{ "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": 175, "accepted_pairs": 154, "parameters": { "command": "pairs", "backend": "small_gicp", "frames": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\outputs\\calibration_data1_20260720\\prepared\\frames_all", "body": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\outputs\\calibration_data1_20260720\\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_batch2_estimation.npz", "quality_json": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\rigorous_build\\results\\small_gicp\\B_batch2_quality.json", "quality_csv": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\rigorous_build\\results\\small_gicp\\B_batch2_quality.csv", "time_offset": 0.0, "min_stations": 30, "min_pairs": 25, "min_gap": 1, "max_gap": 5, "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": 60, "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": 2, "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": 252, "translation_rms_m": 0.06356464456110195, "translation_p95_m": 0.12253135158224471, "rotation_rms_deg": 0.7286536542725655, "rotation_p95_deg": 1.4911215410143956 }, "pairs": [ { "i": 0, "j": 1, "lidar_time_i": 1784279335.9505181, "lidar_time_j": 1784279429.4466305, "frame_counter_i": 190, "frame_counter_j": 1125, "rtk_translation_m": 0.503306788400079, "rtk_rotation_deg": 13.198324485965863, "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": [ [ 0.9732256594175284, 0.2298393437518817, 0.002385773464110897, -0.5085216582325164 ], [ -0.22984329308833232, 0.973226438955539, 0.0015359492935228738, -0.43801336988634615 ], [ -0.0019688762349718025, -0.002043179293574694, 0.9999959744642708, -0.024755598336912075 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 8566, "backend_objective": 800.1659387525409, "backend_elapsed_sec": 0.10616989999834914, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 3, "num_inliers": 3428, "objective": 698.6300560684315 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6105, "objective": 591.0170449604074 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 8566, "objective": 800.1659387525409 } ], "heldout_symmetric": { "evaluated": 8264, "inliers": 6720, "inlier_ratio": 0.8131655372700871, "inlier_rmse_m": 0.09008834340898543, "median_m": 0.07150272364081242, "p90_m": 0.7643873169289985, "p95_m": 1.9780435889281305 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 127127.10711156312, 144192.6425942114, 482295.5871918031, 590428.0484319527, 878779.0524505649, 1452972.521413469 ], "effective_rank": 6, "scaled_condition_number": 11.429289586039127, "weakest_scaled_direction": [ -0.19634401538370133, -0.14111436174942188, -0.1380782778733392, 0.08534798273642365, -0.9400496425004065, -0.17746139069744757 ] }, "forward_reverse": { "translation_m": 0.0005504552049968047, "rotation_deg": 0.0032916777115618487 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0927876733745939e-15, "rotation_deg": 5.523027526173787e-15 }, { "translation_m": 7.208522290024695e-16, "rotation_deg": 1.67420866733509e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 0, "j": 2, "lidar_time_i": 1784279335.9505181, "lidar_time_j": 1784279517.5427606, "frame_counter_i": 190, "frame_counter_j": 2006, "rtk_translation_m": 1.1601020961002007, "rtk_rotation_deg": 26.306295080591493, "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": [ [ 0.8991999191454997, 0.43749726711979775, 0.005970483350278111, -1.2947436424060323 ], [ -0.43731840170963265, 0.8990972068229134, -0.019412063501042746, -0.47848585880660605 ], [ -0.013860769634479925, 0.014844323694407325, 0.9997937412882696, -0.07678373134058225 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8207, "backend_objective": 2066.8679439242123, "backend_elapsed_sec": 0.07528679999813903, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3563, "objective": 606.1669939786403 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6206, "objective": 929.4738203786825 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8207, "objective": 2066.8679439242123 } ], "heldout_symmetric": { "evaluated": 7897, "inliers": 6450, "inlier_ratio": 0.8167658604533367, "inlier_rmse_m": 0.09980570916927256, "median_m": 0.0849131852949364, "p90_m": 0.4706026789170791, "p95_m": 0.8232606542322466 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 122216.78268988681, 141833.60418954302, 333958.07258977805, 595525.0783681868, 871578.8106490916, 1345349.0088035332 ], "effective_rank": 6, "scaled_condition_number": 11.00789089021616, "weakest_scaled_direction": [ 0.24587060688981208, 0.24939706911878312, 0.11994305554925777, -0.31575142502115205, 0.8421061088763301, 0.23263866617220508 ] }, "forward_reverse": { "translation_m": 0.00205395151868756, "rotation_deg": 0.012799633971915293 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2918275027307398e-15, "rotation_deg": 8.776105392667376e-15 }, { "translation_m": 1.784146017590271e-15, "rotation_deg": 1.2831929167843777e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 0, "j": 3, "lidar_time_i": 1784279335.9505181, "lidar_time_j": 1784279605.2394407, "frame_counter_i": 190, "frame_counter_j": 2883, "rtk_translation_m": 1.1328421148283978, "rtk_rotation_deg": 41.74134818989305, "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": [ [ 0.7507835450319097, 0.6605182914902072, 0.006297230834027551, -1.460141234276999 ], [ -0.660269990415803, 0.7507098178407177, -0.021870280150761076, -0.6505379186527889 ], [ -0.019173113091906654, 0.012261973919999931, 0.999740984320414, -0.05787471599177796 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 8532, "backend_objective": 2130.926933392321, "backend_elapsed_sec": 0.08671429999958491, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3808, "objective": 599.7791707863356 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 1, "num_inliers": 6517, "objective": 960.4645701008354 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 8532, "objective": 2130.926933392321 } ], "heldout_symmetric": { "evaluated": 8061, "inliers": 6565, "inlier_ratio": 0.81441508497705, "inlier_rmse_m": 0.10115686777955255, "median_m": 0.08458581147138328, "p90_m": 0.4660560635311788, "p95_m": 0.8713542138173543 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 85008.94227532795, 134972.94040412531, 334993.25799912383, 571937.3703236526, 898302.400939096, 1176313.7618310205 ], "effective_rank": 6, "scaled_condition_number": 13.837529680361882, "weakest_scaled_direction": [ -0.0932947986663009, -0.6384188712161041, -0.06353273820808344, 0.12222938228953248, 0.033772758630078246, -0.7507332385557387 ] }, "forward_reverse": { "translation_m": 0.01247476852224996, "rotation_deg": 0.1726729736128094 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1805095966397748e-15, "rotation_deg": 1.1405728698500914e-14 }, { "translation_m": 1.4634981008368425e-15, "rotation_deg": 1.3799950714150735e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 0, "j": 4, "lidar_time_i": 1784279335.9505181, "lidar_time_j": 1784279701.2360666, "frame_counter_i": 190, "frame_counter_j": 3843, "rtk_translation_m": 1.0129799192122786, "rtk_rotation_deg": 70.92934830291522, "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": [ [ 0.3237149715595392, 0.9461239052668428, 0.007627127298400648, -1.6483199176021062 ], [ -0.9458072202066334, 0.3238040257544178, -0.024487856382962664, -0.6173217934817673 ], [ -0.025638240836825747, 0.000713293664302386, 0.9996710317994324, -0.053929018244232775 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 16, "backend_num_inliers": 8011, "backend_objective": 2108.7675231132316, "backend_elapsed_sec": 0.12251970000215806, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3645, "objective": 802.61361107168 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6175, "objective": 962.3133639178966 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 16, "num_inliers": 8011, "objective": 2108.7675231132316 } ], "heldout_symmetric": { "evaluated": 8150, "inliers": 6326, "inlier_ratio": 0.7761963190184049, "inlier_rmse_m": 0.10269905695661055, "median_m": 0.092787645701402, "p90_m": 0.6428594177123093, "p95_m": 1.399431328691987 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 88390.07116347234, 117640.6772263984, 311451.6466644674, 510595.6465231369, 780502.0587304652, 1139198.9328779848 ], "effective_rank": 6, "scaled_condition_number": 12.888313335228592, "weakest_scaled_direction": [ -0.15099919243123003, 0.6483079426744522, 0.08404109807821823, -0.19786568649492553, -0.020788101540660568, 0.7143179783026392 ] }, "forward_reverse": { "translation_m": 0.019300920937430674, "rotation_deg": 0.12217052794626229 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.866392382354308e-16, "rotation_deg": 6.538712548310644e-15 }, { "translation_m": 1.2536375005832404e-15, "rotation_deg": 5.409527190998637e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 0, "j": 5, "lidar_time_i": 1784279335.9505181, "lidar_time_j": 1784279817.2306573, "frame_counter_i": 190, "frame_counter_j": 5003, "rtk_translation_m": 0.9014321094792815, "rtk_rotation_deg": 89.27285808969826, "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": [ [ 0.012140229839875234, 0.9999219044592973, 0.0029664460097021165, -1.8770214018326028 ], [ -0.9992401986919791, 0.012241726835893236, -0.0370022356363908, -0.6810015743053482 ], [ -0.037035660348515714, -0.0025149764549287587, 0.9993107798657941, 0.05379271077638566 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7783, "backend_objective": 2160.620556866371, "backend_elapsed_sec": 0.08606969999527792, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3511, "objective": 710.2828254834725 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6002, "objective": 780.4021125102065 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7783, "objective": 2160.620556866371 } ], "heldout_symmetric": { "evaluated": 8071, "inliers": 6243, "inlier_ratio": 0.7735100978813034, "inlier_rmse_m": 0.10986502690369805, "median_m": 0.10426975632953092, "p90_m": 0.6235615795371964, "p95_m": 1.091614253556231 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 38178.17581558952, 104571.80383915416, 176082.99599709187, 472078.39547131513, 734448.3114064794, 951369.7244056237 ], "effective_rank": 6, "scaled_condition_number": 24.919203290408266, "weakest_scaled_direction": [ -0.47205032676462316, 0.4009233405946271, 0.036378319707655996, -0.005183773764305123, -0.10620581347740907, 0.7770450665799679 ] }, "forward_reverse": { "translation_m": 0.0278108340699398, "rotation_deg": 0.2717481445912482 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.972820174300706e-16, "rotation_deg": 1.7971802608021663e-15 }, { "translation_m": 7.663002283985489e-16, "rotation_deg": 3.913705699227609e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 1, "j": 2, "lidar_time_i": 1784279429.4466305, "lidar_time_j": 1784279517.5427606, "frame_counter_i": 1125, "frame_counter_j": 2006, "rtk_translation_m": 0.6927979865343085, "rtk_rotation_deg": 13.107970594625625, "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": [ [ 0.9753042373167554, 0.2208460546918724, 0.002943603067090265, -0.7491357964104429 ], [ -0.22085053512229444, 0.975306809757105, 0.0012915020764511498, -0.24571341143089132 ], [ -0.0025856929783444394, -0.001909703760220707, 0.9999948335983389, -0.044123084484436 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 8024, "backend_objective": 950.6058121200639, "backend_elapsed_sec": 0.06771630000002915, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 3, "num_inliers": 3403, "objective": 425.51183210243687 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5807, "objective": 534.4615858588727 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 8024, "objective": 950.6058121200639 } ], "heldout_symmetric": { "evaluated": 7815, "inliers": 6135, "inlier_ratio": 0.7850287907869482, "inlier_rmse_m": 0.08649388452503427, "median_m": 0.07459999812033362, "p90_m": 0.7976262020686651, "p95_m": 1.8764598290016992 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 136611.3309743703, 208629.76645261946, 429218.3880497316, 622551.8685533825, 979479.1450590679, 1606202.250175659 ], "effective_rank": 6, "scaled_condition_number": 11.757459931907107, "weakest_scaled_direction": [ -0.15209132713786247, -0.12248432812431614, -0.1321063188605056, 0.28258633424506685, -0.9233316441046394, -0.10962379661124555 ] }, "forward_reverse": { "translation_m": 0.001960394451155616, "rotation_deg": 0.002128143929965857 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.548010594714626e-15, "rotation_deg": 6.05377305178897e-15 }, { "translation_m": 8.900196549101993e-16, "rotation_deg": 9.23921728892002e-16 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 1, "j": 3, "lidar_time_i": 1784279429.4466305, "lidar_time_j": 1784279605.2394407, "frame_counter_i": 1125, "frame_counter_j": 2883, "rtk_translation_m": 0.7002295454253883, "rtk_rotation_deg": 28.543023703927183, "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": [ [ 0.881547379653831, 0.47207796552633674, 0.004075768636618514, -0.8711444583150696 ], [ -0.4720874363232396, 0.8815500038044718, 0.0017444936480975643, -0.4444293763355881 ], [ -0.0027694568448496802, -0.0034619729710110556, 0.9999901723776752, -0.0350837548135943 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8378, "backend_objective": 1518.577815920697, "backend_elapsed_sec": 0.09606340000027558, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3653, "objective": 555.3094324458108 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6202, "objective": 992.7268828320242 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8378, "objective": 1518.577815920697 } ], "heldout_symmetric": { "evaluated": 7979, "inliers": 6305, "inlier_ratio": 0.7901992730918661, "inlier_rmse_m": 0.09109387779670658, "median_m": 0.07883398513573667, "p90_m": 0.7975185019481512, "p95_m": 1.9234942357114353 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 115707.41981086135, 140383.5774464469, 378039.2505205002, 592966.3942336395, 892085.2446302066, 1396129.2433876668 ], "effective_rank": 6, "scaled_condition_number": 12.066030386554463, "weakest_scaled_direction": [ 0.19425838910289805, 0.6590724813333837, 0.08479105358014388, -0.21535038410370463, 0.12192394047794353, 0.6778321212879267 ] }, "forward_reverse": { "translation_m": 0.004906057223105903, "rotation_deg": 0.018773640398341965 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.578912943764841e-15, "rotation_deg": 2.190982497334873e-14 }, { "translation_m": 2.557516652023314e-15, "rotation_deg": 1.0846416904469455e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 1, "j": 4, "lidar_time_i": 1784279429.4466305, "lidar_time_j": 1784279701.2360666, "frame_counter_i": 1125, "frame_counter_j": 3843, "rtk_translation_m": 0.8045641659338967, "rtk_rotation_deg": 57.731023816949346, "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": [ [ 0.5323491136448291, 0.846459277713314, 0.010540985467243778, -1.063409138588704 ], [ -0.8462414853710563, 0.5324518141189986, -0.01924614450676706, -0.43926523768638365 ], [ -0.02190364441260007, 0.0013254487701826294, 0.9997592077830563, -0.045035546834941785 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 7667, "backend_objective": 1966.7932874558626, "backend_elapsed_sec": 0.09439659999770811, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3500, "objective": 603.5430385386157 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5909, "objective": 963.9412291591607 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 7667, "objective": 1966.7932874558626 } ], "heldout_symmetric": { "evaluated": 8068, "inliers": 6002, "inlier_ratio": 0.7439266236985622, "inlier_rmse_m": 0.09680131928922782, "median_m": 0.08945864212194773, "p90_m": 1.125966460765389, "p95_m": 1.8098815635700962 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 92960.33375739795, 129310.85336628548, 239700.5466632511, 450093.4039979895, 746797.7110681742, 1195525.3395512789 ], "effective_rank": 6, "scaled_condition_number": 12.860596463339792, "weakest_scaled_direction": [ -0.028059693390673948, 0.7920632148123288, 0.1041214336872416, -0.25476403527265873, 0.03507260922265212, 0.5430215859510557 ] }, "forward_reverse": { "translation_m": 0.020081946886066578, "rotation_deg": 1.2340284819813434 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.266153263119412e-15, "rotation_deg": 9.902968746715307e-15 }, { "translation_m": 1.8463326216622014e-15, "rotation_deg": 3.0684007067329122e-15 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 1, "j": 5, "lidar_time_i": 1784279429.4466305, "lidar_time_j": 1784279817.2306573, "frame_counter_i": 1125, "frame_counter_j": 5003, "rtk_translation_m": 0.7829726518389362, "rtk_rotation_deg": 76.07453360373235, "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": [ [ 0.24070349668981553, 0.9705207499445719, 0.012300431225068612, -1.2623817879107437 ], [ -0.9702779111467469, 0.24093041665123108, -0.02265633405850208, -0.5498501275160544 ], [ -0.024951990341497754, -0.006481377885209785, 0.9996676397276786, -0.036381676264847396 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 15, "backend_num_inliers": 7306, "backend_objective": 2281.791358890212, "backend_elapsed_sec": 