{ "schema_version": 2, "backend": "small_gicp", "transform_convention": "B_ij=T_Li_Lj maps station j points into station i", "raw_point_field": "points_raw", "measured_extrinsic_used_as_initial": false, "stations": 38, "candidate_pairs": 108, "accepted_pairs": 88, "parameters": { "command": "pairs", "backend": "small_gicp", "frames": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\outputs\\calibration_20260717\\prepared\\frames_all", "body": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\outputs\\calibration_20260717\\prepared\\body_poses_rear_gga_raw_rear_to_front.csv", "output": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\rigorous_build\\results\\small_gicp\\B_batch1_auxiliary.npz", "quality_json": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\rigorous_build\\results\\small_gicp\\B_batch1_quality.json", "quality_csv": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\rigorous_build\\results\\small_gicp\\B_batch1_quality.csv", "time_offset": 0.0, "min_stations": 30, "min_pairs": 25, "min_gap": 1, "max_gap": 3, "min_translation": 0.5, "min_rotation": 3.0, "min_range": 2.0, "max_range": 50.0, "z_min": -0.6, "z_max": 5.0, "min_roi_points": 1000, "holdout_fraction": 0.2, "voxels": [ 0.3, 0.15, 0.08 ], "correspondences": [ 1.2, 0.5, 0.25 ], "iterations": 40, "threads": 8, "evaluation_distance": 0.25, "min_inlier_ratio": 0.35, "max_inlier_rmse": 0.16, "max_hessian_condition": 100000000.0, "reverse_translation_tolerance": 0.08, "reverse_rotation_tolerance": 0.5, "multistart": 1, "multistart_translation_sigma": 0.3, "multistart_rotation_sigma": 3.0, "multistart_translation_tolerance": 0.08, "multistart_rotation_tolerance": 0.5, "min_multistart_success": 0.5, "seed": 20260721 }, "accepted_loop_closure": { "count": 63, "translation_rms_m": 0.0664787753932184, "translation_p95_m": 0.12531710174530988, "rotation_rms_deg": 0.8043301562784418, "rotation_p95_deg": 1.45106782939295 }, "pairs": [ { "i": 0, "j": 1, "lidar_time_i": 1784254076.8484204, "lidar_time_j": 1784254210.7437553, "frame_counter_i": 290, "frame_counter_j": 1629, "rtk_translation_m": 4.069460063439237, "rtk_rotation_deg": 24.612641616688823, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9075295106990221, -0.4198803284684745, -0.009523495975725308, 3.8578925073611345 ], [ 0.41986917853279015, 0.907578859702985, -0.003238261637096342, 1.3297043072351888 ], [ 0.010003005977885603, -0.0010598044330586646, 0.9999494070631626, 0.08877110081376957 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 8495, "backend_objective": 1419.5562494605936, "backend_elapsed_sec": 0.11583209999662358, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4484, "objective": 1160.8467243561226 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 7083, "objective": 715.582901760881 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 8495, "objective": 1419.5562494605936 } ], "heldout_symmetric": { "evaluated": 8074, "inliers": 5956, "inlier_ratio": 0.7376764924448849, "inlier_rmse_m": 0.11846276711125131, "median_m": 0.1249111462723618, "p90_m": 0.698044244050802, "p95_m": 1.2454293461638448 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 54537.589455249414, 109106.1893540175, 243322.50789015717, 289864.5928855995, 734018.3759138099, 773691.1686780683 ], "effective_rank": 6, "scaled_condition_number": 14.186383674198092, "weakest_scaled_direction": [ -0.07056297298999306, -0.06392926164732537, -0.005261123688879415, 0.8939534321475539, -0.43661444490138723, 0.03348618492205681 ] }, "forward_reverse": { "translation_m": 0.007238562624113292, "rotation_deg": 0.02790414903884654 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.471372777539972e-15, "rotation_deg": 2.977634497512081e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 0, "j": 2, "lidar_time_i": 1784254076.8484204, "lidar_time_j": 1784254309.6379356, "frame_counter_i": 290, "frame_counter_j": 2618, "rtk_translation_m": 8.883155687691525, "rtk_rotation_deg": 14.186041609026283, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9704260696876477, -0.24139480923386628, -0.001337664207658286, 8.330368614153748 ], [ 0.24127559811856186, 0.9697402364331724, 0.03728216188830926, 3.2735982907310226 ], [ -0.0077025335518517805, -0.03650232756251504, 0.9993038832404286, 0.2368266713431066 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6745, "backend_objective": 377.5443762338175, "backend_elapsed_sec": 0.13857480000297073, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3898, "objective": 1069.4493842719485 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 7, "num_inliers": 5989, "objective": 752.2262522447772 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6745, "objective": 377.5443762338175 } ], "heldout_symmetric": { "evaluated": 8111, "inliers": 5006, "inlier_ratio": 0.617186536801874, "inlier_rmse_m": 0.12801123590557925, "median_m": 0.17099182728055204, "p90_m": 1.0673697360950747, "p95_m": 1.782115308895095 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 18135.353464764343, 22172.118807172737, 34299.15062973867, 64642.512586495184, 490824.73908050696, 667210.7637919699 ], "effective_rank": 6, "scaled_condition_number": 36.79061260583155, "weakest_scaled_direction": [ -0.9766557619647595, 0.1982847214981413, -0.020804268909405663, -5.755809065569502e-05, -0.07166406185072292, 0.035470172859842 ] }, "forward_reverse": { "translation_m": 0.006865219918284302, "rotation_deg": 0.20055597955733165 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.6687789788066426e-15, "rotation_deg": 1.7326209464727774e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 0, "j": 3, "lidar_time_i": 1784254076.8484204, "lidar_time_j": 1784254452.9318, "frame_counter_i": 290, "frame_counter_j": 4051, "rtk_translation_m": 5.800196618465403, "rtk_rotation_deg": 50.885974946353855, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.639414338717261, -0.7684870491464074, -0.02401996538333898, 5.210405016844213 ], [ 0.768850587995233, 0.6392652153585539, 0.01444845223434835, 2.0572597551663483 ], [ 0.004251679921378009, -0.027706312039519062, 0.9996070645463722, 0.16084716986256872 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 8128, "backend_objective": 787.6068744134022, "backend_elapsed_sec": 0.12651049999840325, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4431, "objective": 1111.0070489137622 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6939, "objective": 597.1892952726225 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 8128, "objective": 787.6068744134022 } ], "heldout_symmetric": { "evaluated": 8067, "inliers": 5797, "inlier_ratio": 0.7186066691459031, "inlier_rmse_m": 0.11701588647718943, "median_m": 0.12605685560487936, "p90_m": 0.7791298753514718, "p95_m": 1.3750044466883258 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 42585.88079951038, 51166.15110135041, 142443.51545837868, 178602.73902818598, 671900.9524970227, 782045.334613628 ], "effective_rank": 6, "scaled_condition_number": 18.363958192984455, "weakest_scaled_direction": [ 0.18318429727724675, -0.06273150628804722, 0.003050428766801109, -0.6019455338498652, 0.7731918863278172, -0.048320258993972756 ] }, "forward_reverse": { "translation_m": 0.008227849157773135, "rotation_deg": 0.05354665376691754 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 5.3323494796795866e-08, "rotation_deg": 3.480408846494844e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 1, "j": 2, "lidar_time_i": 1784254210.7437553, "lidar_time_j": 1784254309.6379356, "frame_counter_i": 1629, "frame_counter_j": 2618, "rtk_translation_m": 4.892046307546544, "rtk_rotation_deg": 10.426600007662538, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.98209556457608, 0.18761714323051198, 0.01697379173943073, 4.879887284156408 ], [ -0.1879652917744415, 0.9819297824200293, 0.021976157186897688, -0.10778030083227674 ], [ -0.012543967798951675, -0.024773170216499656, 0.9996143951090758, 0.1120135832698194 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8103, "backend_objective": 580.0275395355195, "backend_elapsed_sec": 0.10774469999887515, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4131, "objective": 1023.4878795440385 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6609, "objective": 784.7032422853447 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8103, "objective": 580.0275395355195 } ], "heldout_symmetric": { "evaluated": 7959, "inliers": 5908, "inlier_ratio": 0.7423043095866315, "inlier_rmse_m": 0.11327867264180574, "median_m": 0.11837650456537646, "p90_m": 0.7091677370143424, "p95_m": 1.1278433566182384 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 29836.79366531935, 40135.14352589949, 93440.07041410673, 165148.9515009127, 564823.3797373081, 777485.3428215547 ], "effective_rank": 6, "scaled_condition_number": 26.05793878332379, "weakest_scaled_direction": [ 0.9847022513948113, -0.1253867867200658, 0.029155968461380747, 0.0688888581652438, 0.05887653111312335, -0.07468225104976443 ] }, "forward_reverse": { "translation_m": 0.01880830643908174, "rotation_deg": 0.13698190350335646 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.47545209131181e-16, "rotation_deg": 8.580543765439374e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 1, "j": 3, "lidar_time_i": 1784254210.7437553, "lidar_time_j": 1784254452.9318, "frame_counter_i": 1629, "frame_counter_j": 4051, "rtk_translation_m": 1.7315947839093804, "rtk_rotation_deg": 26.273333329665036, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9029515825076172, -0.4295456126791067, -0.013000241348613778, 1.5248789405838166 ], [ 0.42961313410521745, 0.9030086928201313, 0.0028028013791009136, 0.11187161683009733 ], [ 0.010535399910954202, -0.008115868370615904, 0.9999115651042885, 0.03214374355634652 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 9464, "backend_objective": 1171.2348919322044, "backend_elapsed_sec": 0.14427490000525722, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4744, "objective": 855.3719664816151 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7906, "objective": 844.2146802260278 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 9464, "objective": 1171.2348919322044 } ], "heldout_symmetric": { "evaluated": 7915, "inliers": 6640, "inlier_ratio": 0.8389134554643083, "inlier_rmse_m": 0.10681097771213023, "median_m": 0.09187516317996168, "p90_m": 0.3409731387256621, "p95_m": 0.547028952051217 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 60935.04602182886, 81463.24336745703, 289786.06075070146, 377031.77127746766, 743033.4727588407, 911356.3752439802 ], "effective_rank": 6, "scaled_condition_number": 14.956194090958816, "weakest_scaled_direction": [ -0.1235123445420721, -0.058341266079134285, -0.0035028600851422283, 0.6166908038339983, -0.7752113830995462, 0.008275951225921745 ] }, "forward_reverse": { "translation_m": 0.0035146019341874887, "rotation_deg": 0.1349785173147079 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 8.124804769967568e-16, "rotation_deg": 1.384139837342341e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 1, "j": 4, "lidar_time_i": 1784254210.7437553, "lidar_time_j": 1784254540.3289933, "frame_counter_i": 1629, "frame_counter_j": 4925, "rtk_translation_m": 1.6946255625760025, "rtk_rotation_deg": 60.40345832959281, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.5151842366144779, -0.856669673214476, -0.026500440346553404, -0.31261427976952594 ], [ 0.8570361484039016, 0.5152227343848989, 0.005879991662726459, -0.5460266080702179 ], [ 0.008616418801543419, -0.025741114341678667, 0.999631508286671, 0.007726831078988646 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 10142, "backend_objective": 1818.399963982931, "backend_elapsed_sec": 0.13278140000329586, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4587, "objective": 870.9325760014979 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 7765, "objective": 877.4728015772384 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 10142, "objective": 1818.399963982931 } ], "heldout_symmetric": { "evaluated": 8000, "inliers": 7040, "inlier_ratio": 0.88, "inlier_rmse_m": 0.10289486740770283, "median_m": 0.08679048004611667, "p90_m": 0.2833603254929783, "p95_m": 0.48750548427903695 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 91823.24021047422, 144717.16615921727, 339244.16707572, 474785.8958078214, 795434.4542297641, 1086202.9364181557 ], "effective_rank": 6, "scaled_condition_number": 11.829281279209892, "weakest_scaled_direction": [ -0.08954104308956745, 0.04775693716848006, -0.01273207970553586, 0.09711398157347569, -0.9895750722575166, 0.029148270112771265 ] }, "forward_reverse": { "translation_m": 0.006064649004018339, "rotation_deg": 0.061683233541617866 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2894690971977395e-15, "rotation_deg": 6.911770998247423e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 3, "lidar_time_i": 1784254309.6379356, "lidar_time_j": 1784254452.9318, "frame_counter_i": 2618, "frame_counter_j": 4051, "rtk_translation_m": 3.2805755806518446, "rtk_rotation_deg": 36.69993333732758, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8059804480693027, -0.5914949612697649, -0.023004958649958, -3.3228147972142335 ], [ 0.5911570001961491, 0.8063043222137941, -0.020167823344274787, -0.41969262652105443 ], [ 0.030478163479727986, 0.002655328950455516, 0.9995319058334597, -0.12935599839311795 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 8824, "backend_objective": 605.8739743886949, "backend_elapsed_sec": 0.1384537999983877, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4613, "objective": 962.1964851520374 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 7430, "objective": 965.3244323850722 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 8824, "objective": 605.8739743886949 } ], "heldout_symmetric": { "evaluated": 7952, "inliers": 6322, "inlier_ratio": 0.795020120724346, "inlier_rmse_m": 0.10968948046836192, "median_m": 0.10326340903122186, "p90_m": 0.5015129471736163, "p95_m": 0.8763534376207025 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 40038.92921311286, 47548.5491150434, 121051.10452899779, 249988.32456251388, 604171.7957755475, 959585.2407699784 ], "effective_rank": 6, "scaled_condition_number": 23.96630628312886, "weakest_scaled_direction": [ 0.6255497542080171, -0.7644047978466973, 0.003909728736751036, 0.10843469618954273, -0.004508151075084643, -0.11215666407579279 ] }, "forward_reverse": { "translation_m": 0.006456546110122383, "rotation_deg": 0.030970536985363332 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0749410628466372e-07, "rotation_deg": 8.533627666913859e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 4, "lidar_time_i": 1784254309.6379356, "lidar_time_j": 1784254540.3289933, "frame_counter_i": 2618, "frame_counter_j": 4925, "rtk_translation_m": 4.866335020594746, "rtk_rotation_deg": 70.83005833725535, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.3452654220406283, -0.9377037015864895, -0.03877571887285495, -4.998702074608842 ], [ 0.9383039040294165, 0.345752089560366, -0.006424659353182649, -1.418690879382783 ], [ 0.019431212681406514, -0.03416519567690292, 0.9992272851449189, -0.2261639350676312 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7958, "backend_objective": 495.7147734939361, "backend_elapsed_sec": 0.19552670000120997, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 39, "num_inliers": 4274, "objective": 1187.812774214254 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6583, "objective": 640.6275466576219 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7958, "objective": 495.7147734939361 } ], "heldout_symmetric": { "evaluated": 8037, "inliers": 5779, "inlier_ratio": 0.7190493965409979, "inlier_rmse_m": 0.11680954298455397, "median_m": 0.12641487967099882, "p90_m": 0.8037358246776285, "p95_m": 1.2848017881525493 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 36588.18396564015, 43675.302958527755, 84860.60588175566, 201347.90831126898, 503011.22393196257, 868243.273566192 ], "effective_rank": 6, "scaled_condition_number": 23.730154915082874, "weakest_scaled_direction": [ 0.16434209166166802, -0.253031959060958, 0.005671672221997766, -0.06311976365094335, 0.9379721503461323, -0.158614240684592 ] }, "forward_reverse": { "translation_m": 0.005632827193528356, "rotation_deg": 0.03284052493715785 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.0601005736791587e-14, "rotation_deg": 6.775803864846617e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 5, "lidar_time_i": 1784254309.6379356, "lidar_time_j": 1784254730.2200227, "frame_counter_i": 2618, "frame_counter_j": 6824, "rtk_translation_m": 1.8274406190287722, "rtk_rotation_deg": 30.448549979291712, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8590689160649139, 0.5118076326911972, -0.007317415533331473, -1.189983463465544 ], [ -0.5118531162563104, 0.8588958652244919, -0.017443625740522422, -2.2328519970963328 ], [ -0.002642882850100138, 0.018730718600830615, 0.9998210716677948, -0.07155564235720886 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 16, "backend_num_inliers": 8407, "backend_objective": 1100.768024070376, "backend_elapsed_sec": 0.13311930000054417, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4600, "objective": 933.215878236095 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7208, "objective": 721.7457949388754 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 16, "num_inliers": 8407, "objective": 1100.768024070376 } ], "heldout_symmetric": { "evaluated": 8091, "inliers": 6148, "inlier_ratio": 0.7598566308243727, "inlier_rmse_m": 0.11774293624986373, "median_m": 0.12025710930469159, "p90_m": 0.5815500770528812, "p95_m": 0.9770707576366456 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 47859.29225718762, 67923.32855932058, 140816.98754306263, 245080.9987405256, 541139.8836937749, 794434.5320483233 ], "effective_rank": 6, "scaled_condition_number": 16.599379025063065, "weakest_scaled_direction": [ -0.202773423191442, 0.13353740400348174, -0.005116177998680206, -0.9274808724747672, -0.27654258843811397, -0.06578718169456611 ] }, "forward_reverse": { "translation_m": 0.028141707120452414, "rotation_deg": 0.19962462817569399 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.890150443143122e-16, "rotation_deg": 8.442966173497864e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 4, "lidar_time_i": 1784254452.9318, "lidar_time_j": 1784254540.3289933, "frame_counter_i": 4051, "frame_counter_j": 4925, "rtk_translation_m": 1.75881263274858, "rtk_rotation_deg": 34.13012499992777, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8334808060105731, -0.5525264487008953, -0.004926408219384689, -1.9506625269924571 ], [ 0.5524869012505402, 0.8332218696701024, 0.02235038814062036, 0.1881639107124969 ], [ -0.00824438951910969, -0.02135039553351643, 0.9997380610199954, -0.036753466207138846 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 9636, "backend_objective": 1109.363243980891, "backend_elapsed_sec": 0.12044829999649664, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4591, "objective": 893.6063869083783 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 7508, "objective": 871.2362800434747 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 9636, "objective": 1109.363243980891 } ], "heldout_symmetric": { "evaluated": 7993, "inliers": 6706, "inlier_ratio": 0.83898411109721, "inlier_rmse_m": 0.10512726552504312, "median_m": 0.09158381975809049, "p90_m": 0.3935879562991502, "p95_m": 0.6462965409595868 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 57251.52222626075, 79020.8908201862, 275291.45720782824, 397229.96669411013, 698670.2347970392, 896825.9803962101 ], "effective_rank": 6, "scaled_condition_number": 15.664666117555983, "weakest_scaled_direction": [ 0.09911310269445285, -0.09358797793019935, -0.00026470996724776877, -0.07771497649829129, 0.9866059904357699, -0.0445737058586343 ] }, "forward_reverse": { "translation_m": 0.006186049607122224, "rotation_deg": 0.016880074405568043 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.0585914528227036e-08, "rotation_deg": 1.57222200041169e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 5, "lidar_time_i": 1784254452.9318, "lidar_time_j": 1784254730.2200227, "frame_counter_i": 4051, "frame_counter_j": 6824, "rtk_translation_m": 2.1020200425132134, "rtk_rotation_deg": 67.14848331661929, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.39013938186708846, 0.9207554148904398, 0.0008536195292267056, 0.6704590643763693 ], [ -0.9204864180499497, 0.3900474927553313, -0.023826614968424566, -2.726427017904929 ], [ -0.022271436907828356, 0.008509955652930907, 0.9997157414749687, -0.05218351952781692 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 8901, "backend_objective": 1037.7413288393354, "backend_elapsed_sec": 0.1251440000050934, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4692, "objective": 966.7831391320129 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 7423, "objective": 902.2893645891601 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 8901, "objective": 1037.7413288393354 } ], "heldout_symmetric": { "evaluated": 8047, "inliers": 6412, "inlier_ratio": 0.7968186901951038, "inlier_rmse_m": 0.11623997504357782, "median_m": 0.10852360312106603, "p90_m": 0.49803134115315295, "p95_m": 0.8480172873346057 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 54228.00830401395, 60610.65313820339, 164486.659173634, 247402.48301184518, 711616.8507171773, 984500.81560399 ], "effective_rank": 6, "scaled_condition_number": 18.1548400244513, "weakest_scaled_direction": [ 0.8368247806918776, 0.12094592367079998, 0.02234953015729625, 0.38248077339922426, 0.19099014457100655, -0.3191051411773765 ] }, "forward_reverse": { "translation_m": 0.021983524103315014, "rotation_deg": 0.3960603757299183 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.901580930790967e-06, "rotation_deg": 1.8931122680702625e-05 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 6, "lidar_time_i": 1784254452.9318, "lidar_time_j": 1784254874.714136, "frame_counter_i": 4051, "frame_counter_j": 8269, "rtk_translation_m": 5.791805311102367, "rtk_rotation_deg": 61.163322289150074, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.4872414160330809, 0.8732614493640616, -0.0032005556794521407, 2.302607512959937 ], [ -0.8730540992810985, 0.4870381959720164, -0.02388169576880501, -6.094465394780589 ], [ -0.019296171396109854, 0.014430409519586873, 0.9997096683790493, -0.04249545518257287 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 7330, "backend_objective": 599.2417932780519, "backend_elapsed_sec": 0.10523429999739164, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4336, "objective": 973.534052327611 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6315, "objective": 714.1480065346007 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 7330, "objective": 599.2417932780519 } ], "heldout_symmetric": { "evaluated": 7970, "inliers": 5235, "inlier_ratio": 0.6568381430363864, "inlier_rmse_m": 0.12435814704811046, "median_m": 0.15347591580093184, "p90_m": 0.9338148002504841, "p95_m": 1.327879146098951 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 32041.297192069233, 37042.5880867479, 101231.52297135191, 333106.08393038344, 590439.5632053812, 801519.1714724554 ], "effective_rank": 6, "scaled_condition_number": 25.0151910725651, "weakest_scaled_direction": [ 0.6730540870750039, 0.04331808018479871, 0.010484031258892627, 0.6633301743639659, 0.16939803218697316, -0.27624121951430575 ] }, "forward_reverse": { "translation_m": 0.008738020425158864, "rotation_deg": 0.1291569973379011 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1805095966397748e-15, "rotation_deg": 3.3767929786633064e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 4, "j": 5, "lidar_time_i": 1784254540.3289933, "lidar_time_j": 1784254730.2200227, "frame_counter_i": 4925, "frame_counter_j": 6824, "rtk_translation_m": 3.30592832159088, "rtk_rotation_deg": 101.27860831654709, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.18359230993557477, 0.9828926416022686, -0.014694176283017078, 0.5663015828341036 ], [ -0.98250560954136, -0.1839542268939685, -0.02904427013379363, -3.8812467487626896 ], [ -0.031250455233200344, 0.009104805981397868, 0.9994701153890292, 0.004959527766643625 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8400, "backend_objective": 911.4913163390977, "backend_elapsed_sec": 0.09745829999883426, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4506, "objective": 1113.7327386531388 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6957, "objective": 647.8837745879555 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8400, "objective": 911.4913163390977 } ], "heldout_symmetric": { "evaluated": 8132, "inliers": 6134, "inlier_ratio": 0.7543039842597147, "inlier_rmse_m": 0.11308907219490882, "median_m": 0.1168775716511344, "p90_m": 0.6746290034355518, "p95_m": 1.1181369269608676 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 44947.431756563106, 61648.316363810285, 