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Add LiDAR RTK hand-eye calibration workflow and results

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lichun.qu
2026-07-22 09:31:44 +08:00
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results/diagnostics/consensus_pair0_left_rpy_scan.csv
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label,roll_correction_deg,pitch_correction_deg,yaw_correction_deg,selected_pair_translation_cm,selected_pair_rotation_deg,all_pair_translation_rms_m,all_pair_rotation_rms_deg,normalized_global_rms,normalized_global_rms_change,improved_pairs,worsened_pairs,global_consistency_signal,ground_normal_tilt_rms_deg,ground_height_rms_m
baseline,0.0,0.0,0.0,13.53760421849012,0.5166365681634405,0.07984780651249465,0.961176171904301,2.4991413356769443,0.0,0,0,False,1.6662748432297785,0.03471396517121729
pitch_+0.100,0.0,0.1,0.0,13.322368374959654,0.4851311566747633,0.07937622701088871,0.9709178397492695,2.508178616440067,0.009037280763122713,17,22,False,1.661255702204205,0.03471396517121729
pitch_+0.200,0.0,0.2,0.0,13.107741962217032,0.45594025406310634,0.07905894857986535,0.991843015836615,2.536757223795175,0.03761588811823069,17,22,False,1.6622470214176333,0.03471396517121729
pitch_+0.300,0.0,0.3,0.0,12.89375489636804,0.4295360884271374,0.07889765995849754,1.0232658257505307,2.5842267894606974,0.0850854537837531,16,23,False,1.669238092496052,0.034713965171217276
pitch_+0.000_roll_-0.200,-0.2,0.0,0.0,13.395035432680281,0.501501180601739,0.08136434456273667,0.9671396098919116,2.5277457796497282,0.028604443972783944,12,27,False,1.7107124278398285,0.034713965171217304
pitch_+0.000_roll_-0.100,-0.1,0.0,0.0,13.466127879921094,0.5071126466746416,0.08054864611850543,0.958376027630505,2.503831503507573,0.004690167830628589,13,26,False,1.685676496509504,0.034713965171217304
pitch_+0.000_roll_+0.100,0.1,0.0,0.0,13.609457775458583,0.5298619890141043,0.07926481666577584,0.9754404878748625,2.5137822192795105,0.014640883602566213,23,16,False,1.652705907802981,0.034713965171217304
pitch_+0.100_roll_-0.200,-0.2,0.1,0.0,13.180263465884618,0.4689801268726104,0.08100204146829142,0.9768217811391146,2.5379628557651293,0.03882152008818496,14,25,False,1.7058242505297496,0.034713965171217304
pitch_+0.100_roll_-0.100,-0.1,0.1,0.0,13.251119920699841,0.47497594758710626,0.08013195956996022,0.9681458624297539,2.5134991588556583,0.014357823178714035,17,22,False,1.6807154082401394,0.03471396517121729
pitch_+0.100_roll_+0.100,0.1,0.1,0.0,13.394001942784334,0.4991919434350986,0.07873808044179886,0.9850410981186302,2.5221217227950565,0.022980387118112233,19,20,False,1.6476453039285432,0.0347139651712173
pitch_+0.200_roll_-0.200,-0.2,0.2,0.0,12.966120616418092,0.43871598020210434,0.08079188106279227,0.9976230703529106,2.567477045713792,0.0683357100368478,15,24,False,1.7067898021773054,0.034713965171217304
pitch_+0.200_roll_-0.100,-0.1,0.2,0.0,13.036731063691272,0.44511961856905025,0.07986863254178682,0.989129669887256,2.5426579402355864,0.04351660455864215,19,20,False,1.6816953294526065,0.03471396517121731