0.11966459999530343, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3335, "objective": 713.4478599130833 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5675, "objective": 1012.4245511285837 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 15, "num_inliers": 7306, "objective": 2281.791358890212 } ], "heldout_symmetric": { "evaluated": 7989, "inliers": 5843, "inlier_ratio": 0.7313806483915384, "inlier_rmse_m": 0.10148815288043825, "median_m": 0.09629022829827855, "p90_m": 1.011882598262486, "p95_m": 1.9797034236741615 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 69421.94750535664, 121783.02166618757, 274279.64644914947, 375948.8952108587, 640075.1251452807, 887385.3197964014 ], "effective_rank": 6, "scaled_condition_number": 12.782489568272775, "weakest_scaled_direction": [ -0.3966805371957081, 0.5458924600085838, 0.057701236580493774, -0.06108686034890065, -0.10516780921378814, 0.7256201955643661 ] }, "forward_reverse": { "translation_m": 0.016729134900242502, "rotation_deg": 0.06734086907642674 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.3011304966701034e-15, "rotation_deg": 6.253717412105089e-15 }, { "translation_m": 2.8313748239171495e-16, "rotation_deg": 2.7153132379059204e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 1, "j": 6, "lidar_time_i": 1784279429.4466305, "lidar_time_j": 1784280797.6884267, "frame_counter_i": 1125, "frame_counter_j": 1175, "rtk_translation_m": 0.7843480712672012, "rtk_rotation_deg": 108.63393511864574, "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": [ [ -0.3207773069269725, 0.9469621104343048, -0.019096616519349692, -1.1183309436712972 ], [ -0.9456473656271649, -0.32133873663149887, -0.049924705532190555, -1.7975182814012605 ], [ -0.05341328713983838, 0.002043952514177049, 0.998570399628908, -0.001264041666279185 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 5685, "backend_objective": 991.3300870242351, "backend_elapsed_sec": 0.09591509999881964, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 2891, "objective": 702.1681036620406 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 4488, "objective": 588.8036733602504 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 5685, "objective": 991.3300870242351 } ], "heldout_symmetric": { "evaluated": 7965, "inliers": 4950, "inlier_ratio": 0.6214689265536724, "inlier_rmse_m": 0.10742176387842234, "median_m": 0.14398824110256872, "p90_m": 1.5991467788154858, "p95_m": 2.1879648868876447 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 21889.29440411709, 77436.17933876459, 145319.2784209207, 341949.9533876121, 369692.1747074788, 577673.6879648389 ], "effective_rank": 6, "scaled_condition_number": 26.39069479810122, "weakest_scaled_direction": [ -0.6590413750352909, 0.014950130341998102, 0.01668842756491527, 0.05045404479557536, -0.08896804820174205, 0.7447828755702562 ] }, "forward_reverse": { "translation_m": 0.0027238824581310127, "rotation_deg": 0.04004688680398286 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.972820174300706e-16, "rotation_deg": 5.1160880123469024e-15 }, { "translation_m": 7.217783939387125e-16, "rotation_deg": 6.722893561527567e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 3, "lidar_time_i": 1784279517.5427606, "lidar_time_j": 1784279605.2394407, "frame_counter_i": 2006, "frame_counter_j": 2883, "rtk_translation_m": 0.13949776780243606, "rtk_rotation_deg": 15.435053109301553, "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": [ [ 0.9640762793185083, 0.2656250519169471, 0.0005093618563565898, -0.07193547920760454 ], [ -0.26562535638342616, 0.9640760958074671, 0.0006719663747859206, -0.2255792998097866 ], [ -0.0003125724866405519, -0.0007831262670535983, 0.9999996445057819, -0.001459604973264177 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 1, "backend_num_inliers": 9532, "backend_objective": 334.620458431214, "backend_elapsed_sec": 0.060703200004354585, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 3, "num_inliers": 4068, "objective": 533.9651743310599 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 1, "num_inliers": 6927, "objective": 404.1061150540427 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 1, "num_inliers": 9532, "objective": 334.620458431214 } ], "heldout_symmetric": { "evaluated": 7612, "inliers": 6985, "inlier_ratio": 0.9176300578034682, "inlier_rmse_m": 0.07082931569628453, "median_m": 0.0392236696544116, "p90_m": 0.2044701574980096, "p95_m": 0.40529659858833095 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 171317.94425119928, 208557.57463665362, 554739.5493603422, 852666.2284170219, 1073193.4473534105, 2011330.0948243802 ], "effective_rank": 6, "scaled_condition_number": 11.740335220665598, "weakest_scaled_direction": [ 0.08020096373145429, 0.15440249004806095, 0.11733206131217734, -0.5410822831394393, 0.8022198601392845, 0.14012181394221998 ] }, "forward_reverse": { "translation_m": 0.0016419682635548487, "rotation_deg": 0.0015051284247814798 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 9.310097920393626e-15, "rotation_deg": 2.3342153879162976e-14 }, { "translation_m": 1.1966589035335742e-15, "rotation_deg": 3.844100615943765e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 4, "lidar_time_i": 1784279517.5427606, "lidar_time_j": 1784279701.2360666, "frame_counter_i": 2006, "frame_counter_j": 3843, "rtk_translation_m": 0.6701726006967371, "rtk_rotation_deg": 44.62305322232371, "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": [ [ 0.7048832942591895, 0.7093220814828741, 0.0013138474474602602, -0.2527241215477539 ], [ -0.7093232594931878, 0.7048826590408818, 0.0009749489298855402, -0.27696731318432055 ], [ -0.00023455547805395887, -0.001619167767341502, 0.999998661638839, -0.01017446001112357 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 8664, "backend_objective": 551.146071870455, "backend_elapsed_sec": 0.0811598000000231, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3877, "objective": 1366.7313686720768 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6464, "objective": 605.8598533267452 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 8664, "objective": 551.146071870455 } ], "heldout_symmetric": { "evaluated": 7701, "inliers": 6473, "inlier_ratio": 0.840540189585768, "inlier_rmse_m": 0.08212714345330237, "median_m": 0.05789008533433127, "p90_m": 0.456475302539791, "p95_m": 0.9833165142015567 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 135625.31762428777, 162510.87772821824, 413260.11396482604, 644273.7076506147, 920028.3362660705, 1751911.9509995335 ], "effective_rank": 6, "scaled_condition_number": 12.917292889611646, "weakest_scaled_direction": [ 0.015105072509023772, 0.31121689742039627, 0.13212580856615153, -0.8274532308327696, 0.39561351139545275, 0.2104037800065182 ] }, "forward_reverse": { "translation_m": 0.0015059170263523442, "rotation_deg": 0.004861145455894842 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6392806421131483e-15, "rotation_deg": 1.1610282440903066e-14 }, { "translation_m": 1.6088398260303535e-15, "rotation_deg": 8.448115938895552e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 5, "lidar_time_i": 1784279517.5427606, "lidar_time_j": 1784279817.2306573, "frame_counter_i": 2006, "frame_counter_j": 5003, "rtk_translation_m": 0.8004226998626774, "rtk_rotation_deg": 62.96656300910673, "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": [ [ 0.4472602661693201, 0.8944019725064142, 0.0018346342375135294, -0.42079565404901803 ], [ -0.8944031573465188, 0.4472564163313923, 0.0021656821042411287, -0.43112120071377696 ], [ 0.0011164384115059415, -0.002609526208989154, 0.999995971961006, -0.021208538992309414 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 8224, "backend_objective": 973.7248476968485, "backend_elapsed_sec": 0.18923859999631532, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 59, "num_inliers": 3694, "objective": 719.7869373009748 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6275, "objective": 1511.8846293724382 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 8224, "objective": 973.7248476968485 } ], "heldout_symmetric": { "evaluated": 7622, "inliers": 6327, "inlier_ratio": 0.8300970873786407, "inlier_rmse_m": 0.0931389934573794, "median_m": 0.0712921466628325, "p90_m": 0.4794780723326294, "p95_m": 0.8394619293753688 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 89355.48633712047, 130082.35744833632, 337784.5941874275, 556361.7846189302, 838195.1349037761, 1407222.19854962 ], "effective_rank": 6, "scaled_condition_number": 15.74858194202481, "weakest_scaled_direction": [ 0.3977725954006704, -0.47098084593865785, -0.06691961147751312, 0.11204472333049269, 0.09665282514658931, -0.7704414202726875 ] }, "forward_reverse": { "translation_m": 0.002555949510569182, "rotation_deg": 0.008486377461290648 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.487709209519727e-15, "rotation_deg": 1.1962563139299163e-14 }, { "translation_m": 5.012342323564822e-15, "rotation_deg": 3.349708966143404e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 6, "lidar_time_i": 1784279517.5427606, "lidar_time_j": 1784280797.6884267, "frame_counter_i": 2006, "frame_counter_j": 1175, "rtk_translation_m": 1.3845111356101025, "rtk_rotation_deg": 95.5259645240201, "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": [ [ -0.10404256909103815, 0.9945485923216271, -0.006945597742925645, -0.013979498473940323 ], [ -0.9932538195997412, -0.10426159591671733, -0.0507579497953143, -1.588019923726897 ], [ -0.05120540662333461, 0.0016177539890657995, 0.9986868323977091, -0.01790833071120444 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 5822, "backend_objective": 1352.8338210257245, "backend_elapsed_sec": 0.07748949999950128, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3066, "objective": 649.461583341915 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 4737, "objective": 541.581048509136 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 5822, "objective": 1352.8338210257245 } ], "heldout_symmetric": { "evaluated": 7598, "inliers": 4935, "inlier_ratio": 0.6495130297446696, "inlier_rmse_m": 0.10354826871538153, "median_m": 0.12912553648470815, "p90_m": 1.4043193369485218, "p95_m": 1.8158576660833958 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 42899.99809040511, 86289.52356577072, 207651.46161091395, 403588.9447170074, 440068.5354316061, 654780.6424403922 ], "effective_rank": 6, "scaled_condition_number": 15.262952717632835, "weakest_scaled_direction": [ 0.6037873165423945, 0.04208797455158253, -0.01508083000414903, -0.014239548876784143, 0.1003363803283117, -0.7894123721968536 ] }, "forward_reverse": { "translation_m": 0.008359384079660144, "rotation_deg": 0.07441619593698878 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6453228041423052e-15, "rotation_deg": 2.913053046312571e-15 }, { "translation_m": 1.0345236923802117e-15, "rotation_deg": 3.777125047300642e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 7, "lidar_time_i": 1784279517.5427606, "lidar_time_j": 1784280931.5831878, "frame_counter_i": 2006, "frame_counter_j": 2514, "rtk_translation_m": 2.161304865409727, "rtk_rotation_deg": 119.81081101983789, "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": [ [ -0.5083278870531132, 0.8608449849313177, -0.02342373076001189, -0.13659059256963346 ], [ -0.8601730566179443, -0.508859559572662, -0.03412127342376529, 0.09852740192896535 ], [ -0.04129251642440702, 0.002803667262170939, 0.9991431666869486, 0.02125259569168905 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 8182, "backend_objective": 1821.551527909283, "backend_elapsed_sec": 0.19959789999848, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 59, "num_inliers": 3747, "objective": 753.8402034864624 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6359, "objective": 726.0091665297025 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 8182, "objective": 1821.551527909283 } ], "heldout_symmetric": { "evaluated": 7497, "inliers": 6105, "inlier_ratio": 0.8143257302921169, "inlier_rmse_m": 0.09968516416989152, "median_m": 0.07875044422978825, "p90_m": 0.5777439408614219, "p95_m": 1.249053296621173 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 34087.71268218264, 146190.9623505872, 211513.42809979687, 637392.8203465935, 881345.906925634, 1041052.9573337135 ], "effective_rank": 6, "scaled_condition_number": 30.540416925007207, "weakest_scaled_direction": [ -0.48114227307438556, -0.316977184241734, 0.01218553240806845, 0.06665237511260821, -0.06524625818134831, 0.8118986865466091 ] }, "forward_reverse": { "translation_m": 0.013121403719342412, "rotation_deg": 0.05039604031914888 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.2356050802197154e-15, "rotation_deg": 8.774890219883372e-15 }, { "translation_m": 2.9810323257252123e-15, "rotation_deg": 1.3687803109494445e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 4, "lidar_time_i": 1784279605.2394407, "lidar_time_j": 1784279701.2360666, "frame_counter_i": 2883, "frame_counter_j": 3843, "rtk_translation_m": 0.5366157827594368, "rtk_rotation_deg": 29.188000113022152, "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": [ [ 0.8679846571628789, 0.49658952368904946, 0.0012165081681853468, -0.16162272253006085 ], [ -0.4965900783388547, 0.8679851725313911, 0.00018536736739434647, -0.0992369709435129 ], [ -0.0009638595595663559, -0.0007650019173759849, 0.9999992428731214, -0.002505129909692346 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 1, "backend_num_inliers": 9414, "backend_objective": 357.5654611781773, "backend_elapsed_sec": 0.06853290000435663, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 3, "num_inliers": 3999, "objective": 671.5150554607991 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6850, "objective": 428.0068756054975 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 1, "num_inliers": 9414, "objective": 357.5654611781773 } ], "heldout_symmetric": { "evaluated": 7865, "inliers": 6965, "inlier_ratio": 0.8855689764780674, "inlier_rmse_m": 0.07250679559229746, "median_m": 0.04045573561450535, "p90_m": 0.29982286365160593, "p95_m": 0.6878363355200227 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 160314.06778957535, 182563.3399178973, 426228.387495322, 790482.9365129798, 1025327.1932662086, 1871248.6251460423 ], "effective_rank": 6, "scaled_condition_number": 11.672391892657863, "weakest_scaled_direction": [ -0.054478144158093725, 0.560580460026952, 0.12338005714738298, -0.6287235826263396, 0.24187001914161935, 0.46234683045664166 ] }, "forward_reverse": { "translation_m": 0.0006574625393083392, "rotation_deg": 0.0008548453445728261 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.58984639784215e-16, "rotation_deg": 2.9725216646126185e-15 }, { "translation_m": 2.2732166591371436e-15, "rotation_deg": 1.955861596786982e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 5, "lidar_time_i": 1784279605.2394407, "lidar_time_j": 1784279817.2306573, "frame_counter_i": 2883, "frame_counter_j": 5003, "rtk_translation_m": 0.6760093701980526, "rtk_rotation_deg": 47.53150989980517, "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": [ [ 0.668760921782342, 0.7434765109975793, 0.001227636631753575, -0.28144262602682035 ], [ -0.7434774775177969, 0.668759380530992, 0.0014599231410065362, -0.29317149941822046 ], [ 0.0002644250498314875, -0.001889059731795496, 0.9999981807647066, -0.013410205402184691 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 9054, "backend_objective": 639.0869598721015, "backend_elapsed_sec": 0.07253230000060285, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3841, "objective": 585.8842404602616 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6636, "objective": 609.1805696439596 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 9054, "objective": 639.0869598721015 } ], "heldout_symmetric": { "evaluated": 7786, "inliers": 6820, "inlier_ratio": 0.8759311584895967, "inlier_rmse_m": 0.08543306637795112, "median_m": 0.0575348942075644, "p90_m": 0.31345212127260746, "p95_m": 0.5957857806419478 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 106156.94644523914, 149498.34933061042, 380293.59934791055, 636336.2730551229, 906073.1676343402, 1600153.0221543848 ], "effective_rank": 6, "scaled_condition_number": 15.073465050917047, "weakest_scaled_direction": [ 0.4013540820791504, -0.497656770378389, -0.06150000981396836, 0.051873102802711374, 0.10533929003269606, -0.7574187769450025 ] }, "forward_reverse": { "translation_m": 0.0011073394938326227, "rotation_deg": 0.004974962253885575 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.074790117938818e-15, "rotation_deg": 1.0596053800751206e-14 }, { "translation_m": 1.2093996429075405e-15, "rotation_deg": 9.719211903813335e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 6, "lidar_time_i": 1784279605.2394407, "lidar_time_j": 1784280797.6884267, "frame_counter_i": 2883, "frame_counter_j": 1175, "rtk_translation_m": 1.4361364806393455, "rtk_rotation_deg": 80.09091141471853, "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": [ [ 0.1636368922264762, 0.9864205238333752, 0.014054097720979057, 0.418020185513016 ], [ -0.9853353404175976, 0.1641218364511524, -0.04667215148285143, -1.301312063126242 ], [ -0.04834495244177597, -0.0062107133399859375, 0.9988113899096321, -0.05643612870819132 