1.0,True,
|
|
||||||
6,9,7.898758206937296,103.90638727582184,0.6071384156199477,0.12594282886521943,6,6.882498483502542,2.7065494720876333,9.167174886516003,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
7,8,2.6747845281541447,90.62216430773587,0.8299748110831234,0.10748525688830211,6,3.0071179226782405,0.00710646197885058,0.1069872847368705,1.0,True,
|
|
||||||
7,9,8.06955581661561,78.59482096901287,0.6188509200150206,0.12713205078393502,6,6.716979637303372,6.104542218165768,6.596313811797356,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
7,10,8.088675434881791,134.6003195530505,0.04729478766868887,0.16509079956796627,6,8.903210909129099,5.698690438550839,24.43813017288333,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
8,9,7.73033999229505,12.027343338722995,0.6326834719980131,0.12084265385763364,6,5.53968988049318,2.4349995045990127,17.158034002952295,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
8,10,8.378411682322204,43.97815524531458,0.6163861933423412,0.1293602846396598,6,4.789005902863083,0.011327540721531722,0.17059480981566605,0.0,False,multistart_instability
|
|
||||||
8,11,11.214115106391473,22.60670813095403,0.035782503501846426,0.17440177580299876,6,9.744579276034784,1.861364410474017,5.099464012971126,1.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
9,10,1.9264207261313253,56.00549858403757,0.6543345543345543,0.10729272360686744,6,3.3788563349731624,1.6360232143180424,5.55466982065639,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
9,11,4.747620352849464,34.63405146967702,0.5818780055682106,0.1171768781510077,6,3.555986532172078,0.00981302583568424,0.06035460198954135,1.0,True,
|
|
||||||
9,12,7.208566899019793,16.356227217122623,0.5379123584441162,0.12645695585785705,6,4.882558096197047,0.008862930161051686,0.11566409877698092,1.0,True,
|
|
||||||
10,11,3.0731501091601263,21.371447114360553,0.7118898623279099,0.1192865608074921,6,3.220203471557625,0.0029529340190141227,0.004176908093440082,1.0,True,
|
|
||||||
10,12,6.011368280631378,39.649271366914945,0.6120311738918656,0.12525652128126136,6,4.691686416856208,0.005686910809247203,0.10204044727299268,1.0,True,
|
|
||||||
10,13,9.76425648692991,72.41150002956132,0.516551290119572,0.1354903305714048,6,7.346543684414896,0.013565042721589003,0.32552304340992394,1.0,True,
|
|
||||||
11,12,3.3258193587172027,18.277824252554396,0.650555275113579,0.12104882943540898,6,4.612247786063477,0.003583199374507776,0.03300207707174117,1.0,True,
|
|
||||||
11,13,7.195203402213438,51.04005291520078,0.5698054068172914,0.1285866274322162,6,7.539783468898048,0.016001435752898144,0.11059625579950419,1.0,True,
|
|
||||||
11,14,3.634158560526847,20.548768889074672,0.6420881321982974,0.12414062948335593,6,4.952265047266808,0.012369101516230316,0.01870506040605898,1.0,True,
|
|
||||||
12,13,3.8697507070400543,32.762228662646386,0.6972966112450819,0.1168089621311632,6,4.28224799374136,0.01141023876783206,0.04779713993428384,1.0,True,
|
|
||||||
12,14,0.9871080784265185,2.2709446365202766,0.8749086479902558,0.09521299965540625,6,3.309695139564422,0.006159472215773367,0.014929948455569534,1.0,True,
|
|
||||||
12,15,4.171948395051693,25.86371030092923,0.7022030893897189,0.11797995277580106,6,4.277232786772136,0.008495008365046321,0.10278299144703042,1.0,True,
|
|
||||||
13,14,3.7992314627329202,30.491284026126113,0.6955810147299509,0.11455956122705321,6,3.350289886810734,0.01022866463344607,0.03515966054944392,1.0,True,
|
|
||||||
13,15,0.9105848166450461,6.898518361717151,0.868300353819945,0.1045421356808481,6,3.2437357133954023,0.002375025382773949,0.01072504764419793,1.0,True,
|
|
||||||
13,16,3.4957081323467,18.94489979461447,0.7265456392027422,0.1096252966406241,6,3.5227514244456217,0.008958927594996346,0.03041438512426757,1.0,True,
|
|
||||||
14,15,3.8816793634199405,23.592765664408958,0.7120070334086913,0.11868441290330703,6,4.62059246950246,0.002571958018980028,0.055069197511519646,1.0,True,
|
|
||||||
14,16,7.29101265002769,49.43618382074057,0.5918615984405458,0.12229328437386515,6,7.149509813179227,0.014273957859025563,0.25325650727957555,1.0,True,
|
|
||||||
14,17,5.915950814087913,0.8461207481731609,0.6694009445687298,0.12443900216431925,6,5.1577414296960065,0.0178952010004604,0.10920228290609924,1.0,True,
|
|
||||||
15,16,3.579287497246505,25.843418156331627,0.702887537993921,0.11495230769293859,6,3.5402899763525375,0.013545291843396808,0.03346625178333291,1.0,True,
|
|
||||||
15,17,2.2400625117908257,24.438886412582114,0.7429531936901991,0.11679524427533863,6,3.5266643942801554,0.009894110027911674,0.07786907370565768,1.0,True,
|
|
||||||
15,18,4.6956742726068,3.452521908779405,0.7209645010046886,0.11716134583909138,6,4.125231895423439,0.01165472931184747,0.13683586564190106,1.0,True,
|
|
||||||
16,17,2.956793995513645,50.28230456891372,0.618922305764411,0.11254196340940027,6,4.068632188828398,0.031047860213503222,0.10375098145236057,1.0,True,
|
|
||||||
16,18,3.369822545690391,22.390896247552213,0.6890156918687589,0.11084024896736888,6,4.421167108842175,0.01556225520373068,0.02495881796885156,1.0,True,
|
|
||||||
16,19,2.313038703742191,30.035090485266096,0.8685060899826,0.10135543575024479,6,2.9200722330018793,0.0029522513838272538,0.02753369989558306,1.0,True,
|
|
||||||
17,18,2.517968959880004,27.89140832136152,0.7697708305735859,0.10648049893472189,6,3.792822356453168,0.010582276181446961,0.03959905194910384,1.0,True,
|
|
||||||
17,19,3.518310045065406,80.31739505417983,0.6293759512937596,0.10954497717502036,6,3.648306929393189,0.012240937390578075,0.06030618467886912,1.0,True,
|
|
||||||
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18,19,2.0416624616211574,52.42598673281832,0.6827314510833881,0.10834806615100022,6,3.5073857685652805,0.012418496053909043,0.11905018881087433,1.0,True,
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18,20,5.836864764777489,125.0925201128049,0.5756313809779688,0.1265759478434111,6,5.389095141151799,0.012917057356044254,0.2404237301134517,0.0,False,multistart_instability
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18,21,10.84206419743439,175.70238585457497,0.2352252017703723,0.15182541744787395,6,9.65894418804011,0.2039286327273425,0.13690658217533308,0.0,False,heldout_inlier_ratio;forward_reverse_translation;multistart_instability
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19,20,6.120105723142265,72.6665333799865,0.6234734541714874,0.1277530580405749,6,5.958603794025071,0.009237066767190974,0.22540488888103255,1.0,True,
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19,21,11.201089261967727,123.27639912174082,0.3788200074840963,0.1468780339612994,6,10.170069582593085,4.607025297377655,2.696881779819613,1.0,False,forward_reverse_translation;forward_reverse_rotation
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19,22,13.962230939038237,128.85294276465584,0.17798277982779828,0.15985830060250797,6,11.806596815871064,2.332292389085354,2.4044448240559984,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
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20,21,5.091648376409225,50.60986574175432,0.6596992097884272,0.12147955429086157,6,4.082032735955382,0.014725537493639118,0.19884224722867958,1.0,True,
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20,22,7.842914217245693,56.186409384669375,0.5739414499308958,0.13255415786946775,6,5.3284863413522086,0.006040617548523686,0.19706632354686843,1.0,True,
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20,23,4.953146569484805,70.79178325235414,0.6456945156330087,0.12075756038041646,6,3.9642702950866346,0.02294901101348451,0.19112109479244785,1.0,True,
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21,23,1.4635995041292513,20.181917510599828,0.8576224819696593,0.09865676260631218,6,3.036795069384516,0.00392257332509571,0.00898487649366286,1.0,True,
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21,24,2.7001854883863183,54.59467208208592,0.7715940569126165,0.11361504553552869,6,2.7681582493333527,0.007475673605592584,0.04227769001294981,1.0,True,