pitch_+0.200_roll_+0.100,0.1,0.2,0.0,13.179146202690733,0.4708734484159498,0.07836629319834118,1.0056724288764685,2.5499055866185576,0.0507642509416133,19,20,False,1.648644705864238,0.034713965171217304
pitch_+0.300_roll_-0.200,-0.2,0.3,0.0,12.752638042306833,0.4112074527490782,0.08073488194995813,1.0288692761236073,2.6156330810711834,0.11649174539423912,15,24,False,1.7135991876939975,0.03471396517121731
pitch_+0.300_roll_-0.100,-0.1,0.3,0.0,12.822991835578721,0.41803263983275235,0.07976001272785865,1.020636005744607,2.5906476559016074,0.0915063202246631,16,23,False,1.6886059172123598,0.0347139651712173
pitch_+0.300_roll_+0.100,0.1,0.3,0.0,12.964919880829425,0.44535539842024163,0.07815149226179761,1.036676092226784,2.596507573236926,0.09736623755998153,18,21,False,1.6556931398905776,0.034713965171217304
yaw_-0.200_diagnostic,0.0,0.0,-0.2,13.607478813867315,0.5166365681634414,0.08024771376258277,0.961176171904301,2.5042597228312786,0.005118387154334325,18,21,False,1.6662748432297787,0.0347139651712173
yaw_+0.200_diagnostic,0.0,0.0,0.2,13.479715314434312,0.5166365681634427,0.08028135387591602,0.961176171904301,2.5046909681249,0.005549632447955588,13,26,False,1.6662748432297787,0.0347139651712173
1 label roll_correction_deg pitch_correction_deg yaw_correction_deg selected_pair_translation_cm selected_pair_rotation_deg all_pair_translation_rms_m all_pair_rotation_rms_deg normalized_global_rms normalized_global_rms_change improved_pairs worsened_pairs global_consistency_signal ground_normal_tilt_rms_deg ground_height_rms_m
2 baseline 0.0 0.0 0.0 13.53760421849012 0.5166365681634405 0.07984780651249465 0.961176171904301 2.4991413356769443 0.0 0 0 False 1.6662748432297785 0.03471396517121729
3 pitch_+0.100 0.0 0.1 0.0 13.322368374959654 0.4851311566747633 0.07937622701088871 0.9709178397492695 2.508178616440067 0.009037280763122713 17 22 False 1.661255702204205 0.03471396517121729
4 pitch_+0.200 0.0 0.2 0.0 13.107741962217032 0.45594025406310634 0.07905894857986535 0.991843015836615 2.536757223795175 0.03761588811823069 17 22 False 1.6622470214176333 0.03471396517121729
5 pitch_+0.300 0.0 0.3 0.0 12.89375489636804 0.4295360884271374 0.07889765995849754 1.0232658257505307 2.5842267894606974 0.0850854537837531 16 23 False 1.669238092496052 0.034713965171217276
6 pitch_+0.000_roll_-0.200 -0.2 0.0 0.0 13.395035432680281 0.501501180601739 0.08136434456273667 0.9671396098919116 2.5277457796497282 0.028604443972783944 12 27 False 1.7107124278398285 0.034713965171217304
7 pitch_+0.000_roll_-0.100 -0.1 0.0 0.0 13.466127879921094 0.5071126466746416 0.08054864611850543 0.958376027630505 2.503831503507573 0.004690167830628589 13 26 False 1.685676496509504 0.034713965171217304
8 pitch_+0.000_roll_+0.100 0.1 0.0 0.0 13.609457775458583 0.5298619890141043 0.07926481666577584 0.9754404878748625 2.5137822192795105 0.014640883602566213 23 16 False 1.652705907802981 0.034713965171217304
9 pitch_+0.100_roll_-0.200 -0.2 0.1 0.0 13.180263465884618 0.4689801268726104 0.08100204146829142 0.9768217811391146 2.5379628557651293 0.03882152008818496 14 25 False 1.7058242505297496 0.034713965171217304