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 18, "backend_num_inliers": 6372, "backend_objective": 1234.4801053146618, "backend_elapsed_sec": 0.12717629999679048, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3169, "objective": 612.3678327921496 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 4996, "objective": 548.909793807581 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 18, "num_inliers": 6372, "objective": 1234.4801053146618 } ], "heldout_symmetric": { "evaluated": 7762, "inliers": 5269, "inlier_ratio": 0.678819891780469, "inlier_rmse_m": 0.10239967326707564, "median_m": 0.11509614062000911, "p90_m": 1.3202956512439312, "p95_m": 1.6665946997908168 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 29833.28512079834, 92509.0262767288, 229426.0951842202, 416178.05519389664, 480454.2360328732, 690845.207022115 ], "effective_rank": 6, "scaled_condition_number": 23.156860004682848, "weakest_scaled_direction": [ 0.6381772808584075, 0.011587890578835913, -0.0066903476887424426, -0.022933269889709656, 0.10126983657013167, -0.7627379652076657 ] }, "forward_reverse": { "translation_m": 0.002691305620040523, "rotation_deg": 0.027681404773136364 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1908254394821518e-15, "rotation_deg": 1.4956429606316225e-14 }, { "translation_m": 1.5981850254698907e-15, "rotation_deg": 7.495673646058637e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 7, "lidar_time_i": 1784279605.2394407, "lidar_time_j": 1784280931.5831878, "frame_counter_i": 2883, "frame_counter_j": 2514, "rtk_translation_m": 2.1008551524156123, "rtk_rotation_deg": 104.37575791053635, "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": [ [ -0.2621989540682933, 0.9647744700668928, -0.02149256598542536, -0.14053454805490384 ], [ -0.9642898662582567, -0.2627998048653273, -0.03288337565365705, 0.29117477782845 ], [ -0.03737328346729253, 0.012103076877008933, 0.9992280786752253, -0.022920576910125137 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 11, "backend_num_inliers": 8126, "backend_objective": 1705.026279156408, "backend_elapsed_sec": 0.11541469999792753, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 3796, "objective": 787.8368782945635 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6375, "objective": 702.3226333607727 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 11, "num_inliers": 8126, "objective": 1705.026279156408 } ], "heldout_symmetric": { "evaluated": 7661, "inliers": 6099, "inlier_ratio": 0.7961101683853283, "inlier_rmse_m": 0.10180989325686585, "median_m": 0.08672913038864698, "p90_m": 0.6243965939502256, "p95_m": 1.2922273690328523 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 35429.26074042609, 116855.01383466086, 158298.6213156121, 530617.0504326754, 808004.7942273126, 1054251.6996354223 ], "effective_rank": 6, "scaled_condition_number": 29.756525470837225, "weakest_scaled_direction": [ -0.5217958924874396, -0.25740437924466847, 0.01649084260335785, 0.07041180104564945, -0.05494031263530158, 0.8082226330412785 ] }, "forward_reverse": { "translation_m": 0.023292005056525338, "rotation_deg": 0.174639961337377 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.2985081529119814e-15, "rotation_deg": 2.0405830932194756e-14 }, { "translation_m": 3.822154463220955e-15, "rotation_deg": 2.918757742353461e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 8, "lidar_time_i": 1784279605.2394407, "lidar_time_j": 1784281027.8795433, "frame_counter_i": 2883, "frame_counter_j": 3477, "rtk_translation_m": 1.3108481779402037, "rtk_rotation_deg": 133.20736428981294, "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": [ [ -0.7173922055466644, 0.6953845184103625, -0.04229414824868429, 2.1296177649839847 ], [ -0.6962882744682524, -0.713668949591621, 0.07654586355132022, 0.9108414494317724 ], [ 0.023044788107429312, 0.08436232538273652, 0.9961686281935915, -0.2981010753629422 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 23, "backend_num_inliers": 991, "backend_objective": 38.2380096127663, "backend_elapsed_sec": 0.32724749999761116, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 59, "num_inliers": 1514, "objective": 1888.3675051494579 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 23, "num_inliers": 1149, "objective": 656.7776922309768 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 23, "num_inliers": 991, "objective": 38.2380096127663 } ], "heldout_symmetric": { "evaluated": 7684, "inliers": 888, "inlier_ratio": 0.11556480999479438, "inlier_rmse_m": 0.1433106939673773, "median_m": 1.2905959503478859, "p90_m": 3.2874905594442314, "p95_m": 3.8078227315923114 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 197.52543517598477, 982.3740682141851, 1797.700860325683, 2475.1816459887004, 12781.769899808036, 29106.771106198827 ], "effective_rank": 6, "scaled_condition_number": 147.35707874920627, "weakest_scaled_direction": [ 0.841779524638309, 0.5304194403455533, 0.014678775229690123, 0.01875014102310592, 0.0015491883702227335, 0.09743210450347208 ] }, "forward_reverse": { "translation_m": 1.368389528072986, "rotation_deg": 15.0277123732284 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.3514211068838185e-15, "rotation_deg": 8.595858533834439e-15 }, { "translation_m": 2.9326830094865e-06, "rotation_deg": 2.917449677153293e-05 } ] }, "accepted": false, "rejection_reasons": [ "heldout_inlier_ratio", "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 4, "j": 5, "lidar_time_i": 1784279701.2360666, "lidar_time_j": 1784279817.2306573, "frame_counter_i": 3843, "frame_counter_j": 5003, "rtk_translation_m": 0.17861948949299924, "rtk_rotation_deg": 18.343509786783002, "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": [ [ 0.9497011772029337, 0.3131573096742153, -0.00041643363182700653, -0.011939255094270849 ], [ -0.31315675348836103, 0.9497008783913089, 0.001043708487265888, -0.22487171556642335 ], [ 0.0007223323278941215, -0.0008608021748267945, 0.9999993686276126, -0.008108960031756863 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 1, "backend_num_inliers": 9152, "backend_objective": 339.12881144131137, "backend_elapsed_sec": 0.07012850000319304, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 3, "num_inliers": 3803, "objective": 490.99182893543866 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6699, "objective": 465.90461054238665 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 1, "num_inliers": 9152, "objective": 339.12881144131137 } ], "heldout_symmetric": { "evaluated": 7875, "inliers": 6840, "inlier_ratio": 0.8685714285714285, "inlier_rmse_m": 0.07604325543622346, "median_m": 0.042322570748859645, "p90_m": 0.33847352497336086, "p95_m": 0.6944785555129759 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 135609.3272694757, 180074.45866804977, 498102.8690296208, 664960.1472842951, 985516.3799545185, 1677512.3397749867 ], "effective_rank": 6, "scaled_condition_number": 12.370184068840063, "weakest_scaled_direction": [ 0.4192195836604045, -0.4379513226189287, -0.0519252030139154, 0.050360931380883225, 0.10600608260041684, -0.7848463798897557 ] }, "forward_reverse": { "translation_m": 0.003904582263467037, "rotation_deg": 0.011742002375313174 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.4194586182185287e-15, "rotation_deg": 6.684246314096771e-15 }, { "translation_m": 6.927869652378367e-16, "rotation_deg": 6.4856216887770025e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 4, "j": 6, "lidar_time_i": 1784279701.2360666, "lidar_time_j": 1784280797.6884267, "frame_counter_i": 3843, "frame_counter_j": 1175, "rtk_translation_m": 1.5807073315069207, "rtk_rotation_deg": 50.90291130169636, "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": [ [ 0.6303400891003206, 0.7762792487704809, 0.007867655390135333, 1.1151391372078479 ], [ -0.775754801951195, 0.6302358901946093, -0.03173657133766097, -0.767431261583185 ], [ -0.02959492055509659, 0.013901461755725195, 0.9994653020682561, 0.028632837225913376 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 14, "backend_num_inliers": 6375, "backend_objective": 1687.9639518784425, "backend_elapsed_sec": 0.11528220000036526, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3166, "objective": 554.5062598679663 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5118, "objective": 907.329589243708 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 14, "num_inliers": 6375, "objective": 1687.9639518784425 } ], "heldout_symmetric": { "evaluated": 7851, "inliers": 5356, "inlier_ratio": 0.6822060883963826, "inlier_rmse_m": 0.10567824422734254, "median_m": 0.11608671218882977, "p90_m": 1.4374789783336583, "p95_m": 1.7910669029004254 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 40887.29831497034, 94467.9258278237, 204878.81115575912, 468908.8998990117, 598187.3593323898, 742657.3739280917 ], "effective_rank": 6, "scaled_condition_number": 18.163522769519293, "weakest_scaled_direction": [ -0.6050800165167421, -0.04297119998292753, 0.02686719523224911, 0.03976214131293449, -0.09085289108082865, 0.7883365573820255 ] }, "forward_reverse": { "translation_m": 0.011923922180697284, "rotation_deg": 0.08008579261790838 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.952832160537328e-16, "rotation_deg": 1.116957796093547e-14 }, { "translation_m": 1.3954079410782014e-15, "rotation_deg": 1.0240386821750424e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 4, "j": 7, "lidar_time_i": 1784279701.2360666, "lidar_time_j": 1784280931.5831878, "frame_counter_i": 3843, "frame_counter_j": 2514, "rtk_translation_m": 1.7804201387535592, "rtk_rotation_deg": 75.18775779751417, "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": [ [ 0.2503724942278027, 0.96799397516667, -0.017357366596826268, -0.15918729964223108 ], [ -0.9677471996767486, 0.24971136518595763, -0.03331053309053324, 0.3412203320194637 ], [ -0.027910063632299555, 0.025137584171775935, 0.9992943161101475, -0.024895064248734448 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8274, "backend_objective": 1457.3718638477803, "backend_elapsed_sec": 0.07581809999828693, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3810, "objective": 671.6572323985032 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6504, "objective": 1039.496217449071 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8274, "objective": 1457.3718638477803 } ], "heldout_symmetric": { "evaluated": 7750, "inliers": 6172, "inlier_ratio": 0.7963870967741935, "inlier_rmse_m": 0.10178391918503964, "median_m": 0.09602177072532743, "p90_m": 0.5984498738215269, "p95_m": 1.406907621655736 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 41795.79905532334, 129300.40119213867, 187819.95172150718, 593180.2179818392, 873149.9524008265, 1058101.9389578856 ], "effective_rank": 6, "scaled_condition_number": 25.315987799570973, "weakest_scaled_direction": [ 0.5018661838141184, 0.2735784119799514, -0.013738252098459736, -0.07679774180162466, 0.04838915834235573, -0.8153876640474457 ] }, "forward_reverse": { "translation_m": 0.034377900701078094, "rotation_deg": 0.11532260919614924 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.7449076333954703e-15, "rotation_deg": 1.022180504347879e-14 }, { "translation_m": 2.37780414200531e-15, "rotation_deg": 4.5108507313067996e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 4, "j": 8, "lidar_time_i": 1784279701.2360666, "lidar_time_j": 1784281027.8795433, "frame_counter_i": 3843, "frame_counter_j": 3477, "rtk_translation_m": 1.2818497736845669, "rtk_rotation_deg": 104.01936417679076, "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": [ [ -0.23786179333613366, 0.9712594761229233, -0.008763407576007609, -0.41880886438921183 ], [ -0.9708732198031248, -0.238014965629326, -0.02746028414972834, -0.744041651951136 ], [ -0.02875688335045097, 0.0019764052963914197, 0.9995844814131891, -0.058922257193260004 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 11, "backend_num_inliers": 7344, "backend_objective": 761.7332600582788, "backend_elapsed_sec": 0.12878569999884348, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 3477, "objective": 655.3094040352206 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5866, "objective": 1240.7459756823455 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 11, "num_inliers": 7344, "objective": 761.7332600582788 } ], "heldout_symmetric": { "evaluated": 7773, "inliers": 5776, "inlier_ratio": 0.7430850379518847, "inlier_rmse_m": 0.10189238984319506, "median_m": 0.10064406334883068, "p90_m": 0.8050527703513749, "p95_m": 1.5495415520581153 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 35985.044368082206, 90333.22096808709, 162501.62847261943, 381523.9411063358, 605990.4155638205, 906693.6131931632 ], "effective_rank": 6, "scaled_condition_number": 25.19640114706588, "weakest_scaled_direction": [ 0.3123970330023986, 0.4572392015276092, -0.026899458970475576, -0.09610565369108542, -0.05262330950894592, -0.8249917066793603 ] }, "forward_reverse": { "translation_m": 0.034977663635135596, "rotation_deg": 1.5753470469755222 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2571659638300647e-15, "rotation_deg": 1.2199836501378328e-14 }, { "translation_m": 2.4988112118961402e-15, "rotation_deg": 6.463836559108607e-15 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 4, "j": 9, "lidar_time_i": 1784279701.2360666, "lidar_time_j": 1784281119.375541, "frame_counter_i": 3843, "frame_counter_j": 4392, "rtk_translation_m": 1.5141865499370524, "rtk_rotation_deg": 117.34615495378958, "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": [ [ -0.4593350798978356, 0.8877619717965263, -0.029832294702073405, 0.7931749314237349 ], [ -0.8876749729551499, -0.4575500904010168, 0.051778925858833744, 2.67427955494814 ], [ 0.03231759218014098, 0.05026525843924462, 0.9982128916367059, -0.8558075240621169 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 14, "backend_num_inliers": 721, "backend_objective": 40.87114215020113, "backend_elapsed_sec": 0.14857350000238512, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 40, "num_inliers": 1446, "objective": 1356.019955358215 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 10, "num_inliers": 1143, "objective": 366.8492473889614 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 14, "num_inliers": 721, "objective": 40.87114215020113 } ], "heldout_symmetric": { "evaluated": 7745, "inliers": 652, "inlier_ratio": 0.0841833440929632, "inlier_rmse_m": 0.15176056899798168, "median_m": 1.2016681829095166, "p90_m": 3.300831941451601, "p95_m": 3.6280368538059213 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 613.8013160849656, 747.1230290796893, 1080.4951182203274, 2888.73215756241, 6693.067058844119, 52102.62428591885 ], "effective_rank": 6, "scaled_condition_number": 84.88516221869183, "weakest_scaled_direction": [ -0.4691335141131807, -0.599360657326981, 0.38482446718466956, 0.15786448620199311, -0.4770044804925983, 0.14190210508159923 ] }, "forward_reverse": { "translation_m": 3.340127368239112, "rotation_deg": 6.177861200193235 }, "multistart": { "runs": 2, "success_rate": 0.0, "deltas": [ { "translation_m": 3.3466185794959404, "rotation_deg": 4.671218041961471 }, { "translation_m": 0.40800635488041054, "rotation_deg": 4.432101856966071 } ] }, "accepted": false, "rejection_reasons": [ "heldout_inlier_ratio", "forward_reverse_translation", "forward_reverse_rotation", "multistart_instability" ] }, { "i": 5, "j": 6, "lidar_time_i": 1784279817.2306573, "lidar_time_j": 1784280797.6884267, "frame_counter_i": 5003, "frame_counter_j": 1175, "rtk_translation_m": 1.5316987521992935, "rtk_rotation_deg": 32.55940151491337, "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": [ [ 0.8416347614443656, 0.5396602943927136, 0.020437587540027207, 1.2406941902208743 ], [ -0.5392333430361893, 0.8418412916299091, -0.023035656380973452, -0.16363127865569102 ], [ -0.02963663419658135, 0.008366980510111326, 0.9995257193042318, 0.02498735709253317 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 6357, "backend_objective": 1439.7400504342668, "backend_elapsed_sec": 0.08830589999706717, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3203, "objective": 640.8318078589004 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5105, "objective": 990.0222931980452 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 6357, "objective": 1439.7400504342668 } ], "heldout_symmetric": { "evaluated": 7772, "inliers": 5335, "inlier_ratio": 0.6864384971693258, "inlier_rmse_m": 0.10315026388508003, "median_m": 0.1126235750497052, "p90_m": 1.2674528348985197, "p95_m": 1.665986570460006 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 62628.17442259263, 103727.25852686747, 281249.3658130418, 414540.2720205326, 558761.7547888304, 720563.8397959737 ], "effective_rank": 6, "scaled_condition_number": 11.505426214947052, "weakest_scaled_direction": [ 0.6021970724827131, 0.11657901256334291, -0.017139939091172087, -0.06511379024593597, 0.08928678973576651, -0.7818326583799412 ] }, "forward_reverse": { "translation_m": 0.002552272421554712, "rotation_deg": 0.013899678900349944 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 6.432246110830866e-16, "rotation_deg": 5.443650243080799e-15 }, { "translation_m": 5.785972455716595e-16, "rotation_deg": 