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23,26,5.595299803053147,40.730927532824325,0.6852618757612667,0.12040544972155913,6,3.059006509397719,0.006032445250251169,0.14039335223022864,1.0,True,
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24,25,6.316196707646632,36.626224625128586,0.677667493796526,0.1234631580581415,6,3.6286524357748364,0.023479226891170584,0.16273859629355136,1.0,True,
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24,26,6.840027061556236,6.318172961338242,0.6530209617755857,0.12710147612984235,6,3.5331859775372023,0.013311199903813952,0.18193579850150715,1.0,True,
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"heldout_inlier_rmse_m": 0.09925944770258255,
|
|
||||||
"rotation_invariant_error_deg": 0.1261576421594981,
|
|
||||||
"reverse_translation_m": 0.004719596234885736,
|
|
||||||
"reverse_rotation_deg": 0.06146741991683861,
|
|
||||||
"accepted": true,
|
|
||||||
"rejection_reasons": []
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"i": 31,
|
|
||||||
"j": 33,
|
|
||||||
"heldout_inlier_ratio": 0.760345235280208,
|
|
||||||
"heldout_inlier_rmse_m": 0.09698073659477859,
|
|
||||||
"rotation_invariant_error_deg": 0.11718235773108177,
|
|
||||||
"reverse_translation_m": 0.0019366659831763946,
|
|
||||||
"reverse_rotation_deg": 0.026538404789073603,
|
|
||||||
"accepted": true,
|
|
||||||
"rejection_reasons": []
|
|
||||||
}
|
|
||||||
]
|
|
||||||
}
|
|
||||||
@@ -1,346 +0,0 @@
|
|||||||
{
|
|
||||||
"schema_version": 1,
|
|
||||||
"success": true,
|
|
||||||
"convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame",
|
|
||||||
"equation": "A_RTK_ij X = X B_LiDAR_ij",
|
|
||||||
"frames": {
|
|
||||||
"RTK": {
|
|
||||||
"origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration",
|
|
||||||
"x_axis": "horizontal projection of the rawHeading baseline direction reported by the receiver",
|
|
||||||
"y_axis": "left",
|
|
||||||
"z_axis": "up",
|
|
||||||
"yaw_enu_deg": "90 - rawHeadingDeg"
|
|
||||||
},
|
|
||||||
"LiDAR": "raw LiDAR sensor frame"
|
|
||||||
},
|
|
||||||
"backend": "open3d_gicp",
|
|
||||||
"measured_lidar_extrinsic_used_as_initial": false,
|
|
||||||
"body_heading_offset_used": false,
|
|
||||||
"body_antenna_lever_xy_used": false,
|
|
||||||
"translation_m": [
|
|
||||||
1.6368478986289665,
|
|
||||||
-0.2424214446279586,
|
|
||||||
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|
|
||||||
],
|
|
||||||
"rotation_rpy_deg_xyz": [
|
|
||||||
-0.8529068506201997,
|
|
||||||
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|
|
||||||
-22.150129507458946
|
|
||||||
],
|
|
||||||
"quaternion_xyzw": [
|
|
||||||
-0.005076802391609619,
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
],
|
|
||||||
"matrix_4x4": [
|
|
||||||
[
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
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|
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|
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|
||||||
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|
|
||||||
[
|
|
||||||
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|
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|
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|
||||||
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|
||||||
],
|
|
||||||
[
|
|
||||||
0.0,
|
|
||||||
0.0,
|
|
||||||
0.0,
|
|
||||||
1.0
|
|
||||||
]
|
|
||||||
],
|
|
||||||
"quality": {
|
|
||||||
"stations": 34,
|
|
||||||
"pairs": 41,
|
|
||||||
"residuals": {
|
|
||||||
"pairs": 41,
|
|
||||||
"translation_m": {
|
|
||||||
"rms": 0.11160362192890017,
|
|
||||||
"median": 0.06165368731012592,
|
|
||||||
"p90": 0.12167778728549836,
|
|
||||||
"p95": 0.12315870952465978,
|
|
||||||
"max": 0.45797693508387505
|
|
||||||
},
|
|
||||||
"rotation_deg": {
|
|
||||||
"rms": 1.082945057501201,
|
|
||||||
"median": 0.744916302248719,
|
|
||||||
"p90": 1.523342607477641,
|
|
||||||
"p95": 1.864505235125524,
|
|
||||||
"max": 4.332008025818138
|
|
||||||
},
|
|
||||||
"per_pair": [
|
|
||||||
{
|
|
||||||
"pair_index": 0,
|
|
||||||
"translation_m": 0.03696060713715898,
|
|
||||||
"rotation_deg": 0.7820683861381595
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 1,
|
|
||||||
"translation_m": 0.039028552931951836,
|
|
||||||
"rotation_deg": 0.6949685743890126
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 2,
|
|
||||||
"translation_m": 0.01732676228513485,
|
|
||||||
"rotation_deg": 1.0438060827136844
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 3,
|
|
||||||
"translation_m": 0.0574978038017053,
|
|
||||||
"rotation_deg": 0.394946532754576
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 4,
|
|
||||||
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|
|
||||||
"rotation_deg": 0.29336064351197005
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|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 5,
|
|
||||||
"translation_m": 0.06577881887454434,
|
|
||||||
"rotation_deg": 0.5542732613092561
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 6,
|
|
||||||
"translation_m": 0.06363940755916121,
|
|
||||||
"rotation_deg": 0.5890545170693674
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 7,
|
|
||||||
"translation_m": 0.0640679503495012,
|
|
||||||
"rotation_deg": 0.746120063911557
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 8,
|
|
||||||
"translation_m": 0.021009631897429052,
|
|
||||||
"rotation_deg": 0.6663196620233134
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 9,
|
|
||||||
"translation_m": 0.08609573827254784,
|
|
||||||
"rotation_deg": 0.3687772861174946
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 10,
|
|
||||||
"translation_m": 0.02732304440983888,
|
|
||||||
"rotation_deg": 0.5222061823280917
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 11,
|
|
||||||
"translation_m": 0.04489317903985948,
|
|
||||||
"rotation_deg": 0.8700136243621963
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 12,
|
|
||||||
"translation_m": 0.07260882213085644,
|
|
||||||
"rotation_deg": 0.463182802330913
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 13,
|
|
||||||
"translation_m": 0.08831772542234817,
|
|
||||||
"rotation_deg": 0.659009021415606
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 14,
|
|
||||||
"translation_m": 0.053804778572191785,
|
|
||||||
"rotation_deg": 1.864505235125524
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 15,
|
|
||||||
"translation_m": 0.12315870952465978,
|
|
||||||
"rotation_deg": 1.9856861904193648
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 16,
|
|
||||||
"translation_m": 0.06880647181572622,
|
|
||||||
"rotation_deg": 0.27331219092746517
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 17,
|
|
||||||
"translation_m": 0.059582300078982915,
|
|
||||||
"rotation_deg": 0.3410200031868246
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 18,
|
|
||||||
"translation_m": 0.034895300030885576,
|
|
||||||
"rotation_deg": 0.5283410202190479
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 19,
|
|
||||||
"translation_m": 0.002366788176226253,
|
|
||||||
"rotation_deg": 0.3852038090000981
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|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 20,
|
|
||||||
"translation_m": 0.06233663305653708,
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|
||||||
"rotation_deg": 0.6208000110952433
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|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 21,
|
|
||||||
"translation_m": 0.012626372544105475,
|
|
||||||
"rotation_deg": 0.38292733656142575
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|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 22,
|
|
||||||
"translation_m": 0.047494831014178666,
|
|
||||||
"rotation_deg": 1.7712490998072288
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 23,
|
|
||||||
"translation_m": 0.06165368731012592,
|
|
||||||
"rotation_deg": 0.8670376638275039
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 24,
|
|
||||||