10 pitch_+0.100_roll_-0.100 -0.1 0.1 0.0 13.251119920699841 0.47497594758710626 0.08013195956996022 0.9681458624297539 2.5134991588556583 0.014357823178714035 17 22 False 1.6807154082401394 0.03471396517121729
11 pitch_+0.100_roll_+0.100 0.1 0.1 0.0 13.394001942784334 0.4991919434350986 0.07873808044179886 0.9850410981186302 2.5221217227950565 0.022980387118112233 19 20 False 1.6476453039285432 0.0347139651712173
12 pitch_+0.200_roll_-0.200 -0.2 0.2 0.0 12.966120616418092 0.43871598020210434 0.08079188106279227 0.9976230703529106 2.567477045713792 0.0683357100368478 15 24 False 1.7067898021773054 0.034713965171217304
13 pitch_+0.200_roll_-0.100 -0.1 0.2 0.0 13.036731063691272 0.44511961856905025 0.07986863254178682 0.989129669887256 2.5426579402355864 0.04351660455864215 19 20 False 1.6816953294526065 0.03471396517121731
14 pitch_+0.200_roll_+0.100 0.1 0.2 0.0 13.179146202690733 0.4708734484159498 0.07836629319834118 1.0056724288764685 2.5499055866185576 0.0507642509416133 19 20 False 1.648644705864238 0.034713965171217304
15 pitch_+0.300_roll_-0.200 -0.2 0.3 0.0 12.752638042306833 0.4112074527490782 0.08073488194995813 1.0288692761236073 2.6156330810711834 0.11649174539423912 15 24 False 1.7135991876939975 0.03471396517121731
16 pitch_+0.300_roll_-0.100 -0.1 0.3 0.0 12.822991835578721 0.41803263983275235 0.07976001272785865 1.020636005744607 2.5906476559016074 0.0915063202246631 16 23 False 1.6886059172123598 0.0347139651712173
17 pitch_+0.300_roll_+0.100 0.1 0.3 0.0 12.964919880829425 0.44535539842024163 0.07815149226179761 1.036676092226784 2.596507573236926 0.09736623755998153 18 21 False 1.6556931398905776 0.034713965171217304
18 yaw_-0.200_diagnostic 0.0 0.0 -0.2 13.607478813867315 0.5166365681634414 0.08024771376258277 0.961176171904301 2.5042597228312786 0.005118387154334325 18 21 False 1.6662748432297787 0.0347139651712173
19 yaw_+0.200_diagnostic 0.0 0.0 0.2 13.479715314434312 0.5166365681634427 0.08028135387591602 0.961176171904301 2.5046909681249 0.005549632447955588 13 26 False 1.6662748432297787 0.0347139651712173
results/diagnostics/consensus_pair0_left_rpy_scan.json
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results/diagnostics/open3d_refined_pair0_left_rpy_scan.csv
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label,roll_correction_deg,pitch_correction_deg,yaw_correction_deg,selected_pair_translation_cm,selected_pair_rotation_deg,all_pair_translation_rms_m,all_pair_rotation_rms_deg,normalized_global_rms,normalized_global_rms_change,improved_pairs,worsened_pairs,global_consistency_signal,ground_normal_tilt_rms_deg,ground_height_rms_m
baseline,0.0,0.0,0.0,7.9716047501124,0.5471090190705759,0.10039155672864886,1.0152957563636194,2.855641391442648,0.0,0,0,False,1.6662748432297785,0.03471396517121729
pitch_+0.100,0.0,0.1,0.0,7.877722926634115,0.5242415332114175,0.10031155812336309,1.0345690614552345,2.8820645462820917,0.026423154839443797,27,39,False,1.661255702204205,0.03471396517121729
