{
  "schema_version": 2,
  "success": true,
  "message": "`ftol` termination condition is satisfied.",
  "convention": "T_body_lidar maps raw LiDAR points into rear-axle body frame",
  "equation": "A_ij X = X B_ij",
  "measured_extrinsic_used_as_initial": false,
  "translation_m": [
    1.2977596922478565,
    -6.733076264476427e-05,
    0.7204978345266887
  ],
  "rotation_rpy_deg_xyz": [
    -0.7851511464150316,
    1.2026608220810453,
    -0.835510052785851
  ],
  "quaternion_xyzw": [
    -0.0067746045444860015,
    0.010544431385358818,
    -0.0072186568687935965,
    0.9998953998759249
  ],
  "matrix_4x4": [
    [
      0.9996734119195402,
      0.014292934887214408,
      0.021184463964312037,
      1.2977596922478565
    ],
    [
      -0.01457867229834346,
      0.9998039914525529,
      0.013395558575925315,
      -6.733076264476427e-05
    ],
    [
      -0.020988849781798404,
      -0.013700025104115046,
      0.9996858394000506,
      0.7204978345266887
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "estimation": {
    "stations": 38,
    "pairs": 39,
    "residuals": {
      "pairs": 39,
      "translation_m": {
        "rms": 0.07984780651249465,
        "median": 0.05392926910429046,
        "p90": 0.11822807898946641,
        "p95": 0.14420733112402187,
        "max": 0.2330103519747209
      },
      "rotation_deg": {
        "rms": 0.961176171904301,
        "median": 0.8002960897011372,
        "p90": 1.422624767604584,
        "p95": 1.4793113785217964,
        "max": 1.7237415928660533
      },
      "per_pair": [
        {
          "pair_index": 0,
          "translation_m": 0.1353760421849012,
          "rotation_deg": 0.5166365681634405
        },
        {
          "pair_index": 1,
          "translation_m": 0.11487543918383647,
          "rotation_deg": 0.5717221816616095
        },
        {
          "pair_index": 2,
          "translation_m": 0.06210064976174764,
          "rotation_deg": 0.4402983357286552
        },
        {
          "pair_index": 3,
          "translation_m": 0.054355548674489614,
          "rotation_deg": 0.5821611725015269
        },
        {
          "pair_index": 4,
          "translation_m": 0.02391657882546618,
          "rotation_deg": 0.32738975448002894
        },
        {
          "pair_index": 5,
          "translation_m": 0.07775220171630512,
          "rotation_deg": 0.8706732532310371
        },
        {
          "pair_index": 6,
          "translation_m": 0.06265840922697155,
          "rotation_deg": 0.8002960897011372
        },
        {
          "pair_index": 7,
          "translation_m": 0.09282561040685418,
          "rotation_deg": 1.0484294819479303
        },
        {
          "pair_index": 8,
          "translation_m": 0.034474807960716856,
          "rotation_deg": 0.40941928556312257
        },
        {
          "pair_index": 9,
          "translation_m": 0.13163863821198593,
          "rotation_deg": 1.1065820279922887
        },
        {
          "pair_index": 10,
          "translation_m": 0.0018609877360485794,
          "rotation_deg": 0.6081452332544832
        },
        {
          "pair_index": 11,
          "translation_m": 0.06488404028756532,
          "rotation_deg": 0.05192051717362457
        },
        {
          "pair_index": 12,
          "translation_m": 0.1147488321233841,
          "rotation_deg": 0.9937108406424444
        },
        {
          "pair_index": 13,
          "translation_m": 0.05392926910429046,
          "rotation_deg": 0.9700546737541248
        },
        {
          "pair_index": 14,
          "translation_m": 0.02302185790244543,
          "rotation_deg": 1.6149869587730064
        },
        {
          "pair_index": 15,
          "translation_m": 0.2330103519747209,
          "rotation_deg": 0.5939965715201481
        },
        {
          "pair_index": 16,
          "translation_m": 0.2236889315761065,
          "rotation_deg": 1.1151964340680336
        },
        {
          "pair_index": 17,
          "translation_m": 0.04090994021171706,
          "rotation_deg": 0.7785618518380144
        },
        {
          "pair_index": 18,
          "translation_m": 0.054652520003134704,
          "rotation_deg": 1.124375763416717
        },
        {
          "pair_index": 19,
          "translation_m": 0.04547500551567543,
          "rotation_deg": 0.6556954445211121
        },
        {
          "pair_index": 20,
          "translation_m": 0.02484690940972022,
          "rotation_deg": 1.7237415928660533
        },
        {
          "pair_index": 21,
          "translation_m": 0.056832852413462566,
          "rotation_deg": 0.5831473606925555
        },
        {
          "pair_index": 22,
          "translation_m": 0.03998842216950218,
          "rotation_deg": 1.124691549503354
        },
        {
          "pair_index": 23,
          "translation_m": 0.052224143195848054,
          "rotation_deg": 1.1184574012171749
        },
        {
          "pair_index": 24,
          "translation_m": 0.06305629062353875,
          "rotation_deg": 0.5252019728243343
        },
        {
          "pair_index": 25,
          "translation_m": 0.0552093328283033,
          "rotation_deg": 0.08705258513790126