"translation_m": 0.12172160687143056,
|
|
||||||
"rotation_deg": 4.332008025818138
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 25,
|
|
||||||
"translation_m": 0.06185808030991236,
|
|
||||||
"rotation_deg": 1.523342607477641
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|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 26,
|
|
||||||
"translation_m": 0.049450564075379046,
|
|
||||||
"rotation_deg": 0.9499016191505171
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|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 27,
|
|
||||||
"translation_m": 0.016599648000378425,
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|
||||||
"rotation_deg": 0.7685476074882036
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|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 28,
|
|
||||||
"translation_m": 0.028501035078080036,
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|
||||||
"rotation_deg": 0.9107236146504971
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 29,
|
|
||||||
"translation_m": 0.05418062512497841,
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|
||||||
"rotation_deg": 0.49604339332524483
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 30,
|
|
||||||
"translation_m": 0.02534272431328254,
|
|
||||||
"rotation_deg": 0.2798196345939902
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|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 31,
|
|
||||||
"translation_m": 0.1006162178003358,
|
|
||||||
"rotation_deg": 0.9066113005741254
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|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 32,
|
|
||||||
"translation_m": 0.023348232889945957,
|
|
||||||
"rotation_deg": 0.29316028754024664
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 33,
|
|
||||||
"translation_m": 0.06352851658442724,
|
|
||||||
"rotation_deg": 1.123276625138155
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 34,
|
|
||||||
"translation_m": 0.06685972566531029,
|
|
||||||
"rotation_deg": 0.7607492800980359
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 35,
|
|
||||||
"translation_m": 0.3534873096430149,
|
|
||||||
"rotation_deg": 0.744916302248719
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 36,
|
|
||||||
"translation_m": 0.45797693508387505,
|
|
||||||
"rotation_deg": 0.7684054290628693
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 37,
|
|
||||||
"translation_m": 0.10414608850682983,
|
|
||||||
"rotation_deg": 0.8325040370564112
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 38,
|
|
||||||
"translation_m": 0.11058068261532474,
|
|
||||||
"rotation_deg": 0.8695456609442757
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 39,
|
|
||||||
"translation_m": 0.03405996353456899,
|
|
||||||
"rotation_deg": 0.7913171839743647
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"pair_index": 40,
|
|
||||||
"translation_m": 0.12167778728549836,
|
|
||||||
"rotation_deg": 0.16247416554150054
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"weighted_jacobian_condition_number": 7.006062559882809,
|
|
||||||
"linearized_one_sigma": {
|
|
||||||
"translation_m": [
|
|
||||||
0.007129000573825617,
|
|
||||||
0.007213998960440989,
|
|
||||||
0.0046717381822970125
|
|
||||||
],
|
|
||||||
"rotation_deg": [
|
|
||||||
0.06695429523124989,
|
|
||||||
0.06503891988826449,
|
|
||||||
0.14115095959507304
|
|
||||||
],
|
|
||||||
"warning": "conditional local estimate; bootstrap is the primary stability check"
|
|
||||||
},
|
|
||||||
"bootstrap": {
|
|
||||||
"runs": 100,
|
|
||||||
"order": [
|
|
||||||
"x_m",
|
|
||||||
"y_m",
|
|
||||||
"z_m",
|
|
||||||
"roll_deg",
|
|
||||||
"pitch_deg",
|
|
||||||
"yaw_deg"
|
|
||||||
],
|
|
||||||
"std": [
|
|
||||||
0.002608526149658222,
|
|
||||||
0.0028276716521100863,
|
|
||||||
0.0023368456176917846,
|
|
||||||
0.0795227773764157,
|
|
||||||
0.07300189168975164,
|
|
||||||
0.10947642324382982
|
|
||||||
],
|
|
||||||
"p025": [
|
|
||||||
1.6327841703535608,
|
|
||||||
-0.24653273132861378,
|
|
||||||
0.07991981050403614,
|
|
||||||
-0.9872072161381827,
|
|
||||||
1.1864367848117605,
|
|
||||||
-22.364052444549895
|
|
||||||
],
|
|
||||||
"p975": [
|
|
||||||
1.6431149050874008,
|
|
||||||
-0.2355422823589496,
|
|
||||||
0.08894657837563841,
|
|
||||||
-0.6759368885907463,
|
|
||||||
1.4669998309298398,
|
|
||||||
-21.953029139092944
|
|
||||||
]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"z_constraint": {
|
|
||||||
"observable_from_planar_AX_XB": false,
|
|
||||||
"method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground",
|
|
||||||
"rtk_reference_height_above_ground_m": 0.8535,
|
|
||||||
"warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion"
|
|
||||||
},
|
|
||||||
"important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification"
|
|
||||||
}
|
|
||||||
@@ -1,156 +0,0 @@
|
|||||||
i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
|
|
||||||
0,1,1.6721594124489447,24.171297449440814,0.8193962748876044,0.11049675306366954,6,14.013392649694936,0.026679665410762447,0.12399936190197167,1.0,True,
|
|
||||||
0,2,2.0412175279332088,80.09074797031303,0.7525388867463684,0.11492533799491883,6,14.962108606929117,0.0018464756299783867,0.03093241101186373,1.0,True,
|
|
||||||
0,3,6.30529961936688,79.9158388329924,0.628093901505486,0.12365050970311502,6,23.490589415548122,0.010524333328230958,0.23898233567764737,0.5,True,
|
|
||||||
0,4,2.238422471863255,130.25781950514033,0.693351593625498,0.11485738628517483,6,16.305124521706706,0.003627491377787396,0.0495829610363469,1.0,True,
|
|
||||||
0,5,7.5269579262553155,88.82606603101335,0.6015065913370998,0.12959859333012305,6,26.27293180169831,0.013710015050868782,0.26025123892797375,1.0,True,
|
|
||||||
1,2,1.2843386040405174,55.9194505208722,0.7981310803891449,0.11167434332282765,6,13.484382276710306,0.0507423684848027,0.517099810570953,1.0,False,forward_reverse_rotation
|
|
||||||
1,3,5.433888607887495,55.744541383551606,0.678820988438572,0.12109867185657658,6,27.478714016210855,0.008324315958294127,0.2568985217684905,1.0,True,
|
|
||||||
1,4,1.5299424710613851,106.08652205569952,0.6772473651580905,0.1115749218038809,6,13.250326799303036,3.109603769112268,6.665689673243039,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
1,5,7.072560501394692,64.65476858157254,0.618779694923731,0.1278696355679149,6,21.376356908960656,0.012044684321696756,0.5185219918090542,1.0,False,forward_reverse_rotation
|
|
||||||
1,6,8.049825623399226,8.10898363252498,0.02911760982402836,0.16814699881028172,6,51.15739724954147,2.3526085660101135,12.54864815902537,0.0,False,backend_not_converged;heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
2,3,4.340252832276203,0.1749091373206093,0.7609663064208518,0.11583878636902087,6,13.299472485717942,0.007842434748069874,0.017111535671962216,1.0,True,
|
|
||||||
2,4,0.2520257253555564,50.1670715348273,0.796748976299789,0.1148434235904791,6,12.041666425070192,0.011210942709506708,0.11462542679279858,1.0,True,
|
|
||||||
2,5,5.8286926576588955,8.735318060700322,0.7112112112112112,0.12001318292058727,6,15.618628103418056,0.011299298862678088,0.02158353743310138,1.0,True,
|
|
||||||
2,6,6.928094074716812,47.810466888347236,0.058659571772456606,0.1689308471089219,6,22.346184538451386,2.376212271528816,4.191297741726165,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
2,7,6.405228405426323,73.1220331951562,0.05777324320877439,0.16763553481687163,6,11.228331216247241,2.3764975144091216,1.7142235592052535,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
3,4,4.1070657333447205,50.34198067214791,0.6957378664695738,0.11619002437046365,6,17.76967737811838,3.222808271854619,15.590678196925943,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
3,5,2.2886212019715484,8.910227198020936,0.7989069680784996,0.10775905778143813,6,12.151555874812614,0.013532537604982006,0.06485728954506689,1.0,True,
|
|
||||||
3,6,2.618668779147775,47.63555775102663,0.8435613682092555,0.11222309863990189,6,13.914901775514537,0.00951276519885504,0.09743636874086448,1.0,True,