pitch_+0.200,0.0,0.2,0.0,7.783902534642328,0.5013877557627758,0.10034501725742666,1.0647782869175946,2.9262023505769332,0.07056095913428528,26,40,False,1.6622470214176333,0.03471396517121729
pitch_+0.300,0.0,0.3,0.0,7.69014529426882,0.4785497243321324,0.1004916878666913,1.1050268752403856,2.9872678674890754,0.1316264760464274,25,41,False,1.669238092496052,0.034713965171217276
pitch_+0.000_roll_-0.200,-0.2,0.0,0.0,7.822046878606513,0.5457706857344996,0.10257010426899679,1.0267538544989139,2.9026099336312234,0.04696854218857549,22,44,False,1.7107124278398285,0.034713965171217304
pitch_+0.000_roll_-0.100,-0.1,0.0,0.0,7.896797905766369,0.545955313109902,0.10143505999644054,1.0151691591975842,2.870174601960012,0.014533210517364115,25,41,False,1.685676496509504,0.034713965171217304
pitch_+0.000_roll_+0.100,0.1,0.0,0.0,8.046465471725153,0.5492256932471735,0.09944242267101946,1.0271293323765827,2.859282573021794,0.0036411815791459468,38,28,False,1.652705907802981,0.034713965171217304
pitch_+0.100_roll_-0.200,-0.2,0.1,0.0,7.728092854641688,0.5228446714705329,0.10256719458254226,1.0458160126880083,2.929664876976855,0.07402348553420701,24,42,False,1.7058242505297496,0.034713965171217304
pitch_+0.100_roll_-0.100,-0.1,0.1,0.0,7.802880223772661,0.5230373912267472,0.10139401948155134,1.0344448200154543,2.896999001946205,0.04135761050355713,31,35,False,1.6807154082401394,0.03471396517121729
pitch_+0.100_roll_+0.100,0.1,0.1,0.0,7.952619015892104,0.5264501536349752,0.09932272291285332,1.0461846579706375,2.885136161262053,0.029494769819405242,30,36,False,1.6476453039285432,0.0347139651712173
pitch_+0.200_roll_-0.200,-0.2,0.2,0.0,7.634199171873722,0.49992704876652105,0.10267526429269669,1.0757093910702569,2.9741363007059745,0.11849490926332651,27,39,False,1.7067898021773054,0.034713965171217304
pitch_+0.200_roll_-0.100,-0.1,0.2,0.0,7.709023440769963,0.5001285987059726,0.10146524807256484,1.0646575627535269,2.9414386837539155,0.08579729231126754,30,36,False,1.6816953294526065,0.03471396517121731
pitch_+0.200_roll_+0.100,0.1,0.2,0.0,7.8588344993060915,0.5036965847149959,0.09931755660454081,1.0760678191977628,2.928699135454269,0.07305774401162113,29,37,False,1.648644705864238,0.034713965171217304
pitch_+0.300_roll_-0.200,-0.2,0.3,0.0,7.540367539154748,0.47701910095086286,0.102893833307342,1.1155635852142416,3.035256961724302,0.17961557028165398,25,41,False,1.7135991876939975,0.03471396517121731
pitch_+0.300_roll_-0.100,-0.1,0.3,0.0,7.615229271779279,0.47723032409407057,0.10164837804314657,1.1049105360171487,3.0027098217989345,0.14706843035628658,25,41,False,1.6886059172123598,0.0347139651712173
pitch_+0.300_roll_+0.100,0.1,0.3,0.0,7.7651136462045685,0.48096817789925783,0.09942680753866891,1.1159092500059349,2.989195517179804,0.13355412573715597,28,38,False,1.6556931398905776,0.034713965171217304
yaw_-0.200_diagnostic,0.0,0.0,-0.2,7.9342751812671235,0.5471090190705757,0.10053142254152782,1.0152957563636194,2.8576089058597884,0.0019675144171404924,35,31,False,1.6662748432297787,0.0347139651712173