166790.5308173608, 224400.74018827506, 689403.5226343169, 885035.4152865735 ], "effective_rank": 6, "scaled_condition_number": 19.690455732375476, "weakest_scaled_direction": [ -0.10716311382158174, 0.08586699801661055, -0.0008073554541294499, -0.9510143700927586, -0.2768891757940208, -0.006806325736488089 ] }, "forward_reverse": { "translation_m": 0.002243469564109645, "rotation_deg": 0.06843841908142442 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.9771654112948742e-05, "rotation_deg": 3.6557381577460834e-05 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 4, "j": 6, "lidar_time_i": 1784254540.3289933, "lidar_time_j": 1784254874.714136, "frame_counter_i": 4925, "frame_counter_j": 8269, "rtk_translation_m": 6.453995240105232, "rtk_rotation_deg": 95.29344728907782, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.0761643009195314, 0.9969333111420099, -0.0179714329108343, 0.0694852240356869 ], [ -0.9963431110286839, -0.07679443543652612, -0.03745690579412132, -7.602440994147095 ], [ -0.0387221431628406, 0.015052834331605909, 0.9991366312008889, -0.09129127155249375 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7061, "backend_objective": 501.2158248445944, "backend_elapsed_sec": 0.10252220000256784, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 4143, "objective": 1077.3175804426153 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6027, "objective": 669.5069340402744 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7061, "objective": 501.2158248445944 } ], "heldout_symmetric": { "evaluated": 8055, "inliers": 5009, "inlier_ratio": 0.6218497827436374, "inlier_rmse_m": 0.12814112793605542, "median_m": 0.1724292622223383, "p90_m": 1.1419707012563336, "p95_m": 1.6347814177529423 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 20318.019089768848, 26046.04340751875, 94247.52607682813, 248117.3465477399, 543507.5588911963, 850238.2080237141 ], "effective_rank": 6, "scaled_condition_number": 41.84651093530334, "weakest_scaled_direction": [ 0.8010506600300783, 0.18089948331128958, 0.02639609582476531, 0.025407754342461893, 0.0690416122485284, -0.5652293029609234 ] }, "forward_reverse": { "translation_m": 0.01600824572236542, "rotation_deg": 0.4490447249637784 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.5293263533313107e-15, "rotation_deg": 1.0848260921829398e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 4, "j": 7, "lidar_time_i": 1784254540.3289933, "lidar_time_j": 1784255044.4073362, "frame_counter_i": 4925, "frame_counter_j": 9966, "rtk_translation_m": 9.537609568572432, "rtk_rotation_deg": 26.32130681988008, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9012859002216211, 0.4328634905072854, 0.01768967629869551, 2.788852448474315 ], [ -0.43281056517773553, 0.9014583602413565, -0.0069166047664048925, -9.638358803988043 ], [ -0.01894045227106776, -0.0014224404432832008, 0.9998196016937021, -0.07212204522133751 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6672, "backend_objective": 461.5413673010648, "backend_elapsed_sec": 0.12260190000233706, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4049, "objective": 1057.6983561567229 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 6068, "objective": 611.8601702792623 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6672, "objective": 461.5413673010648 } ], "heldout_symmetric": { "evaluated": 7884, "inliers": 4864, "inlier_ratio": 0.6169457128361238, "inlier_rmse_m": 0.13205154815512993, "median_m": 0.17878599431318648, "p90_m": 0.9655270589149846, "p95_m": 1.500082164007766 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 20502.076327836287, 23318.08104857806, 30314.035636834924, 157225.55383402307, 552144.6093308728, 757097.907918101 ], "effective_rank": 6, "scaled_condition_number": 36.92786505190044, "weakest_scaled_direction": [ -0.4908469303707232, 0.8499543170647914, 0.003503242533680151, -0.13743112109202668, 0.0821300037526303, 0.10489054570977203 ] }, "forward_reverse": { "translation_m": 0.019160428104594212, "rotation_deg": 0.2888349968548246 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.440913782491137e-15, "rotation_deg": 1.7464017574838592e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 5, "j": 6, "lidar_time_i": 1784254730.2200227, "lidar_time_j": 1784254874.714136, "frame_counter_i": 6824, "frame_counter_j": 8269, "rtk_translation_m": 3.7769167422851373, "rtk_rotation_deg": 5.985161027469212, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9941731843874824, -0.10777654272386936, 0.0019739005402346814, 3.7583464305930074 ], [ 0.10777211287964342, 0.9941731275643675, 0.0022280292506504985, 0.19386407213213588 ], [ -0.0022025281633088712, -0.0020023155031923014, 0.9999955697913441, 0.07876084309176457 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8480, "backend_objective": 1193.496445709331, "backend_elapsed_sec": 0.11797059999662451, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4578, "objective": 1092.0157816412705 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 7122, "objective": 897.6652674932944 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8480, "objective": 1193.496445709331 } ], "heldout_symmetric": { "evaluated": 8109, "inliers": 5978, "inlier_ratio": 0.7372055740535208, "inlier_rmse_m": 0.1175976253407229, "median_m": 0.12226674243236164, "p90_m": 0.6208516903742961, "p95_m": 0.9143172904130269 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 49323.02430729194, 125534.1588714078, 245264.75701489748, 407823.04748443386, 646820.8524957768, 953053.9820670647 ], "effective_rank": 6, "scaled_condition_number": 19.32269960027907, "weakest_scaled_direction": [ 0.017565505599826902, -0.05636268757724919, -0.0035692895806746765, 0.9846808009997982, 0.16319393977717633, 0.01653538014017545 ] }, "forward_reverse": { "translation_m": 0.013833903611932107, "rotation_deg": 0.01952771029395653 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 0.0001043611665008492, "rotation_deg": 0.0009244862734347193 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 5, "j": 7, "lidar_time_i": 1784254730.2200227, "lidar_time_j": 1784255044.4073362, "frame_counter_i": 6824, "frame_counter_j": 9966, "rtk_translation_m": 6.565348405821576, "rtk_rotation_deg": 74.95730149666699, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.26054750468310556, -0.964909565831778, -0.03262709870242987, 5.2549319472088 ], [ 0.9653954232932429, 0.25998702627377246, 0.020455386913533442, 3.247227111706031 ], [ -0.011254976138072971, -0.03682765178031127, 0.99925824969148, 0.1318153810149665 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 7775, "backend_objective": 562.0165783262432, "backend_elapsed_sec": 0.11080930000025546, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4189, "objective": 923.4292425792835 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6616, "objective": 545.1751630316442 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 7775, "objective": 562.0165783262432 } ], "heldout_symmetric": { "evaluated": 7938, "inliers": 5431, "inlier_ratio": 0.6841773746535651, "inlier_rmse_m": 0.11964187966504931, "median_m": 0.1376897092727266, "p90_m": 0.8602449375376173, "p95_m": 1.3480635524938431 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 35810.32648680093, 43005.47427858367, 64041.61624715142, 173770.551892475, 677620.1998154683, 978760.9493623399 ], "effective_rank": 6, "scaled_condition_number": 27.33180748081407, "weakest_scaled_direction": [ 0.13964394562979016, -0.7172707167627975, -0.01059837863261426, 0.360039244862617, -0.5136565607308332, 0.2691442763107074 ] }, "forward_reverse": { "translation_m": 0.003240486196092054, "rotation_deg": 0.04738439683023512 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 7.066166486170095e-14, "rotation_deg": 1.1726944413877017e-12 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 5, "j": 8, "lidar_time_i": 1784254730.2200227, "lidar_time_j": 1784255182.1007738, "frame_counter_i": 6824, "frame_counter_j": 11343, "rtk_translation_m": 6.3343271669452825, "rtk_rotation_deg": 107.99940292217995, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.30303235887587643, -0.9511094447910896, -0.05968428187813471, 3.9970312661279346 ], [ 0.948965548839459, -0.30690609286881493, 0.07261568202409091, -1.5615231430063556 ], [ -0.08738293076995866, -0.03463342589443221, 0.9955725735579842, 0.09735327156591295 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7769, "backend_objective": 1148.164060782922, "backend_elapsed_sec": 0.14825349999591708, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 11, "num_inliers": 4152, "objective": 1054.890380916233 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 6388, "objective": 883.8075551579429 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7769, "objective": 1148.164060782922 } ], "heldout_symmetric": { "evaluated": 8402, "inliers": 5479, "inlier_ratio": 0.6521066412758867, "inlier_rmse_m": 0.12472719695199193, "median_m": 0.15469550929281028, "p90_m": 1.180389161208582, "p95_m": 1.975031697352117 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 42495.254002897476, 71868.37534205409, 113557.32982962685, 216032.1456465367, 587310.6035452144, 814081.308660922 ], "effective_rank": 6, "scaled_condition_number": 19.156993592870748, "weakest_scaled_direction": [ -0.25406982263997696, -0.04036609743603481, -0.03151801733395084, -0.029195296358704506, -0.9651749418204849, 0.020265348187565566 ] }, "forward_reverse": { "translation_m": 0.0278691016568626, "rotation_deg": 0.41056933218195657 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6653345369377348e-16, "rotation_deg": 1.3764447018363758e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 6, "j": 7, "lidar_time_i": 1784254874.714136, "lidar_time_j": 1784255044.4073362, "frame_counter_i": 8269, "frame_counter_j": 9966, "rtk_translation_m": 3.1558607172566147, "rtk_rotation_deg": 68.97214046919777, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.3630446383557725, -0.9313122334952554, -0.029259431013027467, 1.8225878308697732 ], [ 0.9317308902126622, 0.36255561756789395, 0.020759874601823103, 2.8776937807071175 ], [ -0.008725754101891928, -0.03479867687201411, 0.999356249444266, 0.03947628102212908 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 8707, "backend_objective": 944.2950466286643, "backend_elapsed_sec": 0.12534570000570966, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4339, "objective": 1028.3343223278594 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6955, "objective": 599.3923566969368 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 8707, "objective": 944.2950466286643 } ], "heldout_symmetric": { "evaluated": 7861, "inliers": 5926, "inlier_ratio": 0.7538481109273629, "inlier_rmse_m": 0.11470554120698542, "median_m": 0.1168472923129069, "p90_m": 0.7279981506322535, "p95_m": 1.1997176243817322 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 63857.05635523845, 81008.9187250498, 137530.4557625456, 249041.24680841013, 645791.3197615729, 1095797.9851185093 ], "effective_rank": 6, "scaled_condition_number": 17.160170663404163, "weakest_scaled_direction": [ -0.030660892244699964, -0.18140578074530625, 0.00421494749753814, 0.5031803452335986, -0.8309641812427485, 0.14980706351405199 ] }, "forward_reverse": { "translation_m": 0.03433121044907878, "rotation_deg": 0.14981218442224864 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.8572224350538414e-07, "rotation_deg": 2.274491796619444e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 6, "j": 8, "lidar_time_i": 1784254874.714136, "lidar_time_j": 1784255182.1007738, "frame_counter_i": 8269, "frame_counter_j": 11343, "rtk_translation_m": 3.3979014114419868, "rtk_rotation_deg": 102.01424189471071, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.19885562676254928, -0.9785663865976864, -0.05351884458787667, 0.05198857371880225 ], [ 0.9759408709576742, -0.20271332113040136, 0.08029150534558002, -1.7722416498908506 ], [ -0.08941955098998337, -0.03626481018053689, 0.9953336161525537, 0.07567295648550776 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 8125, "backend_objective": 834.188675687352, "backend_elapsed_sec": 0.14796390000265092, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 4059, "objective": 1181.7388399688562 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6464, "objective": 634.6625902514388 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 8125, "objective": 834.188675687352 } ], "heldout_symmetric": { "evaluated": 8325, "inliers": 5686, "inlier_ratio": 0.683003003003003, "inlier_rmse_m": 0.11564979549315224, "median_m": 0.13272137786142862, "p90_m": 1.3644082022884454, "p95_m": 2.2069891099187986 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 49346.3758717713, 86125.18384917779, 174917.3354892822, 295169.5983070183, 618042.7612006412, 1008986.3267600462 ], "effective_rank": 6, "scaled_condition_number": 20.447019845630425, "weakest_scaled_direction": [ -0.14173996510489542, 0.0317989971478114, -0.014613027747017088, -0.040137338987899104, -0.9884576926727731, -0.005044730667698053 ] }, "forward_reverse": { "translation_m": 0.008147035817338538, "rotation_deg": 0.038229943243018406 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.5366164491566369e-15, "rotation_deg": 1.0830005998172587e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 6, "j": 9, "lidar_time_i": 1784254874.714136, "lidar_time_j": 1784255459.889231, "frame_counter_i": 8269, "frame_counter_j": 14121, "rtk_translation_m": 0.28270347875173524, "rtk_rotation_deg": 124.11602215258995, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.5643737680034951, 0.8250195387290573, -0.02872299957928165, -1.7901683709152019 ], [ -0.8238867050411328, -0.5651037305916229, -0.04322581321268311, -0.9246679376129474 ], [ -0.051893614693949874, -0.0007310175955850418, 0.9986523511048628, -0.059710939706568364 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 8487, "backend_objective": 1211.003438465407, "backend_elapsed_sec": 0.1321449000024586, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 11, "num_inliers": 4678, "objective": 956.9721291359658 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7151, "objective": 722.1992711785097 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 8487, "objective": 1211.003438465407 } ], "heldout_symmetric": { "evaluated": 7872, "inliers": 5794, "inlier_ratio": 0.7360264227642277, "inlier_rmse_m": 0.11829700338913093, "median_m": 0.12719220633339834, "p90_m": 0.6293384174774208, "p95_m": 0.8983055863917024 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 62334.41190573761, 163776.75113679928, 277710.896040931, 388439.3582754507, 720865.8886553734, 1135476.4611285843 ], "effective_rank": 6, "scaled_condition_number": 18.21588471622476, "weakest_scaled_direction": [ -0.07438414669468418, -0.06615499380656412, 0.015556662908032974, 0.6901719452919817, -0.7158715970127876, 0.0322342717672605 ] }, "forward_reverse": { "translation_m": 0.003942462178993821, "rotation_deg": 0.004948404195791413 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.1464231286487715e-15, "rotation_deg": 1.4474072110608484e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 7, "j": 8, "lidar_time_i": 1784255044.4073362, "lidar_time_j": 1784255182.1007738, "frame_counter_i": 9966, "frame_counter_j": 11343, "rtk_translation_m": 4.78580085090425, "rtk_rotation_deg": 33.04210142551296, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8371876775086143, -0.5443878611805864, 0.05252284481024743, -4.976138309278738 ], [ 0.5433688245976859, 0.838833368404928, 0.033300157743970896, -0.0406478929153348 ], [ -0.0621861164816055, 0.0006607947267253034, 0.9980643517665909, -0.05554804089558046 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7329, "backend_objective": 683.299086839249, "backend_elapsed_sec": 0.14698669999779668, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 3921, "objective": 1904.9533673598169 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 9, "num_inliers": 5914, "objective": 639.5487359077345 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7329, "objective": 683.299086839249 } ], "heldout_symmetric": { "evaluated": 8154, "inliers": 5418, "inlier_ratio": 0.6644591611479028, "inlier_rmse_m": 0.12091344193997677, "median_m": 0.14767837666862524, "p90_m": 1.3052473958139093, "p95_m": 2.250651872087495 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 38088.55699491429, 52940.15235403108, 103937.37806686808, 116005.45755665108, 457394.01968231867, 862725.337432937 ], "effective_rank": 6, "scaled_condition_number": 22.65051252921267, "weakest_scaled_direction": [ 0.15814237700539974, 0.020238737142548452, 0.007099193775197262, 0.03445176847254157, 0.9865734926178724, -0.004099130955096478 ] }, "forward_reverse": { "translation_m": 0.010087854632047892, "rotation_deg": 0.1144705976875931 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.766123987276198e-13, "rotation_deg": 7.704264889356407e-12 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 7, "j": 9, "lidar_time_i": 1784255044.4073362, "lidar_time_j": 1784255459.889231, "frame_counter_i": 9966, "frame_counter_j": 14121, "rtk_translation_m": 2.876695741106431, "rtk_rotation_deg": 166.91183737821345, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9723184740558365, -0.22693651217474295, -0.05564714234974994, -4.852184847059252 ], [ 0.22898308540648776, -0.9728507191500739, -0.03358905844036536, 1.9926220140412132 ], [ -0.04651377868391067, -0.04540151639700811, 0.9978853494772812, -0.12014308155015331 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 6829, "backend_objective": 470.96005368209137, "backend_elapsed_sec": 0.14210660000389908, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 17, "num_inliers": 4144, "objective": 945.0651383634521 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5966, "objective": 570.5851502326218 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 6829, "objective": 470.96005368209137 } ], "heldout_symmetric": { "evaluated": 7701, "inliers": 4742, "inlier_ratio": 0.6157641864692897, "inlier_rmse_m": 0.12124276796057824, "median_m": 0.16456346238932687, "p90_m": 1.3049951813784684, "p95_m": 1.862571472093361 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 30129.420441890892, 33640.328206822946, 56858.5391998517, 79320.81114176704, 531625.269684721, 960822.3966047498 ], "effective_rank": 6, "scaled_condition_number": 31.889839980753695, "weakest_scaled_direction": [ -0.41568596130170454, 0.6987875715816618, 0.011071446107222676, -0.3241579962884871, 0.25268924582406627, -0.4121265254116441 ] }, "forward_reverse": { "translation_m": 2.858085971145254, "rotation_deg": 5.202834749913653 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.30488109183663e-15, "rotation_deg": 5.722347377885308e-15 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 7, "j": 10, "lidar_time_i": 1784255044.4073362, "lidar_time_j": 1784255651.8811028, "frame_counter_i": 9966, "frame_counter_j": 16041, "rtk_translation_m": 3.5227760858025783, "rtk_rotation_deg": 151.5297683494061, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.8913789209931571, 0.45316209288754455, -0.009366791278559035, 0.7187744492948136 ], [ -0.4527570490803627, -0.8911740427549801, -0.02863354724421385, 0.8607369452555236 ], [ -0.021323079447337856, -0.021282459668121853, 0.9995460885788894, 0.023730045987029647 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 9002, "backend_objective": 1141.8747282330294, "backend_elapsed_sec": 0.09278530000301544, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4106, "objective": 816.6647415495502 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6990, "objective": 769.8282297300373 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 9002, "objective": 1141.8747282330294 } ], "heldout_symmetric": { "evaluated": 7825, "inliers": 6590, "inlier_ratio": 0.8421725239616613, "inlier_rmse_m": 0.10512064341715703, "median_m": 0.09117209084671556, "p90_m": 0.38088851426429754, "p95_m": 0.8138579955684165 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 71794.92398004432, 89154.47255122576, 364238.8443261626, 466735.64165546553, 876627.12771609, 1307251.8438572641 ], "effective_rank": 6, "scaled_condition_number": 18.208137447441548, "weakest_scaled_direction": [ 0.08567315926399108, 0.6686469498724462, 0.005231584245818575, -0.0813548434173919, 0.23213218221985762, 0.6964481575570851 ] }, "forward_reverse": { "translation_m": 0.00590396821278501, "rotation_deg": 0.011716048666689089 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.6478417331663793e-15, "rotation_deg": 1.3475243284190944e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 8, "j": 9, "lidar_time_i": 1784255182.1007738, "lidar_time_j": 1784255459.889231, "frame_counter_i": 11343, "frame_counter_j": 14121, "rtk_translation_m": 3.469611483011297, "rtk_rotation_deg": 133.86973595269956, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.687688017340456, -0.715448620381765, -0.12336313225668985, 1.2026642429979968 ], [ 0.7211958223826048, -0.69272549968353, -0.0028227408812730834, 1.6361778880945292 ], [ -0.08343726136583877, -0.09091014069966591, 0.99235758158727, 0.050646434538553595 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7191, "backend_objective": 960.8236828448823, "backend_elapsed_sec": 0.12328420000267215, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 4446, "objective": 1112.8485846145088 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6336, "objective": 565.4275518167565 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7191, "objective": 960.8236828448823 } ], "heldout_symmetric": { "evaluated": 8165, "inliers": 4897, "inlier_ratio": 0.5997550520514391, "inlier_rmse_m": 0.12251997518546373, "median_m": 0.1744594963563933, "p90_m": 1.4613095938288019, "p95_m": 2.224910063597178 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 35160.059647672904, 52580.5161901671, 127403.453112862, 187793.80506886885, 582499.3367499047, 934707.0957095041 ], "effective_rank": 6, "scaled_condition_number": 26.58434328826198, "weakest_scaled_direction": [ 0.35162647926247986, -0.6917658117112064, -0.009043539299586945, 0.07677609603264249, -0.005523112903938974, 0.6259488968979678 ] }, "forward_reverse": { "translation_m": 0.1455308769088698, "rotation_deg": 0.6888512968600221 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5842512794148288e-15, "rotation_deg": 1.5480991661434066e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 8, "j": 10, "lidar_time_i": 1784255182.1007738, "lidar_time_j": 1784255651.8811028, "frame_counter_i": 11343, "frame_counter_j": 16041, "rtk_translation_m": 8.226583602288494, "rtk_rotation_deg": 175.42813022508852, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9910284427521264, -0.10202939962484166, -0.08632860052433311, 5.253980968341697 ], [ 0.10488012405334303, -0.9940576991103349, -0.02914533269708561, -2.3515876061158405 ], [ -0.08284192920768384, -0.037938008008628926, 0.9958403096448174, 0.36215514875049026 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 6783, "backend_objective": 404.133680216633, "backend_elapsed_sec": 0.09851479999633739, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 3536, "objective": 764.0472438230894 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 5521, "objective": 430.46872759972564 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 6783, "objective": 404.133680216633 } ], "heldout_symmetric": { "evaluated": 8289, "inliers": 4903, "inlier_ratio": 0.5915068162625166, "inlier_rmse_m": 0.1229044134151169, "median_m": 0.17512834661570034, "p90_m": 1.8029020597988636, "p95_m": 2.4718466983087364 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 26625.009049254368, 38399.85047214927, 43830.00000538044, 93434.15474186266, 452075.91943737236, 748466.8119687974 ], "effective_rank": 6, "scaled_condition_number": 28.111420003057543, "weakest_scaled_direction": [ -0.15701641964946786, -0.9250420578866461, -0.006046810953149903, 0.08113493264006809, -0.14066986334178935, -0.30534502359051424 ] }, "forward_reverse": { "translation_m": 0.008997663249148741, "rotation_deg": 0.15439288797351725 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.8510861166685117e-16, "rotation_deg": 2.657214113456235e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 8, "j": 11, "lidar_time_i": 1784255182.1007738, "lidar_time_j": 1784255779.676285, "frame_counter_i": 11343, "frame_counter_j": 17319, "rtk_translation_m": 1.865267488778983, "rtk_rotation_deg": 173.7180803410843, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9942836853064142, -0.10630567636895012, -0.009952703413366317, -3.163860192410452 ], [ 0.10656009174018367, -0.9938531268650087, -0.03001514732544495, -1.655474050900978 ], [ -0.0067007448703890644, -0.030904132286549552, 0.9994998922590228, 0.014671640960376101 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 8253, "backend_objective": 1433.2272792220815, "backend_elapsed_sec": 0.11496289999922737, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 