8.805218369935123e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 5, "j": 7, "lidar_time_i": 1784279817.2306573, "lidar_time_j": 1784280931.5831878, "frame_counter_i": 5003, "frame_counter_j": 2514, "rtk_translation_m": 1.6091514152462776, "rtk_rotation_deg": 56.844248010731185, "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": [ [ 0.5408147473873567, 0.8411323032825557, -0.003982132962699763, -0.31824311903689734 ], [ -0.840768707169636, 0.5404278773068721, -0.03233713768853341, 0.4826546689444158 ], [ -0.025047755441335688, 0.02083645373308103, 0.999469085136294, 0.032537410509367704 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8370, "backend_objective": 2588.7177978889486, "backend_elapsed_sec": 0.07422799999767449, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3756, "objective": 592.008631214237 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6392, "objective": 1076.3934277199323 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8370, "objective": 2588.7177978889486 } ], "heldout_symmetric": { "evaluated": 7671, "inliers": 6217, "inlier_ratio": 0.8104549602398644, "inlier_rmse_m": 0.09862238510016193, "median_m": 0.08602550768091202, "p90_m": 0.6272493234515611, "p95_m": 1.27815527811686 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 68119.10857080169, 130708.02640510672, 210826.10546247533, 524457.2191131447, 918555.920342475, 1125143.7472422884 ], "effective_rank": 6, "scaled_condition_number": 16.517299930207333, "weakest_scaled_direction": [ -0.31058415852658877, -0.4615012602091193, -0.002244507476472212, 0.11069835715920352, -0.021380198124019208, 0.8233090491026718 ] }, "forward_reverse": { "translation_m": 0.0037398303757535147, "rotation_deg": 0.02129636862756259 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.7264910232588054e-15, "rotation_deg": 4.9948384185585995e-14 }, { "translation_m": 9.877266258705691e-16, "rotation_deg": 4.459273158235072e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 5, "j": 8, "lidar_time_i": 1784279817.2306573, "lidar_time_j": 1784281027.8795433, "frame_counter_i": 5003, "frame_counter_j": 3477, "rtk_translation_m": 1.1872485760158462, "rtk_rotation_deg": 85.67585439000777, "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": [ [ 0.07753679163061511, 0.9969833171659289, -0.0035087371590630917, -0.22471740031526596 ], [ -0.9963970035492264, 0.07736892102726545, -0.034742788851779526, -0.6099979606488117 ], [ -0.0343665136688776, 0.006189939571399176, 0.9993901277210763, -0.12813572737467172 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7757, "backend_objective": 811.9396406070998, "backend_elapsed_sec": 0.07958649999636691, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3598, "objective": 718.0624204669459 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6084, "objective": 941.705707692279 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7757, "objective": 811.9396406070998 } ], "heldout_symmetric": { "evaluated": 7694, "inliers": 6006, "inlier_ratio": 0.7806082661814401, "inlier_rmse_m": 0.10305777405801758, "median_m": 0.09580148483315103, "p90_m": 0.5989323579031789, "p95_m": 1.1025733788084007 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 50744.78445916037, 114458.24946064551, 167372.09919143195, 376523.4974810915, 598932.3721729278, 900101.819252911 ], "effective_rank": 6, "scaled_condition_number": 17.737819341361416, "weakest_scaled_direction": [ 0.2750143227172107, 0.47009605746037775, -0.011321602209642487, -0.0968643633688171, -0.049385105996692685, -0.8315209238490988 ] }, "forward_reverse": { "translation_m": 0.0056799616182010805, "rotation_deg": 0.026182015145595202 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.1540741810552243e-16, "rotation_deg": 3.1134886992265742e-15 }, { "translation_m": 8.707689814785864e-16, "rotation_deg": 8.371531382125908e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 5, "j": 9, "lidar_time_i": 1784279817.2306573, "lidar_time_j": 1784281119.375541, "frame_counter_i": 5003, "frame_counter_j": 4392, "rtk_translation_m": 1.380208837139288, "rtk_rotation_deg": 99.00264516700663, "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": [ [ -0.1539641505589304, 0.9880660460691288, -0.004530888211502086, -0.6982969285021847 ], [ -0.9873667366532588, -0.15402571495883738, -0.037188795115108336, -0.18310721660694143 ], [ -0.037442859043635174, -0.0012520929426762233, 0.9992979858730332, -0.05002770963023162 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7823, "backend_objective": 1820.8392542446177, "backend_elapsed_sec": 0.10721089999424294, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3473, "objective": 698.9503978721926 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 10, "num_inliers": 5889, "objective": 1001.273137640962 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7823, "objective": 1820.8392542446177 } ], "heldout_symmetric": { "evaluated": 7666, "inliers": 6092, "inlier_ratio": 0.7946777980693973, "inlier_rmse_m": 0.10313535699942489, "median_m": 0.09091462351713185, "p90_m": 0.6207334964868284, "p95_m": 1.2045963032038793 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 58884.275004634066, 111739.89078912334, 187534.49871464988, 447075.78852280846, 696546.7145041347, 833065.2597949916 ], "effective_rank": 6, "scaled_condition_number": 14.147499646203187, "weakest_scaled_direction": [ 0.1949644587747009, 0.5330247711849555, -0.0020037473690106564, -0.07480859843058951, -0.06935371779659949, -0.8169841941818916 ] }, "forward_reverse": { "translation_m": 0.06270036555847405, "rotation_deg": 0.33857191756776234 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6736404963781187e-15, "rotation_deg": 6.171093133326987e-15 }, { "translation_m": 1.0068810866857322e-15, "rotation_deg": 4.969631272353031e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 5, "j": 10, "lidar_time_i": 1784279817.2306573, "lidar_time_j": 1784281219.2718523, "frame_counter_i": 5003, "frame_counter_j": 5391, "rtk_translation_m": 1.7506315276318887, "rtk_rotation_deg": 115.10127466723206, "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": [ [ -0.4246260259050521, 0.9049342057637234, -0.028050336234381575, -1.2071709129911874 ], [ -0.9043052942146059, -0.4254248977587171, -0.03529293445463514, 0.4295246456216637 ], [ -0.04387109503438577, 0.010379769061251844, 0.9989832768443715, -0.01457071084844123 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7813, "backend_objective": 1662.890071698616, "backend_elapsed_sec": 0.10118969999894034, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 15, "num_inliers": 3571, "objective": 736.6433499400223 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5940, "objective": 605.8350833906063 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7813, "objective": 1662.890071698616 } ], "heldout_symmetric": { "evaluated": 7786, "inliers": 6110, "inlier_ratio": 0.7847418443359877, "inlier_rmse_m": 0.10018431236036145, "median_m": 0.08564893545217507, "p90_m": 0.7047935454611245, "p95_m": 1.3357726174361493 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 38822.34903708502, 127476.48722963654, 214349.3640082268, 532268.7366328945, 637908.9278508682, 831789.2613601788 ], "effective_rank": 6, "scaled_condition_number": 21.425526326745782, "weakest_scaled_direction": [ 0.007386655478794687, -0.571192310205916, 0.012872319890357604, 0.05260339183350326, 0.06957821176834754, 0.8160336029097313 ] }, "forward_reverse": { "translation_m": 0.005291671170548772, "rotation_deg": 0.044796841001461946 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.220471033417173e-16, "rotation_deg": 3.3392196719287053e-15 }, { "translation_m": 1.123727302964262e-15, "rotation_deg": 2.5323322246361575e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 6, "j": 7, "lidar_time_i": 1784280797.6884267, "lidar_time_j": 1784280931.5831878, "frame_counter_i": 1175, "frame_counter_j": 2514, "rtk_translation_m": 1.5692385974903325, "rtk_rotation_deg": 24.284846495817817, "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": [ [ 0.909483115746497, 0.4155765106489391, -0.01168871117349643, -1.6592198957151778 ], [ -0.41570805189186927, 0.909405045095404, -0.013010747376446618, -0.30168239407992625 ], [ 0.005222811916202157, 0.016692146413182157, 0.999847035542842, -0.007892748951345127 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7243, "backend_objective": 1522.6064745708366, "backend_elapsed_sec": 0.08411139999952866, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3582, "objective": 605.1448043777464 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 5796, "objective": 605.8822090073054 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7243, "objective": 1522.6064745708366 } ], "heldout_symmetric": { "evaluated": 7647, "inliers": 5644, "inlier_ratio": 0.7380672159016608, "inlier_rmse_m": 0.1046107504689679, "median_m": 0.10516702793043524, "p90_m": 1.3466635213081777, "p95_m": 2.3116144655216293 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 59044.43047453538, 106085.72604302097, 153287.8139048446, 545038.8178828656, 595764.3640367957, 823495.8743371702 ], "effective_rank": 6, "scaled_condition_number": 13.947054238965462, "weakest_scaled_direction": [ 0.34187136754149705, 0.42311559300190416, -0.010062452362094805, -0.1511398270574222, -0.0313405145279167, -0.8247244599819952 ] }, "forward_reverse": { "translation_m": 0.010178220865611676, "rotation_deg": 0.026255002379027764 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.99864538245492e-14, "rotation_deg": 2.2180121790453937e-13 }, { "translation_m": 3.3623259593535718e-15, "rotation_deg": 2.998399929153121e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 6, "j": 8, "lidar_time_i": 1784280797.6884267, "lidar_time_j": 1784281027.8795433, "frame_counter_i": 1175, "frame_counter_j": 3477, "rtk_translation_m": 0.5035712140385419, "rtk_rotation_deg": 53.11645287509441, "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": [ [ 0.6037182959994388, 0.7970572268726047, 0.014966501451125668, -1.0160210845265023 ], [ -0.7964800450607912, 0.6038649306759996, -0.031091531316915836, -1.1762971501094048 ], [ -0.03381947509192992, 0.006850006556466645, 0.9994044829370549, -0.1098236036460156 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 18, "backend_num_inliers": 6592, "backend_objective": 961.5407765512243, "backend_elapsed_sec": 0.15934769999876153, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3401, "objective": 719.6060307225272 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5455, "objective": 812.0520870314114 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 18, "num_inliers": 6592, "objective": 961.5407765512243 } ], "heldout_symmetric": { "evaluated": 7670, "inliers": 5389, "inlier_ratio": 0.7026075619295958, "inlier_rmse_m": 0.10337241424878332, "median_m": 0.10987637314182283, "p90_m": 1.2288508465715133, "p95_m": 1.9516293078468219 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 38322.210714207744, 57041.143566057144, 103833.6423646101, 296720.122264882, 538672.7762647731, 813689.683832759 ], "effective_rank": 6, "scaled_condition_number": 21.232848227388097, "weakest_scaled_direction": [ 0.06723189230963834, -0.51901775622102, 0.012374948724912054, 0.11338087925672095, 0.1928204214302581, 0.8221388953980033 ] }, "forward_reverse": { "translation_m": 0.017447450845101884, "rotation_deg": 0.1292664848366822 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.2576478019879053e-15, "rotation_deg": 3.6830228253657206e-15 }, { "translation_m": 1.7668446017851345e-15, "rotation_deg": 2.2215586891688402e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 6, "j": 9, "lidar_time_i": 1784280797.6884267, "lidar_time_j": 1784281119.375541, "frame_counter_i": 1175, "frame_counter_j": 4392, "rtk_translation_m": 0.8508108569116883, "rtk_rotation_deg": 66.44324365209327, "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": [ [ 0.40483561953554525, 0.9141614193876847, 0.02042107877573947, -1.642682796688597 ], [ -0.9138622071583618, 0.4052595813876793, -0.024910600577469185, -1.0797029069001558 ], [ -0.031048147817839888, -0.008577353704769804, 0.9994810861244467, 0.013751147427213468 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 14, "backend_num_inliers": 6148, "backend_objective": 667.8998123584665, "backend_elapsed_sec": 0.12123180000344291, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3292, "objective": 961.320200572275 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 5272, "objective": 631.7393643215679 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 14, "num_inliers": 6148, "objective": 667.8998123584665 } ], "heldout_symmetric": { "evaluated": 7642, "inliers": 5131, "inlier_ratio": 0.6714210939544621, "inlier_rmse_m": 0.10949604778423808, "median_m": 0.1301032933452151, "p90_m": 1.2752680335322666, "p95_m": 1.8376320418668735 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 19922.866151825405, 62805.101264230296, 95018.08492275006, 344595.8811452952, 553290.1779658088, 681602.2011302372 ], "effective_rank": 6, "scaled_condition_number": 34.21205543097956, "weakest_scaled_direction": [ -0.299940954061248, -0.49166088297910443, 0.029656300667359026, 0.05887750540950749, 0.07174793700674935, 0.8116718406768784 ] }, "forward_reverse": { "translation_m": 0.09491078892598759, "rotation_deg": 0.32255986251320673 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6314465605303521e-15, "rotation_deg": 1.2489684930489784e-14 }, { "translation_m": 2.511297604186124e-07, "rotation_deg": 1.1630680565688636e-06 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation" ] }, { "i": 6, "j": 10, "lidar_time_i": 1784280797.6884267, "lidar_time_j": 1784281219.2718523, "frame_counter_i": 1175, "frame_counter_j": 5391, "rtk_translation_m": 1.3331914459292633, "rtk_rotation_deg": 82.5418731523187, "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": [ [ 0.1313103761972247, 0.9907476024909292, -0.034304128926703766, -2.3787091430480056 ], [ -0.990558635987872, 0.1297533570277591, -0.04424539535221548, -0.8225932109866378 ], [ -0.0393849434783179, 0.0397901306670821, 0.9984315558558364, -0.08900040735175659 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6447, "backend_objective": 740.472081401316, "backend_elapsed_sec": 0.09819309999875259, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3399, "objective": 726.7054126558432 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5248, "objective": 433.12994104124334 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6447, "objective": 740.472081401316 } ], "heldout_symmetric": { "evaluated": 7762, "inliers": 5138, "inlier_ratio": 0.6619427982478743, "inlier_rmse_m": 0.10510077922086615, "median_m": 0.12354731445283715, "p90_m": 1.3851071188823552, "p95_m": 2.152900914798458 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 21952.742165067175, 95623.17052108268, 145562.1501816274, 249390.01995002426, 489389.5752488462, 682764.6689305834 ], "effective_rank": 6, "scaled_condition_number": 31.101566437428897, "weakest_scaled_direction": [ 0.09653727604530707, 0.593778957443998, -0.02350843135913059, -0.042181713994409675, -0.0855560206460835, -0.7927517442561728 ] }, "forward_reverse": { "translation_m": 0.003562383894956786, "rotation_deg": 0.04536548719264196 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.2180530976352345e-11, "rotation_deg": 8.803349592612921e-10 }, { "translation_m": 3.4402658798855987e-15, "rotation_deg": 5.083516473853711e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 6, "j": 11, "lidar_time_i": 1784280797.6884267, "lidar_time_j": 1784281326.268232, "frame_counter_i": 1175, "frame_counter_j": 6461, "rtk_translation_m": 3.16887584646763, "rtk_rotation_deg": 119.46156331049859, "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": [ [ -0.4857590976363869, 0.8729319203500212, -0.045032893505818315, -3.58786635988802 ], [ -0.8732598486396753, -0.48690027885228976, -0.018583735022171116, 1.5241206950738497 ], [ -0.03814886390568818, 0.03029819941161397, 0.998812636731794, -0.13404186365698315 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 6499, "backend_objective": 983.9998126385315, "backend_elapsed_sec": 0.12275450000015553, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 3448, "objective": 788.1110639840875 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5302, "objective": 632.7445405242505 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 6499, "objective": 983.9998126385315 } ], "heldout_symmetric": { "evaluated": 8025, "inliers": 5120, "inlier_ratio": 0.638006230529595, "inlier_rmse_m": 0.1061575017783152, "median_m": 0.13580485311919038, "p90_m": 1.5685737228908871, "p95_m": 2.59770485473636 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 21555.779552753564, 78238.88624937875, 150128.77344726393, 264326.6000904365, 426487.85096617, 688562.880506363 ], "effective_rank": 6, "scaled_condition_number": 31.943306843588733, "weakest_scaled_direction": [ 0.3083245026658187, -0.6327938869992662, 0.05217049840297786, 0.05844281302263846, 0.100326372060064, 0.6987883752638465 ] }, "forward_reverse": { "translation_m": 0.0059304520508679575, "rotation_deg": 0.05963953472442965 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.75767166992686e-15, "rotation_deg": 