yaw_+0.200_diagnostic,0.0,0.0,0.2,8.012589151848083,0.547109019070576,0.10091495789660097,1.0152957563636194,2.8630112438600364,0.007369852417388412,18,48,False,1.6662748432297787,0.0347139651712173
1 label roll_correction_deg pitch_correction_deg yaw_correction_deg selected_pair_translation_cm selected_pair_rotation_deg all_pair_translation_rms_m all_pair_rotation_rms_deg normalized_global_rms normalized_global_rms_change improved_pairs worsened_pairs global_consistency_signal ground_normal_tilt_rms_deg ground_height_rms_m
2 baseline 0.0 0.0 0.0 7.9716047501124 0.5471090190705759 0.10039155672864886 1.0152957563636194 2.855641391442648 0.0 0 0 False 1.6662748432297785 0.03471396517121729
3 pitch_+0.100 0.0 0.1 0.0 7.877722926634115 0.5242415332114175 0.10031155812336309 1.0345690614552345 2.8820645462820917 0.026423154839443797 27 39 False 1.661255702204205 0.03471396517121729
4 pitch_+0.200 0.0 0.2 0.0 7.783902534642328 0.5013877557627758 0.10034501725742666 1.0647782869175946 2.9262023505769332 0.07056095913428528 26 40 False 1.6622470214176333 0.03471396517121729
5 pitch_+0.300 0.0 0.3 0.0 7.69014529426882 0.4785497243321324 0.1004916878666913 1.1050268752403856 2.9872678674890754 0.1316264760464274 25 41 False 1.669238092496052 0.034713965171217276
6 pitch_+0.000_roll_-0.200 -0.2 0.0 0.0 7.822046878606513 0.5457706857344996 0.10257010426899679 1.0267538544989139 2.9026099336312234 0.04696854218857549 22 44 False 1.7107124278398285 0.034713965171217304
7 pitch_+0.000_roll_-0.100 -0.1 0.0 0.0 7.896797905766369 0.545955313109902 0.10143505999644054 1.0151691591975842 2.870174601960012 0.014533210517364115 25 41 False 1.685676496509504 0.034713965171217304
8 pitch_+0.000_roll_+0.100 0.1 0.0 0.0 8.046465471725153 0.5492256932471735 0.09944242267101946 1.0271293323765827 2.859282573021794 0.0036411815791459468 38 28 False 1.652705907802981 0.034713965171217304
9 pitch_+0.100_roll_-0.200 -0.2 0.1 0.0 7.728092854641688 0.5228446714705329 0.10256719458254226 1.0458160126880083 2.929664876976855 0.07402348553420701 24 42 False 1.7058242505297496 0.034713965171217304
10 pitch_+0.100_roll_-0.100 -0.1 0.1 0.0 7.802880223772661 0.5230373912267472 0.10139401948155134 1.0344448200154543 2.896999001946205 0.04135761050355713 31 35 False 1.6807154082401394 0.03471396517121729
11 pitch_+0.100_roll_+0.100 0.1 0.1 0.0 7.952619015892104 0.5264501536349752 0.09932272291285332 1.0461846579706375 2.885136161262053 0.029494769819405242 30 36 False 1.6476453039285432 0.0347139651712173
12 pitch_+0.200_roll_-0.200 -0.2 0.2 0.0 7.634199171873722 0.49992704876652105 0.10267526429269669 1.0757093910702569 2.9741363007059745 0.11849490926332651 27 39 False 1.7067898021773054 0.034713965171217304
13 pitch_+0.200_roll_-0.100 -0.1 0.2 0.0 7.709023440769963 0.5001285987059726 0.10146524807256484 1.0646575627535269 2.9414386837539155 0.08579729231126754 30 36 False 1.6816953294526065 0.03471396517121731
14 pitch_+0.200_roll_+0.100 0.1 0.2 0.0 7.8588344993060915 0.5036965847149959 0.09931755660454081 1.0760678191977628 2.928699135454269 0.07305774401162113 29 37 False 1.648644705864238 0.034713965171217304