3836, "objective": 1017.5403000055619 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 6359, "objective": 732.6236806119822 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 8253, "objective": 1433.2272792220815 } ], "heldout_symmetric": { "evaluated": 8379, "inliers": 5728, "inlier_ratio": 0.6836137963957513, "inlier_rmse_m": 0.11276660610764273, "median_m": 0.12777033933126322, "p90_m": 1.0423218170091904, "p95_m": 1.7984595275100435 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 24111.184730835572, 52350.37613147848, 132593.9961136753, 687113.1263590176, 750849.4653551282, 907000.6947469178 ], "effective_rank": 6, "scaled_condition_number": 37.61742547586071, "weakest_scaled_direction": [ -0.044075463417279186, -0.6504257768564558, 0.008070227484647524, 0.11126698332619576, 0.006907379917565726, 0.7500069868192806 ] }, "forward_reverse": { "translation_m": 0.1113060196402131, "rotation_deg": 0.53316971567076 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.4311491945847312e-15, "rotation_deg": 1.2510186729654515e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 9, "j": 10, "lidar_time_i": 1784255459.889231, "lidar_time_j": 1784255651.8811028, "frame_counter_i": 14121, "frame_counter_j": 16041, "rtk_translation_m": 5.488028285806731, "rtk_rotation_deg": 41.558394272381754, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7639439322313872, -0.6435651516167491, -0.04704852847173397, -5.690497564800579 ], [ 0.6440521879096948, 0.7649582835894266, -0.005966876624543756, -0.15929986659203993 ], [ 0.03983023544469885, -0.025743348508458348, 0.9988747831194814, -0.20924548851933628 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 6454, "backend_objective": 387.4586231892055, "backend_elapsed_sec": 0.14775019999797223, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3662, "objective": 793.4013599960855 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5597, "objective": 454.3374059513834 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 6454, "objective": 387.4586231892055 } ], "heldout_symmetric": { "evaluated": 7836, "inliers": 4678, "inlier_ratio": 0.5969882593159775, "inlier_rmse_m": 0.11948988234049264, "median_m": 0.16994191818534032, "p90_m": 1.3871349397174513, "p95_m": 1.97156377761898 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 22006.259658114905, 34479.6469759605, 86857.51803611554, 106648.36352344266, 574375.0921400371, 855949.7206069975 ], "effective_rank": 6, "scaled_condition_number": 38.89573848099908, "weakest_scaled_direction": [ -0.24410129675445133, -0.6412594673328811, -0.017288559314885304, 0.08167125127345896, -0.3695714866978811, -0.6210061844546367 ] }, "forward_reverse": { "translation_m": 0.0030407162313759195, "rotation_deg": 0.04107484998318919 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.934014815290038e-16, "rotation_deg": 2.3147404516544623e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 9, "j": 11, "lidar_time_i": 1784255459.889231, "lidar_time_j": 1784255779.676285, "frame_counter_i": 14121, "frame_counter_j": 17319, "rtk_translation_m": 4.718056434111957, "rtk_rotation_deg": 39.84834438838189, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7614272893352313, -0.640948125804425, -0.09702568259691158, 0.632360932908526 ], [ 0.638231778556938, 0.7674274197816172, -0.060953689038292125, 5.411755178510274 ], [ 0.11352832199785706, -0.015513071750118472, 0.993413642300742, 0.45109623683849287 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7053, "backend_objective": 606.2211604299207, "backend_elapsed_sec": 0.18138240000553196, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3613, "objective": 1268.5302830646299 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5598, "objective": 476.97255540118505 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7053, "objective": 606.2211604299207 } ], "heldout_symmetric": { "evaluated": 7926, "inliers": 4706, "inlier_ratio": 0.593742114559677, "inlier_rmse_m": 0.12239484647700946, "median_m": 0.173173374832085, "p90_m": 1.45663494349597, "p95_m": 2.2943876589320324 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 14877.427885505398, 35787.07295867024, 50884.973292792594, 209675.95350943724, 545710.4682208394, 696425.7673018099 ], "effective_rank": 6, "scaled_condition_number": 46.81089854115947, "weakest_scaled_direction": [ -0.15847095089853475, -0.6320286374681653, 0.00467033473706568, 0.10005335854687088, -0.004085013041242569, 0.7519159429263597 ] }, "forward_reverse": { "translation_m": 0.035258275490363276, "rotation_deg": 0.11274694382482037 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.9731757487447026e-15, "rotation_deg": 1.430055308174335e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 9, "j": 12, "lidar_time_i": 1784255459.889231, "lidar_time_j": 1784255976.968491, "frame_counter_i": 14121, "frame_counter_j": 19292, "rtk_translation_m": 4.0664516687652705, "rtk_rotation_deg": 11.300244475855449, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9768282169550835, -0.20652346544323266, -0.056166651864516096, 0.5983055995954767 ], [ 0.20179303271347887, 0.9761683262383832, -0.07984341423843572, 4.240156797143145 ], [ 0.0713176451423399, 0.06665926094903443, 0.9952237619857557, 0.2869858106461779 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 7267, "backend_objective": 900.8745292617994, "backend_elapsed_sec": 0.15846639999654144, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4030, "objective": 1144.1017722967904 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 6249, "objective": 663.0053216568518 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 7267, "objective": 900.8745292617994 } ], "heldout_symmetric": { "evaluated": 7968, "inliers": 4903, "inlier_ratio": 0.6153363453815262, "inlier_rmse_m": 0.12504774785186165, "median_m": 0.1687654969288034, "p90_m": 1.251437072896233, "p95_m": 2.094119368953069 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 28378.813774641414, 49160.32657299357, 101030.49698013302, 336359.96562580095, 579800.038339928, 660582.2488608253 ], "effective_rank": 6, "scaled_condition_number": 23.277303065116303, "weakest_scaled_direction": [ 0.24717054161315438, -0.5903379150302325, 0.01736850959359305, 0.006963181916518798, 0.19625232281300858, 0.7426592382775639 ] }, "forward_reverse": { "translation_m": 0.0752860327247449, "rotation_deg": 0.25939502405614967 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.2676223177844214e-15, "rotation_deg": 2.3294192564106242e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 10, "j": 11, "lidar_time_i": 1784255651.8811028, "lidar_time_j": 1784255779.676285, "frame_counter_i": 16041, "frame_counter_j": 17319, "rtk_translation_m": 8.48963239412477, "rtk_rotation_deg": 1.7100498839998592, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9968820778250913, 0.003346152110590771, -0.07883480308328725, 8.44727189678211 ], [ -0.003238298341620218, 0.9999936378283393, 0.0014959033037749785, 0.16985217996209317 ], [ 0.07883930704273438, -0.0012359485816060569, 0.9968865713290177, 0.3323125395542791 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 6061, "backend_objective": 296.06552764191895, "backend_elapsed_sec": 0.13779710000380874, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3341, "objective": 1042.3225491589421 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5213, "objective": 466.4957431029522 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 6061, "objective": 296.06552764191895 } ], "heldout_symmetric": { "evaluated": 8050, "inliers": 4740, "inlier_ratio": 0.5888198757763975, "inlier_rmse_m": 0.12435475144629402, "median_m": 0.1765071676688844, "p90_m": 1.6337250851465148, "p95_m": 2.9124972812328584 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 12025.310920278669, 25203.800524971048, 32520.493482821556, 51463.82133473451, 481306.6124908726, 621586.1951270455 ], "effective_rank": 6, "scaled_condition_number": 51.68982317778118, "weakest_scaled_direction": [ 0.951506919003375, 0.13958470848199878, -0.0686086484447313, 0.013035436431537316, 0.06482321491494214, 0.25704391416724515 ] }, "forward_reverse": { "translation_m": 0.008996147539897087, "rotation_deg": 0.2187503499467401 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2065345846865554e-14, "rotation_deg": 3.167404076123598e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 10, "j": 12, "lidar_time_i": 1784255651.8811028, "lidar_time_j": 1784255976.968491, "frame_counter_i": 16041, "frame_counter_j": 19292, "rtk_translation_m": 7.8510898708654135, "rtk_rotation_deg": 30.258149796526293, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8784882023592437, 0.47255141552220853, -0.07038208581436586, 7.664207659033369 ], [ -0.47508739932589433, 0.8796074650640061, -0.024138566764228903, -0.6768859748144646 ], [ 0.050501894195978, 0.054643088232915055, 0.997228003814067, 0.28520544876888726 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 5812, "backend_objective": 370.7202511401026, "backend_elapsed_sec": 0.13546130000031553, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 12, "num_inliers": 3543, "objective": 1428.8916380345797 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5218, "objective": 536.6081017090486 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 5812, "objective": 370.7202511401026 } ], "heldout_symmetric": { "evaluated": 8092, "inliers": 4470, "inlier_ratio": 0.5523974295600593, "inlier_rmse_m": 0.12600876663407296, "median_m": 0.20286419905782896, "p90_m": 1.6147468325603878, "p95_m": 2.805047213360247 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 21684.657524579143, 27610.239802724915, 30903.735216019497, 52455.37828031484, 417310.19644627685, 521304.1624242548 ], "effective_rank": 6, "scaled_condition_number": 24.040230371790127, "weakest_scaled_direction": [ 0.8912524959464948, 0.3642347728180668, -0.06634917877038578, -0.12486161661730673, 0.206618349139099, -0.1015787365079721 ] }, "forward_reverse": { "translation_m": 0.0067913142930030295, "rotation_deg": 0.19210976651930364 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 5.551115123125783e-17, "rotation_deg": 7.393555898627807e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 10, "j": 13, "lidar_time_i": 1784255651.8811028, "lidar_time_j": 1784256136.3617284, "frame_counter_i": 16041, "frame_counter_j": 20886, "rtk_translation_m": 7.303425556850936, "rtk_rotation_deg": 93.89697482620899, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.020445712902994198, 0.9969178171880968, 0.07574192100025015, 4.704421015324436 ], [ -0.9991966284753122, -0.017763043350054266, -0.035924531096634855, -5.440060124383551 ], [ -0.034468398098219305, -0.07641557474666981, 0.9964800998859328, -0.10522201791472277 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 5428, "backend_objective": 351.79254183723884, "backend_elapsed_sec": 0.12306160000298405, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 11, "num_inliers": 3576, "objective": 1501.3695690149013 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 4848, "objective": 560.7525113597009 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 5428, "objective": 351.79254183723884 } ], "heldout_symmetric": { "evaluated": 7986, "inliers": 3883, "inlier_ratio": 0.48622589531680444, "inlier_rmse_m": 0.12387372192061825, "median_m": 0.2691194377104539, "p90_m": 1.7533827718302937, "p95_m": 2.5603841235045555 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 13699.262425009529, 25031.34692415126, 32048.16004978538, 51106.55986650569, 323714.4342572996, 550126.0010622512 ], "effective_rank": 6, "scaled_condition_number": 40.15734453396082, "weakest_scaled_direction": [ 0.9566278035094122, -0.15101904271519942, -0.01805979052063306, 0.162387693893328, 0.10336288013185078, 0.15708816040474904 ] }, "forward_reverse": { "translation_m": 0.010457065237222635, "rotation_deg": 0.051939983599844905 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 0.0, "rotation_deg": 1.114862484459897e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 11, "j": 12, "lidar_time_i": 1784255779.676285, "lidar_time_j": 1784255976.968491, "frame_counter_i": 17319, "frame_counter_j": 19292, "rtk_translation_m": 0.684356309096518, "rtk_rotation_deg": 28.54809991252644, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8816289368915158, 0.4719407933990793, 0.0015182757927952675, -0.772768822140439 ], [ -0.4717156823981689, 0.8812991782284366, -0.028214773320228582, -0.8768630546211953 ], [ -0.014653757714838437, 0.024158766105281185, 0.999600730994683, -0.04998065168532363 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 9333, "backend_objective": 2815.4080358929373, "backend_elapsed_sec": 0.12336150000191992, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4340, "objective": 820.4919752049427 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 7199, "objective": 966.9601913448714 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 9333, "objective": 2815.4080358929373 } ], "heldout_symmetric": { "evaluated": 8182, "inliers": 6612, "inlier_ratio": 0.8081153752138841, "inlier_rmse_m": 0.09827968392237502, "median_m": 0.08304453177002662, "p90_m": 0.5517982548079018, "p95_m": 1.0106194516226792 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 82014.63663148035, 99971.71061275335, 385846.1542163829, 822533.6764721328, 929348.7058243885, 1154309.236244329 ], "effective_rank": 6, "scaled_condition_number": 14.074429682972724, "weakest_scaled_direction": [ -0.05493835664601167, -0.2190834088147699, 0.04163614590087344, 0.5408135568451441, -0.7851204582501254, 0.1958500218924532 ] }, "forward_reverse": { "translation_m": 0.003170825002365958, "rotation_deg": 0.052994059649638055 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 5.09819853533785e-16, "rotation_deg": 8.280792483131434e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 11, "j": 13, "lidar_time_i": 1784255779.676285, "lidar_time_j": 1784256136.3617284, "frame_counter_i": 17319, "frame_counter_j": 20886, "rtk_translation_m": 4.983180422136547, "rtk_rotation_deg": 92.18692494220912, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.01934643839387679, 0.9883143426290043, 0.15119681040045624, -3.7409060376281773 ], [ -0.9993804976719116, -0.014668882759877908, -0.031991323067661, -5.628899077198521 ], [ -0.029399595142015688, -0.1517220617852807, 0.9879858702294831, -0.0993579951968997 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 5301, "backend_objective": 421.88848952036983, "backend_elapsed_sec": 0.10061359999963315, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 11, "num_inliers": 3511, "objective": 3395.766710226065 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 7, "num_inliers": 4581, "objective": 431.97391171637895 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 5301, "objective": 421.88848952036983 } ], "heldout_symmetric": { "evaluated": 8076, "inliers": 3961, "inlier_ratio": 0.4904655770183259, "inlier_rmse_m": 0.13065086109778945, "median_m": 0.26231861756437486, "p90_m": 1.5907333674407091, "p95_m": 2.345202167351 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 8193.9069015766, 18562.62121499715, 26317.728799724886, 80057.68428409971, 372802.1393483318, 491217.91826597735 ], "effective_rank": 6, "scaled_condition_number": 59.94917005604024, "weakest_scaled_direction": [ 0.7151299851410865, -0.14260326155762948, -0.0012777951784502825, 0.05204470271819456, 0.032170738555938584, 0.6815483650368894 ] }, "forward_reverse": { "translation_m": 0.03026165336674197, "rotation_deg": 0.022229096602302635 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.542766177132399e-15, "rotation_deg": 1.61652701750403e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 11, "j": 14, "lidar_time_i": 1784255779.676285, "lidar_time_j": 1784256288.555478, "frame_counter_i": 17319, "frame_counter_j": 22408, "rtk_translation_m": 7.513058208926106, "rtk_rotation_deg": 116.17598776756182, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.47008278937912884, 0.8778104406830235, 0.09203804298991175, -4.922075066208368 ], [ -0.8826162312832012, -0.46790429627745816, -0.045322817658813346, -8.02822556150332 ], [ 0.003280153193869819, -0.10253974718601387, 0.9947234996932834, -0.05208095772954405 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 12, "backend_num_inliers": 6355, "backend_objective": 461.9280140750825, "backend_elapsed_sec": 0.1332812999971793, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 12, "num_inliers": 3770, "objective": 2641.7568706749053 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 5402, "objective": 542.5294248550516 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 12, "num_inliers": 6355, "objective": 461.9280140750825 } ], "heldout_symmetric": { "evaluated": 8181, "inliers": 4502, "inlier_ratio": 0.5502994743918836, "inlier_rmse_m": 0.13363854913882675, "median_m": 0.2098237832216049, "p90_m": 1.5443271950839803, "p95_m": 2.5433742955069607 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 9064.01076040138, 17288.375253654736, 23152.337927605346, 59388.591356263074, 386412.1696285849, 694262.6915440422 ], "effective_rank": 6, "scaled_condition_number": 76.59552817138297, "weakest_scaled_direction": [ 0.7999959798950883, 0.09984954399240337, 0.00036443859253461536, 0.04505649545756605, 0.08394900200691098, 0.5839168135786503 ] }, "forward_reverse": { "translation_m": 0.012728663920096705, "rotation_deg": 0.13777836936248603 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.9081537956177416e-06, "rotation_deg": 7.024559753171988e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 13, "lidar_time_i": 1784255976.968491, "lidar_time_j": 1784256136.3617284, "frame_counter_i": 19292, "frame_counter_j": 20886, "rtk_translation_m": 4.470221622128888, "rtk_rotation_deg": 63.638825029682685, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.45518795507953536, 0.8806757181259877, 0.13120291556892832, -0.36313149768144026 ], [ -0.8903849852351291, 0.4509256960348763, 0.062294419680266055, -5.5873959212174364 ], [ -0.00430158323756421, -0.14517677554877292, 0.9893963817514753, 0.07504021975377846 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 5969, "backend_objective": 582.3495415951427, "backend_elapsed_sec": 0.09732400000211783, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3742, "objective": 960.705249387963 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5274, "objective": 651.0741821680006 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 5969, "objective": 582.3495415951427 } ], "heldout_symmetric": { "evaluated": 8118, "inliers": 4379, "inlier_ratio": 0.5394185760039418, "inlier_rmse_m": 0.1291861812905223, "median_m": 0.2136111190065929, "p90_m": 1.3583261301567073, "p95_m": 2.241200695618558 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 13601.402435277021, 29710.530981642187, 50933.425160137616, 113590.97287487936, 370481.6535213091, 546630.7470390503 ], "effective_rank": 6, "scaled_condition_number": 40.18929295270992, "weakest_scaled_direction": [ 0.7236918442396623, -0.12612452493424942, -0.011484351344022353, 0.059268710695743895, 0.035077552263414476, 0.6748982247161309 ] }, "forward_reverse": { "translation_m": 0.016569656651710556, "rotation_deg": 0.06971243680146068 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.2803286093439427e-15, "rotation_deg": 1.338489262522533e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 14, "lidar_time_i": 1784255976.968491, "lidar_time_j": 1784256288.555478, "frame_counter_i": 19292, "frame_counter_j": 22408, "rtk_translation_m": 7.042432348069883, "rtk_rotation_deg": 87.62788785503537, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.0021825602459423915, 0.9965174217262625, 0.08335625127615602, -0.27035351318353673 ], [ -0.9997594529601681, 0.0003552983574428027, 0.021929659820922733, -8.2574392105335 ], [ 0.021823671724918947, -0.0833840629803923, 0.9962784878703972, 0.17865309723463324 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 6828, "backend_objective": 618.3271427110077, "backend_elapsed_sec": 0.14201709999906598, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3996, "objective": 1228.2353648877847 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5863, "objective": 678.370898560891 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 6828, "objective": 618.3271427110077 } ], "heldout_symmetric": { "evaluated": 8223, "inliers": 4801, "inlier_ratio": 0.5838501763346711, "inlier_rmse_m": 0.13149007038687927, "median_m": 0.1903804643804301, "p90_m": 1.492440437688632, "p95_m": 2.4095908597286577 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 15224.46877742388, 25661.420755718398, 55955.135342324895, 92990.06425696622, 413111.30713994784, 710685.3921925274 ], "effective_rank": 6, "scaled_condition_number": 46.68047224389145, "weakest_scaled_direction": [ -0.7147631663185814, -0.3634431411400236, -0.0035810558926622927, 0.10600915602096195, 0.004510329742552284, -0.5880064549276128 ] }, "forward_reverse": { "translation_m": 0.016475747103725697, "rotation_deg": 0.027479170527625274 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.910174132484935e-06, "rotation_deg": 1.9207746396590128e-05 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 15, "lidar_time_i": 1784255976.968491, "lidar_time_j": 1784256379.5515926, "frame_counter_i": 19292, "frame_counter_j": 23318, "rtk_translation_m": 9.425648786798952, "rtk_rotation_deg": 64.11974003309916, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.43802168063953767, 0.8944346955775235, 0.09013091942756407, 0.7162844958272518 ], [ -0.8989628537937877, 0.43600026852598744, 0.042066059290080456, -10.419630433030505 ], [ -0.0016717621376428867, -0.09945019453178437, 0.995041136847591, 0.31598650657026534 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 14, "backend_num_inliers": 5715, "backend_objective": 445.5765295317542, "backend_elapsed_sec": 0.13727279999875464, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3622, "objective": 1162.8288410869952 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 8, "num_inliers": 5071, "objective": 751.2096302588283 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 14, "num_inliers": 5715, "objective": 445.5765295317542 } ], "heldout_symmetric": { "evaluated": 8141, "inliers": 4171, "inlier_ratio": 0.512344920771404, "inlier_rmse_m": 0.13771827771927672, "median_m": 0.23951514008571945, "p90_m": 1.7401790146448117, "p95_m": 2.772253200651671 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 7395.011220108009, 15446.339397939639, 29060.010489087173, 54379.005833971976, 310590.6312192472, 614385.0936254476 ], "effective_rank": 6, "scaled_condition_number": 83.08102250810028, "weakest_scaled_direction": [ 0.7772460922681672, -0.01813981289306854, -0.0025211633766067296, 0.03534264049542607, 0.036069928634827435, 0.6268994823641082 ] }, "forward_reverse": { "translation_m": 0.1594220156320846, "rotation_deg": 0.7727589642419826 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2959208739370123e-15, "rotation_deg": 1.5971584200687242e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 13, "j": 14, "lidar_time_i": 1784256136.3617284, "lidar_time_j": 1784256288.555478, "frame_counter_i": 20886, "frame_counter_j": 22408, "rtk_translation_m": 2.6059162757855927, "rtk_rotation_deg": 23.989062825352686, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8912343738314886, 0.4535319654347207, 0.003169736600035322, 2.421687989858907 ], [ -0.45294035737404276, 0.8903885050132939, -0.04531382572754398, -1.1587659836890734 ], [ -0.02337356547617081, 0.03894953746979527, 0.9989677722368325, 0.0420823939863406 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 12, "backend_num_inliers": 7630, "backend_objective": 1455.303960542742, "backend_elapsed_sec": 0.1647997000036412, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4426, "objective": 1313.7031765388956 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6680, "objective": 849.3108750728281 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 12, "num_inliers": 7630, "objective": 1455.303960542742 } ], "heldout_symmetric": { "evaluated": 8117, "inliers": 5427, "inlier_ratio": 0.6685967722064802, "inlier_rmse_m": 0.11944947118678222, "median_m": 0.14378616058602978, "p90_m": 0.8842570158395386, "p95_m": 1.229203482110631 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 46765.544228026156, 80793.54981191776, 149884.31382019675, 265394.9845172282, 505846.5961876668, 818127.7305801059 ], "effective_rank": 6, "scaled_condition_number": 17.494241627788213, "weakest_scaled_direction": [ 0.04867092585785047, -0.1575387586342452, 0.005987515417252639, 0.8374697852706786, 0.5185638422497113, -0.05012714267887746 ] }, "forward_reverse": { "translation_m": 0.00889966253307221, "rotation_deg": 0.1868503363813343 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.309780215592113e-07, "rotation_deg": 3.3115878200538718e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 13, "j": 15, "lidar_time_i": 1784256136.3617284, "lidar_time_j": 