1.1319783582927137e-14 }, { "translation_m": 4.448739829332789e-15, "rotation_deg": 1.750901810005333e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 7, "j": 8, "lidar_time_i": 1784280931.5831878, "lidar_time_j": 1784281027.8795433, "frame_counter_i": 2514, "frame_counter_j": 3477, "rtk_translation_m": 1.1230406357307108, "rtk_rotation_deg": 28.831606379276582, "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": [ [ 0.8800631259153807, 0.4747564088511788, 0.009759439470644279, 0.9913144468561514 ], [ -0.474617716962652, 0.8800863786690545, -0.013637772044909192, -0.5116990871578355 ], [ -0.015063769422331246, 0.007370097415971796, 0.9998593723693697, 0.10374868317784489 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7550, "backend_objective": 709.5925759017508, "backend_elapsed_sec": 0.08944139999948675, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3414, "objective": 664.2651282303233 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 7, "num_inliers": 5811, "objective": 842.928227649006 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7550, "objective": 709.5925759017508 } ], "heldout_symmetric": { "evaluated": 7569, "inliers": 6086, "inlier_ratio": 0.8040692297529396, "inlier_rmse_m": 0.09680052952350976, "median_m": 0.07998200977376978, "p90_m": 0.5559824474834514, "p95_m": 1.073078967558813 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 43744.527834096516, 118000.62221855714, 167646.24315015168, 391056.47885848465, 603791.4532548424, 971994.832129231 ], "effective_rank": 6, "scaled_condition_number": 22.21980394474879, "weakest_scaled_direction": [ 0.047710464157071975, -0.5236808792417601, -0.007019791587059019, 0.09088199119327751, 0.10175245703480502, 0.8395353905683146 ] }, "forward_reverse": { "translation_m": 0.008328073875015064, "rotation_deg": 0.06350723756646647 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 8.651732253995449e-16, "rotation_deg": 4.843556592333691e-15 }, { "translation_m": 8.551535750647283e-16, "rotation_deg": 3.471304699249106e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 7, "j": 9, "lidar_time_i": 1784280931.5831878, "lidar_time_j": 1784281119.375541, "frame_counter_i": 2514, "frame_counter_j": 4392, "rtk_translation_m": 0.7186795671679719, "rtk_rotation_deg": 42.158397156275456, "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": [ [ 0.7469031259449787, 0.6647222063108584, 0.016736453950689355, 0.3576910998013705 ], [ -0.6644590009153541, 0.7470844637942274, -0.018948352431300747, -0.6772592055531916 ], [ -0.02509893535965749, 0.003031896191504787, 0.9996803744444, 0.0030382320563910204 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 7897, "backend_objective": 675.5189904887212, "backend_elapsed_sec": 0.08194750000257045, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3425, "objective": 664.8082672169558 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 5863, "objective": 509.2534493040819 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 7897, "objective": 675.5189904887212 } ], "heldout_symmetric": { "evaluated": 7541, "inliers": 6240, "inlier_ratio": 0.8274764620076913, "inlier_rmse_m": 0.09296346258223728, "median_m": 0.06944731104618744, "p90_m": 0.4528730457339926, "p95_m": 0.8590747847790592 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 47272.64347442783, 99364.32983077645, 155668.75630850272, 525640.1091126871, 750164.4056888522, 1044553.1228244945 ], "effective_rank": 6, "scaled_condition_number": 22.096355228992984, "weakest_scaled_direction": [ 0.006939269296551777, -0.5264304778533415, 0.008176831521086947, 0.06033996953085957, 0.11542986109637406, 0.8401136668328253 ] }, "forward_reverse": { "translation_m": 0.0076981468910999155, "rotation_deg": 0.020277033650542 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1000685477095392e-09, "rotation_deg": 3.210355754106942e-09 }, { "translation_m": 1.3434987503168181e-06, "rotation_deg": 2.7547986387577436e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 7, "j": 10, "lidar_time_i": 1784280931.5831878, "lidar_time_j": 1784281219.2718523, "frame_counter_i": 2514, "frame_counter_j": 5391, "rtk_translation_m": 0.39293571356254015, "rtk_rotation_deg": 58.25702665650087, "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": [ [ 0.5312169782982826, 0.8472017024943965, 0.007602450804723118, -0.44342558914297037 ], [ -0.8466270129886356, 0.5311540007806855, -0.033138019443121856, -0.7795955525921993 ], [ -0.032112658650172286, 0.011167038339169153, 0.9994218700874763, -0.002156534886767799 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 7853, "backend_objective": 1403.437939389646, "backend_elapsed_sec": 0.10532090000197059, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3586, "objective": 732.0385320319808 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6078, "objective": 738.8925482598307 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 7853, "objective": 1403.437939389646 } ], "heldout_symmetric": { "evaluated": 7661, "inliers": 6123, "inlier_ratio": 0.7992429186790236, "inlier_rmse_m": 0.10479299924479576, "median_m": 0.09471165278285745, "p90_m": 0.5578200026280847, "p95_m": 1.0683780270975514 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 30470.746157274167, 100431.84116809552, 175554.94588600568, 591511.0477570589, 674461.4647742057, 921643.9542310045 ], "effective_rank": 6, "scaled_condition_number": 30.246845596558646, "weakest_scaled_direction": [ 0.05946138447315555, -0.5408557906382165, 0.01655582699563641, 0.04055737234328575, 0.08243753869910733, 0.8338011836427054 ] }, "forward_reverse": { "translation_m": 0.04240408437264065, "rotation_deg": 1.1111803590641476 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6488927616899812e-15, "rotation_deg": 5.234723027700383e-15 }, { "translation_m": 1.932282620050304e-15, "rotation_deg": 3.551700433246251e-15 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 7, "j": 11, "lidar_time_i": 1784280931.5831878, "lidar_time_j": 1784281326.268232, "frame_counter_i": 2514, "frame_counter_j": 6461, "rtk_translation_m": 2.4544901278439815, "rtk_rotation_deg": 95.17671681468076, "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": [ [ -0.07892745251987834, 0.9966967730783476, -0.019131120561277023, -2.5157398992729094 ], [ -0.996683069287662, -0.07927909003791796, -0.018376215009784678, 0.8572540013446737 ], [ -0.019832212031150036, 0.01761727612224602, 0.9996480955556232, -0.04958576775212753 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7827, "backend_objective": 1378.0184927435484, "backend_elapsed_sec": 0.08875300000363495, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3751, "objective": 836.936150074981 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6198, "objective": 686.8920225811343 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7827, "objective": 1378.0184927435484 } ], "heldout_symmetric": { "evaluated": 7924, "inliers": 5945, "inlier_ratio": 0.7502523977788995, "inlier_rmse_m": 0.1028589368143411, "median_m": 0.10154308971806741, "p90_m": 0.7624795515981605, "p95_m": 1.3811188840667292 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 40938.38139063414, 110407.35702347028, 162460.72471857662, 477847.9723084117, 588547.8143019809, 815954.5332453119 ], "effective_rank": 6, "scaled_condition_number": 19.931284665592216, "weakest_scaled_direction": [ -0.37228079954793214, 0.5117613941140013, -0.037229198895721446, -0.06094685657928835, -0.09861408819267546, -0.7646450227491572 ] }, "forward_reverse": { "translation_m": 0.005620519728387707, "rotation_deg": 0.0303880139721275 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.265337574760008e-15, "rotation_deg": 5.3463020512133144e-14 }, { "translation_m": 1.1811823737098024e-15, "rotation_deg": 1.2514366082410309e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 7, "j": 12, "lidar_time_i": 1784280931.5831878, "lidar_time_j": 1784281406.9641902, "frame_counter_i": 2514, "frame_counter_j": 7268, "rtk_translation_m": 3.0905023273107046, "rtk_rotation_deg": 115.3786462164333, "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": [ [ -0.4217029830986348, 0.9066257671772938, -0.014011150413015625, -3.2481105467476654 ], [ -0.9062974979538774, -0.4219290656169286, -0.024509361276196347, 1.5476712238287145 ], [ -0.028132530072038912, 0.0023625997987573614, 0.9996014099999739, -0.05834431855363248 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7651, "backend_objective": 1715.6274646717313, "backend_elapsed_sec": 0.09876149999763584, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3764, "objective": 889.9878155410244 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6155, "objective": 732.5705349013787 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7651, "objective": 1715.6274646717313 } ], "heldout_symmetric": { "evaluated": 8012, "inliers": 5652, "inlier_ratio": 0.7054418372441338, "inlier_rmse_m": 0.10706084863640537, "median_m": 0.11521385120998624, "p90_m": 0.9451847574651885, "p95_m": 1.541527242057654 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 66413.05235785422, 107164.70240912262, 187078.33770968564, 474345.43769900966, 615928.4280826901, 714736.2735629587 ], "effective_rank": 6, "scaled_condition_number": 10.761985004268995, "weakest_scaled_direction": [ 0.5702678997823777, -0.3140474522489734, 0.047846659537840244, 0.09331843231404238, 0.1072447177730774, 0.7440898185602445 ] }, "forward_reverse": { "translation_m": 0.004629206980441498, "rotation_deg": 0.07009059694702204 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.568485407988665e-16, "rotation_deg": 5.548631930575004e-15 }, { "translation_m": 2.2155074372508703e-15, "rotation_deg": 9.799686929159528e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 8, "j": 9, "lidar_time_i": 1784281027.8795433, "lidar_time_j": 1784281119.375541, "frame_counter_i": 3477, "frame_counter_j": 4392, "rtk_translation_m": 0.4407680716864947, "rtk_rotation_deg": 13.326790776998866, "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": [ [ 0.973121375084289, 0.23021659495168226, 0.0059252647970986375, -0.4714457251687161 ], [ -0.23022224264347577, 0.973138037750673, 0.00028013385782141596, -0.44286760249929075 ], [ -0.005701609094923384, -0.001636731994775328, 0.9999824062262825, -0.04670080405122055 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 8512, "backend_objective": 479.78302148331, "backend_elapsed_sec": 0.07271269999910146, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3545, "objective": 545.371105541863 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6286, "objective": 493.7181216523776 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 8512, "objective": 479.78302148331 } ], "heldout_symmetric": { "evaluated": 7564, "inliers": 6459, "inlier_ratio": 0.8539132734003173, "inlier_rmse_m": 0.09158655960119419, "median_m": 0.06516566992720596, "p90_m": 0.33720271285301373, "p95_m": 0.52360290086918 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 40459.348364572754, 129472.34899747808, 194104.5458434656, 485052.53186167666, 732024.4550990176, 1266086.6554866363 ], "effective_rank": 6, "scaled_condition_number": 31.292808872701826, "weakest_scaled_direction": [ -0.28917065473166614, -0.5097201706867877, 0.0121061311877005, 0.06469116337776021, 0.08274888879766164, 0.8033596930443683 ] }, "forward_reverse": { "translation_m": 0.0036696927581956673, "rotation_deg": 0.014909075167693285 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.438628675679424e-15, "rotation_deg": 4.930053260654035e-15 }, { "translation_m": 7.005534227155538e-16, "rotation_deg": 3.449307589743427e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 8, "j": 10, "lidar_time_i": 1784281027.8795433, "lidar_time_j": 1784281219.2718523, "frame_counter_i": 3477, "frame_counter_j": 5391, "rtk_translation_m": 0.968166048306331, "rtk_rotation_deg": 29.425420277224287, "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": [ [ 0.8696462228790053, 0.49366158210724626, 0.0036999167085011836, -1.1263494710947692 ], [ -0.493467001435117, 0.8694723850437479, -0.02254085492990772, -0.9077256500685795 ], [ -0.01434452951175191, 0.017776782546554095, 0.9997390761970739, -0.02342016946147034 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7830, "backend_objective": 1334.225814669529, "backend_elapsed_sec": 0.08632039999793051, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3505, "objective": 635.492197811527 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5935, "objective": 797.9877031953356 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7830, "objective": 1334.225814669529 } ], "heldout_symmetric": { "evaluated": 7684, "inliers": 6139, "inlier_ratio": 0.7989328474752733, "inlier_rmse_m": 0.09757506446655329, "median_m": 0.08426000873112457, "p90_m": 0.59455758252269, "p95_m": 1.1765435179549268 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 31993.56981345975, 98857.76222049227, 154794.993132006, 466806.8012269378, 679946.4451454231, 814535.4823015732 ], "effective_rank": 6, "scaled_condition_number": 25.45934970841849, "weakest_scaled_direction": [ 0.024122766856109864, 0.5574141342919444, -0.01769516894817715, -0.03666022975063217, -0.09995854753391142, -0.8228358112869203 ] }, "forward_reverse": { "translation_m": 0.008689580645481346, "rotation_deg": 0.052297435035790506 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.3631041599634778e-15, "rotation_deg": 4.80615034112245e-15 }, { "translation_m": 1.1157819071397953e-15, "rotation_deg": 5.704389825159264e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 8, "j": 11, "lidar_time_i": 1784281027.8795433, "lidar_time_j": 1784281326.268232, "frame_counter_i": 3477, "frame_counter_j": 6461, "rtk_translation_m": 3.0540124804140354, "rtk_rotation_deg": 66.34511043540417, "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": [ [ 0.40416229480648863, 0.9142596089747338, -0.027967961207786517, -3.7218849975325115 ], [ -0.9146872711630312, 0.4039796036482277, -0.012152193569423729, -0.4570670799943488 ], [ 0.00018822614260399214, 0.030493396557094737, 0.9995349505331619, -0.09089735062752104 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 7075, "backend_objective": 1180.1255295379838, "backend_elapsed_sec": 0.09884829999646172, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3590, "objective": 750.8165557022828 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 5683, "objective": 594.9436628943748 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 7075, "objective": 1180.1255295379838 } ], "heldout_symmetric": { "evaluated": 7947, "inliers": 5447, "inlier_ratio": 0.6854158802063672, "inlier_rmse_m": 0.10755838259974337, "median_m": 0.12116932559223641, "p90_m": 1.037723387367619, "p95_m": 1.8283070150123621 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 16802.856622076477, 35344.468661394196, 104792.94272314866, 377398.79212950746, 477520.5768480696, 713609.9472931538 ], "effective_rank": 6, "scaled_condition_number": 42.46956117899474, "weakest_scaled_direction": [ -0.4733694685342991, 0.3833754654557906, -0.024187758997156132, -0.024357035241185227, -0.11640379575063797, -0.7837196196535534 ] }, "forward_reverse": { "translation_m": 0.00234148729464824, "rotation_deg": 0.061662020462905004 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.184190671000836e-15, "rotation_deg": 8.809674655944377e-15 }, { "translation_m": 3.542099747707657e-15, "rotation_deg": 1.3899415708282095e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 8, "j": 12, "lidar_time_i": 1784281027.8795433, "lidar_time_j": 1784281406.9641902, "frame_counter_i": 3477, "frame_counter_j": 7268, "rtk_translation_m": 3.652970846697932, "rtk_rotation_deg": 86.5470398371567, "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": [ [ 0.059552595790802555, 0.998074049558884, -0.0173689358254449, -4.697109417690808 ], [ -0.9980580871791012, 0.0592152732546964, -0.019328891064015485, -0.1956054465506786 ], [ -0.018263158296697425, 0.018486292502899872, 0.9996622999986179, -0.14985746738366088 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 6921, "backend_objective": 902.2249291134908, "backend_elapsed_sec": 0.08737330000440124, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3519, "objective": 1369.4962829684148 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5511, "objective": 488.0565764122197 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 6921, "objective": 902.2249291134908 } ], "heldout_symmetric": { "evaluated": 8035, "inliers": 5211, "inlier_ratio": 0.6485376477909147, "inlier_rmse_m": 0.11031208403019, "median_m": 0.13677415454563993, "p90_m": 1.265682763242391, "p95_m": 2.1620106706576645 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 22022.25319393659, 33419.895116884865, 104736.3479898866, 354355.7403016652, 432677.4541636953, 661761.3164998644 ], "effective_rank": 6, "scaled_condition_number": 30.049664340525695, "weakest_scaled_direction": [ -0.6691090588850369, -0.32168670556957213, 0.001353676724725272, 0.09542167916084411, -0.12952048161443735, -0.6503291830493142 ] }, "forward_reverse": { "translation_m": 0.013830104055554564, "rotation_deg": 0.11563630256710061 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.533130983835988e-12, "rotation_deg": 5.2181824348966285e-11 }, { "translation_m": 4.825216067493316e-13, "rotation_deg": 1.640990144066156e-11 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 8, "j": 13, "lidar_time_i": 1784281027.8795433, "lidar_time_j": 1784281474.3615055, "frame_counter_i": 3477, "frame_counter_j": 7942, "rtk_translation_m": 4.357531202056024, "rtk_rotation_deg": 107.49623325505803, "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": [ [ -0.30119158386904127, 0.9533974481546617, -0.017802686837604977, -5.09855201527271 ], [ -0.953018716240013, -0.3015980775197574, -0.028176694849169424, 1.4809333839269747 ], [ -0.03223284509153864, 0.008479710405781278, 0.9994444147668939, -0.1033278998569099 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 6823, "backend_objective": 1384.1415857115712, "backend_elapsed_sec": 0.09610930000053486, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 3403, "objective": 1092.8737844394902 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5417, "objective": 555.1709110313604 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 6823, "objective": 1384.1415857115712 } ], "heldout_symmetric": { "evaluated": 8016, "inliers": 4993, "inlier_ratio": 0.622879241516966, "inlier_rmse_m": 0.1149201207874094, "median_m": 0.15416822179795658, "p90_m": 1.4862880387750954, "p95_m": 2.2538456598295538 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 24682.965557581614, 35390.78428411787, 72250.41540171055, 327388.91412231163, 454053.63418943994, 667491.0145750556 ], "effective_rank": 6, "scaled_condition_number": 27.04257772502661, "weakest_scaled_direction": [ 0.2985992975106704, -0.9365982781660924, 0.07620969750582711, 0.14188505099048573, 0.03735646117607596, 0.0792927107768602 ] }, "forward_reverse": { "translation_m": 0.005835943764379069, "rotation_deg": 0.23887217550290574 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.8914564400730272e-15, "rotation_deg": 1.2166057495719218e-14 }, { "translation_m": 4.717654291880836e-07, "rotation_deg": 2.9201063680953924e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 9, "j": 10, "lidar_time_i": 1784281119.375541, "lidar_time_j": 1784281219.2718523, "frame_counter_i": 4392, "frame_counter_j": 5391, "rtk_translation_m": 0.5276649044820116, "rtk_rotation_deg": 16.098629500225417, "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": [ [ 0.9600150038776836, 0.27994326947499204, 0.0017199434243572863, -0.5284564934999215 ], [ -0.27985738284879363, 0.9598410298660851, -0.019622503679124912, -0.6095206340608372 ], [ -0.007144060102965784, 0.018356559080216335, 0.9998059807502554, 0.011328056658900904 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 8294, "backend_objective": 1388.37610649331, "backend_elapsed_sec": 0.09492950000276323, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3625, "objective": 686.63801051527 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6272, "objective": 614.408796711613 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 8294, "objective": 1388.37610649331 } ], "heldout_symmetric": { "evaluated": 7656, "inliers": 6497, "inlier_ratio": 0.8486154649947754, "inlier_rmse_m": 0.09691837979566219, "median_m": 0.07300221130643356, "p90_m": 0.3683419403600522, "p95_m": 0.8916022822197027 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 42380.21547052753, 120362.11332860327, 176105.48439532646, 608834.6954812828, 782493.1514649914, 956853.5010289343 ], "effective_rank": 6, "scaled_condition_number": 22.577834737399076, "weakest_scaled_direction": [ 0.04676380706910309, -0.5544952304469927, 0.014363011118584497, 0.03643133198234707, 0.10173505799558734, 0.8236896416103426 ] }, "forward_reverse": { "translation_m": 0.007052114296262031, "rotation_deg": 0.2907164943632002 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6870704146010145e-06, "rotation_deg": 3.2896585380997023e-06 }, { "translation_m": 1.6870704142923271e-06, "rotation_deg": 3.2896585381513404e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 9, "j": 11, "lidar_time_i": 1784281119.375541, "lidar_time_j": 1784281326.268232, "frame_counter_i": 4392, "frame_counter_j": 6461, "rtk_translation_m": 2.680593454060616, "rtk_rotation_deg": 53.0183196584053, "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": [ [ 0.6039219274991686, 0.796476506619931, -0.03005794218172748, -3.15725821264627 ], [ -0.7970407867564487, 0.6035882908542857, -0.020178190956167148, -0.7753386908484848 ], [ 0.0020711669053879236, 0.03614345786049868, 0.9993444654980267, -0.06312326991614099 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7078, "backend_objective": 1076.1302999208415, "backend_elapsed_sec": 0.080632199998945, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3564, "objective": 772.6914060988815 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 5673, "objective": 476.65840307503066 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7078, "objective": 1076.1302999208415 } ], "heldout_symmetric": { "evaluated": 7919, "inliers": 5514, "inlier_ratio": 0.6963000378835712, "inlier_rmse_m": 0.10535088240045436, "median_m": 0.11590530082807096, "p90_m": 1.012195503647228, "p95_m": 1.5308493917280512 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 18695.287836573658, 71805.1503985703, 107984.88478429375, 388960.2550960267, 452912.59020250203, 739035.4133024226 ], "effective_rank": 6, "scaled_condition_number": 39.530571540955094, "weakest_scaled_direction": [ 0.3153981679629218, -0.5492206265876471, 0.041451906516287704, 0.047000421720814756, 0.09490462618277606, 0.765471430368007 ] }, "forward_reverse": { "translation_m": 0.0034527207661208545, "rotation_deg": 0.020238883727394828 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.3114448997918724e-15, "rotation_deg": 1.4747670495222658e-14 }, { "translation_m": 1.064157877724814e-06, "rotation_deg": 2.484571306483632e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 9, "j": 12, "lidar_time_i": 1784281119.375541, "lidar_time_j": 1784281406.9641902, "frame_counter_i": 4392, "frame_counter_j": 7268, "rtk_translation_m": 3.2944321799753977, "rtk_rotation_deg": 73.22024906015783, "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": [ [ 0.2877343154567465, 0.9575313472806006, -0.018511690458591766, -4.167779016399161 ], [ -0.9575632300755412, 0.2872976927195431, -0.02308021155282856, -0.7429215848471982 ], [ -0.01678166010660944, 0.02436708298143774, 0.9995622147475569, -0.12755868608262347 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6843, "backend_objective": 730.8749417255324, "backend_elapsed_sec": 0.08527039999898989, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3528, "objective": 844.6423575536897 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5533, "objective": 502.710444430084 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6843, "objective": 730.8749417255324 } ], "heldout_symmetric": { "evaluated": 8007, "inliers": 5272, "inlier_ratio": 0.6584238791057825, "inlier_rmse_m": 0.10587631557960675, "median_m": 0.12670471938214903, "p90_m": 1.2067667197359873, "p95_m": 1.850558263049219 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 20640.328824007658, 57341.086635991654, 100706.09447248589, 340897.8402861512, 471416.7130866885, 691416.2649746807 ], "effective_rank": 6, "scaled_condition_number": 33.498316372288826, "weakest_scaled_direction": [ 0.49250018326709594, -0.46130344582574223, 0.0600820532241997, 0.028323741573689942, 0.10365566574233075, 0.7276579662549701 ] }, "forward_reverse": { "translation_m": 0.009482405807021465, "rotation_deg": 0.07225186033919398 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2867685467013295e-06, "rotation_deg": 3.119428213922835e-06 }, { "translation_m": 1.3954474889861466e-06, "rotation_deg": 3.0247570814666316e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 9, "j": 13, "lidar_time_i": 1784281119.375541, "lidar_time_j": 1784281474.3615055, "frame_counter_i": 4392, "frame_counter_j": 7942, "rtk_translation_m": 4.1147924441994315, "rtk_rotation_deg": 94.16944247805917, "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": [ [ -0.07231331385464022, 0.9968946202347224, -0.031175323357246085, -4.935911903546747 ], [ -0.997065659870328, -0.0730421989422889, -0.022910850726723327, 0.7785547856070933 ], [ -0.025116818005221423, 0.029427084815585064, 0.9992513158022605, -0.20064989227173718 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 6628, "backend_objective": 775.2870732128134, "backend_elapsed_sec": 0.08647970000311034, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3445, "objective": 878.6688095241398 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5390, "objective": 549.655866234512 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 6628, "objective": 775.2870732128134 } ], "heldout_symmetric": { "evaluated": 7988, "inliers": 4965, "inlier_ratio": 0.621557336004006, "inlier_rmse_m": 0.11335203160746431, "median_m": 0.15309395963392322, "p90_m": 1.472254577325208, "p95_m": 2.116669112433769 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 20717.288068229078, 33218.78796584843, 62970.49033153109, 233143.95202311708, 427064.1115525759, 677405.2778011315 ], "effective_rank": 6, "scaled_condition_number": 32.6975845279655, "weakest_scaled_direction": [ 0.6587230539890699, 0.1461651316784715, 0.032150023201013934, -0.07304341486416241, 0.1067908235807235, 0.7259107713602522 ] }, "forward_reverse": { "translation_m": 0.009011781776631502, "rotation_deg": 0.0416830306778097 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 6.230544129253696e-06, "rotation_deg": 8.60181616402537e-06 }, { "translation_m": 6.230544130736518e-06, "rotation_deg": 8.601816316198729e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 9, "j": 14, "lidar_time_i": 1784281119.375541, "lidar_time_j": 1784281630.3553114, "frame_counter_i": 4392, "frame_counter_j": 9502, "rtk_translation_m": 3.748520283907519, "rtk_rotation_deg": 169.69584626488452, "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": [ [ -0.9869390143765366, 0.16067937119987646, -0.011555153494569174, -3.5205360649398876 ], [ -0.16079386605880866, -0.986939650670518, 0.009770290283190854, 1.0108286972263762 ], [ -0.00983435505423095, 0.01150067846555976, 0.9998855033730112, -0.22535123731591933 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 25, "backend_num_inliers": 607, "backend_objective": 45.015829213036376, "backend_elapsed_sec": 0.18039929999940796, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 11, "num_inliers": 1633, "objective": 1397.6857787663512 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 27, "num_inliers": 1069, "objective": 308.72584827335425 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 25, "num_inliers": 607, "objective": 45.015829213036376 } ], "heldout_symmetric": { "evaluated": 7977, "inliers": 390, "inlier_ratio": 0.048890560361037984, "inlier_rmse_m": 0.15557197380465354, "median_m": 1.2660146589914476, "p90_m": 2.7411908450059776, "p95_m": 3.215397801411571 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 282.86427985487006, 1139.8471396765926, 2135.732147756342, 2356.084028442604, 5590.291186875345, 14579.13001807421 ], "effective_rank": 6, "scaled_condition_number": 51.54107837707314, "weakest_scaled_direction": [ 0.9804430456803234, 0.01712810680103255, 0.0415911194664392, 0.022186596949522585, 0.0866764279867136, -0.1694201660467125 ] }, "forward_reverse": { "translation_m": 1.0864076801076206, "rotation_deg": 7.184564913859941 }, "multistart": { "runs": 2, "success_rate": 0.5, "deltas": [ { "translation_m": 8.308148362110449e-16, "rotation_deg": 4.8939553850662355e-15 }, { "translation_m": 0.10326280330056975, "rotation_deg": 1.8123491440567112 } ] }, "accepted": false, "rejection_reasons": [ "heldout_inlier_ratio", "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 10, "j": 11, "lidar_time_i": 1784281219.2718523, "lidar_time_j": 1784281326.268232, "frame_counter_i": 5391, "frame_counter_j": 6461, "rtk_translation_m": 2.249454986440387, "rtk_rotation_deg": 36.91969015817989, "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": [ [ 0.8026470695932169, 0.5953414206597143, -0.03641805212108848, -2.4730093943804796 ], [ -0.5958359370675957, 0.8030984663038816, -0.0035198748746086733, -0.8956221571641458 ], [ 0.027151754495827015, 0.024524401465184725, 0.9993304438275521, -0.05341548894953125 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 15, "backend_num_inliers": 7210, "backend_objective": 1084.2813397000082, "backend_elapsed_sec": 0.11760700000013458, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3710, "objective": 660.3878067010464 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6045, "objective": 611.2694314138973 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 15, "num_inliers": 7210, "objective": 1084.2813397000082 } ], "heldout_symmetric": { "evaluated": 8039, "inliers": 5753, "inlier_ratio": 0.7156362731683045, "inlier_rmse_m": 0.10422606491110974, "median_m": 0.10748418411287138, "p90_m": 0.8527421409673256, "p95_m": 1.422269325772597 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 19035.072699760844, 90323.4921481537, 142251.56415585868, 390569.5373672696, 460516.1217398476, 865192.5306850255 ], "effective_rank": 6, "scaled_condition_number": 45.45254669271086, "weakest_scaled_direction": [ 0.25346298427713315, -0.597978290261599, 0.03264189531326547, 0.04499105226655155, 0.09937727597122759, 0.7518064570645755 ] }, "forward_reverse": { "translation_m": 0.004301999273657816, "rotation_deg": 0.02361974788713562 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 6.390148669251418e-15, "rotation_deg": 2.92436575694043e-14 }, { "translation_m": 7.219494791688092e-15, "rotation_deg": 3.6039268143862256e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 10, "j": 12, "lidar_time_i": 1784281219.2718523, "lidar_time_j": 1784281406.9641902, "frame_counter_i": 5391, "frame_counter_j": 7268, "rtk_translation_m": 2.8783779741216167, "rtk_rotation_deg": 57.12161955993242, "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": [ [ 0.544347078819777, 0.8387069301707338, -0.01602944365720646, -3.4565245101960773 ], [ -0.8388534292914914, 0.5443195369306294, -0.006416064333332386, -1.1541418015714768 ], [ 0.0033439417279590984, 0.01693891965885164, 0.9998509344169815, -0.15426693296263252 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 7374, "backend_objective": 816.7363973152893, "backend_elapsed_sec": 0.09428330000082497, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3729, "objective": 818.0124695654707 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5931, "objective": 507.96164333612376 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 7374, "objective": 816.7363973152893 } ], "heldout_symmetric": { "evaluated": 8127, "inliers": 5631, "inlier_ratio": 0.692875599852344, "inlier_rmse_m": 0.10691573133186853, "median_m": 0.12015250487071094, "p90_m": 1.0539458621433888, "p95_m": 1.6837917639088673 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 21028.84709112706, 92136.78059070179, 140159.46382398932, 396588.16526324226, 619876.7035208143, 822440.3509779369 ], "effective_rank": 6, "scaled_condition_number": 39.11010182412513, "weakest_scaled_direction": [ 0.5059793443096311, -0.4510970346321753, 0.046321644762583804, 0.043440231262611324, 0.10855414574529404, 0.7243477186088895 ] }, "forward_reverse": { "translation_m": 0.004231594662123499, "rotation_deg": 0.01872424915403812 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.3626908269611587e-15, "rotation_deg": 6.397214631049945e-15 }, { "translation_m": 2.6918973635257668e-15, "rotation_deg": 9.595632359942568e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 10, "j": 13, "lidar_time_i": 1784281219.2718523, "lidar_time_j": 1784281474.3615055, "frame_counter_i": 5391, "frame_counter_j": 7942, "rtk_translation_m": 3.84803303865234, "rtk_rotation_deg": 78.07081297783375, "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": [ [ 0.20901981231429378, 0.977744517585607, -0.01806589027381743, -4.626165275692513 ], [ -0.9779074184657942, 0.20893053237578268, -0.006716662172365459, 0.09791990613430666 ], [ -0.002792663542753814, 0.01907068358660145, 0.9998142377751361, -0.14776806343018095 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 7059, "backend_objective": 1283.5668124293757, "backend_elapsed_sec": 0.13993570000457112, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3568, "objective": 842.611947918059 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5648, "objective": 625.9346701322002 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 7059, "objective": 1283.5668124293757 } ], "heldout_symmetric": { "evaluated": 8108, "inliers": 5347, "inlier_ratio": 0.6594721262950173, "inlier_rmse_m": 0.10871022234744057, "median_m": 0.12789094100666226, "p90_m": 1.328257568875001, "p95_m": 2.1192976058642032 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 16861.899905295864, 61323.79579228367, 82433.52958680302, 309065.6291981343, 570413.3771800441, 727531.3016214758 ], "effective_rank": 6, "scaled_condition_number": 43.1464607017966, "weakest_scaled_direction": [ 0.6694895105213565, 0.05986106701325278, 0.019749638042974495, -0.06198812678862881, 0.10985494594795474, 0.7293145842111537 ] }, "forward_reverse": { "translation_m": 