15 pitch_+0.300_roll_-0.200 -0.2 0.3 0.0 7.540367539154748 0.47701910095086286 0.102893833307342 1.1155635852142416 3.035256961724302 0.17961557028165398 25 41 False 1.7135991876939975 0.03471396517121731
16 pitch_+0.300_roll_-0.100 -0.1 0.3 0.0 7.615229271779279 0.47723032409407057 0.10164837804314657 1.1049105360171487 3.0027098217989345 0.14706843035628658 25 41 False 1.6886059172123598 0.0347139651712173
17 pitch_+0.300_roll_+0.100 0.1 0.3 0.0 7.7651136462045685 0.48096817789925783 0.09942680753866891 1.1159092500059349 2.989195517179804 0.13355412573715597 28 38 False 1.6556931398905776 0.034713965171217304
18 yaw_-0.200_diagnostic 0.0 0.0 -0.2 7.9342751812671235 0.5471090190705757 0.10053142254152782 1.0152957563636194 2.8576089058597884 0.0019675144171404924 35 31 False 1.6662748432297787 0.0347139651712173
19 yaw_+0.200_diagnostic 0.0 0.0 0.2 8.012589151848083 0.547109019070576 0.10091495789660097 1.0152957563636194 2.8630112438600364 0.007369852417388412 18 48 False 1.6662748432297787 0.0347139651712173
results/diagnostics/open3d_refined_pair0_left_rpy_scan.json
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results/diagnostics/small_gicp_refined_pair0_left_rpy_scan.csv
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label,roll_correction_deg,pitch_correction_deg,yaw_correction_deg,selected_pair_translation_cm,selected_pair_rotation_deg,all_pair_translation_rms_m,all_pair_rotation_rms_deg,normalized_global_rms,normalized_global_rms_change,improved_pairs,worsened_pairs,global_consistency_signal,ground_normal_tilt_rms_deg,ground_height_rms_m
baseline,0.0,0.0,0.0,9.17040157943579,0.3948131792835417,0.11878243181951181,1.1425260172834293,3.296235617224735,0.0,0,0,False,1.6662748432297785,0.03471396517121729
pitch_+0.100,0.0,0.1,0.0,9.076928136371041,0.4171107485761563,0.11876672804528438,1.1650719587800913,3.3274291807303316,0.031193563505596433,37,43,False,1.661255702204205,0.03471396517121729
pitch_+0.200,0.0,0.2,0.0,8.983515248729091,0.4394867360130287,0.11886418170047355,1.2000618469690334,3.378175724075376,0.08194010685064068,33,47,False,1.6622470214176333,0.03471396517121729
pitch_+0.300,0.0,0.3,0.0,8.890164410286015,0.4619296835950138,0.11907438084482405,1.246448116042569,3.4476100262900324,0.1513744090652973,29,51,False,1.669238092496052,0.034713965171217276
pitch_+0.000_roll_-0.200,-0.2,0.0,0.0,9.01972941526644,0.4032977537513619,0.12043024872839399,1.1611526935950138,3.3458153318563415,0.049579714631606375,32,48,False,1.7107124278398285,0.034713965171217304
pitch_+0.000_roll_-0.100,-0.1,0.0,0.0,9.095041148790378,0.3984113441028921,0.1195670451553767,1.1451882592248208,3.3112438616237037,0.015008244398968529,36,44,False,1.685676496509504,0.034713965171217304
pitch_+0.000_roll_+0.100,0.1,0.0,0.0,9.245809148607497,0.39253869750368725,0.1180779565326178,1.153258101553409,3.3010571825949637,0.004821565370228598,39,41,False,1.652705907802981,0.034713965171217304
pitch_+0.100_roll_-0.200,-0.2,0.1,0.0,8.926223519858327,0.4251505609368216,0.12047176074785593,1.1833438511380916,3.3773641697603143,0.08112855253557916,35,45,False,1.7058242505297496,0.034713965171217304