|
|
||||||
3,7,2.7963089245830335,72.9471240578356,0.8651898734177215,0.11184568072686091,6,12.975777248765162,0.010827690226297664,0.12520280777371842,1.0,True,
|
|
||||||
3,8,2.6983089912812726,163.5692883655715,0.825590155700653,0.1078798726707026,6,12.959410142765158,0.005608807919239624,0.021536601402144962,1.0,True,
|
|
||||||
4,5,5.5767898078953735,41.431753474126985,0.6652516676773802,0.12444359189600171,6,17.028714587649738,0.0031552835887398907,0.05824661275042354,1.0,True,
|
|
||||||
4,6,6.68811709459501,97.97753842317455,0.03891480481217775,0.16130442983218543,6,53.12725754116488,5.386834276571879,3.248443974085464,1.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
4,7,6.153247042777442,123.28910472998353,0.01717321472695824,0.16597934102353687,6,197.50040966862915,1.8946664283973234,13.38395621317346,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
4,8,6.802787549686365,146.08873096228075,0.7129198332924737,0.11349036082807593,6,18.616925126379055,4.094017521116411,1.0439112418969816,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
4,9,3.018117089902297,158.11607430100386,0.3323991714390155,0.13218238008205907,6,82.91588951856485,0.17404817666776692,0.7491904391974432,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
5,6,2.0562758992403367,56.545784949047565,0.7604901596732269,0.11101745020162715,6,16.790595774247244,0.01028831511886355,0.031120237309440944,1.0,True,
|
|
||||||
5,7,0.5812996709001959,81.85735125585653,0.8092687180764918,0.10777871969807898,6,15.203386410549202,0.010579733674272045,0.033334626234333836,1.0,True,
|
|
||||||
5,8,2.6887856969568644,172.47951556359513,0.40909652700531457,0.13021927164196687,6,88.03642906190348,2.282274682790372,1.1841285568948536,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
5,9,7.501939677383991,160.45217222486954,0.3361179361179361,0.13367797847230906,6,83.15270070161475,5.255898884183195,7.177742907146106,0.5,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
5,10,7.507648391453363,143.54232919109307,0.5442391832766165,0.13173165083201846,6,26.337222871823244,4.175333583746659,14.054946454556381,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
6,7,1.9723544820714844,25.311566306808967,0.8539354187689203,0.10462253085152279,6,12.50291076661203,0.0028433142784691904,0.028424505435071433,1.0,True,
|
|
||||||
6,8,0.7288530799256238,115.93373061454484,0.7757757757757757,0.11316400028465075,6,15.521747346102574,0.007224674181692249,0.10395594559619384,1.0,True,
|
|
||||||
6,9,7.898758206937296,103.90638727582184,0.6009202835468226,0.1259448851291812,6,28.795189977892598,4.270523553799638,1.1342776748452013,0.5,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
6,10,8.382165572419371,159.91188585985944,0.048837495386886455,0.16976022756819517,6,33.03889916791793,8.842801960353667,9.008466157678757,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
6,11,11.12084001821623,138.54043874549885,0.026144624410151765,0.1725705028585339,6,71.57462790292871,2.4153309235424008,10.273490365819672,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
7,8,2.6747845281541447,90.62216430773587,0.8340050377833753,0.11132245152738934,6,16.17035077702852,0.004806949653405576,0.020340398656013788,1.0,True,
|
|
||||||
7,9,8.06955581661561,78.59482096901287,0.6160971335586432,0.12637042722943573,6,24.178664977065605,4.367245914434154,12.796681469446304,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
7,10,8.088675434881791,134.6003195530505,0.04890429614956048,0.17569950505457485,6,17.12714594442953,9.4426170895353,17.952544168886714,0.0,False,backend_not_converged;heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
7,11,10.488793105910844,113.2288724386899,0.03723199383746309,0.16334679446297104,6,88.61274561425562,7.5280305092863244,55.909263646297305,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
7,12,13.79542539595065,94.95104818613552,0.023342903507676944,0.1706723033660903,6,71.17833596146563,5.060797550499477,27.755426788516992,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
8,9,7.73033999229505,12.027343338722995,0.6407549981373402,0.12189583104066957,6,28.06713348388492,2.3076573667891433,3.487290408239611,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
8,10,8.378411682322204,43.97815524531458,0.6075420709986488,0.12933255488441212,6,20.429633989572718,4.865121579871581,2.927465091074779,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
8,11,11.214115106391473,22.60670813095403,0.03922067999490641,0.16246238376196148,6,54.700772476792416,2.594876837596059,7.9735312612345846,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
8,12,14.373410961212507,4.328883878399634,0.023529411764705882,0.1707990278738782,6,65.92814703722017,0.7170106443431138,1.1046762967347212,0.5,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
8,13,18.141079267476005,28.43334478424675,0.020491803278688523,0.1759614106055459,6,128.98300559552638,1.9608884223852157,1.569223825596656,0.0,False,backend_not_converged;heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
9,10,1.9264207261313253,56.00549858403757,0.6576312576312576,0.1069384415347781,6,15.95767235456931,1.6379095873833018,4.808769928108965,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
9,11,4.747620352849464,34.63405146967702,0.5883320678309288,0.11815838246331258,6,21.526672921842795,2.059598786777497,11.82652375960602,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
9,12,7.208566899019793,16.356227217122623,0.5413589364844904,0.12469816852190199,6,38.03547459177405,1.1412129496099401,4.794166723137469,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
9,13,10.706998136562337,16.406001445523756,0.015145729922362225,0.16400783300033744,6,309.6688821904962,3.999785287368469,12.657822343539058,0.5,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
9,14,7.911071381405571,14.085282580602351,0.5416463116756228,0.12859551377809345,6,26.721469573230685,0.011377143482079926,0.04588334980819398,1.0,True,
|
|
||||||
10,11,3.0731501091601263,21.371447114360553,0.7131414267834794,0.12095106901516853,6,13.404202373771934,0.006897671932216771,0.18540056788520015,1.0,True,
|
|
||||||
10,12,6.011368280631378,39.649271366914945,0.6117876278616659,0.1250022412120491,6,19.806559061723252,0.006509808900810373,0.0674238161099294,1.0,True,
|
|
||||||
10,13,9.76425648692991,72.41150002956132,0.5244808055380743,0.1368926377190841,6,36.182352720806286,0.004651842966001154,0.17931102925270942,1.0,True,
|
|
||||||
10,14,6.554187411792988,41.92021600343522,0.5996858385693572,0.12955691635611982,6,17.916357473627126,0.009593578345611885,0.0575378323241282,1.0,True,
|
|
||||||
10,15,10.1706917218607,65.51298166784419,0.5048970366649924,0.13966622273060353,6,30.173625507677606,0.006074999657627903,0.048675594115713976,1.0,True,
|
|
||||||
11,12,3.3258193587172027,18.277824252554396,0.6508076728924785,0.12017753597340275,6,15.211760062254436,0.016302173123952872,0.05141023051579196,1.0,True,
|
|
||||||
11,13,7.195203402213438,51.04005291520078,0.5666710199817161,0.12966061077144855,6,26.1420797484443,0.010250004424021028,0.06307533415790957,1.0,True,
|
|
||||||
11,14,3.634158560526847,20.548768889074672,0.64271407110666,0.12109534664165013,6,14.045896850674039,0.0076106764286992265,0.053501024445426364,1.0,True,
|
|
||||||
11,15,7.446972831184529,44.14153455348363,0.570479416362689,0.12836105648415896,6,18.857231663145765,0.006898635427401595,0.028532809464236104,1.0,True,
|
|
||||||
11,16,10.651790397923806,69.98495270981525,0.47336531178995206,0.13436934972977357,6,42.57049752296035,0.03569532774909474,0.4066994385898772,1.0,True,
|
|
||||||
12,13,3.8697507070400543,32.762228662646386,0.7056733087955325,0.1168985924651875,6,14.509757354686162,0.0020816591736723326,0.08889045468170857,1.0,True,
|
|
||||||
12,14,0.9871080784265185,2.2709446365202766,0.8745432399512789,0.09766070609034913,6,11.857755748379178,0.0024736851957500175,0.01806957610594206,1.0,True,
|
|
||||||