        },
        {
          "pair_index": 26,
          "translation_m": 0.08502281683725502,
          "rotation_deg": 0.6459827373704314
        },
        {
          "pair_index": 27,
          "translation_m": 0.03727269737723399,
          "rotation_deg": 0.7631660358041192
        },
        {
          "pair_index": 28,
          "translation_m": 0.04543722819346571,
          "rotation_deg": 1.4218618784137362
        },
        {
          "pair_index": 29,
          "translation_m": 0.02559982081388642,
          "rotation_deg": 1.388947601285772
        },
        {
          "pair_index": 30,
          "translation_m": 0.01827234061769129,
          "rotation_deg": 1.206866980510853
        },
        {
          "pair_index": 31,
          "translation_m": 0.06863732394647468,
          "rotation_deg": 1.4642363140494394
        },
        {
          "pair_index": 32,
          "translation_m": 0.04770629220585725,
          "rotation_deg": 0.6244903967618446
        },
        {
          "pair_index": 33,
          "translation_m": 0.027074935362624366,
          "rotation_deg": 1.3688430767407767
        },
        {
          "pair_index": 34,
          "translation_m": 0.03301156138156032,
          "rotation_deg": 1.4256763243679755
        },
        {
          "pair_index": 35,
          "translation_m": 0.054240160043693975,
          "rotation_deg": 0.6486412679040612
        },
        {
          "pair_index": 36,
          "translation_m": 0.021992835671895014,
          "rotation_deg": 0.23769553016909395
        },
        {
          "pair_index": 37,
          "translation_m": 0.031890552923517286,
          "rotation_deg": 1.0832171246083164
        },
        {
          "pair_index": 38,
          "translation_m": 0.025286131886091672,
          "rotation_deg": 1.2215923174512224
        }
      ]
    }
  },
  "ground": {
    "planes": 38,
    "body_origin_height_above_ground_m": 0.2335,
    "formula": "d_lidar - (R_X n_lidar)^T t_X - body_height"
  },
  "linearized_one_sigma": {
    "translation_m": [
      0.0061384486036208784,
      0.006616582082990767,
      0.004372364137893693
    ],
    "rotation_deg": [
      0.06746979098802125,
      0.05919345389075773,
      0.16157711056486687
    ],
    "warning": "conditional local estimate; bootstrap is the primary stability check"
  },
  "weighted_jacobian_condition_number": 6.965138763120991,
  "solver_multistart": {
    "runs": 12,
    "candidates_relative_to_best": [
      {
        "cost": 152.7941369486616,
        "success": true,
        "translation_m": 5.01999140559543e-10,
        "rotation_deg": 7.693408441139155e-09
      },
      {
        "cost": 152.79413694866156,
        "success": true,
        "translation_m": 1.7788160768171148e-10,
        "rotation_deg": 3.2213546311649044e-09
      },
      {
        "cost": 152.7941369486616,
        "success": true,
        "translation_m": 2.04052729806573e-10,
        "rotation_deg": 5.128825141169912e-09
      },
      {
        "cost": 152.79413694866287,
        "success": true,
        "translation_m": 3.6987521890593636e-09,
        "rotation_deg": 1.471926437983498e-07
      },
      {
        "cost": 152.79413694866153,
        "success": true,
        "translation_m": 3.0367491381779985e-10,
        "rotation_deg": 3.27791256123688e-09
      },
      {
        "cost": 152.79413694866173,
        "success": true,
        "translation_m": 6.928454212106221e-10,
        "rotation_deg": 2.8875952395155353e-08
      },
      {
        "cost": 152.79413694866153,
        "success": true,
        "translation_m": 1.9628898247072475e-10,
        "rotation_deg": 3.769277991759282e-09
      },
      {
        "cost": 152.79413694866167,
        "success": true,
        "translation_m": 1.8108640246434077e-09,
        "rotation_deg": 5.6964069970580913e-08
      },
      {
        "cost": 152.79413694866145,
        "success": true,
        "translation_m": 0.0,
        "rotation_deg": 0.0
      },
      {
        "cost": 152.7941369486631,
        "success": true,
        "translation_m": 3.8878373558477815e-09,
        "rotation_deg": 1.567977862312646e-07
      },
      {
        "cost": 152.79413694866162,
        "success": true,
        "translation_m": 1.928688225276107e-09,
        "rotation_deg": 6.007537452298471e-08
      },
      {
        "cost": 152.79413694866165,
        "success": true,
        "translation_m": 6.380398519737792e-10,
        "rotation_deg": 2.6596239917974983e-08
      }
    ]
  },
  "bootstrap": {
    "runs": 100,
    "order": [
      "x_m",
      "y_m",
      "z_m",
      "roll_deg",
      "pitch_deg",
      "yaw_deg"
    ],
    "std": [
      0.003223574650236103,
      0.003334649335095665,
      0.0016858977028131694,
      0.0980155224808408,
      0.07461769310738842,
      0.11886090357304822
    ],
    "p025": [
      1.2916920074190312,
      -0.005413227092587022,
      0.7171569502776788,
      -0.9695959273616203,
      1.066246526462818,
      -1.100751980508544
    ],
    "p975": [
      1.3034038047298853,
      0.007138524793626496,
      0.7235834879340349,
      -0.6076030002143074,
      1.3517461178267727,
      -0.6468477685453492
    ]
  }
}