pitch_+0.100_roll_-0.100,-0.1,0.1,0.0,9.001551548682645,0.4205181630564456,0.1195801596045202,1.1676828282839524,3.342708269995132,0.046472652770396916,34,46,False,1.6807154082401394,0.03471396517121729
pitch_+0.100_roll_+0.100,0.1,0.1,0.0,9.152351713867697,0.41495850563128295,0.11803306342745587,1.175598202053685,3.331793234208173,0.035557616983437956,33,47,False,1.6476453039285432,0.0347139651712173
pitch_+0.200_roll_-0.200,-0.2,0.2,0.0,8.832778133209484,0.4471243504044202,0.12062476910644687,1.2178088730560497,3.428172658132847,0.13193704090811176,30,50,False,1.7067898021773054,0.034713965171217304
pitch_+0.200_roll_-0.100,-0.1,0.2,0.0,8.908122483450981,0.44272195299870193,0.11970563817510238,1.2025967761770837,3.3936310861155006,0.09739546889076545,33,47,False,1.6816953294526065,0.03471396517121731
pitch_+0.200_roll_+0.100,0.1,0.2,0.0,9.058954849462527,0.4374446064319599,0.11810204126073977,1.2102837520093128,3.3820679918494174,0.0858323746246823,32,48,False,1.648644705864238,0.034713965171217304
pitch_+0.300_roll_-0.200,-0.2,0.3,0.0,8.739394768298625,0.469202063453847,0.1208887180452031,1.263543756747655,3.4973996284538247,0.20116401122908956,29,51,False,1.7135991876939975,0.03471396517121731
pitch_+0.300_roll_-0.100,-0.1,0.3,0.0,8.81475545648032,0.46500876133584307,0.11994299492844523,1.2488889095688314,3.4631521547194706,0.16691653749473545,30,50,False,1.6886059172123598,0.0347139651712173
pitch_+0.300_roll_+0.100,0.1,0.3,0.0,8.96562003954328,0.45998721539756443,0.11828455597352863,1.2562925755921872,3.4510257337050003,0.1547901164802652,29,51,False,1.6556931398905776,0.034713965171217304
yaw_-0.200_diagnostic,0.0,0.0,-0.2,9.118174501598277,0.39481317928354154,0.11873527555886121,1.142526017283429,3.295555956965929,-0.0006796602588061695,45,35,True,1.6662748432297787,0.0347139651712173
yaw_+0.200_diagnostic,0.0,0.0,0.2,9.225647367504836,0.39481317928354204,0.1194719055604376,1.142526017283429,3.306187727273662,0.009952110048927043,27,53,False,1.6662748432297787,0.0347139651712173
1 label roll_correction_deg pitch_correction_deg yaw_correction_deg selected_pair_translation_cm selected_pair_rotation_deg all_pair_translation_rms_m all_pair_rotation_rms_deg normalized_global_rms normalized_global_rms_change improved_pairs worsened_pairs global_consistency_signal ground_normal_tilt_rms_deg ground_height_rms_m
2 baseline 0.0 0.0 0.0 9.17040157943579 0.3948131792835417 0.11878243181951181 1.1425260172834293 3.296235617224735 0.0 0 0 False 1.6662748432297785 0.03471396517121729
3 pitch_+0.100 0.0 0.1 0.0 9.076928136371041 0.4171107485761563 0.11876672804528438 1.1650719587800913 3.3274291807303316 0.031193563505596433 37 43 False 1.661255702204205 0.03471396517121729
4 pitch_+0.200 0.0 0.2 0.0 8.983515248729091 0.4394867360130287 0.11886418170047355 1.2000618469690334 3.378175724075376 0.08194010685064068 33 47 False 1.6622470214176333 0.03471396517121729
5 pitch_+0.300 0.0 0.3 0.0 8.890164410286015 0.4619296835950138 0.11907438084482405 1.246448116042569 3.4476100262900324 0.1513744090652973 29 51 False 1.669238092496052 0.034713965171217276