12,15,4.171948395051693,25.86371030092923,0.7033426183844012,0.1210390118956012,6,11.859397045728281,0.02278023379659275,0.04927694758545221,1.0,True,
|
|
||||||
12,16,7.331699780686257,51.70712845726085,0.5820235756385069,0.1245813395619955,6,32.351864267271324,0.009898398498331785,0.03808519306435069,1.0,True,
|
|
||||||
12,17,6.344245780495681,1.4248238883471156,0.6542219994988725,0.12658997017247905,6,11.229930872030522,0.019742666743374927,0.07899239993213694,1.0,True,
|
|
||||||
13,14,3.7992314627329202,30.491284026126113,0.6984766461034874,0.11406275275916469,6,13.924716870947337,0.012533601308866885,0.10861598809330086,1.0,True,
|
|
||||||
13,15,0.9105848166450461,6.898518361717151,0.8794391298650243,0.0990320912382964,6,10.514819201987361,0.006638809913640662,0.04266354358349535,1.0,True,
|
|
||||||
13,16,3.4957081323467,18.94489979461447,0.7273073505141552,0.10958532316684444,6,19.405056504086563,0.005441055528599314,0.12519365495729431,1.0,True,
|
|
||||||
13,17,2.9366461487378266,31.337404774299262,0.7130265716137395,0.11779895987026272,6,12.816390530620648,0.013263327701592529,0.16221305155705523,1.0,True,
|
|
||||||
13,18,5.248032013425982,3.445996452937746,0.7019876443728176,0.11940768524727288,6,25.985486690964827,0.008995185112868311,0.05198334816510605,1.0,True,
|
|
||||||
14,15,3.8816793634199405,23.592765664408958,0.7089927153981411,0.11692319124843933,6,10.742828632896593,0.09073157715426228,0.8466374858545868,0.5,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
14,16,7.29101265002769,49.43618382074057,0.5923489278752436,0.12241125802320883,6,33.653658158107916,0.003104270324855819,0.13386021564092,1.0,True,
|
|
||||||
14,17,5.915950814087913,0.8461207481731609,0.6687795177728063,0.12452036369781098,6,8.953051466023156,0.011592867275090568,0.10132037554601482,1.0,True,
|
|
||||||
14,18,8.433581718971825,27.04528757318836,0.6196476790536196,0.12845389972151766,6,17.805501350543512,0.010071755472376367,0.13041952825792016,1.0,True,
|
|
||||||
14,19,9.056542482242314,79.47127430600666,0.5845660749506904,0.12584132662356765,6,30.335272352492893,0.016830803029543952,0.25747616717579747,1.0,True,
|
|
||||||
15,16,3.579287497246505,25.843418156331627,0.7032674772036475,0.1160221689285562,6,22.696890954829914,0.0009988867448377137,0.0903616813411077,1.0,True,
|
|
||||||
15,17,2.2400625117908257,24.438886412582114,0.7489009568140678,0.11923375870790395,6,6.944925131742929,0.02582458487951321,0.09503968088936432,1.0,True,
|
|
||||||
15,18,4.6956742726068,3.452521908779405,0.7165438713998661,0.1178392296206422,6,19.334165264362177,0.009354386824150452,0.1747840133793935,1.0,True,
|
|
||||||
15,19,5.176369821469625,55.87850864159772,0.6924358974358974,0.11506895717743917,6,20.417126084614868,0.012497900854286311,0.3255615001296683,1.0,True,
|
|
||||||
15,20,1.1877416357686716,128.54504202158432,0.6751867872591427,0.11901811643083532,6,27.381712286843683,2.670174543103617,1.9448445706434312,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
16,17,2.956793995513645,50.28230456891372,0.6284461152882206,0.11136186275509914,6,25.18428705575399,0.015372505619716304,0.0751987172187524,1.0,True,
|
|
||||||
16,18,3.369822545690391,22.390896247552213,0.6921281286473868,0.10919235768364494,6,39.42922894015897,0.005355462743716019,0.036543030274398446,1.0,True,
|
|
||||||
16,19,2.313038703742191,30.035090485266096,0.8880188913745961,0.09683468613705355,6,11.709094307553842,0.006745004702224827,0.04851926363284082,1.0,True,
|
|
||||||
16,20,4.242518045976368,102.70162386525263,0.36698412698412697,0.13430062225326117,6,102.05441227788522,1.6194077849835204,3.5461435258834046,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
16,21,9.189957911290794,153.31148960700713,0.23764328854924197,0.14863424676851908,6,75.99451631707726,0.01721606559516444,0.561012451825117,0.5,False,heldout_inlier_ratio;forward_reverse_rotation
|
|
||||||
17,18,2.517968959880004,27.89140832136152,0.7665916015366274,0.11462271017395576,6,9.759734204828526,0.003677259621955875,0.03455865038654393,1.0,True,
|
|
||||||
17,19,3.518310045065406,80.31739505417983,0.645738203957382,0.11467441399973677,6,29.935027493013713,0.002657916871055147,0.03996637099866608,1.0,True,
|
|
||||||
17,20,3.4199679241812992,152.98392843416642,0.2749902761571373,0.1378092692558536,6,36.98799912625142,0.9962499249666478,0.8583377913930432,0.5,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
17,21,8.339875108212771,156.4062058240796,0.4672368255565338,0.13751533768592306,6,32.19730139309397,3.7101311942981123,2.4525134629880094,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
17,22,10.944066586184825,150.8296621811644,0.4255952380952381,0.14178517078123323,6,38.71138397815585,1.8838258929727458,2.643696557684808,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
18,19,2.0416624616211574,52.42598673281832,0.6999343401181878,0.10876407223187459,6,36.91910298018587,0.0029722527816906435,0.028553700929610345,1.0,True,
|
|
||||||
18,20,5.836864764777489,125.0925201128049,0.5796614723267061,0.12778176089815013,6,32.46060078153021,0.08496447343578362,0.24110896992060832,0.5,False,forward_reverse_translation
|
|
||||||
18,21,10.84206419743439,175.70238585457497,0.23118979432439468,0.15492240575842026,6,95.57603256530417,0.3127879752995947,1.8359225701448998,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
18,22,13.461930516546937,178.72107050264088,0.20872354073123797,0.1539528469442395,6,158.96979855906298,5.509854679183967,5.400016950581102,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
18,23,10.787990019880349,164.1156966348418,0.3967277486910995,0.14073241205403234,6,67.81571155690442,0.037998014107336324,0.09667096210109852,1.0,True,
|
|
||||||
19,20,6.120105723142265,72.6665333799865,0.6260444787247719,0.1266849163783949,6,25.979821491778758,0.02278172414929769,0.1983479736758361,1.0,True,
|
|
||||||
19,21,11.201089261967727,123.27639912174082,0.22215292503430212,0.15090955425182226,6,96.8936157485445,2.289236102137041,0.9775110057344923,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
19,22,13.962230939038237,128.85294276465584,0.1883148831488315,0.1538013519108862,6,137.2212791172918,1.512900854675742,1.7779489198947585,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
19,23,10.877481155608614,143.45831663234054,0.37768025078369905,0.1432975121556297,6,38.93505210462377,2.6484748594978824,0.9762972275431752,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
19,24,10.384369483528566,177.87107120381796,0.43504761904761907,0.1392444656116938,6,41.9366060613255,0.04258350776081601,0.7879276702809289,1.0,False,forward_reverse_rotation
|
|
||||||
20,21,5.091648376409225,50.60986574175432,0.6607188376242672,0.12214671257866083,6,14.082798146569486,0.014717307768564562,0.07480162341419787,1.0,True,
|
|
||||||
20,22,7.842914217245693,56.186409384669375,0.576328684508104,0.13245799460807808,6,16.034011252152304,0.021651469263481868,0.4612054468064915,1.0,True,
|
|
||||||
20,23,4.953146569484805,70.79178325235414,0.6451819579702717,0.1210226317867539,6,12.51146899612653,0.018249896901540018,0.12115759970964086,1.0,True,
|
|
||||||
20,24,4.806112840058592,105.20453782384023,0.7383177570093458,0.11441422046802803,6,12.152737785424252,0.009011280440944078,0.06430292826078875,1.0,True,
|
|
||||||
20,25,7.7432318481763245,68.57831319871164,0.6182822702159718,0.12791257682460658,6,29.104161441720713,0.01470353026057929,0.3205553574328468,1.0,True,
|
|
||||||
21,22,2.836151129858731,5.576543642915048,0.7740636818348177,0.11564789267022943,6,12.209471497858695,0.006518431057241462,0.06991931948827856,1.0,True,
|
|
||||||
21,23,1.4635995041292513,20.181917510599828,0.862223327530465,0.10307112004551743,6,11.124777032517395,0.002678668765812511,0.01879593375546071,1.0,True,
|
|
||||||
21,24,2.7001854883863183,54.59467208208592,0.7795265676152102,0.11182158240581809,6,15.934013426145448,0.003491995501354943,0.037425651095358885,1.0,True,
|
|
||||||
21,25,3.6513937480713023,17.968447456957325,0.7340892465252378,0.12002239056891176,6,16.572162980052227,0.03773466739435234,0.28781074838303833,1.0,True,