1784256379.5515926, "frame_counter_i": 20886, "frame_counter_j": 23318, "rtk_translation_m": 4.985522367267706, "rtk_rotation_deg": 0.4809150034164723, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9998023060760732, 0.01976036213739393, -0.002208359836026279, 4.820338500008935 ], [ -0.019823432056912265, 0.9992389047447424, -0.03359527922213463, -1.2706565755670578 ], [ 0.001542824180296927, 0.03363241491072646, 0.9994330794809728, 0.04749694736072386 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 13, "backend_num_inliers": 7375, "backend_objective": 961.1249598514407, "backend_elapsed_sec": 0.15755589999753283, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4178, "objective": 942.548118973746 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6222, "objective": 826.5152620069694 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 13, "num_inliers": 7375, "objective": 961.1249598514407 } ], "heldout_symmetric": { "evaluated": 8035, "inliers": 5127, "inlier_ratio": 0.6380833851897947, "inlier_rmse_m": 0.12132550246856395, "median_m": 0.15770625805094865, "p90_m": 1.0105183714882358, "p95_m": 1.4443938375355427 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 38220.47822724542, 74192.62410794286, 133171.8151269444, 185356.25081268084, 512375.02921205445, 737086.3171991681 ], "effective_rank": 6, "scaled_condition_number": 19.285114979899365, "weakest_scaled_direction": [ 0.011324376957745776, 0.11235035926494373, -0.0009444747378392497, -0.9878526280648751, -0.10568876107911156, 0.015011136995866018 ] }, "forward_reverse": { "translation_m": 0.011310526444604854, "rotation_deg": 0.11618951108877962 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.427794399111402e-15, "rotation_deg": 2.7055481326957747e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 13, "j": 16, "lidar_time_i": 1784256136.3617284, "lidar_time_j": 1784256534.7457418, "frame_counter_i": 20886, "frame_counter_j": 24870, "rtk_translation_m": 5.330126890587504, "rtk_rotation_deg": 0.570225046299944, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9999522007230719, -0.0026049193654290336, 0.00942394101135911, -5.324303283700147 ], [ 0.003322840708574443, 0.9970266672774769, -0.07698560558438003, -0.3752017394440634 ], [ -0.009195379204328873, 0.07701323998292689, 0.996987665855812, -0.05706909380340966 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 14, "backend_num_inliers": 5639, "backend_objective": 513.670596852096, "backend_elapsed_sec": 0.15019320000283187, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3476, "objective": 828.8592863122066 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 4958, "objective": 505.0197716476575 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 14, "num_inliers": 5639, "objective": 513.670596852096 } ], "heldout_symmetric": { "evaluated": 7978, "inliers": 4064, "inlier_ratio": 0.5094008523439458, "inlier_rmse_m": 0.12969283093489314, "median_m": 0.23871269787212862, "p90_m": 2.5595252487569766, "p95_m": 4.831947998817693 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 27411.22938276199, 38474.070805716256, 63895.302152855875, 75112.7797121055, 339625.5586139107, 638346.6953072507 ], "effective_rank": 6, "scaled_condition_number": 23.287780580490335, "weakest_scaled_direction": [ -0.009584146992439467, 0.16279417906655858, -0.009399205231237984, -0.9830437940095708, -0.0811894714868599, 0.018735610703872106 ] }, "forward_reverse": { "translation_m": 0.01929138406979036, "rotation_deg": 0.6381307294537529 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.310252409044606e-15, "rotation_deg": 4.835073897325631e-15 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 14, "j": 15, "lidar_time_i": 1784256288.555478, "lidar_time_j": 1784256379.5515926, "frame_counter_i": 22408, "frame_counter_j": 23318, "rtk_translation_m": 2.3845573265941185, "rtk_rotation_deg": 23.508147821936216, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8998499359291912, -0.4359398958188749, -0.015049918327306625, 2.1827399823027336 ], [ 0.4361516727459754, 0.8997268215880295, 0.016228520449798337, 0.9782555530946961 ], [ 0.006466155667607454, -0.02116728014012171, 0.9997550375378721, 0.08740740255199607 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 9014, "backend_objective": 1875.867732651144, "backend_elapsed_sec": 0.17852779999520862, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4496, "objective": 957.8888237731599 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 7157, "objective": 843.154578030835 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 9014, "objective": 1875.867732651144 } ], "heldout_symmetric": { "evaluated": 8140, "inliers": 6443, "inlier_ratio": 0.7915233415233415, "inlier_rmse_m": 0.11297936021484274, "median_m": 0.10706160747447739, "p90_m": 0.507390407485888, "p95_m": 0.839560107644622 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 63475.17710631269, 184662.16835054953, 298957.8130093707, 385573.67462821543, 687267.7766717601, 939588.3475754261 ], "effective_rank": 6, "scaled_condition_number": 14.802453343324077, "weakest_scaled_direction": [ 0.006854375946953913, 0.10286850498345976, -0.00027346378593445027, -0.988236033300316, -0.1112698302983711, 0.01948283302376861 ] }, "forward_reverse": { "translation_m": 0.04714013527415902, "rotation_deg": 0.5990777245962995 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.0751942408233176e-06, "rotation_deg": 7.548486444932098e-06 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 14, "j": 16, "lidar_time_i": 1784256288.555478, "lidar_time_j": 1784256534.7457418, "frame_counter_i": 22408, "frame_counter_j": 24870, "rtk_translation_m": 7.871327660405588, "rtk_rotation_deg": 24.55928787165262, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8897389682057136, -0.45646966552081075, -0.00011364661203049606, -7.263239507289757 ], [ 0.45642610077844487, 0.8896574379624367, -0.013596235004545161, -2.84864546956515 ], [ 0.0063073753985592295, 0.012045228824430657, 0.9999075604665406, -0.20440460266109475 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 6063, "backend_objective": 496.26452336902076, "backend_elapsed_sec": 0.12041150000004563, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3580, "objective": 1062.5168745589585 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5268, "objective": 546.8445311304296 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 6063, "objective": 496.26452336902076 } ], "heldout_symmetric": { "evaluated": 8083, "inliers": 4168, "inlier_ratio": 0.515650129902264, "inlier_rmse_m": 0.1258655742770286, "median_m": 0.22919793596086796, "p90_m": 2.594510357876042, "p95_m": 4.609535834861499 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 26952.66917035411, 29416.308782956065, 66005.3484185413, 87336.038605321, 435785.59407900745, 754379.7461924974 ], "effective_rank": 6, "scaled_condition_number": 27.98905523695805, "weakest_scaled_direction": [ -0.44578870702799445, -0.16089455629693108, -0.0008692493253782343, -0.8468223651522725, -0.11955307695258373, -0.2097225751201181 ] }, "forward_reverse": { "translation_m": 0.019790578845351906, "rotation_deg": 0.2492103704468241 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.044890973928333e-15, "rotation_deg": 1.140017152611419e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 14, "j": 17, "lidar_time_i": 1784256288.555478, "lidar_time_j": 1784256678.6410081, "frame_counter_i": 22408, "frame_counter_j": 26309, "rtk_translation_m": 6.334147330965719, "rtk_rotation_deg": 0.13339551798522414, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9994207853807073, -0.03403061736672444, -0.00010407041614550044, -5.632055419098489 ], [ 0.03402998215382529, 0.9994136784232563, -0.003776201147663733, -2.8984852324305423 ], [ 0.0002325158537709441, 0.0037704724023494385, 0.9999928647116642, -0.17147294877222133 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 12, "backend_num_inliers": 6811, "backend_objective": 558.3449670113622, "backend_elapsed_sec": 0.12805240000307094, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3949, "objective": 1092.2180210764654 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5854, "objective": 726.1879158222547 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 12, "num_inliers": 6811, "objective": 558.3449670113622 } ], "heldout_symmetric": { "evaluated": 8094, "inliers": 4870, "inlier_ratio": 0.6016802569804793, "inlier_rmse_m": 0.12195151942370595, "median_m": 0.17018616284477028, "p90_m": 1.5016146147157554, "p95_m": 2.43761714609227 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 32895.66665628805, 56729.74298723965, 78566.09972291421, 122496.81698787458, 473650.18726381595, 850395.274878842 ], "effective_rank": 6, "scaled_condition_number": 25.851285634799194, "weakest_scaled_direction": [ 0.11854872697857118, -0.03620123735838449, -0.0025408098341967787, 0.8487231630819442, 0.5013704778655587, -0.1136919100196249 ] }, "forward_reverse": { "translation_m": 0.01939980613812204, "rotation_deg": 0.1992615163030762 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0747845227977221e-06, "rotation_deg": 9.805747437173149e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 15, "j": 16, "lidar_time_i": 1784256379.5515926, "lidar_time_j": 1784256534.7457418, "frame_counter_i": 23318, "frame_counter_j": 24870, "rtk_translation_m": 10.188241681839806, "rtk_rotation_deg": 1.051140049716416, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9997015544383775, -0.0227703234527983, 0.008849543680213989, -10.167954486452267 ], [ 0.02300643122017748, 0.9993552780301788, -0.02756324356339905, 0.6789456214353665 ], [ -0.008216214213633602, 0.027758613853702388, 0.9995808887633443, -0.1859319993162138 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 5563, "backend_objective": 490.410389492314, "backend_elapsed_sec": 0.11604739999893354, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3523, "objective": 1267.0238186870702 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5048, "objective": 544.0615864072715 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 5563, "objective": 490.410389492314 } ], "heldout_symmetric": { "evaluated": 8001, "inliers": 3673, "inlier_ratio": 0.4590676165479315, "inlier_rmse_m": 0.13331101566670972, "median_m": 0.3002196892764815, "p90_m": 3.2581372835342717, "p95_m": 5.855203764788552 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 17239.11913109965, 20134.699454305603, 37235.73050760069, 45146.73572292974, 387505.0132568977, 644086.0923223444 ], "effective_rank": 6, "scaled_condition_number": 37.36189113980903, "weakest_scaled_direction": [ -0.6503648348618848, -0.6445334681821625, -0.000915705696581413, 0.3989053307308535, -0.038593786894989164, -0.03140713579485332 ] }, "forward_reverse": { "translation_m": 0.03193705319987942, "rotation_deg": 0.25820325147713563 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.7240086067659812e-15, "rotation_deg": 1.0876152380957797e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 15, "j": 17, "lidar_time_i": 1784256379.5515926, "lidar_time_j": 1784256678.6410081, "frame_counter_i": 23318, "frame_counter_j": 26309, "rtk_translation_m": 8.639041695194567, "rtk_rotation_deg": 23.641543339921444, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9141296132676869, 0.40540459081847563, 0.0037640258200782443, -8.729538276191489 ], [ -0.40527531604148775, 0.9140091249072223, -0.018418409100883965, -0.08240811068789908 ], [ -0.010907261551009044, 0.01531134643457656, 0.9998232815432031, -0.1677894599953628 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6220, "backend_objective": 485.1828054284849, "backend_elapsed_sec": 0.1345738000018173, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 15, "num_inliers": 3860, "objective": 1376.345055039893 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5582, "objective": 600.1045801253993 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6220, "objective": 485.1828054284849 } ], "heldout_symmetric": { "evaluated": 8012, "inliers": 4318, "inlier_ratio": 0.5389415876185721, "inlier_rmse_m": 0.1297159188720241, "median_m": 0.21542729412300382, "p90_m": 1.79522367477362, "p95_m": 3.0549286044438078 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 26867.028071381184, 32559.91926414736, 57105.321576312854, 136203.58156358713, 430514.28084125667, 640133.7159173073 ], "effective_rank": 6, "scaled_condition_number": 23.825996467364362, "weakest_scaled_direction": [ -0.15565619986656173, -0.053000344596286206, 0.004079505504695158, -0.84397432606044, -0.5062837370845512, 0.06579956736286026 ] }, "forward_reverse": { "translation_m": 0.007152603768137945, "rotation_deg": 0.01099978555369691 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.8393560444588434e-15, "rotation_deg": 8.610987100606946e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 15, "j": 18, "lidar_time_i": 1784256379.5515926, "lidar_time_j": 1784256798.4344501, "frame_counter_i": 23318, "frame_counter_j": 27507, "rtk_translation_m": 9.620687246763701, "rtk_rotation_deg": 76.25281000098852, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.23122414908690103, 0.9728430859471087, -0.010569910309299494, -10.53220655051897 ], [ -0.9725641353396981, 0.23084490064683996, -0.028803376473888875, -0.6857073012760646 ], [ -0.025581155759358123, 0.016939951896586636, 0.9995292104284682, -0.2049621161786277 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 5773, "backend_objective": 389.5330823366841, "backend_elapsed_sec": 0.1376103000002331, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 3753, "objective": 1305.1642850813175 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 5298, "objective": 793.9817023332739 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 5773, "objective": 389.5330823366841 } ], "heldout_symmetric": { "evaluated": 7871, "inliers": 4095, "inlier_ratio": 0.5202642612120442, "inlier_rmse_m": 0.13378678930694327, "median_m": 0.23206551096779673, "p90_m": 1.7500735778224101, "p95_m": 3.1652207852718126 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 15135.92291440619, 19523.674572495456, 33280.58301984846, 55998.47622918941, 428056.87787558854, 601112.4117138004 ], "effective_rank": 6, "scaled_condition_number": 39.71428865706424, "weakest_scaled_direction": [ 0.061637737009855566, -0.9430870672797075, 0.014338657192172272, 0.08144599518067594, -0.08797749921695681, -0.30365850114322496 ] }, "forward_reverse": { "translation_m": 0.023698091864950893, "rotation_deg": 0.7026335973530661 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1157603309187458e-15, "rotation_deg": 1.0243743084399812e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 16, "j": 17, "lidar_time_i": 1784256534.7457418, "lidar_time_j": 1784256678.6410081, "frame_counter_i": 24870, "frame_counter_j": 26309, "rtk_translation_m": 1.5531467972267479, "rtk_rotation_deg": 24.69268338963786, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9044363112464162, 0.42628595156270244, -0.016590551505539543, 1.4009909255190975 ], [ -0.4260763097583071, 0.9045665624974811, 0.014775394215872682, -0.7967529018346142 ], [ 0.021305801128330634, -0.006294562079480105, 0.9997531902057167, 0.02557907651542315 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 8318, "backend_objective": 1226.4357314653728, "backend_elapsed_sec": 0.0907526999944821, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3999, "objective": 856.6344537898987 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6763, "objective": 802.3911942100771 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 8318, "objective": 1226.4357314653728 } ], "heldout_symmetric": { "evaluated": 7955, "inliers": 5751, "inlier_ratio": 0.7229415461973602, "inlier_rmse_m": 0.10903876418375444, "median_m": 0.11127819884612578, "p90_m": 1.275765835923042, "p95_m": 2.625185131735879 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 43526.092959437425, 166939.89896801452, 247007.80834118306, 351940.4048958493, 489017.6219728073, 1199812.8079664994 ], "effective_rank": 6, "scaled_condition_number": 27.565368871601265, "weakest_scaled_direction": [ 0.06058538593233583, -0.13122304280445923, -0.0003200556366214719, 0.8595594993709861, 0.49016441932931015, -0.0024760205205716025 ] }, "forward_reverse": { "translation_m": 0.004743603748938733, "rotation_deg": 0.03110066538977425 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.2673971694020647e-07, "rotation_deg": 2.503289219925228e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 16, "j": 18, "lidar_time_i": 1784256534.7457418, "lidar_time_j": 1784256798.4344501, "frame_counter_i": 24870, "frame_counter_j": 27507, "rtk_translation_m": 0.5677742310084086, "rtk_rotation_deg": 77.30395005070493, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.20949209402632676, 0.9776046592729533, -0.02005474278761867, -0.39943180660423966 ], [ -0.9778103075794823, 0.2094426755821079, -0.004557196103580512, -1.3508145960046476 ], [ -0.00025481715653101207, 0.02056443076821652, 0.9997884972609941, -0.025823220907427336 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 17, "backend_num_inliers": 8752, "backend_objective": 1267.0308744365327, "backend_elapsed_sec": 0.1753374999971129, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3893, "objective": 657.8714979714647 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6743, "objective": 618.206373559294 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 17, "num_inliers": 8752, "objective": 1267.0308744365327 } ], "heldout_symmetric": { "evaluated": 7814, "inliers": 5921, "inlier_ratio": 0.75774251343742, "inlier_rmse_m": 0.10672872147965808, "median_m": 0.10413038435062855, "p90_m": 1.2438161361772777, "p95_m": 2.642259955999055 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 51681.938196835385, 152698.22419215602, 290635.4781951394, 344971.79948448204, 611007.3561373402, 1238394.0028664866 ], "effective_rank": 6, "scaled_condition_number": 23.961833593584473, "weakest_scaled_direction": [ 0.1671609286104912, -0.03380814500607621, 0.008628386472209268, 0.12451737579506356, 0.9771999217521097, -0.020384314484276942 ] }, "forward_reverse": { "translation_m": 0.00729627345064471, "rotation_deg": 0.5370128665073076 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.0056951509835115e-15, "rotation_deg": 1.0112509993845629e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 16, "j": 19, "lidar_time_i": 1784256534.7457418, "lidar_time_j": 1784256931.0294852, "frame_counter_i": 24870, "frame_counter_j": 28833, "rtk_translation_m": 2.9811390265794215, "rtk_rotation_deg": 109.91770005034847, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.3516100509209826, 0.936098498658963, -0.009485404565969911, -2.0742082086392344 ], [ -0.9354946822966979, -0.35172523528106864, -0.0337499372010806, -4.222918296878955 ], [ -0.03492952169646772, -0.002993271606954244, 0.9993852954887537, -0.03765716569040032 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7061, "backend_objective": 461.5914967971439, "backend_elapsed_sec": 0.13223979999747826, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 14, "num_inliers": 3561, "objective": 855.4107832390793 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5715, "objective": 481.970772665258 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7061, "objective": 461.5914967971439 } ], "heldout_symmetric": { "evaluated": 8000, "inliers": 4995, "inlier_ratio": 0.624375, "inlier_rmse_m": 0.11606003815798548, "median_m": 0.1514513869938955, "p90_m": 1.73669221235636, "p95_m": 2.735501950430222 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 24129.59411319369, 32373.47711729955, 58841.203196575756, 86898.58175112416, 474491.536894069, 1059981.8113939231 ], "effective_rank": 6, "scaled_condition_number": 43.92870457834769, "weakest_scaled_direction": [ -0.16820235324262287, -0.058954555725516763, -0.029337447128326945, 0.42166196222787367, -0.8870000521426662, 0.05295035436982381 ] }, "forward_reverse": { "translation_m": 0.00942822069733503, "rotation_deg": 0.10349184268425643 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 7.951177265556479e-06, "rotation_deg": 8.3073736616711e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 18, "lidar_time_i": 1784256678.6410081, "lidar_time_j": 1784256798.4344501, "frame_counter_i": 26309, "frame_counter_j": 27507, "rtk_translation_m": 0.98603936348044, "rtk_rotation_deg": 52.61126666106708, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.606069659088095, 0.7953353115219893, -0.01101410818281325, -1.4181672818254825 ], [ -0.7953919806745632, 0.6058994404442228, -0.015409904216933229, -1.2930373572591214 ], [ -0.005582598985939911, 0.018100008718228637, 0.9998205960435915, 0.006284302350749419 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 18, "backend_num_inliers": 9279, "backend_objective": 1350.0864027294872, "backend_elapsed_sec": 0.22832729999936419, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4305, "objective": 928.9119808234159 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7307, "objective": 742.5261299257812 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 18, "num_inliers": 9279, "objective": 1350.0864027294872 } ], "heldout_symmetric": { "evaluated": 7825, "inliers": 6288, "inlier_ratio": 0.8035782747603833, "inlier_rmse_m": 0.11258525838778834, "median_m": 0.10649152428951339, "p90_m": 0.4824433217202079, "p95_m": 0.7187348662644616 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 114044.65342662529, 167814.39297924298, 246102.60193668984, 327945.3644490077, 637116.6102302462, 1200476.8033071659 ], "effective_rank": 6, "scaled_condition_number": 10.5263751279628, "weakest_scaled_direction": [ 0.14747807862713613, -0.08533315159159649, -0.032559037185622135, 0.1420842862281211, 0.973528604970575, -0.044299995175285566 ] }, "forward_reverse": { "translation_m": 0.04456291633933312, "rotation_deg": 0.40754887525204303 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.4685637307956015e-07, "rotation_deg": 2.8482624120020845e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 19, "lidar_time_i": 1784256678.6410081, "lidar_time_j": 1784256931.0294852, "frame_counter_i": 26309, "frame_counter_j": 28833, "rtk_translation_m": 3.326868398717413, "rtk_rotation_deg": 85.22501666071064, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.0805970537397582, 0.9967464671496635, -0.0007714616877187484, -1.7112669594199483 ], [ -0.9954267280985057, 0.08045047122955501, -0.05151068496970481, -4.599408656464984 ], [ -0.05128102880770001, 0.004919543028334273, 0.9986721454916102, -0.13783519795374166 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7276, "backend_objective": 389.7841342653983, "backend_elapsed_sec": 0.2591735999958473, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3742, "objective": 727.0674970447593 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6101, "objective": 540.928171170392 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7276, "objective": 389.7841342653983 } ], "heldout_symmetric": { "evaluated": 8011, "inliers": 5345, "inlier_ratio": 0.667207589564349, "inlier_rmse_m": 0.1151980232980854, "median_m": 0.13680251069033955, "p90_m": 1.2096575287808728, "p95_m": 1.8798978631518177 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 25696.184216660444, 43278.55282217451, 69636.17037767288, 77307.85375092001, 533914.1107571747, 972064.3096566651 ], "effective_rank": 6, "scaled_condition_number": 37.82913063903142, "weakest_scaled_direction": [ 0.6579662022364344, -0.6303457069498717, 0.025792673895899905, 0.03853891669204552, 0.04852592483600396, 0.4064966063040915 ] }, "forward_reverse": { "translation_m": 0.002550382605456025, "rotation_deg": 0.05599236133477508 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2964317183584966e-06, "rotation_deg": 9.824560554883892e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 20, "lidar_time_i": 1784256678.6410081, "lidar_time_j": 1784257228.6177175, "frame_counter_i": 26309, "frame_counter_j": 31809, "rtk_translation_m": 1.702964560097507, "rtk_rotation_deg": 146.95247656520317, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.8389066296625791, 0.542013322468758, -0.04957040422017691, -3.4126595415515117 ], [ -0.5403613108943356, -0.840315189779315, -0.04335937631827396, -2.046677450034886 ], [ -0.06515612324815613, -0.00958853964545765, 0.9978290131634472, -0.17386675507531454 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7675, "backend_objective": 563.680367608485, "backend_elapsed_sec": 0.3050522999983514, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 15, "num_inliers": 3938, "objective": 926.3826161605953 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": false, "iterations": 39, "num_inliers": 6237, "objective": 586.9855271664292 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7675, "objective": 563.680367608485 } ], "heldout_symmetric": { "evaluated": 7919, "inliers": 5303, "inlier_ratio": 0.6696552595024624, "inlier_rmse_m": 0.11181113630432839, "median_m": 