0.006980776690426113, "rotation_deg": 0.21408921607631748 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2567637595793301e-15, "rotation_deg": 2.0855747774929756e-15 }, { "translation_m": 2.4121814915098567e-15, "rotation_deg": 1.0808124357002272e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 10, "j": 14, "lidar_time_i": 1784281219.2718523, "lidar_time_j": 1784281630.3553114, "frame_counter_i": 5391, "frame_counter_j": 9502, "rtk_translation_m": 3.3834992499807997, "rtk_rotation_deg": 153.59721676465847, "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": [ [ -0.8884294056385886, 0.45873632184786506, -0.015942967545453317, -3.024049570318905 ], [ -0.4587146727309669, -0.8885683747037764, -0.005205045399294303, 0.24015033352950257 ], [ -0.016554160141341926, 0.0026889577495562192, 0.9998593547535758, -0.43025137703988037 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 558, "backend_objective": 40.271129997452874, "backend_elapsed_sec": 0.29666439999709837, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 1510, "objective": 1477.0664321600964 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": false, "iterations": 59, "num_inliers": 876, "objective": 268.5887233906003 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 558, "objective": 40.271129997452874 } ], "heldout_symmetric": { "evaluated": 8097, "inliers": 504, "inlier_ratio": 0.062245276028158575, "inlier_rmse_m": 0.15570919185507412, "median_m": 1.4547472527668306, "p90_m": 3.001358562079382, "p95_m": 3.3237584391696235 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 258.81703690480117, 1506.411971662197, 1934.0430596610079, 2983.0920123563906, 3898.345374415944, 15376.434180940305 ], "effective_rank": 6, "scaled_condition_number": 59.4104405367878, "weakest_scaled_direction": [ 0.871925318713812, 0.47516739319160756, 0.08776831468758561, -0.056101777841250915, 0.055467214981364345, 0.00590665349184381 ] }, "forward_reverse": { "translation_m": 0.09444016841800375, "rotation_deg": 2.8556589503073977 }, "multistart": { "runs": 2, "success_rate": 0.0, "deltas": [ { "translation_m": 0.06756923306348955, "rotation_deg": 1.6002837216751182 }, { "translation_m": 2.8345732486509614, "rotation_deg": 1.4823895713911923 } ] }, "accepted": false, "rejection_reasons": [ "heldout_inlier_ratio", "forward_reverse_translation", "forward_reverse_rotation", "multistart_instability" ] }, { "i": 10, "j": 15, "lidar_time_i": 1784281219.2718523, "lidar_time_j": 1784281794.7491786, "frame_counter_i": 5391, "frame_counter_j": 11146, "rtk_translation_m": 1.4957886147833104, "rtk_rotation_deg": 171.72980583515965, "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": [ [ -0.9883953338697574, -0.1373668148582435, -0.06484614221518019, -3.7940371904447465 ], [ 0.1382917121755084, -0.9903413037704701, -0.009975188708620037, 1.0226715879866788 ], [ -0.06284955312535377, -0.0188271140089841, 0.9978454156080672, -0.11948097865284024 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6809, "backend_objective": 733.276656350816, "backend_elapsed_sec": 0.15036289999989094, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 19, "num_inliers": 3539, "objective": 920.2359685782657 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5464, "objective": 510.5433466469367 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6809, "objective": 733.276656350816 } ], "heldout_symmetric": { "evaluated": 8223, "inliers": 5125, "inlier_ratio": 0.6232518545542989, "inlier_rmse_m": 0.10969245891269987, "median_m": 0.14618571169301486, "p90_m": 1.5915621480453095, "p95_m": 2.634814179731857 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 17404.91836742293, 53846.12119132127, 82786.06544160016, 317970.1972075296, 541900.3627213852, 748436.9645858805 ], "effective_rank": 6, "scaled_condition_number": 43.00146365447724, "weakest_scaled_direction": [ -0.010924614771477692, 0.6889614623303677, 0.03590059664515939, -0.15130628791335873, -0.03345263609131557, 0.707044009770707 ] }, "forward_reverse": { "translation_m": 3.0001452916434883, "rotation_deg": 4.8522273147326915 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.987869494273747e-16, "rotation_deg": 3.676140599956921e-14 }, { "translation_m": 1.7244233337941968e-15, "rotation_deg": 1.480446518911716e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 11, "j": 12, "lidar_time_i": 1784281326.268232, "lidar_time_j": 1784281406.9641902, "frame_counter_i": 6461, "frame_counter_j": 7268, "rtk_translation_m": 0.636223282239137, "rtk_rotation_deg": 20.20192940175253, "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": [ [ 0.9371956147696628, 0.3487131962537873, 0.007967836279795451, -0.6321966537462228 ], [ -0.34877681134194793, 0.937163784880924, 0.008875594504296473, -0.7881260545066597 ], [ -0.004372130677038871, -0.011097164778862122, 0.9999288661735963, -0.026946457018436835 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 9898, "backend_objective": 2162.272264865104, "backend_elapsed_sec": 0.11801720000221394, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 3, "num_inliers": 4249, "objective": 699.2138178751973 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7262, "objective": 909.9662569308975 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 9898, "objective": 2162.272264865104 } ], "heldout_symmetric": { "evaluated": 8390, "inliers": 7290, "inlier_ratio": 0.8688915375446961, "inlier_rmse_m": 0.08660981428891965, "median_m": 0.07021885648152525, "p90_m": 0.35442195794095555, "p95_m": 0.6130784085298314 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 80285.56395096118, 154032.68321755665, 543504.0634545566, 705335.0933223908, 1245244.7859198009, 1447813.4695750407 ], "effective_rank": 6, "scaled_condition_number": 18.033297623211222, "weakest_scaled_direction": [ 0.5573028088385298, -0.342029904451023, 0.03350163875971613, 0.08481278531500487, 0.1221569965466927, 0.7410743711424146 ] }, "forward_reverse": { "translation_m": 0.005089530929434581, "rotation_deg": 0.03170796903435614 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.947248820392849e-16, "rotation_deg": 3.2703203524364657e-15 }, { "translation_m": 7.494005416219807e-16, "rotation_deg": 8.980786819236643e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 11, "j": 13, "lidar_time_i": 1784281326.268232, "lidar_time_j": 1784281474.3615055, "frame_counter_i": 6461, "frame_counter_j": 7942, "rtk_translation_m": 2.0145868546459504, "rtk_rotation_deg": 41.151122819653864, "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": [ [ 0.7514963762844198, 0.6597274483359195, -0.0035903124602662375, -2.313964787858916 ], [ -0.6596062455886907, 0.751444494344757, 0.015835804347805123, -0.499123557240481 ], [ 0.013145235325968814, -0.00953235706051812, 0.9998681597876291, -0.1413342437685064 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 8897, "backend_objective": 2275.762331051696, "backend_elapsed_sec": 0.3507017000010819, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4103, "objective": 787.4288122334265 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": false, "iterations": 59, "num_inliers": 6813, "objective": 1206.2734648460878 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 8897, "objective": 2275.762331051696 } ], "heldout_symmetric": { "evaluated": 8371, "inliers": 6715, "inlier_ratio": 0.8021741727392188, "inlier_rmse_m": 0.10650327571539893, "median_m": 0.09780819654817584, "p90_m": 0.5189921451409358, "p95_m": 0.9712061210582154 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 55070.39301277661, 75306.89277558721, 302445.544589093, 522093.20400236215, 838433.9313589357, 1009975.8085801422 ], "effective_rank": 6, "scaled_condition_number": 18.339724002801702, "weakest_scaled_direction": [ -0.6911400981924295, 0.008344189481964137, -0.012120028334159096, 0.001665891862053834, -0.13767819482769567, -0.709331222743591 ] }, "forward_reverse": { "translation_m": 0.04485533499047456, "rotation_deg": 0.27313934813876123 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0778315928076987e-15, "rotation_deg": 7.683301954634173e-15 }, { "translation_m": 7.882545766750268e-06, "rotation_deg": 3.973270060056488e-05 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 11, "j": 14, "lidar_time_i": 1784281326.268232, "lidar_time_j": 1784281630.3553114, "frame_counter_i": 6461, "frame_counter_j": 9502, "rtk_translation_m": 1.2405786051647103, "rtk_rotation_deg": 116.67752660647822, "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": [ [ -0.4594726595275172, 0.8881902134521932, -0.001737778598919235, -3.0935540456129584 ], [ -0.8881882778758939, -0.45947549740021587, -0.001962226459620987, -1.4237343334942592 ], [ -0.00254129702412217, 0.0006418851711063395, 0.9999965648905308, -0.03882597459795958 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 23, "backend_num_inliers": 8223, "backend_objective": 2707.224263888237, "backend_elapsed_sec": 0.22237899999890942, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3994, "objective": 762.8025592428319 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6475, "objective": 799.3786095755967 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 23, "num_inliers": 8223, "objective": 2707.224263888237 } ], "heldout_symmetric": { "evaluated": 8360, "inliers": 6233, "inlier_ratio": 0.7455741626794259, "inlier_rmse_m": 0.11063741423489376, "median_m": 0.10908654247803001, "p90_m": 0.8145914641388259, "p95_m": 1.3029631164404543 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 40859.7146109918, 78460.53527308247, 259977.980791899, 479910.38642532437, 645537.7886738732, 845590.2094438885 ], "effective_rank": 6, "scaled_condition_number": 20.694961222671232, "weakest_scaled_direction": [ 0.06728960920612632, 0.7356712780031167, 0.007951428740547538, -0.15416880559091517, -0.10493687917351309, 0.6476240304120331 ] }, "forward_reverse": { "translation_m": 0.007044503253911164, "rotation_deg": 0.40985193451245056 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.105954299835844e-15, "rotation_deg": 2.8669265819056474e-14 }, { "translation_m": 1.099152334353211e-15, "rotation_deg": 1.9362482169472626e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 11, "j": 15, "lidar_time_i": 1784281326.268232, "lidar_time_j": 1784281794.7491786, "frame_counter_i": 6461, "frame_counter_j": 11146, "rtk_translation_m": 1.4202907399288436, "rtk_rotation_deg": 151.3505040066613, "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": [ [ -0.8753441704067417, 0.4813761764981961, -0.04527206682835245, -2.1926618120662797 ], [ -0.48131846884403645, -0.8764510796939674, -0.01288551329638342, 0.7422080329800284 ], [ -0.0458815309745167, 0.010511022940539731, 0.9988915874669172, -0.11155782873731296 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 8387, "backend_objective": 1759.4732917432189, "backend_elapsed_sec": 0.1327515000011772, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3962, "objective": 717.3310078419488 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6310, "objective": 861.2061325307943 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 8387, "objective": 1759.4732917432189 } ], "heldout_symmetric": { "evaluated": 8486, "inliers": 6336, "inlier_ratio": 0.7466415272213057, "inlier_rmse_m": 0.10329430650455694, "median_m": 0.09879655188222494, "p90_m": 0.858818613514028, "p95_m": 1.5542556798204363 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 33022.70959526503, 69004.00666568193, 294990.41598090605, 559478.47742423, 666980.7185574444, 914868.2202658961 ], "effective_rank": 6, "scaled_condition_number": 27.704214205277534, "weakest_scaled_direction": [ -0.052697587381587356, 0.6680105259118909, 0.019045649844067213, -0.17966327715223096, 0.017134269418162366, 0.7197566869654786 ] }, "forward_reverse": { "translation_m": 0.13203399207663835, "rotation_deg": 1.4478079414864902 }, "multistart": { "runs": 2, "success_rate": 0.5, "deltas": [ { "translation_m": 5.900916318210353e-16, "rotation_deg": 1.6184594838496324e-14 }, { "translation_m": 2.343197092906056, "rotation_deg": 1.66893631718337 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 11, "j": 16, "lidar_time_i": 1784281326.268232, "lidar_time_j": 1784281908.3446162, "frame_counter_i": 6461, "frame_counter_j": 12282, "rtk_translation_m": 2.7368971716016928, "rtk_rotation_deg": 176.81389445065594, "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": [ [ -0.9977763254945377, 0.0563486088708824, -0.03559829435429065, -0.7385145758714027 ], [ -0.05612163031387543, -0.9983969271537404, -0.007344280827993945, 1.9148462112829492 ], [ -0.035955067703052686, -0.005330115222399747, 0.9993391931562505, -0.059540896185619405 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 8594, "backend_objective": 1814.1165377748011, "backend_elapsed_sec": 0.1268398000029265, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 3925, "objective": 850.0328525382836 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6621, "objective": 775.1058296522554 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 8594, "objective": 1814.1165377748011 } ], "heldout_symmetric": { "evaluated": 8277, "inliers": 6509, "inlier_ratio": 0.78639603721155, "inlier_rmse_m": 0.10318237166131629, "median_m": 0.09493949257822674, "p90_m": 0.6364631557249012, "p95_m": 1.3221726709674442 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 28166.190880798276, 115006.28609738474, 258947.696313962, 575213.4866814459, 797073.5527920969, 976203.3766407112 ], "effective_rank": 6, "scaled_condition_number": 34.658693494341755, "weakest_scaled_direction": [ 0.27745507489777643, -0.5920675965441212, -0.028588174303706523, 0.10070930713422885, 0.08779464107497928, -0.7441821653875995 ] }, "forward_reverse": { "translation_m": 0.008767229441137649, "rotation_deg": 0.032548654712657686 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.42861286636753e-16, "rotation_deg": 7.001528258603851e-15 }, { "translation_m": 1.8901450195916007e-15, "rotation_deg": 4.461008645244417e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 13, "lidar_time_i": 1784281406.9641902, "lidar_time_j": 1784281474.3615055, "frame_counter_i": 7268, "frame_counter_j": 7942, "rtk_translation_m": 1.5928240921286525, "rtk_rotation_deg": 20.949193417901323, "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": [ [ 0.9334731566007374, 0.35817264208365196, 0.018445171961015173, -1.6869303033738752 ], [ -0.358419320891895, 0.9334786529917025, 0.012377189510925219, -0.3291261821471906 ], [ -0.012785003607670615, -0.01816488017061019, 0.9997532599652476, -0.08954638566145792 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 15, "backend_num_inliers": 9469, "backend_objective": 1950.1305013280225, "backend_elapsed_sec": 0.17725849999987986, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 2, "num_inliers": 4298, "objective": 713.0228353837309 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 7398, "objective": 1102.7170640528957 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 15, "num_inliers": 9469, "objective": 1950.1305013280225 } ], "heldout_symmetric": { "evaluated": 8459, "inliers": 6951, "inlier_ratio": 0.8217283366828231, "inlier_rmse_m": 0.10684146627686454, "median_m": 0.09575107105138746, "p90_m": 0.4142599959298521, "p95_m": 0.7001196138421679 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 81357.97014691656, 90975.93182440297, 470398.7380323842, 671324.6973641065, 880257.542351925, 1334297.037642465 ], "effective_rank": 6, "scaled_condition_number": 16.400323597466677, "weakest_scaled_direction": [ -0.1213960775834498, 0.12737999775643866, -0.022361132470899492, -0.9733802927474433, -0.10446716191412928, -0.10077066064113209 ] }, "forward_reverse": { "translation_m": 0.01763325318199382, "rotation_deg": 0.09467538550034012 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 9.130909444985391e-16, "rotation_deg": 2.0012035402824407e-14 }, { "translation_m": 5.194446892679256e-16, "rotation_deg": 8.161301462077442e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 14, "lidar_time_i": 1784281406.9641902, "lidar_time_j": 1784281630.3553114, "frame_counter_i": 7268, "frame_counter_j": 9502, "rtk_translation_m": 0.6774809171975742, "rtk_rotation_deg": 96.47559720472566, "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": [ [ -0.12090643085695976, 0.992655020780019, -0.004200559207002008, -2.105645886982196 ], [ -0.9926604218634874, -0.12091613906453468, -0.002138733160134857, -1.4585409554445847 ], [ -0.002630939610739252, 0.003911142281537837, 0.9999888904996983, -0.022834872556695533 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 11, "backend_num_inliers": 8618, "backend_objective": 2892.8424209198497, "backend_elapsed_sec": 0.14285650000238093, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4186, "objective": 719.3169377552709 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6911, "objective": 1272.6669810288383 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 11, "num_inliers": 8618, "objective": 2892.8424209198497 } ], "heldout_symmetric": { "evaluated": 8448, "inliers": 6430, "inlier_ratio": 0.7611268939393939, "inlier_rmse_m": 0.10826784336909262, "median_m": 0.10233945158433569, "p90_m": 0.5870826446527403, "p95_m": 1.0427955306477301 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 