|
|
||||||
21,26,4.368847767445087,60.912845043424156,0.7147358216190014,0.11997311573294335,6,17.3723156532691,0.01216183417643751,0.10312122071404906,1.0,True,
|
|
||||||
22,23,3.806551883906871,14.605373867684776,0.7408951563458002,0.1172672510975272,6,12.610213323576234,0.009206244303296198,0.0960198600148152,1.0,True,
|
|
||||||
22,24,4.999470711928798,49.01812843917085,0.6936064556176288,0.11914624513148228,6,13.20338761495324,0.006090737153725476,0.02755713841749006,1.0,True,
|
|
||||||
22,25,2.281002791409386,12.391903814042275,0.7356584485868911,0.11474070552638106,6,16.673633938013026,0.001961709159757097,0.011643770804742994,1.0,True,
|
|
||||||
22,26,1.990287035474152,55.33630140050909,0.7422594142259414,0.11765221626900067,6,18.880420396501982,0.007814937371704422,0.03934255356487579,1.0,True,
|
|
||||||
22,27,2.5532406896142295,80.6206767037528,0.7254925373134329,0.11870181965154772,6,21.309389349405333,0.018241823604788293,0.08279236858581901,1.0,True,
|
|
||||||
23,24,1.2663665558774873,34.41275457148608,0.7884810126582279,0.10662565692629541,6,10.611199681165658,0.0018823381482244372,0.020239211377623904,1.0,True,
|
|
||||||
23,25,5.050865141821003,2.213470053642503,0.6843137254901961,0.1217109193489842,6,15.15080906413716,0.01463985673592735,0.20460048921133533,1.0,True,
|
|
||||||
23,26,5.595299803053147,40.730927532824325,0.6772228989037758,0.12237954766026346,6,16.382334072569808,0.04518647006837217,0.20367965681897174,1.0,True,
|
|
||||||
23,27,6.240759831138249,66.01530283606803,0.6637469586374696,0.12340951265232125,6,20.64383986204704,0.010626193556947943,1.1817079481882706,1.0,False,forward_reverse_rotation
|
|
||||||
23,28,6.598772106458927,85.87759904182478,0.6720351390922401,0.12122778564083768,6,19.206570679040215,0.043540468662592216,0.2605147805386839,0.5,True,
|
|
||||||
24,25,6.316196707646632,36.626224625128586,0.6764267990074442,0.12367636388755723,6,21.50176872604184,0.03581640576644142,0.20465043373191275,1.0,True,
|
|
||||||
24,26,6.840027061556236,6.318172961338242,0.6524044389642417,0.12740222503880924,6,21.75476709306229,0.0620474433075452,0.12014838295938772,1.0,True,
|
|
||||||
24,27,7.477875812552711,31.60254826458195,0.6546798029556651,0.12425657449629156,6,26.295019203914542,0.05403266260961897,0.2126374478532295,1.0,True,
|
|
||||||
24,28,7.81303641449596,51.464844470338676,0.6614377470355731,0.12010155595807544,6,20.985000954928537,0.04949067679791638,0.25138526875322614,0.5,True,
|
|
||||||
24,29,7.4949096209288655,93.73390958258972,0.047106325706594884,0.16491171897379944,6,28.651559198797667,0.8785910837751835,4.6775880176920355,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
25,26,1.433673687807028,42.944397586466835,0.9137395459976105,0.08148335762110498,6,16.56285514245561,0.003236736725553251,0.006670817258604747,1.0,True,
|
|
||||||
25,27,1.973107678535245,68.22877288971054,0.8596658711217183,0.10961458820309757,6,22.188153380460914,0.010624789877375612,0.04475651255675051,1.0,True,
|
|
||||||
25,28,2.578633669986193,88.09106909546726,0.8839157491622786,0.10490699814192775,6,16.172179483480598,0.0028341913749953818,0.01585308444597317,1.0,True,
|
|
||||||
25,29,1.4869736566208207,130.3601342077183,0.7857227558401518,0.10954358768244278,6,20.132087187715292,0.0032477187428175502,0.016542353808297643,1.0,True,
|
|
||||||
25,30,5.843711828111692,139.6773015481418,0.05061061531235322,0.15827452276344428,6,186.52424080569762,2.4401001990983646,2.630476332375907,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
26,27,0.6711664435459649,25.284375303243706,0.9188612099644128,0.07520973241900301,6,20.799051531446725,0.00099208733077853,0.005485007138530622,1.0,True,
|
|
||||||
26,28,1.202247282991071,45.146671509000434,0.9182726623840114,0.07611768518866213,6,21.995419584098137,0.004984978187528897,0.011735070988964648,1.0,True,
|
|
||||||
26,29,0.8313560685788559,87.41573662125148,0.7856890251090416,0.1085139306178217,6,24.280602674778585,0.002586732426994246,0.12205883610742861,1.0,True,
|
|
||||||
26,30,5.554376083336843,177.37830086539105,0.7634835395750642,0.10495724850674515,6,34.80647378548566,0.008489213184549637,0.021733210949119494,1.0,True,
|
|
||||||
26,31,6.5424104132673175,156.01119868987084,0.7374054682955207,0.10737521663044328,6,38.310555401782864,0.007807741115783734,0.04372865220115068,0.5,True,
|
|
||||||
27,28,0.6147316450225401,19.862296205756735,0.9281131178707225,0.07220941715117642,6,20.092791877654474,0.002300778353404822,0.001589714984734129,1.0,True,
|
|
||||||
27,29,0.7540837235696874,62.13136131800778,0.7871188037207112,0.10966659884725233,6,24.009650087098127,0.005134403698946511,0.024348440992038003,1.0,True,
|
|
||||||
27,30,5.07252652550922,152.0939255621477,0.7922108208955224,0.10147035321534549,6,32.52026042532519,0.007488026390185518,0.03860522829819172,1.0,True,
|
|
||||||
27,31,6.285022243874859,178.7044260068885,0.7592097617664149,0.10539218018667616,6,48.70669958381935,0.0020937297862771895,0.027401753528281184,1.0,True,
|
|
||||||
27,32,5.778763736289045,138.47370648510574,0.7480278422273782,0.10408734715846861,6,42.21510199826032,0.004407463145301957,0.03490543724835993,0.5,True,
|
|
||||||
28,29,1.3242039147826599,42.26906511225104,0.787814381863266,0.10901449493832827,6,25.9136254196751,0.01570175790237293,0.035696604981368125,1.0,True,
|
|
||||||
28,30,5.091487440029177,132.23162935639098,0.7791159962581852,0.1043856075500982,6,36.50167792578953,0.011701496185342901,0.047047156803733815,1.0,True,
|
|
||||||
28,31,6.538757407908195,158.84212980112872,0.7449015266285981,0.10668967013687278,6,48.04636971250768,0.02442137437725171,0.6810283060803413,1.0,False,forward_reverse_rotation
|
|
||||||
28,32,5.963604730984572,158.33600269086236,0.7252210330386226,0.11213192172123396,6,59.78207706090093,0.01795092616246746,0.05811390678775167,0.0,False,multistart_instability
|
|
||||||
28,33,5.80807626014008,67.05379893079936,0.6692465836255895,0.10871806386783625,6,54.67376255043743,0.132593515882677,0.6593919290562373,0.5,False,forward_reverse_translation;forward_reverse_rotation
|
|
||||||
29,30,4.767831371266539,89.96256424413991,0.7320662880982732,0.10929719051930432,6,30.745355096911858,0.005463604154020641,0.01858348348785812,1.0,True,
|
|
||||||
29,31,5.715598450796842,116.57306468887764,0.7254562254562255,0.11323336570178014,6,49.09678922599784,0.005077799585122041,0.07265894091769737,1.0,True,
|
|
||||||
29,32,5.281749147864957,159.39493219688646,0.33356393404819557,0.1449978595558761,6,111.7227195582132,0.3588603464467423,0.15715476414253352,1.0,False,heldout_inlier_ratio;forward_reverse_translation
|
|
||||||
29,33,4.779166013738703,109.3228640430504,0.2850467289719626,0.13990657628540273,6,178.4302458902832,0.39012209563155037,0.27153598748575447,0.0,False,backend_not_converged;heldout_inlier_ratio;forward_reverse_translation;multistart_instability
|
|
||||||
30,31,2.604154101624297,26.610500444737717,0.8286237272623269,0.09646596945131831,6,41.03513305025278,0.018905314487389895,0.08632503464138006,1.0,True,
|
|
||||||
30,32,1.69105635082049,69.43236795274656,0.8065326633165829,0.09815063400019147,6,35.25635856167186,0.007341509941520377,0.023973741904830165,1.0,True,
|
|
||||||
30,33,3.2411277385703925,160.7145717128097,0.09253766757622493,0.15464713396746754,6,31.157195533215592,1.0417523955000538,7.5233256615684665,1.0,False,backend_not_converged;heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
|
|
||||||
31,32,0.9137201114724802,42.82186750800884,0.8146841206602162,0.09914628416022428,6,34.3317318149268,0.0693687705829607,0.45703051311645604,1.0,True,
|
|
||||||
31,33,1.4965271484681508,134.10407126807198,0.7551430598250177,0.1003246191461096,6,28.537349904719445,0.005559091155809675,0.033005318250111694,1.0,True,
|
|
||||||
32,33,1.9169426499676907,91.28220376006315,0.7585270860380031,0.0987597723287551,6,32.396623704761396,2.8694889670610495,5.798276157700327,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
|
||||||
|
Binary file not shown.