0.12891454710389022, "p90_m": 1.0792229280660088, "p95_m": 1.6212597913852251 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 38885.37672557449, 46766.506793335975, 67701.82129714939, 207094.99727869636, 562627.9107866625, 888110.0510721776 ], "effective_rank": 6, "scaled_condition_number": 22.83917826847431, "weakest_scaled_direction": [ -0.9375052177352092, 0.0012512210354023723, -0.04853732487021837, -0.05798338883222041, -0.08446719282342695, 0.32898290109925565 ] }, "forward_reverse": { "translation_m": 0.009851652453759501, "rotation_deg": 0.030403861001117326 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 7.265177659758524e-15, "rotation_deg": 1.81015934970548e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 18, "j": 19, "lidar_time_i": 1784256798.4344501, "lidar_time_j": 1784256931.0294852, "frame_counter_i": 27507, "frame_counter_j": 28833, "rtk_translation_m": 3.0423123591285863, "rtk_rotation_deg": 32.61374999964355, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8413421306002993, 0.5401749003199233, 0.018828073223520547, 2.4639065360594214 ], [ -0.5400841987529208, 0.8415510269801977, -0.010046255321757389, -2.240646045631129 ], [ -0.021271519324330874, -0.0017164069840244528, 0.999772262274114, 0.019164540125937404 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 8616, "backend_objective": 956.7136686272877, "backend_elapsed_sec": 0.1658876000001328, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3952, "objective": 860.110565818336 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6630, "objective": 536.257088215268 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 8616, "objective": 956.7136686272877 } ], "heldout_symmetric": { "evaluated": 7870, "inliers": 6141, "inlier_ratio": 0.7803049555273189, "inlier_rmse_m": 0.10890373850857962, "median_m": 0.10440463421212016, "p90_m": 0.6521983534195289, "p95_m": 1.1734831393569933 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 78877.10288787694, 84101.37575162206, 160127.90957880375, 254537.23538882803, 650511.5411193318, 1172660.2314165845 ], "effective_rank": 6, "scaled_condition_number": 14.866928278077225, "weakest_scaled_direction": [ 0.38044677737671645, -0.6175421178983382, -0.007039238893102079, 0.05928246961241466, -0.02019697766183604, 0.6855144799426871 ] }, "forward_reverse": { "translation_m": 0.0027074586252039488, "rotation_deg": 0.03345524421318835 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.0918664935034067e-15, "rotation_deg": 5.8319512171970914e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 18, "j": 20, "lidar_time_i": 1784256798.4344501, "lidar_time_j": 1784257228.6177175, "frame_counter_i": 27507, "frame_counter_j": 31809, "rtk_translation_m": 1.0853574230860805, "rtk_rotation_deg": 94.34120990413592, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.07741971445454904, 0.9968329853313868, -0.018171053054004932, -0.5948194109933571 ], [ -0.9962411393835493, -0.07805835632561409, -0.03755642698009, -2.047537302412852 ], [ -0.038855887759044465, 0.015195142745589103, 0.9991292847391665, -0.014188698261691642 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 13, "backend_num_inliers": 8982, "backend_objective": 1031.9497940986337, "backend_elapsed_sec": 0.1450198999955319, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4178, "objective": 905.7123740483868 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6940, "objective": 604.7334012217835 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 13, "num_inliers": 8982, "objective": 1031.9497940986337 } ], "heldout_symmetric": { "evaluated": 7778, "inliers": 6137, "inlier_ratio": 0.7890203137053227, "inlier_rmse_m": 0.110891959946164, "median_m": 0.10733004926410059, "p90_m": 0.5977894324849418, "p95_m": 1.0190637764387274 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 113608.81247799078, 137388.7251622544, 157668.3128173131, 368739.70217835915, 689562.5789496836, 1105520.5253335 ], "effective_rank": 6, "scaled_condition_number": 9.73093989119612, "weakest_scaled_direction": [ 0.13897035899928514, -0.23011712102442333, -0.0017501649034986672, 0.9420026575074658, -0.028294637445202792, 0.19889870184234165 ] }, "forward_reverse": { "translation_m": 0.07641393239305394, "rotation_deg": 0.480643469622101 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.802499411511854e-08, "rotation_deg": 3.4831950965669364e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 18, "j": 21, "lidar_time_i": 1784256798.4344501, "lidar_time_j": 1784257345.9129474, "frame_counter_i": 27507, "frame_counter_j": 32982, "rtk_translation_m": 0.7190584934612743, "rtk_rotation_deg": 134.43032499953063, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.7066078605019434, 0.7076025553036142, 0.0019887696352553063, -1.8783547815883113 ], [ -0.7071630079772385, -0.70606398998329, -0.03733794581202542, -0.33410637731292914 ], [ -0.025016227242551092, -0.02778967032321371, 0.9993007168004414, -0.11278262785455791 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 9157, "backend_objective": 1276.2856829565746, "backend_elapsed_sec": 0.14711710000119638, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 4466, "objective": 991.5970034191695 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 7207, "objective": 729.2372529296415 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 9157, "objective": 1276.2856829565746 } ], "heldout_symmetric": { "evaluated": 7939, "inliers": 6102, "inlier_ratio": 0.7686106562539362, "inlier_rmse_m": 0.1151576675189467, "median_m": 0.11617967612489997, "p90_m": 0.6930017744881233, "p95_m": 1.1218970047072188 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 94377.40922866824, 147328.99506129805, 205058.68905170602, 296714.34916519176, 612921.4249016126, 1050652.9192797944 ], "effective_rank": 6, "scaled_condition_number": 11.132461972272983, "weakest_scaled_direction": [ -0.16382445094126535, 0.3117324182312199, -0.03642113344298442, -0.7406798504082759, -0.5589113022703062, -0.11691648784462569 ] }, "forward_reverse": { "translation_m": 0.012325022302827005, "rotation_deg": 0.06184414805686676 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.618159327614882e-07, "rotation_deg": 7.653967189561823e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 19, "j": 20, "lidar_time_i": 1784256931.0294852, "lidar_time_j": 1784257228.6177175, "frame_counter_i": 28833, "frame_counter_j": 31809, "rtk_translation_m": 1.9962827272376449, "rtk_rotation_deg": 61.72745990449234, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.47405983570253, 0.8803921908828962, -0.013298962595058247, -2.676558627239552 ], [ -0.8799484001083862, 0.47318180893348466, -0.042305896056308676, -1.4932989167082558 ], [ -0.030952953338609267, 0.03175792699232479, 0.9990161904357543, -0.15652381867717788 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 12, "backend_num_inliers": 7939, "backend_objective": 724.362552907716, "backend_elapsed_sec": 0.13898329999938142, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4053, "objective": 1103.0043457050915 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6453, "objective": 732.6305423005572 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 12, "num_inliers": 7939, "objective": 724.362552907716 } ], "heldout_symmetric": { "evaluated": 7964, "inliers": 5739, "inlier_ratio": 0.7206177800100452, "inlier_rmse_m": 0.11075109929370276, "median_m": 0.11674169176002847, "p90_m": 0.8448943036529947, "p95_m": 1.3485006575527223 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 53196.94085196885, 77289.81923132221, 93789.88621040093, 155088.22495762137, 631621.5053000151, 989101.7814746586 ], "effective_rank": 6, "scaled_condition_number": 18.593207910714877, "weakest_scaled_direction": [ 0.8700876332541531, 0.005438849005067692, 0.021391655167415157, 0.00020001566663914986, 0.07587185938417014, 0.4865220934512705 ] }, "forward_reverse": { "translation_m": 0.06755956873701982, "rotation_deg": 0.6275145294718035 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.04530173519838e-13, "rotation_deg": 8.841805729134826e-13 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 19, "j": 21, "lidar_time_i": 1784256931.0294852, "lidar_time_j": 1784257345.9129474, "frame_counter_i": 28833, "frame_counter_j": 32982, "rtk_translation_m": 3.133843614009462, "rtk_rotation_deg": 101.81657499988698, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.21139845280798214, 0.9773335280609319, -0.011396011511219703, -4.668912734372804 ], [ -0.9761927103029002, -0.21170231619465682, -0.04722204643273404, -0.7395876982291836 ], [ -0.048564251274667236, 0.001142035809473952, 0.9988194077271135, -0.12861696864920097 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 7351, "backend_objective": 488.62487431387007, "backend_elapsed_sec": 0.11505949999991572, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 4196, "objective": 933.1511599683639 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6232, "objective": 588.3144119308129 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 7351, "objective": 488.62487431387007 } ], "heldout_symmetric": { "evaluated": 8125, "inliers": 5362, "inlier_ratio": 0.6599384615384616, "inlier_rmse_m": 0.1100348641166372, "median_m": 0.1300534952824787, "p90_m": 1.15707523134329, "p95_m": 1.766562919039108 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 35198.13650082762, 59876.4310527085, 67161.96486290553, 84372.8901665409, 475415.07895684836, 876065.8125276816 ], "effective_rank": 6, "scaled_condition_number": 24.889550971173787, "weakest_scaled_direction": [ -0.24853559297778208, -0.9457866001968789, -0.01841620000368909, 0.11942057770516604, 0.011973537234335146, 0.1702174183663302 ] }, "forward_reverse": { "translation_m": 0.032753113036640115, "rotation_deg": 0.1570816751009414 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.713178136967714e-16, "rotation_deg": 3.0020579607741207e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 19, "j": 22, "lidar_time_i": 1784256931.0294852, "lidar_time_j": 1784257474.0083263, "frame_counter_i": 28833, "frame_counter_j": 34263, "rtk_translation_m": 3.558853688535236, "rtk_rotation_deg": 131.87013333415302, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.6666776538665686, 0.7440428249754553, -0.0440588292798567, -4.691613762087427 ], [ -0.7424893929684974, -0.6681315898209136, -0.04805913037760015, 1.4934678279557143 ], [ -0.06519514678441221, 0.0006732651198974303, 0.9978723062345386, -0.12271714611784558 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 7165, "backend_objective": 555.5199847082525, "backend_elapsed_sec": 0.11779789999854984, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 3942, "objective": 840.9836300476868 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5774, "objective": 506.1860228857608 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 7165, "objective": 555.5199847082525 } ], "heldout_symmetric": { "evaluated": 8196, "inliers": 5208, "inlier_ratio": 0.6354319180087847, "inlier_rmse_m": 0.11655958277402616, "median_m": 0.14914758057802308, "p90_m": 1.43777364929328, "p95_m": 2.103668776841584 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 27694.615021738682, 44466.41914099572, 53587.14482067487, 93271.7755011132, 484339.8456962315, 975038.6663071899 ], "effective_rank": 6, "scaled_condition_number": 35.20679617831266, "weakest_scaled_direction": [ 0.01627881312607319, 0.9662667708280313, 0.014539072572918454, -0.09595928588899844, -0.007676348113993425, 0.2378760860969448 ] }, "forward_reverse": { "translation_m": 0.011678083327496752, "rotation_deg": 0.14115606360994692 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.553994585222234e-15, "rotation_deg": 1.0546339847493023e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 20, "j": 21, "lidar_time_i": 1784257228.6177175, "lidar_time_j": 1784257345.9129474, "frame_counter_i": 31809, "frame_counter_j": 32982, "rtk_translation_m": 1.4312693216245356, "rtk_rotation_deg": 40.08911509539463, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7604019020722598, 0.6493722080538789, 0.010231457966479857, -1.6134657283805809 ], [ -0.6494401338887195, 0.760391113446228, 0.005732982348479746, -1.402360234017875 ], [ -0.004057070308943698, -0.011004090113958172, 0.9999312227254793, -0.05670028776703387 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 9655, "backend_objective": 1879.2346790786476, "backend_elapsed_sec": 0.1040491000021575, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4646, "objective": 823.4137505877958 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7751, "objective": 776.5675575753061 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 9655, "objective": 1879.2346790786476 } ], "heldout_symmetric": { "evaluated": 8033, "inliers": 6500, "inlier_ratio": 0.8091622059006598, "inlier_rmse_m": 0.10860060068735904, "median_m": 0.10147851273927266, "p90_m": 0.4927918143234507, "p95_m": 1.0190216307481985 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 112992.99495667836, 249180.74115089717, 301009.0682656243, 475185.405449173, 819667.956188099, 1112414.1625355538 ], "effective_rank": 6, "scaled_condition_number": 9.844983425406634, "weakest_scaled_direction": [ -0.15186700772211661, 0.1681460713290066, -0.024209719120545443, -0.7709595723834649, -0.5946975220908758, 0.0057788520946877074 ] }, "forward_reverse": { "translation_m": 0.004342811149796408, "rotation_deg": 0.43079835067471983 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.421965320523987e-15, "rotation_deg": 8.988391634638839e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 20, "j": 22, "lidar_time_i": 1784257228.6177175, "lidar_time_j": 1784257474.0083263, "frame_counter_i": 31809, "frame_counter_j": 34263, "rtk_translation_m": 2.8745434122269677, "rtk_rotation_deg": 70.1426734296607, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.3395701746102501, 0.9405774397912682, -0.0024852104270677556, -3.5838725693478843 ], [ -0.9401442183820569, 0.33933091470425114, -0.03135887384406664, -0.3609309527687522 ], [ -0.028652140547540124, 0.012984994481281062, 0.9995050999171364, -0.09145728643956128 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8304, "backend_objective": 1089.5017628855235, "backend_elapsed_sec": 0.10852230000455165, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4398, "objective": 931.1186130185138 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6816, "objective": 622.1261644888319 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8304, "objective": 1089.5017628855235 } ], "heldout_symmetric": { "evaluated": 8104, "inliers": 5734, "inlier_ratio": 0.7075518262586377, "inlier_rmse_m": 0.11619246575360609, "median_m": 0.1277335865652982, "p90_m": 0.8869166569853159, "p95_m": 1.34415324651648 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 99195.71528044977, 110428.51303238966, 188321.65339576546, 237627.75369132202, 585530.6198610035, 1033314.5654917931 ], "effective_rank": 6, "scaled_condition_number": 10.41692741032582, "weakest_scaled_direction": [ -0.4887104718737157, -0.7194911031981126, -0.04908498553608256, -0.08997458923382402, -0.41270050844045997, 0.2503360839348684 ] }, "forward_reverse": { "translation_m": 0.03233653011234762, "rotation_deg": 0.3501326921447133 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.7647268990566e-07, "rotation_deg": 3.5143738747247757e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 20, "j": 23, "lidar_time_i": 1784257228.6177175, "lidar_time_j": 1784257565.8035393, "frame_counter_i": 31809, "frame_counter_j": 35181, "rtk_translation_m": 2.368927629183393, "rtk_rotation_deg": 88.7954400941961, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.02973354293484899, 0.9993909753030981, -0.01826458067582629, -3.2432197669534153 ], [ -0.9989795060814042, 0.029089869023238867, -0.0345503393552752, 0.0060084083996273146 ], [ -0.033997983085697306, 0.019273245780954597, 0.9992360477600735, -0.0829704835859952 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 8414, "backend_objective": 979.5146627161371, "backend_elapsed_sec": 0.13505730000179028, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4269, "objective": 1161.1686857810428 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6804, "objective": 740.8709704926232 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 8414, "objective": 979.5146627161371 } ], "heldout_symmetric": { "evaluated": 8091, "inliers": 5767, "inlier_ratio": 0.7127672722778395, "inlier_rmse_m": 0.11187552234677736, "median_m": 0.1189707970662154, "p90_m": 0.8449576482857486, "p95_m": 1.314180620706107 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 97192.98118662037, 126449.98118380377, 160019.36271354527, 224482.6246777581, 583151.8209709418, 1058449.22034425 ], "effective_rank": 6, "scaled_condition_number": 10.890181651202985, "weakest_scaled_direction": [ 0.27733316809094016, 0.06472585483870608, 0.052197604836843915, 0.08537195858144588, 0.9422562342552911, -0.14504173653243188 ] }, "forward_reverse": { "translation_m": 0.0036477332397017036, "rotation_deg": 0.03588537530780425 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.38285783479209e-07, "rotation_deg": 2.5755614624241853e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 22, "lidar_time_i": 1784257345.9129474, "lidar_time_j": 1784257474.0083263, "frame_counter_i": 32982, "frame_counter_j": 34263, "rtk_translation_m": 1.9888588003695142, "rtk_rotation_deg": 30.053558334266054, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8687805366448252, 0.49465660528258554, 0.023134865407825958, -2.178877273889968 ], [ -0.49393201430707884, 0.8689520727278436, -0.030878156430341388, -0.49173001883908807 ], [ -0.03537717328562735, 0.015399290642544214, 0.999255381500658, -0.008429632126379216 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 8866, "backend_objective": 1643.9809223431664, "backend_elapsed_sec": 0.134610100001737, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4456, "objective": 859.6899246249991 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 7134, "objective": 960.3920426695893 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 8866, "objective": 1643.9809223431664 } ], "heldout_symmetric": { "evaluated": 8265, "inliers": 6159, "inlier_ratio": 0.7451905626134301, "inlier_rmse_m": 0.11103160300292489, "median_m": 0.11345378163462407, "p90_m": 0.6329249507351028, "p95_m": 1.119741335680539 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 116288.82940152648, 221407.49863204896, 318065.78050281113, 406857.997153302, 644132.3497185204, 1062747.9935378996 ], "effective_rank": 6, "scaled_condition_number": 9.138865693353942, "weakest_scaled_direction": [ 0.21590095282642974, -0.02278911871410716, 0.05805309090351791, 0.38233425758098966, 0.8920217688292351, -0.08726369627845296 ] }, "forward_reverse": { "translation_m": 0.007025231148999399, "rotation_deg": 0.031656114821116355 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 8.923231402463302e-07, "rotation_deg": 6.666752573663636e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 23, "lidar_time_i": 1784257345.9129474, "lidar_time_j": 1784257565.8035393, "frame_counter_i": 32982, "frame_counter_j": 35181, "rtk_translation_m": 1.9477165743251885, "rtk_rotation_deg": 48.70632499880147, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.6714357945427303, 0.7409797572687084, 0.011089324811676352, -2.1556763116732927 ], [ -0.7401996490682762, 0.6713007111638931, -0.038207783370051526, 0.0058212063309580255 ], [ -0.035755465679721904, 0.017445759050780107, 0.9992082826744229, -0.05685458682497225 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 8844, "backend_objective": 1532.676220967855, "backend_elapsed_sec": 0.153170699995826, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4287, "objective": 885.3657906021791 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6997, "objective": 767.8888993664846 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 8844, "objective": 1532.676220967855 } ], "heldout_symmetric": { "evaluated": 8252, "inliers": 6220, "inlier_ratio": 0.7537566650508968, "inlier_rmse_m": 0.1091762180475198, "median_m": 0.10925792296090209, "p90_m": 0.6580244250896059, "p95_m": 1.1486116926170538 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 112246.32775665326, 183186.7779622805, 271715.7846072771, 324412.04697112506, 612339.9983577128, 1126172.2546105683 ], "effective_rank": 6, "scaled_condition_number": 10.033043192754391, "weakest_scaled_direction": [ -0.23289254451594704, -0.0550050298744148, -0.047108061100117095, -0.07904830339638554, -0.9640060114975513, 0.07042808746178442 ] }, "forward_reverse": { "translation_m": 0.0026262958914527778, "rotation_deg": 0.05939834892732321 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 8.899114524108741e-16, "rotation_deg": 1.20870395905279e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 24, "lidar_time_i": 1784257345.9129474, "lidar_time_j": 1784257717.098528, "frame_counter_i": 32982, "frame_counter_j": 36694, "rtk_translation_m": 3.76075382790461, "rtk_rotation_deg": 86.89547500633407, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.0644666656346853, 0.9979197831568541, 0.0003942158332702403, -4.387713089983538 ], [ -0.9974379766858642, 0.06444780546103107, -0.03104775412275548, 0.745620028631954 ], [ -0.031008574407019707, 0.0016083393406249996, 0.9995178245323142, -0.04463550107383165 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8138, "backend_objective": 731.0783593719896, "backend_elapsed_sec": 0.11442119999992428, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4056, "objective": 971.6019181356448 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6538, "objective": 525.7683927356483 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8138, "objective": 731.0783593719896 } ], "heldout_symmetric": { "evaluated": 8116, "inliers": 5769, "inlier_ratio": 0.7108181370133071, "inlier_rmse_m": 0.1147630411233105, "median_m": 0.12535882735652926, "p90_m": 1.0037060981098196, "p95_m": 1.6078574464938784 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 80262.93040619565, 92125.91005238818, 119809.32007324521, 199117.06815716045, 478817.5196452779, 969400.4609048041 ], "effective_rank": 6, "scaled_condition_number": 12.077810466162274, "weakest_scaled_direction": [ 0.1884243501185651, 0.9109401105554761, 0.02841744749042532, -0.24650703763181456, 0.2691298021603536, 0.0260817547112759 ] }, "forward_reverse": { "translation_m": 0.002611195084459223, "rotation_deg": 0.042823121286843194 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.554447978966673e-16, "rotation_deg": 1.2250739634268439e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 23, "lidar_time_i": 1784257474.0083263, "lidar_time_j": 1784257565.8035393, "frame_counter_i": 34263, "frame_counter_j": 35181, "rtk_translation_m": 0.8778876913955667, "rtk_rotation_deg": 18.652766664535406, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9501846707839595, 0.31167381991838555, 0.0029191410825991247, -0.23101740505576257 ], [ -0.3116516185249797, 0.9501757340024526, -0.006272414500075199, 0.44249409258633615 ], [ -0.004728644408165246, 0.005050197063679708, 0.9999760674294556, 0.009566449988216407 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 1, "backend_num_inliers": 10384, "backend_objective": 621.1794091675052, "backend_elapsed_sec": 0.0966848999960348, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4458, "objective": 725.1289300256881 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7713, "objective": 549.0537686305265 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 1, "num_inliers": 10384, "objective": 621.1794091675052 } ], "heldout_symmetric": { "evaluated": 8323, "inliers": 7332, "inlier_ratio": 0.8809323561215908, "inlier_rmse_m": 0.09065520084082093, "median_m": 0.06338596860343883, "p90_m": 0.2816447688623702, "p95_m": 0.47830609946274666 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 147825.26917328098, 334749.2248842268, 472583.81374538614, 724833.5387890147, 793723.6241006475, 1393492.2094908017 ], "effective_rank": 6, "scaled_condition_number": 9.426617095196006, "weakest_scaled_direction": [ 0.274421778684222, 0.018312719053780513, 0.054784665593092065, 0.08347777160373543, 0.9561931834641403, 0.009057022981420398 ] }, "forward_reverse": { "translation_m": 0.00074030291113835, "rotation_deg": 0.005760006892562891 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2661725736537374e-15, "rotation_deg": 2.4380362340842602e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 24, "lidar_time_i": 1784257474.0083263, "lidar_time_j": 1784257717.098528, "frame_counter_i": 34263, "frame_counter_j": 36694, "rtk_translation_m": 2.2510479983846268, "rtk_rotation_deg": 56.84191667206801, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.5498304526419244, 0.8350394638711729, -0.019888869382678368, -2.5253556421173213 ], [ -0.8352759534488483, 0.5496955792808826, -0.012200479874671634, -0.008184192277798463 ], [ 0.0007449414030363554, 0.023320889708575678, 