6 pitch_+0.000_roll_-0.200 -0.2 0.0 0.0 9.01972941526644 0.4032977537513619 0.12043024872839399 1.1611526935950138 3.3458153318563415 0.049579714631606375 32 48 False 1.7107124278398285 0.034713965171217304
7 pitch_+0.000_roll_-0.100 -0.1 0.0 0.0 9.095041148790378 0.3984113441028921 0.1195670451553767 1.1451882592248208 3.3112438616237037 0.015008244398968529 36 44 False 1.685676496509504 0.034713965171217304
8 pitch_+0.000_roll_+0.100 0.1 0.0 0.0 9.245809148607497 0.39253869750368725 0.1180779565326178 1.153258101553409 3.3010571825949637 0.004821565370228598 39 41 False 1.652705907802981 0.034713965171217304
9 pitch_+0.100_roll_-0.200 -0.2 0.1 0.0 8.926223519858327 0.4251505609368216 0.12047176074785593 1.1833438511380916 3.3773641697603143 0.08112855253557916 35 45 False 1.7058242505297496 0.034713965171217304
10 pitch_+0.100_roll_-0.100 -0.1 0.1 0.0 9.001551548682645 0.4205181630564456 0.1195801596045202 1.1676828282839524 3.342708269995132 0.046472652770396916 34 46 False 1.6807154082401394 0.03471396517121729
11 pitch_+0.100_roll_+0.100 0.1 0.1 0.0 9.152351713867697 0.41495850563128295 0.11803306342745587 1.175598202053685 3.331793234208173 0.035557616983437956 33 47 False 1.6476453039285432 0.0347139651712173
12 pitch_+0.200_roll_-0.200 -0.2 0.2 0.0 8.832778133209484 0.4471243504044202 0.12062476910644687 1.2178088730560497 3.428172658132847 0.13193704090811176 30 50 False 1.7067898021773054 0.034713965171217304
13 pitch_+0.200_roll_-0.100 -0.1 0.2 0.0 8.908122483450981 0.44272195299870193 0.11970563817510238 1.2025967761770837 3.3936310861155006 0.09739546889076545 33 47 False 1.6816953294526065 0.03471396517121731
14 pitch_+0.200_roll_+0.100 0.1 0.2 0.0 9.058954849462527 0.4374446064319599 0.11810204126073977 1.2102837520093128 3.3820679918494174 0.0858323746246823 32 48 False 1.648644705864238 0.034713965171217304
15 pitch_+0.300_roll_-0.200 -0.2 0.3 0.0 8.739394768298625 0.469202063453847 0.1208887180452031 1.263543756747655 3.4973996284538247 0.20116401122908956 29 51 False 1.7135991876939975 0.03471396517121731
16 pitch_+0.300_roll_-0.100 -0.1 0.3 0.0 8.81475545648032 0.46500876133584307 0.11994299492844523 1.2488889095688314 3.4631521547194706 0.16691653749473545 30 50 False 1.6886059172123598 0.0347139651712173
17 pitch_+0.300_roll_+0.100 0.1 0.3 0.0 8.96562003954328 0.45998721539756443 0.11828455597352863 1.2562925755921872 3.4510257337050003 0.1547901164802652 29 51 False 1.6556931398905776 0.034713965171217304
18 yaw_-0.200_diagnostic 0.0 0.0 -0.2 9.118174501598277 0.39481317928354154 0.11873527555886121 1.142526017283429 3.295555956965929 -0.0006796602588061695 45 35 True 1.6662748432297787 0.0347139651712173
19 yaw_+0.200_diagnostic 0.0 0.0 0.2 9.225647367504836 0.39481317928354204 0.1194719055604376 1.142526017283429 3.306187727273662 0.009952110048927043 27 53 False 1.6662748432297787 0.0347139651712173
results/diagnostics/small_gicp_refined_pair0_left_rpy_scan.json
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