File diff suppressed because it is too large
Load Diff
@@ -1,416 +0,0 @@
|
|||||||
{
|
|
||||||
"schema_version": 1,
|
|
||||||
"success": true,
|
|
||||||
"convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame",
|
|
||||||
"equation": "A_RTK_ij X = X B_LiDAR_ij",
|
|
||||||
"frames": {
|
|
||||||
"RTK": {
|
|
||||||
"origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration",
|
|
||||||
"x_axis": "horizontal projection of the rawHeading baseline direction reported by the receiver",
|
|
||||||
"y_axis": "left",
|
|
||||||
"z_axis": "up",
|
|
||||||
"yaw_enu_deg": "90 - rawHeadingDeg"
|
|
||||||
},
|
|
||||||
"LiDAR": "raw LiDAR sensor frame"
|
|
||||||
},
|
|
||||||
"backend": "small_gicp",
|
|
||||||
"measured_lidar_extrinsic_used_as_initial": false,
|
|
||||||
"body_heading_offset_used": false,
|
|
||||||
"body_antenna_lever_xy_used": false,
|
|
||||||
"translation_m": [
|
|
||||||
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|
|
||||||
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|
||||||
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|
||||||
],
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|
||||||
"rotation_rpy_deg_xyz": [
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|
||||||
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|
||||||
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|
||||||
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|
||||||
],
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|
||||||
"quaternion_xyzw": [
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|
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|
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|
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|
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],
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|
||||||
"matrix_4x4": [
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|
||||||
[
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|
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|
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|
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|
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|
||||||
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|
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|
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|
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|
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|
||||||
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|
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
|
||||||
},
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|
||||||
"important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification"
|
|
||||||
}
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|
||||||
@@ -1,48 +0,0 @@
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|
|
||||||
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|
||||||
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|
||||||
[
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
],
|
|
||||||
[
|
|
||||||
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|
||||||
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|
|
||||||
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|
||||||
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|
||||||
],
|
|
||||||
[
|
|
||||||
0.0,
|
|
||||||
0.0,
|
|
||||||
0.0,
|
|
||||||
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|
|
||||||
]
|
|
||||||
]
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -0,0 +1,337 @@
|
|||||||
|
{
|
||||||
|
"schema_version": 1,
|
||||||
|
"success": true,
|
||||||
|
"convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame",
|
||||||
|
"equation": "A_RTK_ij X = X B_LiDAR_ij",
|
||||||
|
"frames": {
|
||||||
|
"RTK": {
|
||||||
|
"origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration",
|
||||||
|
"x_axis": "vehicle forward after applying the configured G90 heading offset",
|
||||||
|
"y_axis": "left of the RTK X/baseline axis (not necessarily vehicle-left)",
|
||||||
|
"z_axis": "up",
|
||||||
|
"yaw_enu_deg": "90 - (rawHeadingDeg + -90)",
|
||||||
|
"frame_mode": "vehicle_forward_heading_offset"
|
||||||
|
},
|
||||||
|
"LiDAR": {
|
||||||
|
"description": "raw Helios sensor frame from points_raw polar decode",
|
||||||
|
"x_axis": "+X at azimuth 0° (forward when aviation connector faces vehicle rear)",
|
||||||
|
"y_axis": "+Y at azimuth +90° (left when +X is vehicle-forward)",
|
||||||
|
"z_axis": "up",
|
||||||
|
"origin_note": "optical/center per Helios manual; mounting height includes 63.5 mm base offset when deriving mechanical ΔZ"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"backend": "consensus",
|
||||||
|
"measured_lidar_extrinsic_used_as_initial": true,
|
||||||
|
"solver_initial_extrinsic": "D:\\First-dev-dept\\calibration-rtk-run\\run\\rtk_lidar_mechanical_initial.json",
|
||||||
|
"body_heading_offset_deg": -90.0,
|
||||||
|
"body_heading_offset_used": true,
|
||||||
|
"body_antenna_lever_xy_used": false,
|
||||||
|
"translation_m": [
|
||||||
|
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|
||||||
|
-0.41134780227275347,
|
||||||
|
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||||||
|
],
|
||||||
|
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|
||||||
|
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|
||||||
|
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||||||
|
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||||||
|
],
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
],
|
||||||
|
"coordinate_contract_audit": {
|
||||||
|
"status": "no_near_180_degree_axis_conflict",
|
||||||
|
"requires_physical_axis_confirmation": false,
|
||||||
|
"mechanical_initial_path": "D:\\First-dev-dept\\calibration-rtk-run\\run\\rtk_lidar_mechanical_initial.json",
|
||||||
|
"mechanical_self_consistency": {
|
||||||
|
"baseline_points": "vehicle_right",
|
||||||
|
"frame_mode": "vehicle_forward_heading_offset",
|
||||||
|
"heading_offset_deg": -90.0,
|
||||||
|
"consistent": true,
|
||||||
|
"issues": []
|
||||||
|
},
|
||||||
|
"solution_vs_declared_baseline_side": {
|
||||||
|
"baseline_points": "vehicle_right",
|
||||||
|
"solution_yaw_deg": -0.5513220563826681,
|
||||||
|
"expected_yaw_deg": 0.0,
|
||||||
|
"yaw_error_deg": 0.5513220563826735,
|
||||||
|
"xy_error_m": 0.007516661287052368,
|
||||||
|
"z_error_m": 0.0280423356878719,
|
||||||
|
"mixed_translation_rotation_inheritance": false,
|
||||||
|
"near_expected_pose": true
|
||||||
|
},
|
||||||
|
"solution_relative_to_mechanical_initial": {
|
||||||
|
"translation_m": 0.029032271487700816,
|
||||||
|
"rotation_deg": 0.9820426535863694,
|
||||||
|
"delta_matrix_4x4": [
|
||||||
|
[
|
||||||
|
0.9998538650128304,
|
||||||
|
0.009638565806830942,
|
||||||
|
0.014119017957784103,
|
||||||
|
0.006962889639609726
|
||||||
|
],
|
||||||
|
[
|
||||||
|
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|
||||||
|
0.9999528797859223,
|
||||||
|
-0.0012919976154994906,
|
||||||
|
0.002831671727246521
|
||||||
|
],
|
||||||
|
[
|
||||||
|
-0.014130805670674627,
|
||||||
|
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|
||||||
|
0.9998994869856016,
|
||||||
|
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||||||
|
],
|
||||||
|
[
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
1.0
|
||||||
|
]
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"note": "No automatic 180-degree correction was applied. Confirm static GNHPR left/right vs vehicle heading and Helios +X vs vehicle forward before deployment."