0.9997277535236808, -0.08243908734833466 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 8642, "backend_objective": 1205.5852145795657, "backend_elapsed_sec": 0.0903803000037442, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4282, "objective": 989.3453103941729 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7088, "objective": 694.6882592864556 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 8642, "objective": 1205.5852145795657 } ], "heldout_symmetric": { "evaluated": 8187, "inliers": 6107, "inlier_ratio": 0.7459386832783681, "inlier_rmse_m": 0.1116686389188481, "median_m": 0.11368671552197367, "p90_m": 0.6202670010351438, "p95_m": 1.0211281783165491 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 104797.93383218035, 130672.314209947, 171215.12308315383, 348512.3549672162, 524057.65994595987, 1097441.9402860645 ], "effective_rank": 6, "scaled_condition_number": 10.471980698049531, "weakest_scaled_direction": [ 0.08734497402272949, 0.8945389310767448, 0.020030967527083266, -0.2546147351604989, 0.24297976691160295, 0.2605799035837275 ] }, "forward_reverse": { "translation_m": 0.010212372381123916, "rotation_deg": 0.01461127103474581 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.460869650712945e-07, "rotation_deg": 9.182224664436201e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 25, "lidar_time_i": 1784257474.0083263, "lidar_time_j": 1784257868.4921277, "frame_counter_i": 34263, "frame_counter_j": 38208, "rtk_translation_m": 3.452614527841686, "rtk_rotation_deg": 105.36038662410485, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.26117079822178163, 0.9644343039652238, -0.04069751210223269, -4.6707681257531855 ], [ -0.9644707747665123, -0.26245579177472883, -0.030217246485806138, 0.26233757916000633 ], [ -0.03982384684433713, 0.03135969864354756, 0.9987144889924768, -0.1425668815602738 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 7152, "backend_objective": 394.64638505038437, "backend_elapsed_sec": 0.10322180000366643, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 3440, "objective": 1396.9611376120156 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5617, "objective": 482.5116489746272 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 7152, "objective": 394.64638505038437 } ], "heldout_symmetric": { "evaluated": 8396, "inliers": 5248, "inlier_ratio": 0.6250595521676989, "inlier_rmse_m": 0.10935727133461083, "median_m": 0.141386713300931, "p90_m": 1.312745325058518, "p95_m": 2.0069524080406715 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 17621.425385159735, 74642.71940526017, 107457.87118789129, 196501.5954954894, 422952.2985742606, 837279.40926976 ], "effective_rank": 6, "scaled_condition_number": 47.514851436189325, "weakest_scaled_direction": [ 0.6405157926099917, 0.05603061402867604, 0.012705937876039266, 0.040221017474426496, 0.04770492109853462, -0.7632464602654625 ] }, "forward_reverse": { "translation_m": 0.013489723519689117, "rotation_deg": 0.0723917800582207 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.7554167342883505e-15, "rotation_deg": 1.058941004767027e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 24, "lidar_time_i": 1784257565.8035393, "lidar_time_j": 1784257717.098528, "frame_counter_i": 35181, "frame_counter_j": 36694, "rtk_translation_m": 1.8212773036309853, "rtk_rotation_deg": 38.18915000753262, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7828420861834561, 0.6222023223877882, -0.004747432482641514, -2.052040400916114 ], [ -0.622203812562064, 0.7828541563974981, 0.0013362052212054889, -1.1472757246153065 ], [ 0.004547937243073154, 0.001907832907642801, 0.9999878381462592, 0.0021736938537358693 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 27, "backend_num_inliers": 9182, "backend_objective": 1459.2689878513988, "backend_elapsed_sec": 0.1935003000035067, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 3, "num_inliers": 4343, "objective": 766.3599039487772 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 7314, "objective": 535.3778343060385 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 27, "num_inliers": 9182, "objective": 1459.2689878513988 } ], "heldout_symmetric": { "evaluated": 8174, "inliers": 6487, "inlier_ratio": 0.7936138977244923, "inlier_rmse_m": 0.11107653584131949, "median_m": 0.10552278410071086, "p90_m": 0.5399375316960431, "p95_m": 0.8137959921738659 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 115215.10272737782, 138413.21023887434, 164076.07876399724, 409666.1119181982, 542164.707077967, 1228267.1349095139 ], "effective_rank": 6, "scaled_condition_number": 10.660643490600723, "weakest_scaled_direction": [ 0.37104591305470935, 0.3029344758671207, 0.04375931269114202, -0.4596495292626477, 0.7198644741227814, -0.1978843233656125 ] }, "forward_reverse": { "translation_m": 0.008437497431588122, "rotation_deg": 0.2765568737620497 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1696153541059582e-15, "rotation_deg": 3.466829082744138e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 25, "lidar_time_i": 1784257565.8035393, "lidar_time_j": 1784257868.4921277, "frame_counter_i": 35181, "frame_counter_j": 38208, "rtk_translation_m": 2.999856552735995, "rtk_rotation_deg": 86.70761995956946, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.05238189124450325, 0.9980158708063465, -0.03493506960490722, -4.1608777944134605 ], [ -0.9982466013425184, 0.051364226143093564, -0.029418347690390517, -1.5596916289818672 ], [ -0.027565565072397765, 0.03641480319007395, 0.9989565064260142, -0.1504081932683384 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7154, "backend_objective": 459.00486311859095, "backend_elapsed_sec": 0.0938326000032248, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 3518, "objective": 854.3463362217843 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5736, "objective": 513.9064245992633 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7154, "objective": 459.00486311859095 } ], "heldout_symmetric": { "evaluated": 8383, "inliers": 5313, "inlier_ratio": 0.6337826553739712, "inlier_rmse_m": 0.11196536842375276, "median_m": 0.14230248881135135, "p90_m": 1.2326130401015785, "p95_m": 1.7908849095603119 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 19623.56722822964, 57322.12035283127, 110373.0462236796, 174464.95917561726, 437026.18373390555, 860456.1971933377 ], "effective_rank": 6, "scaled_condition_number": 43.84810300726168, "weakest_scaled_direction": [ 0.6015300015349042, 0.2456096815982743, 0.016199358483158666, 0.009074648563929734, 0.048722022347786435, -0.7583659655042078 ] }, "forward_reverse": { "translation_m": 0.02359951283541323, "rotation_deg": 0.10308564406068685 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.8126324738138794e-15, "rotation_deg": 4.8135281366282376e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 26, "lidar_time_i": 1784257565.8035393, "lidar_time_j": 1784257979.7876303, "frame_counter_i": 35181, "frame_counter_j": 39321, "rtk_translation_m": 1.7088514993141615, "rtk_rotation_deg": 157.34900000166795, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9199398255604516, 0.38587479487631715, -0.0693639677856347, -3.9700983175132265 ], [ -0.3844941460689145, -0.9225445027998098, -0.03280079256034214, 0.288658541566172 ], [ -0.07664834627402314, -0.0035047158245163717, 0.997052028722898, -0.10418992583362652 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 6986, "backend_objective": 317.1229617798327, "backend_elapsed_sec": 0.1138104999990901, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 14, "num_inliers": 3757, "objective": 928.9809518686691 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5714, "objective": 406.6866820919339 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 6986, "objective": 317.1229617798327 } ], "heldout_symmetric": { "evaluated": 8350, "inliers": 5071, "inlier_ratio": 0.6073053892215569, "inlier_rmse_m": 0.11004156310392302, "median_m": 0.1503811965872069, "p90_m": 1.4545155707492854, "p95_m": 2.161460630169156 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 18282.55642566601, 43632.21289998136, 73817.67347357208, 100296.36258563763, 527079.5467069771, 963672.2684600573 ], "effective_rank": 6, "scaled_condition_number": 52.70992994760862, "weakest_scaled_direction": [ 0.1455020046670619, 0.6885094824322612, 0.015251441083490011, -0.01478691751295014, 0.04203270624771282, -0.7089187904545636 ] }, "forward_reverse": { "translation_m": 0.013062761031411258, "rotation_deg": 0.0548185753269731 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 5.8769455291112424e-08, "rotation_deg": 3.829153020710623e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 25, "lidar_time_i": 1784257717.098528, "lidar_time_j": 1784257868.4921277, "frame_counter_i": 36694, "frame_counter_j": 38208, "rtk_translation_m": 1.2059352225587747, "rtk_rotation_deg": 48.51846995203683, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.661932640310347, 0.7494664954974063, 0.012047896854143076, -1.4126063790512007 ], [ -0.7491747219592472, 0.6620215026453391, -0.02155843251473483, -1.641376947033325 ], [ -0.02413328964433151, 0.0052442503795345355, 0.9996949945702934, -0.07708577381737622 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 8856, "backend_objective": 1067.4330793025547, "backend_elapsed_sec": 0.08917420000216225, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3762, "objective": 918.5596487434932 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6644, "objective": 608.2382079992943 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 8856, "objective": 1067.4330793025547 } ], "heldout_symmetric": { "evaluated": 8247, "inliers": 6514, "inlier_ratio": 0.7898629804777495, "inlier_rmse_m": 0.11080878069613129, "median_m": 0.10515198945495972, "p90_m": 0.55617380599531, "p95_m": 0.9873816729236244 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 53234.70175399212, 133189.45361648567, 178869.53021730707, 461289.18132088607, 576676.001074041, 922187.5526725405 ], "effective_rank": 6, "scaled_condition_number": 17.323052863790767, "weakest_scaled_direction": [ -0.6471430287995081, -0.04207749158912655, -0.01288404768254579, -0.03678499498878226, -0.05910951048276367, 0.7579065352714954 ] }, "forward_reverse": { "translation_m": 0.024355899665769485, "rotation_deg": 0.10833606018329535 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.443059973708341e-16, "rotation_deg": 1.3835484549488275e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 26, "lidar_time_i": 1784257717.098528, "lidar_time_j": 1784257979.7876303, "frame_counter_i": 36694, "frame_counter_j": 39321, "rtk_translation_m": 1.1958827550030364, "rtk_rotation_deg": 119.15984999413537, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.4816482382055926, 0.8760982096347596, -0.0216079084646757, -2.4058592706151924 ], [ -0.8750691374259397, -0.48213018937554886, -0.04247923277695767, -0.08085078385738464 ], [ -0.04763380478263441, -0.0015516338055845244, 0.9988636609039611, -0.036863304059313456 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8543, "backend_objective": 637.4093888411896, "backend_elapsed_sec": 0.10902630000055069, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 19, "num_inliers": 3940, "objective": 839.5238974819919 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6585, "objective": 547.4807964080929 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8543, "objective": 637.4093888411896 } ], "heldout_symmetric": { "evaluated": 8214, "inliers": 6173, "inlier_ratio": 0.7515217920623326, "inlier_rmse_m": 0.10216449744519186, "median_m": 0.09678361472736571, "p90_m": 0.817319060290232, "p95_m": 1.7202390341887257 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 37579.67669235824, 98857.36224532576, 137113.9587209269, 292951.44246497896, 619384.3299549641, 1032625.3746948714 ], "effective_rank": 6, "scaled_condition_number": 27.478293204817643, "weakest_scaled_direction": [ -0.166504606586953, -0.6169557762935312, -0.008762142737447924, 0.02360423431332221, -0.0242956713074731, 0.7683863425492548 ] }, "forward_reverse": { "translation_m": 0.010967953426658109, "rotation_deg": 0.044641472084512177 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.520587824777509e-07, "rotation_deg": 1.0910129472074577e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 27, "lidar_time_i": 1784257717.098528, "lidar_time_j": 1784258336.2740397, "frame_counter_i": 36694, "frame_counter_j": 42886, "rtk_translation_m": 3.786115539231191, "rtk_rotation_deg": 149.59794999698258, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.862006156704005, 0.5066053181156143, -0.017217359302974362, -1.504654604116278 ], [ -0.506233451703228, -0.8621180833824024, -0.02191124555311741, 3.005044896034999 ], [ -0.02594375032693281, -0.01017162533868107, 0.9996116545223662, 0.02786781214175368 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 7408, "backend_objective": 871.7795450355737, "backend_elapsed_sec": 0.12838569999439642, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 12, "num_inliers": 3431, "objective": 758.0609947855522 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 5973, "objective": 530.8530398322829 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 7408, "objective": 871.7795450355737 } ], "heldout_symmetric": { "evaluated": 8082, "inliers": 5059, "inlier_ratio": 0.6259589210591437, "inlier_rmse_m": 0.11074683701330018, "median_m": 0.14734785369889053, "p90_m": 3.1176998297775786, "p95_m": 3.7203703882130057 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 42011.52443722787, 66379.23256208161, 120664.90215124008, 207321.4520374959, 581782.4711932878, 1096745.6237588106 ], "effective_rank": 6, "scaled_condition_number": 26.105827828207687, "weakest_scaled_direction": [ 0.11986500018100398, 0.047870631068931385, 0.00926000257058556, -0.06920799351519549, 0.9891730489302452, 0.0014034488614361922 ] }, "forward_reverse": { "translation_m": 0.04374270593226806, "rotation_deg": 0.34168251600562055 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 5.1967783855013905e-11, "rotation_deg": 1.1596169430270299e-10 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 26, "lidar_time_i": 1784257868.4921277, "lidar_time_j": 1784257979.7876303, "frame_counter_i": 38208, "frame_counter_j": 39321, "rtk_translation_m": 1.8270495459501794, "rtk_rotation_deg": 70.64138004209858, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.3381459661088486, 0.9410815346962366, -0.0047802361959529355, -1.825249084463979 ], [ -0.9403313731939333, 0.3376632987551519, -0.041957183663837314, 0.29019533530798414 ], [ -0.03787102047114166, 0.018682658471546428, 0.9991079741854281, -0.05261495108796456 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 8930, "backend_objective": 1314.5821611353656, "backend_elapsed_sec": 0.11832290000165813, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4218, "objective": 769.2598889574915 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7142, "objective": 621.7096910604276 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 8930, "objective": 1314.5821611353656 } ], "heldout_symmetric": { "evaluated": 8423, "inliers": 6969, "inlier_ratio": 0.8273774189718628, "inlier_rmse_m": 0.10613402567174812, "median_m": 0.09161192876949621, "p90_m": 0.409448906433105, "p95_m": 0.6774855270154584 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 53549.492569895774, 118513.03155342248, 246751.66041994575, 432150.6567597645, 649554.9140287593, 935985.0251132662 ], "effective_rank": 6, "scaled_condition_number": 17.478877580241615, "weakest_scaled_direction": [ 0.31509086601162567, 0.6041095973121455, 0.024628848685139322, -0.016786962942645076, 0.044484113197288504, -0.7300014533903744 ] }, "forward_reverse": { "translation_m": 0.018863132797671257, "rotation_deg": 0.12251687299132978 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 8.03594618170779e-16, "rotation_deg": 1.619820757743732e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 27, "lidar_time_i": 1784257868.4921277, "lidar_time_j": 1784258336.2740397, "frame_counter_i": 38208, "frame_counter_j": 42886, "rtk_translation_m": 4.741885618180033, "rtk_rotation_deg": 101.07948004494568, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.19074511565657937, 0.9814933565646136, -0.016943785665734696, -3.5479980337753476 ], [ -0.9815446266261133, -0.19093834294039785, -0.010615796558873654, 2.9995967901532823 ], [ -0.013654552155328622, 0.014606170432497382, 0.9998000865126656, -0.04865826265971966 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 6764, "backend_objective": 799.7339656762351, "backend_elapsed_sec": 0.12969690000318224, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3489, "objective": 1142.7104495883302 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5664, "objective": 613.0560295001194 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 6764, "objective": 799.7339656762351 } ], "heldout_symmetric": { "evaluated": 8291, "inliers": 5171, "inlier_ratio": 0.6236883367506936, "inlier_rmse_m": 0.11275084173352168, "median_m": 0.14684847408458745, "p90_m": 3.070232795704604, "p95_m": 3.6748877051579476 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 32865.20923501317, 48216.25428961527, 78287.7599400756, 270689.02302851796, 667717.3633039412, 876025.3802631269 ], "effective_rank": 6, "scaled_condition_number": 26.65509822252546, "weakest_scaled_direction": [ 0.2277630857740826, -0.6873217408781405, 0.006782507597647006, 0.040541369599813325, 0.14623002158264448, 0.672785238396703 ] }, "forward_reverse": { "translation_m": 0.005757137825848521, "rotation_deg": 0.2558617834036415 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 8.974071781012647e-16, "rotation_deg": 3.628999858218488e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 28, "lidar_time_i": 1784257868.4921277, "lidar_time_j": 1784258426.469848, "frame_counter_i": 38208, "frame_counter_j": 43788, "rtk_translation_m": 3.8640843382258447, "rtk_rotation_deg": 141.59343004213218, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.7834500070548733, 0.6207956613225486, -0.028615263913132506, -5.472161895617002 ], [ -0.6199982224383886, -0.7839354376697685, -0.03236408099649281, 1.3488057029270297 ], [ -0.04252400050509174, -0.007614226724279282, 0.999066430690389, -0.13547947317854486 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 6126, "backend_objective": 450.15620542568206, "backend_elapsed_sec": 0.1692821999968146, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 16, "num_inliers": 3390, "objective": 751.5591907645196 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 7, "num_inliers": 5297, "objective": 493.14490134957566 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 6126, "objective": 450.15620542568206 } ], "heldout_symmetric": { "evaluated": 8432, "inliers": 4951, "inlier_ratio": 0.5871679316888045, "inlier_rmse_m": 0.11732003715351383, "median_m": 0.1714726622142625, "p90_m": 2.3262656558828922, "p95_m": 3.188722019325457 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 18473.764208540917, 40114.34302178439, 53863.672361338, 141074.67465766257, 698094.031955814, 963547.7416417592 ], "effective_rank": 6, "scaled_condition_number": 52.15762909847497, "weakest_scaled_direction": [ 0.610387920152442, -0.3734240650435089, 0.022335896822000607, 0.015803526646712012, 0.027523941459897092, 0.6974774860047832 ] }, "forward_reverse": { "translation_m": 1.0486443236448235, "rotation_deg": 4.536374847153588 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.8530437519459085e-15, "rotation_deg": 1.1706421024815753e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 26, "j": 27, "lidar_time_i": 1784257979.7876303, "lidar_time_j": 1784258336.2740397, "frame_counter_i": 39321, "frame_counter_j": 42886, "rtk_translation_m": 2.939444415707082, "rtk_rotation_deg": 30.43810000284707, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8594047440203669, 0.5109063528464833, -0.0199545627963334, -3.1418375289888725 ], [ -0.5111135185175572, 0.8594859831051122, -0.006842224378301732, -0.7053628061233146 ], [ 0.013654931119963866, 0.016079286891677806, 0.9997774749358799, -0.11259514578021326 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 7275, "backend_objective": 800.6912230790897, "backend_elapsed_sec": 0.09443759999703616, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3558, "objective": 971.2917859251526 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 5812, "objective": 603.0226982327248 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 7275, "objective": 800.6912230790897 } ], "heldout_symmetric": { "evaluated": 8258, "inliers": 5438, "inlier_ratio": 0.6585129571324776, "inlier_rmse_m": 0.10848902314415616, "median_m": 0.13077153868357388, "p90_m": 1.7246589857788317, "p95_m": 2.8052586266701134 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 37420.3270067059, 40691.45681632048, 124820.13417958445, 283637.82573285024, 719915.5602281264, 1131128.1544099585 ], "effective_rank": 6, "scaled_condition_number": 30.227639491425478, "weakest_scaled_direction": [ -0.18508654993639492, 0.6744689894207156, 0.0008841784253442042, -0.03878687765331216, -0.22402492046871555, -0.6776003119109717 ] }, "forward_reverse": { "translation_m": 0.002959097196576797, "rotation_deg": 0.043581628031778105 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.0003742004269058e-14, "rotation_deg": 1.0233482909075381e-12 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 26, "j": 28, "lidar_time_i": 1784257979.7876303, "lidar_time_j": 1784258426.469848, "frame_counter_i": 39321, "frame_counter_j": 43788, "rtk_translation_m": 2.285770454773634, "rtk_rotation_deg": 70.95205000003368, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.3192600747314929, 0.9476538080517757, 0.005026407008022054, -2.238747275079242 ], [ -0.9472252749848606, 0.3192686770033026, -0.02884077520483351, -3.061520652327222 ], [ -0.028935844765557033, 0.004446568286849817, 0.9995713806017927, -0.04232395687673986 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 6933, "backend_objective": 577.925568117466, "backend_elapsed_sec": 0.11266429999523098, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3618, "objective": 883.726497418723 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5784, "objective": 661.0787086477357 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 6933, "objective": 577.925568117466 } ], "heldout_symmetric": { "evaluated": 8399, "inliers": 5584, "inlier_ratio": 0.6648410525062507, "inlier_rmse_m": 0.11120026543063653, "median_m": 0.13196842355274793, "p90_m": 1.6201776909615178, "p95_m": 2.3588043255788214 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 26184.361240521695, 46459.75349652479, 126422.5614461839, 161710.68414748504, 724618.992923463, 1193113.935631357 ], "effective_rank": 6, "scaled_condition_number": 45.565898082132684, "weakest_scaled_direction": [ 0.5732864163247975, -0.38073625141531375, 0.01777603021370582, 0.06747890508192833, -0.0376473224502211, 0.7211767335035149 ] }, "forward_reverse": { "translation_m": 0.012512803173543077, "rotation_deg": 0.11122589391716618 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.1414802831273163e-15, "rotation_deg": 1.798617310358576e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 26, "j": 29, "lidar_time_i": 1784257979.7876303, "lidar_time_j": 1784258569.364867, "frame_counter_i": 39321, "frame_counter_j": 45217, "rtk_translation_m": 3.6568094249627374, "rtk_rotation_deg": 131.92299999999997, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.6705393900450899, 0.7416325827277485, -0.01892190885001077, -3.0279072101540447 ], [ -0.7410096157467239, -0.670771116924119, -0.031158595463576008, -4.529074091459608 ], [ -0.03580049956147909, -0.006871749190666957, 0.9993353307545016, -0.10193391930434982 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6052, "backend_objective": 385.9354719230669, "backend_elapsed_sec": 0.10751409999647876, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 12, "num_inliers": 3358, "objective": 1042.4194430299667 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5002, "objective": 565.972300440508 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6052, "objective": 385.9354719230669 } ], "heldout_symmetric": { "evaluated": 8403, "inliers": 4954, "inlier_ratio": 0.5895513507080804, "inlier_rmse_m": 0.11693751976202812, "median_m": 0.1699906365140463, "p90_m": 1.7643713593889288, "p95_m": 2.517581104742794 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 15780.535634190963, 38345.93456549966, 50535.82140822712, 137355.2462083888, 676813.0439592459, 980602.8609458691 ], "effective_rank": 6, "scaled_condition_number": 62.1400238672027, "weakest_scaled_direction": [ 0.6512013671854775, 0.30388478095673654, 0.01954795313695127, 0.020128792939304373, 0.039871543863837317, 0.6936957463409427 ] }, "forward_reverse": { "translation_m": 2.7672344834891307, "rotation_deg": 9.168367379205225 }, "multistart": { "runs": 1, "success_rate": 0.0, "deltas": [ { "translation_m": 0.14755053457882952, "rotation_deg": 1.1483257623949923 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation", "multistart_instability" ] }, { "i": 27, "j": 28, "lidar_time_i": 1784258336.2740397, "lidar_time_j": 1784258426.469848, "frame_counter_i": 42886, "frame_counter_j": 43788, "rtk_translation_m": 2.3764785758716087, "rtk_rotation_deg": 40.513949997186636, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7581877550394371, 0.6511507045366458, 0.03397187203686505, 1.9806681012525742 ], [ -0.6513448966309727, 0.758753824791532, -0.006516056860479788, -1.5706692252961945 ], [ -0.03001922285880208, -0.017187010957456002, 0.9994015473838842, 0.032870798122648155 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8368, "backend_objective": 782.622857206924, "backend_elapsed_sec": 0.0803581000000122, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3786, "objective": 749.0555673537326 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6513, "objective": 863.606444220591 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8368, "objective": 782.622857206924 } ], "heldout_symmetric": { "evaluated": 8267, "inliers": 6576, "inlier_ratio": 0.7954517962985364, "inlier_rmse_m": 0.10154002419986238, "median_m": 0.0904443734886855, "p90_m": 0.5323776481825999, "p95_m": 1.0273357005120614 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 47332.138326291766, 109754.97025509289, 209943.88185445842, 279260.5623110351, 772472.0078590306, 1231353.6778129893 ], "effective_rank": 6, "scaled_condition_number": 26.01517111533084, "weakest_scaled_direction": [ -0.5448315811128842, 0.4320513821061679, -0.005052498225729096, -0.02550295248556129, -0.0133218253900731, -0.7180785138734201 ] }, "forward_reverse": { "translation_m": 0.019135551099374308, "rotation_deg": 0.08227568287606397 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1727346559588511e-15, "rotation_deg": 7.160618248248787e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 27, "j": 29, "lidar_time_i": 1784258336.2740397, "lidar_time_j": 1784258569.364867, "frame_counter_i": 42886, "frame_counter_j": 45217, "rtk_translation_m": 4.061689152213973, "rtk_rotation_deg": 101.48489999715295, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.1982496037289595, 0.9799227851409482, 0.021176160721829995, 2.0476172761992126 ], [ -0.9799758757730468, -0.19775874986956668, -0.02321119886769715, -3.2424188673143512 ], [ -0.018557411569508107, -0.025353737626481167, 0.9995062833540406, -0.10149049807438078 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7535, "backend_objective": 753.0922680214431, "backend_elapsed_sec": 0.12084090000280412, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3601, "objective": 832.3803569605518 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5855, "objective": 607.105584834318 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7535, "objective": 753.0922680214431 } ], "heldout_symmetric": { "evaluated": 8271, "inliers": 6159, "inlier_ratio": 0.7446499818643453, "inlier_rmse_m": 0.1104935519181424, "median_m": 0.11102412380722071, "p90_m": 0.7365579662458553, "p95_m": 1.2858176040931273 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 33736.28567934059, 80361.48150361789, 152911.54929017345, 238910.5625137653, 716820.3925508568, 1103112.2440316644 ], "effective_rank": 6, "scaled_condition_number": 32.698094109014136, "weakest_scaled_direction": [ 0.663289358634731, 0.26686719551236326, 0.011449287640708511, 0.029239254984095693, 0.04501351334477739, 0.6970056600043839 ] }, "forward_reverse": { "translation_m": 0.015390416284740782, "rotation_deg": 0.08645102756020058 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6300346472626374e-15, "rotation_deg": 1.2447809708333758e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 27, "j": 30, "lidar_time_i": 1784258336.2740397, "lidar_time_j": 1784258660.65995, "frame_counter_i": 42886, "frame_counter_j": 46130, "rtk_translation_m": 5.033742765789926, "rtk_rotation_deg": 178.61309998505533, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9991637267813427, 0.019803988653202275, 0.035772183576664965, -7.564499863112411 ], [ -0.020377811157580906, -0.9996683134835215, -0.01574826433097505, 0.5025665859325109 ], [ 0.0354484399775893, -0.016464053280894318, 0.9992358795863558, 0.20859683301637966 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 5619, "backend_objective": 211.78388304807277, "backend_elapsed_sec": 0.1046169999972335, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 2361, "objective": 859.7060087319638 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 4008, "objective": 281.3067862680225 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 5619, "objective": 211.78388304807277 } ], "heldout_symmetric": { "evaluated": 8283, "inliers": 4832, "inlier_ratio": 0.583363515634432, "inlier_rmse_m": 0.11446907648011068, "median_m": 0.16670128502920012, "p90_m": 2.8854415993968523, "p95_m": 5.3452346082978 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 6200.046946996951, 22062.53857581153, 47308.849705995104, 50512.24687549569, 207592.82638899345, 655085.4194479366 ], "effective_rank": 6, "scaled_condition_number": 105.65813856703667, "weakest_scaled_direction": [ 0.9724389089081938, -0.22655484173325904, -0.04046252774044135, 0.01365699245843499, 0.006169463663999609, -0.03425901709918313 ] }, "forward_reverse": { "translation_m": 0.017491035693048888, "rotation_deg": 0.22327775856236398 }, "multistart": { "runs": 1, "success_rate": 0.0, "deltas": [ { "translation_m": 3.2357618629532405, "rotation_deg": 16.095233433493107 } ] }, "accepted": false, "rejection_reasons": [ "multistart_instability" ] }, { "i": 28, "j": 29, "lidar_time_i": 1784258426.469848, "lidar_time_j": 1784258569.364867, "frame_counter_i": 43788, "frame_counter_j": 45217, "rtk_translation_m": 1.7860052935263149, "rtk_rotation_deg": 60.970949999966315, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.48906759141608885, 0.8722359677105127, -0.00416024741708328, 1.1468893759538556 ], [ -0.8719161235637879, 0.4887459906905548, -0.02982666681688444, -1.221605553804855 ], [ -0.02398258734922404, 0.018214642901073358, 0.9995464282803592, -0.028424834069849664 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 8753, "backend_objective": 1003.1060265719825, "backend_elapsed_sec": 0.07757270000001881, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4025, "objective": 799.9289876509342 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6694, "objective": 645.4481402338722 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 8753, "objective": 1003.1060265719825 } ], "heldout_symmetric": { "evaluated": 8412, "inliers": 6997, "inlier_ratio": 0.8317879220161674, "inlier_rmse_m": 0.10401467258245657, "median_m": 0.09245189556038982, "p90_m": 0.42262525048492794, "p95_m": 0.7076491492000743 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 79408.41520552456, 162968.5244327397, 257945.08258293514, 497580.16019275883, 996019.8816107758, 1338551.102406112 ], "effective_rank": 6, "scaled_condition_number": 16.856539687156317, "weakest_scaled_direction": [ -0.7182334022485661, -0.2695794418685713, -0.022116872962756967, -0.012117836557601793, -0.061102893370830316, -0.638042430254842 ] }, "forward_reverse": { "translation_m": 0.007126704551442278, "rotation_deg": 0.059447117802805614 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.22450001747642e-15, "rotation_deg": 1.6134907396145982e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 28, "j": 30, "lidar_time_i": 1784258426.469848, "lidar_time_j": 1784258660.65995, "frame_counter_i": 43788, "frame_counter_j": 46130, "rtk_translation_m": 7.378510482049102, "rtk_rotation_deg": 138.09914998778677, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.7451400803509487, 0.6668305176734942, 0.01016471120499707, -8.594359352584359 ], [ -0.6668371323096429, -0.7451965367564827, 0.0032187853602832052, -4.660901644650214 ], [ 0.009721091895171136, -0.0043797608887020485, 0.9999431574179234, -0.02947390993590963 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 4879, "backend_objective": 185.4818259492826, "backend_elapsed_sec": 0.13718820000212872, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 39, "num_inliers": 2367, "objective": 710.8952631659891 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 3720, "objective": 281.5325018758702 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 4879, "objective": 185.4818259492826 } ], "heldout_symmetric": { "evaluated": 8424, "inliers": 4552, "inlier_ratio": 0.540360873694207, "inlier_rmse_m": 0.1217315596532435, "median_m": 0.2028736283859898, "p90_m": 2.3552265210766943, "p95_m": 4.368691806433767 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2337.931520190746, 5405.130051670216, 30100.516357509314, 45029.66055405246, 220473.5327204934, 568191.8567659601 ], "effective_rank": 6, "scaled_condition_number": 243.03186464572013, "weakest_scaled_direction": [ 0.9643072935600814, -0.2097460670446838, -0.03894297848872667, 0.008910008030762126, 0.017119903778430076, -0.15565666071213852 ] }, "forward_reverse": { "translation_m": 0.02476143939627759, "rotation_deg": 0.2783665026489561 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0504962878060688e-14, "rotation_deg": 9.403199220852668e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 28, "j": 31, "lidar_time_i": 1784258426.469848, "lidar_time_j": 1784258780.056085, "frame_counter_i": 43788, "frame_counter_j": 47324, "rtk_translation_m": 8.396001985859645, "rtk_rotation_deg": 161.15751666826222, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.944961099139658, 0.3270842222047632, 0.008026998036277846, -9.756052166063991 ], [ -0.32702554676057116, -0.9449832310782069, 0.007809273137867872, -4.782264381515039 ], [ 0.010139668570464347, 0.004754425906181655, 0.9999372893114769, 0.01724223742323249 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 4584, "backend_objective": 197.02064937395338, "backend_elapsed_sec": 0.10418490000301972, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 12, "num_inliers": 2411, "objective": 764.2543963045339 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 7, "num_inliers": 3563, "objective": 278.88343747101464 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 4584, "objective": 197.02064937395338 } ], "heldout_symmetric": { "evaluated": 8303, "inliers": 4194, "inlier_ratio": 0.5051186318198242, "inlier_rmse_m": 0.12667907013046822, "median_m": 0.24292099525086236, "p90_m": 2.6680163682238924, "p95_m": 4.9727585025473005 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3986.564215328126, 10112.502641509458, 35949.821910829785, 53263.761427487305, 192836.19895239343, 578557.2003850118 ], "effective_rank": 6, "scaled_condition_number": 145.12677311467613, "weakest_scaled_direction": [ 0.5232200700286965, 0.4591240603300073, -0.04003143552206389, -0.03589347742603941, -0.03297244873544573, -0.7151697809736867 ] }, "forward_reverse": { "translation_m": 0.01381623315543165, "rotation_deg": 0.08866229443960012 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.849754368923178e-15, "rotation_deg": 3.246304405230179e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 29, "j": 30, "lidar_time_i": 1784258569.364867, "lidar_time_j": 1784258660.65995, "frame_counter_i": 45217, "frame_counter_j": 46130, "rtk_translation_m": 8.925911734961222, "rtk_rotation_deg": 77.12819998782052, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.21807991113059863, 0.9759278887465903, 0.0024307052255580666, -1.774386062994479 ], [ -0.9758070247888536, 0.2180118654771397, 0.016476555583702816, -10.168274079601641 ], [ 0.015550007523969973, -0.005965105011722816, 0.9998612977749479, -0.01446004754829918 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 4886, "backend_objective": 276.0249112694463, "backend_elapsed_sec": 0.0943461999995634, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 2493, "objective": 652.6795647218955 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 3854, "objective": 421.9664236054255 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 4886, "objective": 276.0249112694463 } ], "heldout_symmetric": { "evaluated": 8428, "inliers": 4402, "inlier_ratio": 0.5223065970574277, "inlier_rmse_m": 0.12780035193537048, "median_m": 0.22296005954916004, "p90_m": 2.188049196705964, "p95_m": 4.08498443716224 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 5782.312930505993, 35505.83474647461, 45086.480869993116, 80677.30231858409, 272993.21046600724, 548675.9505507131 ], "effective_rank": 6, "scaled_condition_number": 94.88866430179526, "weakest_scaled_direction": [ 0.3524692892481184, 0.5146985438155333, -0.03131503499282641, -0.07104067480964905, 0.030173592122546337, -0.7771183658719598 ] }, "forward_reverse": { "translation_m": 0.06232017355575957, "rotation_deg": 1.955625956099923 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.2803286093439427e-15, "rotation_deg": 2.320557612535338e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 29, "j": 31, "lidar_time_i": 1784258569.364867, "lidar_time_j": 1784258780.056085, "frame_counter_i": 45217, "frame_counter_j": 47324, "rtk_translation_m": 9.936139535050964, "rtk_rotation_deg": 100.18656666829587, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.17664741642748774, 0.9839208774122287, -0.026370386076884734, -2.232798466192303 ], [ -0.9841796585942951, -0.17619572869613123, 0.0185866833635216, -11.249037923220381 ], [ 0.01364147641240443, 0.029236487162270054, 0.9994794334750967, 0.05133437603173064 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 4483, "backend_objective": 222.0994430444109, "backend_elapsed_sec": 0.10948400000052061, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 16, "num_inliers": 2515, "objective": 696.1177442166507 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 3725, "objective": 329.80503609678 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 4483, "objective": 222.0994430444109 } ], "heldout_symmetric": { "evaluated": 8307, "inliers": 4107, "inlier_ratio": 0.49440231130371975, "inlier_rmse_m": 0.12866710903574613, "median_m": 0.2582119201812203, "p90_m": 2.4056612758268483, "p95_m": 4.507961352882291 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4153.957693840661, 32785.60922372744, 37257.83211331094, 84011.22192009904, 255844.65552379464, 542086.7316076679 ], "effective_rank": 6, "scaled_condition_number": 130.4988571288183, "weakest_scaled_direction": [ 0.11016172674924486, 0.5808821953589809, -0.04000673576438782, -0.07528466453172718, -0.0033986766687543464, -0.8019728165288899 ] }, "forward_reverse": { "translation_m": 0.047123741889749056, "rotation_deg": 0.2295904679982487 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.245025178224007e-09, "rotation_deg": 4.8082578372661155e-09 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 29, "j": 32, "lidar_time_i": 1784258569.364867, "lidar_time_j": 1784258854.752906, "frame_counter_i": 45217, "frame_counter_j": 48071, "rtk_translation_m": 9.719184595429152, "rtk_rotation_deg": 159.1482027457047, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9504616315217699, 0.3064317159863794, -0.052175573237107864, -3.0861725732457788 ], [ -0.30763948704939603, -0.951355522642591, 0.016751583370807302, -10.151106459574333 ], [ -0.044504303308360124, 0.03197300384836252, 0.9984974181298365, -0.07405067016772916 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 4648, "backend_objective": 298.82558492509673, "backend_elapsed_sec": 0.18313539999508066, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 39, "num_inliers": 2496, "objective": 872.3070058044425 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 3851, "objective": 327.96007455598055 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 4648, "objective": 298.82558492509673 } ], "heldout_symmetric": { "evaluated": 8339, "inliers": 4153, "inlier_ratio": 0.49802134548507015, "inlier_rmse_m": 0.12675987702934546, "median_m": 0.2534444774142521, "p90_m": 2.3020903914136692, "p95_m": 4.149463436133379 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 13453.721562114615, 25503.500871733588, 30228.383469755307, 65173.052809451714, 296710.5549179535, 667923.8202554415 ], "effective_rank": 6, "scaled_condition_number": 49.64602672737782, "weakest_scaled_direction": [ 0.11245091314655653, 0.45135229929460857, -0.024933193619182472, -0.06584735923888355, -0.04170460326307528, -0.881441479202028 ] }, "forward_reverse": { "translation_m": 0.0323736334045635, "rotation_deg": 0.06974950067660468 }, "multistart": { "runs": 1, "success_rate": 0.0, "deltas": [ { "translation_m": 4.924904526649195, "rotation_deg": 0.6921966652080033 } ] }, "accepted": false, "rejection_reasons": [ "multistart_instability" ] }, { "i": 30, "j": 31, "lidar_time_i": 1784258660.65995, "lidar_time_j": 1784258780.056085, "frame_counter_i": 46130, "frame_counter_j": 47324, "rtk_translation_m": 1.0176267260390144, "rtk_rotation_deg": 23.058366680475352, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9225968970866422, 0.3857348283702317, -0.004858772302461086, 0.9454444486243054 ], [ -0.3857351051906694, 0.9226091189697154, 0.0009177240700653349, -0.6801219614881889 ], [ 0.004836745769905961, 0.00102750966576333, 0.9999877749823963, -0.05303267515253478 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 8825, "backend_objective": 1061.5989185039393, "backend_elapsed_sec": 0.12816720000409987, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3513, "objective": 636.6474859771212 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 6306, "objective": 708.7497897639247 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 8825, "objective": 1061.5989185039393 } ], "heldout_symmetric": { "evaluated": 8319, "inliers": 7055, "inlier_ratio": 0.8480586608967424, "inlier_rmse_m": 0.09667505139943416, "median_m": 0.07870867553207189, "p90_m": 0.3965312515634948, "p95_m": 0.7427693214426566 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 48023.69053366773, 97847.04258204983, 200153.70215108668, 424975.7238763227, 625756.4174474803, 1083954.430572844 ], "effective_rank": 6, "scaled_condition_number": 22.5712438700004, "weakest_scaled_direction": [ -0.07389389496011048, -0.5946842246250003, 0.02763114388596392, 0.12254120404962042, -0.07607012120255037, 0.7869713305627076 ] }, "forward_reverse": { "translation_m": 0.01573204986385798, "rotation_deg": 0.04061482397026774 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.22614398128331e-15, "rotation_deg": 1.9505961720268953e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 30, "j": 32, "lidar_time_i": 1784258660.65995, "lidar_time_j": 1784258854.752906, "frame_counter_i": 46130, "frame_counter_j": 48071, "rtk_translation_m": 0.8427696971904044, "rtk_rotation_deg": 82.02000275788396, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.093209226820172, 0.9956453621949153, -0.0015338759213878196, -0.3095968113864086 ], [ -0.9953735556389727, 0.09314748636970821, -0.023559085670590403, -1.2832519079412938 ], [ -0.023313617698995717, 0.0037227036897267167, 0.9997212695081682, -0.0032746774984088738 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 9084, "backend_objective": 863.8759803915655, "backend_elapsed_sec": 0.12028999999893131, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3411, "objective": 544.0783146618197 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6485, "objective": 505.1487534124952 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 9084, "objective": 863.8759803915655 } ], "heldout_symmetric": { "evaluated": 8351, "inliers": 7246, "inlier_ratio": 0.867680517303317, "inlier_rmse_m": 0.0986734040048058, "median_m": 0.07440986859673626, "p90_m": 0.3283754061384697, "p95_m": 0.6753386014674962 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 50197.336596780064, 82483.2917170837, 198878.86566349425, 399463.60367839463, 768159.5909005555, 1172976.7954978498 ], "effective_rank": 6, "scaled_condition_number": 23.367311395821964, "weakest_scaled_direction": [ -0.46776742902342217, 0.40628421437536333, -0.04120640554291039, -0.160018994119871, -0.07920711094361334, -0.7632489480721708 ] }, "forward_reverse": { "translation_m": 0.002023273028745447, "rotation_deg": 0.014811950864385802 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.1777673608052093e-16, "rotation_deg": 5.054808181975537e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 30, "j": 33, "lidar_time_i": 1784258660.65995, "lidar_time_j": 1784258946.5498006, "frame_counter_i": 46130, "frame_counter_j": 48989, "rtk_translation_m": 1.1320092061720382, "rtk_rotation_deg": 147.1799498371321, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.8397852212028346, 0.5415067859288281, -0.039130334043302906, -1.2880627868349586 ], [ -0.5409549870565313, -0.8406961374187052, -0.02444803689330013, -0.39664418337450114 ], [ -0.04613549856646882, 0.0006366492754976053, 0.9989349880996856, -0.06571410253273094 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 8619, "backend_objective": 1348.573776000168, "backend_elapsed_sec": 0.1769588000024669, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 39, "num_inliers": 3608, "objective": 514.3371524594083 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6447, "objective": 539.0297368876071 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 8619, "objective": 1348.573776000168 } ], "heldout_symmetric": { "evaluated": 8417, "inliers": 6730, "inlier_ratio": 0.7995722941665676, "inlier_rmse_m": 0.10006346131537393, "median_m": 0.08574954300778133, "p90_m": 0.5634123372167124, "p95_m": 0.9873414162602915 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 26346.891994961083, 95386.93253876397, 171555.33657758404, 380589.53688087256, 590778.2339301979, 1098369.1465294538 ], "effective_rank": 6, "scaled_condition_number": 41.688755802373954, "weakest_scaled_direction": [ -0.597369263876027, -0.2946683543848656, -0.061992698467671956, 0.09838488199475992, -0.0735195313955241, -0.733070748519735 ] }, "forward_reverse": { "translation_m": 0.00887908049317058, "rotation_deg": 0.048438711468841336 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.516090631213609e-15, "rotation_deg": 8.138729122870726e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 31, "j": 32, "lidar_time_i": 1784258780.056085, "lidar_time_j": 1784258854.752906, "frame_counter_i": 47324, "frame_counter_j": 48071, "rtk_translation_m": 0.2771314063233405, "rtk_rotation_deg": 58.9616360774086, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.4704223425402732, 0.8824404391971766, -0.0013003493437417847, -0.9246092736675245 ], [ -0.8820592888741405, 0.4701747728009043, -0.0301180001405255, -1.0338151393802915 ], [ -0.025965949814490356, 0.015315165396163111, 0.9995455042963873, -0.07117699009666004 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 9015, "backend_objective": 819.1832088148524, "backend_elapsed_sec": 0.09307049999915762, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3499, "objective": 448.9967334063442 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6584, "objective": 511.252147860645 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 9015, "objective": 819.1832088148524 } ], "heldout_symmetric": { "evaluated": 8230, "inliers": 6984, "inlier_ratio": 0.8486026731470231, "inlier_rmse_m": 0.09714101002609693, "median_m": 0.0779635008224315, "p90_m": 0.38331358182581793, "p95_m": 0.6010112349567066 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 41672.87479768214, 107505.45647398855, 147161.32344480747, 252845.1469530831, 738246.6421586989, 1142369.4655629082 ], "effective_rank": 6, "scaled_condition_number": 27.412782801978597, "weakest_scaled_direction": [ 0.43125150612334523, -0.4617735487427605, 0.04452414866242725, 0.07739253348994116, 0.07912232183775593, 0.7658687761495183 ] }, "forward_reverse": { "translation_m": 0.012921368358244189, "rotation_deg": 0.05809273577687571 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.1734582967227625e-15, "rotation_deg": 1.488714270560422e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 31, "j": 33, "lidar_time_i": 1784258780.056085, "lidar_time_j": 1784258946.5498006, "frame_counter_i": 47324, "frame_counter_j": 48989, "rtk_translation_m": 0.5409306841643147, "rtk_rotation_deg": 124.12158315665668, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.6076954465369467, 0.778878426981013, 0.1550955842112933, 0.42830163876841654 ], [ -0.7824206688625193, -0.6206456295080803, 0.05115564005316087, 0.2233101272667619 ], [ 0.13610342095255418, -0.09026294121123407, 0.986574102766189, -1.0667289338423123 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 12, "backend_num_inliers": 575, "backend_objective": 13.478393875353898, "backend_elapsed_sec": 0.24855270000261953, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 39, "num_inliers": 1343, "objective": 1111.1747662504722 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 28, "num_inliers": 794, "objective": 63.98432981897716 