|
||||||
|
},
|
||||||
|
"matrix_4x4": [
|
||||||
|
[
|
||||||
|
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[
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],
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||||||
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||||||
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||||||
|
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||||||
|
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|
||||||
|
]
|
||||||
|
],
|
||||||
|
"quality": {
|
||||||
|
"stations": 27,
|
||||||
|
"pairs": 20,
|
||||||
|
"residuals": {
|
||||||
|
"pairs": 20,
|
||||||
|
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|
||||||
|
"rms": 0.07116027693011169,
|
||||||
|
"median": 0.048258124379040895,
|
||||||
|
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|
||||||
|
"p95": 0.12100345665884242,
|
||||||
|
"max": 0.1859157912711514
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||||||
|
},
|
||||||
|
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|
||||||
|
"rms": 0.9820870524210346,
|
||||||
|
"median": 0.6015253089423158,
|
||||||
|
"p90": 1.626986719630708,
|
||||||
|
"p95": 1.7485896823567941,
|
||||||
|
"max": 2.6898815510329674
|
||||||
|
},
|
||||||
|
"per_pair": [
|
||||||
|
{
|
||||||
|
"pair_index": 0,
|
||||||
|
"translation_m": 0.10590532722733068,
|
||||||
|
"rotation_deg": 0.5565962122599133
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"pair_index": 1,
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
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||||||
|
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|
||||||
|
{
|
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|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
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|
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|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
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|
||||||
|
{
|
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|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
"rotation_deg": 0.6476769159531274
|
||||||
|
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|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
"rotation_deg": 1.041955302231996
|
||||||
|
},
|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
},
|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
"rotation_deg": 0.32936437427192145
|
||||||
|
},
|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
"rotation_deg": 0.430799739443549
|
||||||
|
},
|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
"rotation_deg": 0.3855347569405268
|
||||||
|
},
|
||||||
|
{
|
||||||
|
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|
||||||
|
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|
||||||
|
"rotation_deg": 0.8803664894801937
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"pair_index": 19,
|
||||||
|
"translation_m": 0.02258390614293418,
|
||||||
|
"rotation_deg": 0.9489255319885953
|
||||||
|
}
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"weighted_jacobian_condition_number": 7.551077537197385,
|
||||||
|
"linearized_one_sigma": {
|
||||||
|
"translation_m": [
|
||||||
|
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|
||||||
|
0.011043247019191056,
|
||||||
|
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|
||||||
|
],
|
||||||
|
"rotation_deg": [
|
||||||
|
0.08809558088476348,
|
||||||
|
0.08691570892756702,
|
||||||
|
0.13552099560800782
|
||||||
|
],
|
||||||
|
"warning": "conditional local estimate; bootstrap is the primary stability check"
|
||||||
|
},
|
||||||
|
"bootstrap": {
|
||||||
|
"runs": 200,
|
||||||
|
"order": [
|
||||||
|
"x_m",
|
||||||
|
"y_m",
|
||||||
|
"z_m",
|
||||||
|
"roll_deg",
|
||||||
|
"pitch_deg",
|
||||||
|
"yaw_deg"
|
||||||
|
],
|
||||||
|
"std": [
|
||||||
|
0.006235825930578342,
|
||||||
|
0.004851737742140203,
|
||||||
|
0.0004474159829207979,
|
||||||
|
0.07186455153709871,
|
||||||
|
0.11762318545143821,
|
||||||
|
0.061763211598034336
|
||||||
|
],
|
||||||
|
"p025": [
|
||||||
|
0.20955504469154063,
|
||||||
|
-0.4174678620205485,
|
||||||
|
0.10568919463688603,
|
||||||
|
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|
||||||
|
0.5207464314096704,
|
||||||
|
-0.6639417037512721
|
||||||
|
],
|
||||||
|
"p975": [
|
||||||
|
0.23211472114546824,
|
||||||
|
-0.4001091835786546,
|
||||||
|
0.1074353326322909,
|
||||||
|
0.23746760471402314,
|
||||||
|
1.0462704287205609,
|
||||||
|
-0.43455346485967655
|
||||||
|
]
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"z_constraint": {
|
||||||
|
"observable_from_planar_AX_XB": false,
|
||||||
|
"method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground",
|
||||||
|
"rtk_reference_height_above_ground_m": 1.9165,
|
||||||
|
"warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion"
|
||||||
|
},
|
||||||
|
"important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification",
|
||||||
|
"selection": {
|
||||||
|
"recommended": true,
|
||||||
|
"reason": "Uses only motion pairs accepted independently by both Open3D GICP and small_gicp",
|
||||||
|
"open3d_vs_small_gicp": {
|
||||||
|
"translation_m": 0.00312519750472982,
|
||||||
|
"rotation_deg": 0.11907006217018351,
|
||||||
|
"delta_matrix_4x4": [
|
||||||
|
[
|
||||||
|
0.9999996872332217,
|
||||||
|
-0.00030752729270551075,
|
||||||
|
-0.0007286703114418758,
|
||||||
|
0.000533303946557151
|
||||||
|
],
|
||||||
|
[
|
||||||
|
0.00030892706731572284,
|
||||||
|
0.9999981058814015,
|
||||||
|
0.0019216653392719056,
|
||||||
|
-0.002909732881513971
|
||||||
|
],
|
||||||
|
[
|
||||||
|
0.0007280779667146176,
|
||||||
|
-0.0019218898442212235,
|
||||||
|
0.9999978881187204,
|
||||||
|
0.001007919095162138
|
||||||
|
],
|
||||||
|
[
|
||||||
|
0.0,
|
||||||
|
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|
||||||
|
0.0,
|
||||||
|
1.0
|
||||||
|
]
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,50 @@
|
|||||||
|
{
|
||||||
|
"final": {
|
||||||
|
"translation_m": [
|
||||||
|
0.21782224963960972,
|
||||||
|
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|
||||||
|
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|
||||||
|
],
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
-0.5513220563826681
|
||||||
|
],
|
||||||
|
"pairs": 20,
|
||||||
|
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|
||||||
|
"rotation_rms_deg": 0.9820870524210346,
|
||||||
|
"condition_number": 7.551077537197385,
|
||||||
|
"coordinate_contract_status": "no_near_180_degree_axis_conflict",
|
||||||
|
"recommended_for_deployment": true
|
||||||
|
},
|
||||||
|
"backend_difference": {
|
||||||
|
"translation_m": 0.00312519750472982,
|
||||||
|
"rotation_deg": 0.11907006217018351,
|
||||||
|
"delta_matrix_4x4": [
|
||||||
|
[
|
||||||
|
0.9999996872332217,
|
||||||
|
-0.00030752729270551075,
|
||||||
|
-0.0007286703114418758,
|
||||||
|
0.000533303946557151
|
||||||
|
],
|
||||||
|
[
|
||||||
|
0.00030892706731572284,
|
||||||
|
0.9999981058814015,
|
||||||
|
0.0019216653392719056,
|
||||||
|
-0.002909732881513971
|
||||||
|
],
|
||||||
|
[
|
||||||
|
0.0007280779667146176,
|
||||||
|
-0.0019218898442212235,
|
||||||
|
0.9999978881187204,
|
||||||
|
0.001007919095162138
|
||||||
|
],
|
||||||
|
[
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
1.0
|
||||||
|
]
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
+5
-5
@@ -110,8 +110,8 @@ powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_full_pipe
|
|||||||
```powershell
|
```powershell
|
||||||
powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_direct_rtk_lidar.ps1" `
|
powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_direct_rtk_lidar.ps1" `
|
||||||
-CombinedRoot "D:\data\rtk_lidar_run\combined" `
|
-CombinedRoot "D:\data\rtk_lidar_run\combined" `
|
||||||
-WorkRoot "D:\data\rtk_lidar_run\prepared_baseline_h19165" `
|
-WorkRoot "D:\data\rtk_lidar_run\prepared_vehicle_h19165" `
|
||||||
-OutputRoot "D:\data\rtk_lidar_run\outputs_baseline_h19165" `
|
-OutputRoot "D:\data\rtk_lidar_run\outputs_vehicle_h19165" `
|
||||||
-RtkReferenceHeightAboveGroundM 1.9165 `
|
-RtkReferenceHeightAboveGroundM 1.9165 `
|
||||||
-HeadingOffsetDeg -90 `
|
-HeadingOffsetDeg -90 `
|
||||||
-ExpectedStations 27 `
|
-ExpectedStations 27 `
|
||||||
@@ -119,7 +119,7 @@ powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_direct_rt
|
|||||||
-GroundZMax -1.5
|
-GroundZMax -1.5
|
||||||
```
|
```
|
||||||
|
|
||||||
> 历史文档中的 **0.758 m / 34 站** 属于另一台车（data4），不要用于本车。
|
> 不得复用其他车辆或历史采集的天线离地高度、站点数量与外参结果。
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
@@ -141,8 +141,8 @@ $OutputRoot/
|
|||||||
|
|
||||||
```powershell
|
```powershell
|
||||||
$Repo = "D:\First-dev-dept\calibration-rtk-run"
|
$Repo = "D:\First-dev-dept\calibration-rtk-run"
|
||||||
$Out = "D:\data\rtk_lidar_run\outputs_baseline_h19165"
|
$Out = "D:\data\rtk_lidar_run\outputs_vehicle_h19165"
|
||||||
$Work = "D:\data\rtk_lidar_run\prepared_baseline_h19165"
|
$Work = "D:\data\rtk_lidar_run\prepared_vehicle_h19165"
|
||||||
|
|
||||||
powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.ps1" `
|
powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.ps1" `
|
||||||
-Frames "$Work\frames_all" `
|
-Frames "$Work\frames_all" `
|
||||||
|
|||||||
Reference in New Issue
Block a user