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 12, "num_inliers": 575, "objective": 13.478393875353898 } ], "heldout_symmetric": { "evaluated": 8296, "inliers": 653, "inlier_ratio": 0.07871263259402121, "inlier_rmse_m": 0.14967084978243636, "median_m": 1.5952770707144013, "p90_m": 3.0051963942258966, "p95_m": 3.5412728861666882 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 123.88391626183476, 286.3585681034317, 521.989797713704, 1837.8619701401135, 3290.4751209801716, 4099.469068839084 ], "effective_rank": 6, "scaled_condition_number": 33.0912130689722, "weakest_scaled_direction": [ -0.6957308101220805, -0.6636381961458412, 0.09812921082246813, 0.06524177216353211, -0.07389738828394256, -0.23705765040660567 ] }, "forward_reverse": { "translation_m": 2.900706563387122, "rotation_deg": 12.11541439568944 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.2119809348894873e-15, "rotation_deg": 5.885321930804881e-14 } ] }, "accepted": false, "rejection_reasons": [ "heldout_inlier_ratio", "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 31, "j": 34, "lidar_time_i": 1784258780.056085, "lidar_time_j": 1784259023.1457825, "frame_counter_i": 47324, "frame_counter_j": 49755, "rtk_translation_m": 0.9901318542574941, "rtk_rotation_deg": 155.5976733552555, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9126871551547734, 0.4063246717913732, -0.043616715936892675, -1.9302238581070268 ], [ -0.40596412306963026, -0.9137266158119328, -0.01722795220506652, 0.24652381842111304 ], [ -0.0468538962712084, 0.001983091149313248, 0.998899784639931, -0.06324253804208833 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 8207, "backend_objective": 482.52483420392747, "backend_elapsed_sec": 0.08593600000313018, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 15, "num_inliers": 3272, "objective": 513.6461105157824 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 5996, "objective": 477.3959338250617 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 8207, "objective": 482.52483420392747 } ], "heldout_symmetric": { "evaluated": 8296, "inliers": 6482, "inlier_ratio": 0.7813404050144648, "inlier_rmse_m": 0.09211161518215291, "median_m": 0.08128005787563564, "p90_m": 0.7035690034397544, "p95_m": 1.7124631109821618 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 62480.453015231564, 85819.91849187115, 117865.14070874055, 288709.20644362655, 589387.439273466, 1082008.0559427289 ], "effective_rank": 6, "scaled_condition_number": 17.31754498769328, "weakest_scaled_direction": [ -0.36287669904892594, -0.4944503039267934, -0.048343050149538824, 0.12418610593180494, -0.11895133953015959, -0.769370351426263 ] }, "forward_reverse": { "translation_m": 3.351107529092291, "rotation_deg": 8.098567652508597 }, "multistart": { "runs": 1, "success_rate": 0.0, "deltas": [ { "translation_m": 3.5593287521147166, "rotation_deg": 4.16567569301089 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation", "multistart_instability" ] }, { "i": 32, "j": 33, "lidar_time_i": 1784258854.752906, "lidar_time_j": 1784258946.5498006, "frame_counter_i": 48071, "frame_counter_j": 48989, "rtk_translation_m": 0.38765596924480794, "rtk_rotation_deg": 65.15994707924807, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.4608212080257616, 0.8874902836209366, -0.0021933335605390115, -0.9749353662270557 ], [ -0.8872959280904505, 0.46066539879936474, -0.02221095097308647, -0.9005084537231612 ], [ -0.01870161029922948, 0.012181413196029054, 0.9997509004470881, -0.024862260604689438 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 9298, "backend_objective": 631.1894543053492, "backend_elapsed_sec": 0.07672319999983301, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3657, "objective": 500.2874261018309 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6757, "objective": 453.0392733041902 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 9298, "objective": 631.1894543053492 } ], "heldout_symmetric": { "evaluated": 8328, "inliers": 7156, "inlier_ratio": 0.8592699327569645, "inlier_rmse_m": 0.08972486966187442, "median_m": 0.07096042090592512, "p90_m": 0.3675544291139577, "p95_m": 0.7537617219357211 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 53302.82599480226, 90231.25792519412, 237425.56127762614, 545966.6867322427, 784930.3955077782, 1209139.8446297306 ], "effective_rank": 6, "scaled_condition_number": 22.68434781952533, "weakest_scaled_direction": [ 0.57210056488125, 0.2693326824278414, 0.033759510668809584, -0.06503653368021872, 0.13051835305845236, 0.7601028575659693 ] }, "forward_reverse": { "translation_m": 0.0035725430520846596, "rotation_deg": 0.009168450597030125 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 8.927525833688517e-16, "rotation_deg": 3.3045052048349606e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 32, "j": 34, "lidar_time_i": 1784258854.752906, "lidar_time_j": 1784259023.1457825, "frame_counter_i": 48071, "frame_counter_j": 49755, "rtk_translation_m": 1.0327853226589305, "rtk_rotation_deg": 96.63603727784675, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.0717765001150436, 0.9973914294486579, -0.007646600133288951, -1.6176153921311207 ], [ -0.995955816070957, -0.07208432455020328, -0.05362706955051733, -0.267946520560158 ], [ -0.05403837956184667, 0.0037665125121559262, 0.9985317555880858, -0.01907577091576432 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 8606, "backend_objective": 1027.3778426034853, "backend_elapsed_sec": 0.10111009999673115, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3267, "objective": 524.7779871967447 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6123, "objective": 533.4601909627082 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 8606, "objective": 1027.3778426034853 } ], "heldout_symmetric": { "evaluated": 8328, "inliers": 6936, "inlier_ratio": 0.8328530259365994, "inlier_rmse_m": 0.09815070141607997, "median_m": 0.0832183490255524, "p90_m": 0.5020475841958456, "p95_m": 1.1838794666422094 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 44165.206652076195, 81332.72425879547, 141432.17471413853, 341822.15389272576, 645412.8085175732, 1056755.3521389745 ], "effective_rank": 6, "scaled_condition_number": 23.927327238925002, "weakest_scaled_direction": [ -0.2593180412671107, -0.6006960695193027, -0.04224110777772633, 0.13919986523574893, -0.014530730111291199, -0.7419880927292174 ] }, "forward_reverse": { "translation_m": 0.04150636593087017, "rotation_deg": 1.4498937658029205 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.5991563205864272e-15, "rotation_deg": 1.3863332865978313e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 32, "j": 35, "lidar_time_i": 1784258854.752906, "lidar_time_j": 1784259124.3419108, "frame_counter_i": 48071, "frame_counter_j": 50767, "rtk_translation_m": 1.1947451269258382, "rtk_rotation_deg": 131.6892972449946, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.6226534351500811, 0.7818871947709687, -0.030904924348551265, -1.7246023286165766 ], [ -0.7811177746812105, -0.623414954010243, -0.034768048456615006, 0.1428508074850736 ], [ -0.04645128386684595, 0.002491940928855679, 0.9989174482696396, -0.07324348266714298 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8391, "backend_objective": 780.3296919976844, "backend_elapsed_sec": 0.11109460000443505, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 22, "num_inliers": 3446, "objective": 566.1271025060753 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6254, "objective": 504.57406856138164 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8391, "objective": 780.3296919976844 } ], "heldout_symmetric": { "evaluated": 8432, "inliers": 6772, "inlier_ratio": 0.8031309297912713, "inlier_rmse_m": 0.09391797152520207, "median_m": 0.0769373882990903, "p90_m": 0.549912470874396, "p95_m": 1.3673219109504064 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 33606.06796820574, 80643.53119304721, 96889.17796657849, 322339.1362489655, 563046.3794084276, 1038297.5480992158 ], "effective_rank": 6, "scaled_condition_number": 30.896133075774756, "weakest_scaled_direction": [ -0.1588358297131209, 0.6439593861192452, 0.024486338719113782, -0.1447001895111971, -0.016974856763868045, 0.7336631494341744 ] }, "forward_reverse": { "translation_m": 0.007719527793580684, "rotation_deg": 0.006042163579184511 }, "multistart": { "runs": 1, "success_rate": 0.0, "deltas": [ { "translation_m": 1.0960848473449323, "rotation_deg": 0.9566471513657346 } ] }, "accepted": false, "rejection_reasons": [ "multistart_instability" ] }, { "i": 33, "j": 34, "lidar_time_i": 1784258946.5498006, "lidar_time_j": 1784259023.1457825, "frame_counter_i": 48989, "frame_counter_j": 49755, "rtk_translation_m": 0.7453275493729801, "rtk_rotation_deg": 31.47609019859864, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8514050006744601, 0.5244616476975956, 0.007035973340368781, -0.831982917238867 ], [ -0.5244771946684533, 0.851424384061677, 0.0004364606553915362, -0.28523240834574026 ], [ -0.005761692393116058, -0.004061812343916656, 0.9999751519819131, -0.05221941929087148 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 9152, "backend_objective": 1249.8574590465687, "backend_elapsed_sec": 0.09977049999724841, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3436, "objective": 579.5561701278207 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6447, "objective": 741.72228137809 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 9152, "objective": 1249.8574590465687 } ], "heldout_symmetric": { "evaluated": 8394, "inliers": 7283, "inlier_ratio": 0.8676435549201811, "inlier_rmse_m": 0.0964383255266311, "median_m": 0.07584690944515675, "p90_m": 0.3356376634083298, "p95_m": 0.7216635052824919 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 41848.59336122196, 104417.0868181879, 293671.71378884243, 632522.7440898115, 674307.1714121009, 1123038.1821391163 ], "effective_rank": 6, "scaled_condition_number": 26.835745049910184, "weakest_scaled_direction": [ 0.32100595136253307, 0.5747317866986112, 0.06098791165090659, -0.13656908012183502, -0.01761612598919143, 0.737534803002765 ] }, "forward_reverse": { "translation_m": 0.02602048161602559, "rotation_deg": 1.951142742234491 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 5.495761671766055e-16, "rotation_deg": 7.550110339320766e-15 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 33, "j": 35, "lidar_time_i": 1784258946.5498006, "lidar_time_j": 1784259124.3419108, "frame_counter_i": 48989, "frame_counter_j": 50767, "rtk_translation_m": 1.0924186931915323, "rtk_rotation_deg": 66.52935016574651, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.4071191077317827, 0.9133731131403605, -0.001894284024159519, -1.2700919775050272 ], [ -0.9129812140460937, 0.4068817763206014, -0.030207993927318093, -0.18443003796691126 ], [ -0.026820419806513836, 0.014027697262182125, 0.999541839439912, -0.03548244548294059 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8860, "backend_objective": 992.8873966559927, "backend_elapsed_sec": 0.0989521999945282, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3617, "objective": 636.9391930354458 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6536, "objective": 454.50883796550505 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8860, "objective": 992.8873966559927 } ], "heldout_symmetric": { "evaluated": 8498, "inliers": 7078, "inlier_ratio": 0.8329018592610026, "inlier_rmse_m": 0.09179860947142506, "median_m": 0.0738517024359357, "p90_m": 0.4177647999028803, "p95_m": 0.6762110121875847 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 60766.256240579605, 99661.7559727482, 164465.06831168922, 609694.3884089764, 653121.0263623493, 1089818.5189093002 ], "effective_rank": 6, "scaled_condition_number": 17.934600324801995, "weakest_scaled_direction": [ -0.301932403223447, 0.5709106269942578, 0.031179648910464926, -0.09656829373119204, -0.11780647506419582, 0.7474770287047978 ] }, "forward_reverse": { "translation_m": 0.0072384331805243046, "rotation_deg": 0.028209706778456432 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.0264926492536447e-15, "rotation_deg": 1.9854297292176543e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 33, "j": 36, "lidar_time_i": 1784258946.5498006, "lidar_time_j": 1784259242.7374756, "frame_counter_i": 48989, "frame_counter_j": 51951, "rtk_translation_m": 3.335020341384374, "rtk_rotation_deg": 123.21987515531416, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.5318696596194555, 0.8466701205623128, -0.01625952407923447, -1.5506572921676944 ], [ -0.8464549876732743, -0.5321069626988371, -0.01939417671506619, 2.2136541884591185 ], [ -0.025072275910281917, 0.0034477810860199065, 0.999679695595675, -0.023905970672646572 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 7458, "backend_objective": 1036.654820929933, "backend_elapsed_sec": 0.13642760000220733, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 3182, "objective": 654.3121938546817 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5537, "objective": 454.0998246489015 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 7458, "objective": 1036.654820929933 } ], "heldout_symmetric": { "evaluated": 8127, "inliers": 6183, "inlier_ratio": 0.760797342192691, "inlier_rmse_m": 0.09861359027653524, "median_m": 0.0885622089303868, "p90_m": 0.6677795339136111, "p95_m": 1.1743910552945616 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 32985.408846064536, 65370.97397523631, 82547.23349223638, 426505.2689052984, 482496.5296617536, 868278.9908510726 ], "effective_rank": 6, "scaled_condition_number": 26.32312350297475, "weakest_scaled_direction": [ -0.5791874550072192, 0.018025588464213205, 0.02301991358423635, -0.04998234133187691, -0.11312059179582401, 0.8052282601648431 ] }, "forward_reverse": { "translation_m": 0.0022735557932631, "rotation_deg": 0.12221117701824208 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5980112069327407e-15, "rotation_deg": 2.6495215403824894e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 34, "j": 35, "lidar_time_i": 1784259023.1457825, "lidar_time_j": 1784259124.3419108, "frame_counter_i": 49755, "frame_counter_j": 50767, "rtk_translation_m": 0.6186130964444055, "rtk_rotation_deg": 35.05325996714787, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8238888424265844, 0.5667284728066836, 0.005100336771940666, -0.4249766980206035 ], [ -0.5667345606553351, 0.8239003872525498, -0.0002994059172867393, -0.14414538815094802 ], [ -0.004371851299773524, -0.0026438599250310025, 0.9999869483752821, 0.019750480534521386 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 9263, "backend_objective": 460.094755827139, "backend_elapsed_sec": 0.09129399999801535, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3704, "objective": 536.2869181993523 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6756, "objective": 594.8138000616144 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 9263, "objective": 460.094755827139 } ], "heldout_symmetric": { "evaluated": 8498, "inliers": 7350, "inlier_ratio": 0.8649093904448105, "inlier_rmse_m": 0.0788491357224537, "median_m": 0.05680569635777885, "p90_m": 0.3378538776376145, "p95_m": 0.5995612734185298 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 55887.55259118495, 116632.52345217524, 183317.34964941538, 676003.5039112171, 780096.0956938936, 1286853.069476995 ], "effective_rank": 6, "scaled_condition_number": 23.02575456989985, "weakest_scaled_direction": [ -0.15452278100099642, 0.6220733326192909, 0.055383599601089996, -0.11160570382060138, -0.08667195065853928, 0.7524043299547295 ] }, "forward_reverse": { "translation_m": 0.0032110784907267375, "rotation_deg": 0.015379666997505564 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.9570664059926654e-15, "rotation_deg": 4.8894763516408376e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 34, "j": 36, "lidar_time_i": 1784259023.1457825, "lidar_time_j": 1784259242.7374756, "frame_counter_i": 49755, "frame_counter_j": 51951, "rtk_translation_m": 3.114273556969299, "rtk_rotation_deg": 91.74378495671547, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.011137392375608434, 0.9998780139010536, -0.01095060767064822, -1.9163681775205792 ], [ -0.9999287752128017, -0.011183604531494104, -0.004167912080437608, 1.7435874106290512 ], [ -0.004289870918670234, 0.010903408043720295, 0.9999313539941295, -0.034013897972021735 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 7372, "backend_objective": 820.4498232277847, "backend_elapsed_sec": 0.1077618999988772, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3092, "objective": 615.4324144816983 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 5434, "objective": 517.8693328742436 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 7372, "objective": 820.4498232277847 } ], "heldout_symmetric": { "evaluated": 8127, "inliers": 6282, "inlier_ratio": 0.7729789590254706, "inlier_rmse_m": 0.09845381444357724, "median_m": 0.08712344185605007, "p90_m": 0.7215830700120648, "p95_m": 1.5600349023433386 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 25250.49247258991, 61274.8002251948, 124966.42831695636, 485374.5083762247, 550647.6387522393, 932163.502039654 ], "effective_rank": 6, "scaled_condition_number": 36.91664640012635, "weakest_scaled_direction": [ 0.5352473697232546, -0.20633832792909085, -0.03760757714456447, 0.0453622117757219, 0.10719563157480623, -0.8099208505077351 ] }, "forward_reverse": { "translation_m": 0.011794412591703963, "rotation_deg": 0.006135949966801849 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 8.483631417132112e-16, "rotation_deg": 2.9710136984969784e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 34, "j": 37, "lidar_time_i": 1784259023.1457825, "lidar_time_j": 1784259326.8337293, "frame_counter_i": 49755, "frame_counter_j": 52792, "rtk_translation_m": 2.8155528331227235, "rtk_rotation_deg": 126.08390993626574, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.5971026902193718, 0.8011285887519551, -0.04075980393831611, -2.20012451749622 ], [ -0.8017190199166772, -0.5976937397044704, -0.002967595310759037, 1.7416270947719277 ], [ -0.02673930508880845, 0.03090595092188607, 0.9991645669062637, -0.04436249626807182 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 6973, "backend_objective": 442.43304304647575, "backend_elapsed_sec": 0.1320724000033806, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 3114, "objective": 769.8314942206106 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5245, "objective": 503.95425280103353 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 6973, "objective": 442.43304304647575 } ], "heldout_symmetric": { "evaluated": 8177, "inliers": 5911, "inlier_ratio": 0.722881252293017, "inlier_rmse_m": 0.09759501600127507, "median_m": 0.09610550587511557, "p90_m": 1.4068299664325443, "p95_m": 2.745742945940053 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 20525.0881721974, 53917.61639346656, 79386.95141697647, 237545.78830971898, 409776.23489298206, 879057.8693451476 ], "effective_rank": 6, "scaled_condition_number": 42.82845764024001, "weakest_scaled_direction": [ -0.5761303408652897, -0.022842716386368922, 0.030142774195291697, 0.008635415745907468, -0.09305932505333835, 0.811115802719847 ] }, "forward_reverse": { "translation_m": 0.024742240312777743, "rotation_deg": 0.08718512569927171 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.998455352335243e-14, "rotation_deg": 3.329424406638837e-13 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 35, "j": 36, "lidar_time_i": 1784259124.3419108, "lidar_time_j": 1784259242.7374756, "frame_counter_i": 50767, "frame_counter_j": 51951, "rtk_translation_m": 2.4989423629184655, "rtk_rotation_deg": 56.69052498956759, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.5573093680969124, 0.8301840676100748, -0.014166231602364115, -2.3000026811108962 ], [ -0.8303021385034535, 0.5571821766924262, -0.01209879220758413, 0.7155853348642858 ], [ -0.0021510527683269937, 0.018505022633922685, 0.9998264534954584, -0.05838570120135368 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 7499, "backend_objective": 672.3737075972551, "backend_elapsed_sec": 0.09540149999520509, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3130, "objective": 732.754520638991 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5497, "objective": 591.4103608309011 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 7499, "objective": 672.3737075972551 } ], "heldout_symmetric": { "evaluated": 8231, "inliers": 6334, "inlier_ratio": 0.7695298262665533, "inlier_rmse_m": 0.09495386680108024, "median_m": 0.0831376106566306, "p90_m": 0.790641222071479, "p95_m": 1.5335092586167933 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 33123.041808759015, 60930.04724390777, 101902.62161722827, 449099.71241105546, 497466.76166188467, 926743.9256015598 ], "effective_rank": 6, "scaled_condition_number": 27.978829086780696, "weakest_scaled_direction": [ -0.551669550718345, 0.2068344048294598, 0.04303908164793011, -0.07579820003035191, -0.11242117236279105, 0.7953892041740949 ] }, "forward_reverse": { "translation_m": 0.006644101856716534, "rotation_deg": 0.038610475450088305 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 5.3407826539173486e-11, "rotation_deg": 7.122154446559147e-10 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 35, "j": 37, "lidar_time_i": 1784259124.3419108, "lidar_time_j": 1784259326.8337293, "frame_counter_i": 50767, "frame_counter_j": 52792, "rtk_translation_m": 2.2182956249874577, "rtk_rotation_deg": 91.03064996911786, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.03730371026296736, 0.9991766678786611, -0.015950535022899646, -2.538218189961778 ], [ -0.9992322901108363, -0.03748746476077693, -0.01138070233600765, 0.5397175330308861 ], [ -0.0119692773577974, 0.015513747216893607, 0.9998080115936377, -0.11196108886797657 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 7023, "backend_objective": 815.1607150098368, "backend_elapsed_sec": 0.1856597999940277, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 39, "num_inliers": 3159, "objective": 834.7266976363617 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 8, "num_inliers": 5363, "objective": 1206.5805544802474 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 7023, "objective": 815.1607150098368 } ], "heldout_symmetric": { "evaluated": 8281, "inliers": 5977, "inlier_ratio": 0.7217727327617437, "inlier_rmse_m": 0.10621413586570766, "median_m": 0.10931778407927274, "p90_m": 1.4870160227344433, "p95_m": 2.8699645618067056 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 24588.495253168316, 47697.39902911076, 65284.50277546982, 222027.66654047518, 382748.8516654366, 799796.220570917 ], "effective_rank": 6, "scaled_condition_number": 32.52725359303394, "weakest_scaled_direction": [ -0.5658761521092754, -0.14003751136486609, 0.028901874902001096, -0.007360237529588878, -0.13200244074975906, 0.801161369545174 ] }, "forward_reverse": { "translation_m": 0.04503438705750094, "rotation_deg": 1.5781812743250268 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 8.886119947416683e-16, "rotation_deg": 1.3244603122813474e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 36, "j": 37, "lidar_time_i": 1784259242.7374756, "lidar_time_j": 1784259326.8337293, "frame_counter_i": 51951, "frame_counter_j": 52792, "rtk_translation_m": 0.5129211474320938, "rtk_rotation_deg": 34.34012497955026, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8083554036087096, 0.5886947221586053, -0.00025604531510284247, 0.0037240617105741367 ], [ -0.5884532447515701, 0.8080112126938198, -0.02899411841065784, -0.28467989527003845 ], [ -0.016861796996435082, 0.023588222986601726, 0.9995795493798308, -0.02205466024106569 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 9027, "backend_objective": 713.3293832483491, "backend_elapsed_sec": 0.08661949999805074, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 3, "num_inliers": 3654, "objective": 446.5276364539395 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 1, "num_inliers": 6536, "objective": 438.02683082607507 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 9027, "objective": 713.3293832483491 } ], "heldout_symmetric": { "evaluated": 7910, "inliers": 6949, "inlier_ratio": 0.8785082174462705, "inlier_rmse_m": 0.08834636280188386, "median_m": 0.06580646046450866, "p90_m": 0.329639908182268, "p95_m": 1.0302131665838532 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 45572.18757473022, 144344.45333491915, 205001.56146385125, 489904.6197876151, 694163.988833144, 1062963.2657793977 ], "effective_rank": 6, "scaled_condition_number": 23.324824248042262, "weakest_scaled_direction": [ 0.6253460402863806, 0.027816479782608927, -0.03132780481808471, -0.02425124339104761, 0.07604584796306675, -0.7751232471017077 ] }, "forward_reverse": { "translation_m": 0.003787237363253161, "rotation_deg": 0.027331592166342466 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5146981355543298e-15, "rotation_deg": 8.37405761275949e-15 } ] }, "accepted": true, "rejection_reasons": [] } ] }