85401.75036780712, 92504.18243397803, 410950.9942279096, 559230.8316714325, 748315.2204326417, 908302.1864656003 ], "effective_rank": 6, "scaled_condition_number": 10.635638995146312, "weakest_scaled_direction": [ 0.0472384354213391, 0.5593610389819712, 0.01315903060652493, -0.22378903912411688, -0.6128220994683812, 0.5089971891597445 ] }, "forward_reverse": { "translation_m": 0.0015931090432955832, "rotation_deg": 0.024585439481643892 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.265153280995946e-16, "rotation_deg": 2.3378276163669887e-15 }, { "translation_m": 9.829026491055893e-16, "rotation_deg": 2.8333611161443553e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 15, "lidar_time_i": 1784281406.9641902, "lidar_time_j": 1784281794.7491786, "frame_counter_i": 7268, "frame_counter_j": 11146, "rtk_translation_m": 1.8892292086221258, "rtk_rotation_deg": 131.14857460490867, "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": [ [ -0.6528335390665899, 0.7566596526355762, -0.035700705079873295, -2.0069806712782876 ], [ -0.7550046734734494, -0.6537820999765125, -0.050367735541222515, 0.9173028640618776 ], [ -0.06145171521642369, -0.005927547866544685, 0.9980924560747114, 0.05956800602746556 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 8584, "backend_objective": 2426.370963581025, "backend_elapsed_sec": 0.18129010000120616, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 17, "num_inliers": 3665, "objective": 2833.611336479225 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 14, "num_inliers": 6580, "objective": 1084.3525466150913 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 8584, "objective": 2426.370963581025 } ], "heldout_symmetric": { "evaluated": 8574, "inliers": 6280, "inlier_ratio": 0.7324469325868906, "inlier_rmse_m": 0.11113399174419211, "median_m": 0.11334760825204335, "p90_m": 0.7190838999317832, "p95_m": 1.373254005312545 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 43622.707747874585, 67663.74082132244, 310605.9405542003, 661670.120828618, 727790.1990690583, 871166.0585201021 ], "effective_rank": 6, "scaled_condition_number": 19.970471882560926, "weakest_scaled_direction": [ -0.12014289651724333, 0.6781502887136084, 0.030662151928332614, -0.1798802156579679, -0.032775294473131975, 0.7009326578639801 ] }, "forward_reverse": { "translation_m": 0.0024416100752998565, "rotation_deg": 0.009279978214820864 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.4244856739655695e-15, "rotation_deg": 1.923087271827943e-14 }, { "translation_m": 2.3890763870554686e-15, "rotation_deg": 1.581269438804674e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 16, "lidar_time_i": 1784281406.9641902, "lidar_time_j": 1784281908.3446162, "frame_counter_i": 7268, "frame_counter_j": 12282, "rtk_translation_m": 3.349436875941103, "rtk_rotation_deg": 156.6119650489076, "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": [ [ -0.9155004437095494, 0.4009651777715893, -0.032952447287191974, -1.0451954377498973 ], [ -0.4003545060280441, -0.916053821842797, -0.023699472362172323, 2.4909499292406596 ], [ -0.03968887842529677, -0.008504216707172054, 0.9991758960401015, -0.03319354735749507 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 8354, "backend_objective": 1967.2919517341786, "backend_elapsed_sec": 0.11182600000029197, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 17, "num_inliers": 3944, "objective": 817.5704973091188 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6541, "objective": 928.4735042646357 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 8354, "objective": 1967.2919517341786 } ], "heldout_symmetric": { "evaluated": 8365, "inliers": 6274, "inlier_ratio": 0.7500298864315601, "inlier_rmse_m": 0.10525785108693746, "median_m": 0.10018309817258013, "p90_m": 0.830984498758739, "p95_m": 1.56967073636776 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 30172.361763520803, 105927.52065621327, 213524.03097699044, 619852.8503642206, 791171.8025998115, 926541.3448937718 ], "effective_rank": 6, "scaled_condition_number": 30.70828038440084, "weakest_scaled_direction": [ -0.30372863395871585, 0.5760729343622365, 0.03701686078751122, -0.09585122468870613, -0.09888525691364874, 0.7453542056747845 ] }, "forward_reverse": { "translation_m": 0.0024719134275639418, "rotation_deg": 0.013160987022490347 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.626946465381911e-15, "rotation_deg": 1.0095014781658578e-14 }, { "translation_m": 1.2381016884676358e-15, "rotation_deg": 1.6016158730824006e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 17, "lidar_time_i": 1784281406.9641902, "lidar_time_j": 1784282032.5400162, "frame_counter_i": 7268, "frame_counter_j": 13524, "rtk_translation_m": 6.51378754358264, "rtk_rotation_deg": 111.73754176984298, "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": [ [ -0.37087310069518786, 0.9285572704328996, -0.015314656605359727, -3.8827370344848955 ], [ -0.9282241242868864, -0.370120566693206, 0.03755983496426634, -7.3759706362269215 ], [ 0.02920818845084177, 0.028145366171061396, 0.999177021398369, 0.3512216667086923 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 6260, "backend_objective": 272.3307319422028, "backend_elapsed_sec": 0.08572129999811295, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 11, "num_inliers": 3030, "objective": 739.4380756364866 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 4688, "objective": 402.2947086598857 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 6260, "objective": 272.3307319422028 } ], "heldout_symmetric": { "evaluated": 8557, "inliers": 5304, "inlier_ratio": 0.6198434030618207, "inlier_rmse_m": 0.1221546776649581, "median_m": 0.1614291311529053, "p90_m": 1.4365512914299023, "p95_m": 2.174620387702925 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 23846.713492270108, 39763.12544049202, 75591.8459784553, 85305.64066106586, 281185.1753172214, 561389.8991349357 ], "effective_rank": 6, "scaled_condition_number": 23.54160456185754, "weakest_scaled_direction": [ 0.22513441639115397, 0.917993721071173, -0.006870133447605462, -0.068055887195187, 0.07980219413415858, -0.3091194428145497 ] }, "forward_reverse": { "translation_m": 0.013538123192296372, "rotation_deg": 0.06236055877935909 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.1670688905509757e-15, "rotation_deg": 2.4561468303717916e-14 }, { "translation_m": 2.482534153247273e-16, "rotation_deg": 1.0506156369790924e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 13, "j": 14, "lidar_time_i": 1784281474.3615055, "lidar_time_j": 1784281630.3553114, "frame_counter_i": 7942, "frame_counter_j": 9502, "rtk_translation_m": 0.9721300146850552, "rtk_rotation_deg": 75.52640378682433, "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": [ [ 0.24055323851553503, 0.9706352271826483, 0.00118118236452118, 0.007908243805650843 ], [ -0.9705121883465464, 0.24050295744035147, 0.016260988077071985, -1.2506315676678772 ], [ 0.015499410004459351, -0.00505798522482996, 0.9998670837041184, -0.02549886304005046 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 9718, "backend_objective": 3164.6516243944243, "backend_elapsed_sec": 0.11082829999941168, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4384, "objective": 620.0538828655934 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 7510, "objective": 1022.7625821958271 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 9718, "objective": 3164.6516243944243 } ], "heldout_symmetric": { "evaluated": 8429, "inliers": 6978, "inlier_ratio": 0.8278562107011508, "inlier_rmse_m": 0.10919246415865995, "median_m": 0.10056803413400761, "p90_m": 0.40512041852515757, "p95_m": 0.604049129120264 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 89486.16909802526, 146862.85039687649, 659769.6048001102, 803440.9588148856, 862801.975727927, 1138568.5358483512 ], "effective_rank": 6, "scaled_condition_number": 12.723402368483741, "weakest_scaled_direction": [ -0.09785364300744967, -0.0025667226541201127, 0.0017315837747209778, -0.16138919106505006, -0.9820200522524332, -0.002285625541262237 ] }, "forward_reverse": { "translation_m": 0.0049872211162087675, "rotation_deg": 0.02566897887278044 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0638028178764803e-15, "rotation_deg": 3.89161291449732e-15 }, { "translation_m": 2.2729511820139823e-16, "rotation_deg": 2.978479745353383e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 13, "j": 15, "lidar_time_i": 1784281474.3615055, "lidar_time_j": 1784281794.7491786, "frame_counter_i": 7942, "frame_counter_j": 11146, "rtk_translation_m": 2.426469315960194, "rtk_rotation_deg": 110.19938118700728, "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": [ [ -0.3408805934510223, 0.9400140163370704, -0.013193562761050541, -0.737444114442546 ], [ -0.9389231942803244, -0.34112191395268493, -0.04537703233674287, 1.0091066265185293 ], [ -0.04715565979722318, -0.0030804076204516253, 0.998882803354818, 0.05481538440009388 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 9360, "backend_objective": 2442.475929330756, "backend_elapsed_sec": 0.09862550000252668, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4133, "objective": 647.2936613387276 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7020, "objective": 828.6805748102338 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 9360, "objective": 2442.475929330756 } ], "heldout_symmetric": { "evaluated": 8555, "inliers": 6747, "inlier_ratio": 0.7886616014026885, "inlier_rmse_m": 0.10800229196760061, "median_m": 0.09595584568547873, "p90_m": 0.5518132077889158, "p95_m": 1.055039761045908 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 85572.01209020732, 95946.31409428312, 497692.4749094236, 823241.7130598151, 974491.8840410864, 1169302.2505468337 ], "effective_rank": 6, "scaled_condition_number": 13.66454080002457, "weakest_scaled_direction": [ -0.07395538849744229, -0.10596211380567203, -0.006608142610902555, 0.4271629155110631, -0.8938239782769738, -0.043237748212324845 ] }, "forward_reverse": { "translation_m": 0.0038816141140735755, "rotation_deg": 0.020030260506224723 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 5.552849575635886e-16, "rotation_deg": 6.610944726719669e-15 }, { "translation_m": 4.579669976578771e-16, "rotation_deg": 1.5664633135204343e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 13, "j": 16, "lidar_time_i": 1784281474.3615055, "lidar_time_j": 1784281908.3446162, "frame_counter_i": 7942, "frame_counter_j": 12282, "rtk_translation_m": 4.157137927296689, "rtk_rotation_deg": 135.66277163100625, "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": [ [ -0.7114929145680909, 0.7021918163370885, -0.02654214740037605, -0.40118889039205835 ], [ -0.7010743274789456, -0.7119096573774671, -0.04098081359173361, 2.84965046337485 ], [ -0.04767200299281505, -0.010549540365188499, 0.9988073324364092, 0.058866406418681315 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 15, "backend_num_inliers": 8332, "backend_objective": 2303.2281067089802, "backend_elapsed_sec": 0.16532379999989644, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 14, "num_inliers": 4031, "objective": 863.0474326100314 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 6603, "objective": 797.268170877505 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 15, "num_inliers": 8332, "objective": 2303.2281067089802 } ], "heldout_symmetric": { "evaluated": 8346, "inliers": 6241, "inlier_ratio": 0.7477833692786964, "inlier_rmse_m": 0.10901310110319071, "median_m": 0.10774463513543406, "p90_m": 0.7582286047203066, "p95_m": 1.5081779419223271 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 43227.013849733776, 86629.12306411313, 139126.9530116621, 610909.4509485151, 740421.889386766, 909252.8770780354 ], "effective_rank": 6, "scaled_condition_number": 21.034367079780026, "weakest_scaled_direction": [ -0.3497287915517159, 0.528338738094593, 0.025722182093465426, -0.06870650513846213, -0.13053968980052336, 0.7590290673453699 ] }, "forward_reverse": { "translation_m": 0.0024107551433002806, "rotation_deg": 0.01470679715840447 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 5.152099519469425e-16, "rotation_deg": 6.599762106034908e-15 }, { "translation_m": 2.785125417689954e-15, "rotation_deg": 2.2606693051038843e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 13, "j": 17, "lidar_time_i": 1784281474.3615055, "lidar_time_j": 1784282032.5400162, "frame_counter_i": 7942, "frame_counter_j": 13524, "rtk_translation_m": 6.347445048137873, "rtk_rotation_deg": 90.78834835194164, "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": [ [ -0.014905774252490166, 0.9994623915748678, -0.02920181024138763, 0.46531730676069866 ], [ -0.9994232512220635, -0.014001273396657197, 0.030937505716986308, -7.390086155835096 ], [ 0.03051201092439331, 0.029646115609169923, 0.9990946526824389, 0.4237905341885188 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 6391, "backend_objective": 298.36415978125757, "backend_elapsed_sec": 0.22874079999746755, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 12, "num_inliers": 3144, "objective": 1036.8744855435712 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": false, "iterations": 59, "num_inliers": 4870, "objective": 413.8226538814803 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 6391, "objective": 298.36415978125757 } ], "heldout_symmetric": { "evaluated": 8538, "inliers": 5227, "inlier_ratio": 0.6122042632935114, "inlier_rmse_m": 0.12126385638135445, "median_m": 0.164703571623297, "p90_m": 1.4635217425516316, "p95_m": 2.2767223644475125 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 20120.302093799102, 49801.34373724401, 75429.94803903025, 93288.58500775031, 300067.7116666404, 554320.2339708018 ], "effective_rank": 6, "scaled_condition_number": 27.550293797111443, "weakest_scaled_direction": [ 0.5119060560806822, 0.408548789826064, 0.02344138800251451, -0.02257997137219499, 0.2064970028739156, -0.7261815958181645 ] }, "forward_reverse": { "translation_m": 0.010111269848200304, "rotation_deg": 1.6132660739833655 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 6.938893903907228e-16, "rotation_deg": 6.0533704250381895e-15 }, { "translation_m": 2.482534153247273e-16, "rotation_deg": 1.3843750168824855e-15 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 13, "j": 18, "lidar_time_i": 1784281474.3615055, "lidar_time_j": 1784282152.7353525, "frame_counter_i": 7942, "frame_counter_j": 14726, "rtk_translation_m": 4.26917989710959, "rtk_rotation_deg": 135.79234683500215, "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": [ [ -0.719047180579757, 0.6941597213908789, -0.03336814796838308, -1.1123195851802798 ], [ -0.694861577293226, -0.7173016413457756, 0.05143679348702101, -5.056277187823842 ], [ 0.011770322929800776, 0.060171725263570085, 0.9981186417340042, 0.22730861509126213 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 7356, "backend_objective": 685.5397260831821, "backend_elapsed_sec": 0.11728130000119563, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 16, "num_inliers": 3690, "objective": 1256.3884449180657 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5888, "objective": 593.7997529262564 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 7356, "objective": 685.5397260831821 } ], "heldout_symmetric": { "evaluated": 8156, "inliers": 5511, "inlier_ratio": 0.6756988719960765, "inlier_rmse_m": 0.1140499722068077, "median_m": 0.13119289269884277, "p90_m": 1.2385330818054663, "p95_m": 2.025049495441565 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 45513.469045206744, 76706.70890067723, 103944.50107246292, 129209.42190077913, 263336.9395822008, 622109.6947971842 ], "effective_rank": 6, "scaled_condition_number": 13.668694297489541, "weakest_scaled_direction": [ -0.7090907268016854, 0.49442755837842634, 0.021174577212284433, 0.02247204349795697, -0.0790926180004527, 0.49550250554214903 ] }, "forward_reverse": { "translation_m": 0.010188526275029454, "rotation_deg": 0.05757819838859875 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.7792188014569567e-15, "rotation_deg": 2.889857962021073e-14 }, { "translation_m": 1.3763880263436045e-15, "rotation_deg": 1.5934744750002238e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 14, "j": 15, "lidar_time_i": 1784281630.3553114, "lidar_time_j": 1784281794.7491786, "frame_counter_i": 9502, "frame_counter_j": 11146, "rtk_translation_m": 2.176233486689304, "rtk_rotation_deg": 34.672977400182965, "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": [ [ 0.8290527946515831, 0.5572072061379844, 0.04681445405323361, -2.3634699800560033 ], [ -0.5566394949532995, 0.8303594407165583, -0.025606090506375467, -0.18477775142670133 ], [ -0.05314072203626788, -0.004829973166294462, 0.9985753527003746, 0.06615222933064169 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 8708, "backend_objective": 1881.756561612646, "backend_elapsed_sec": 0.10197540000081062, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 3924, "objective": 684.9892070805153 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6597, "objective": 770.3204990736106 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 8708, "objective": 1881.756561612646 } ], "heldout_symmetric": { "evaluated": 8544, "inliers": 6336, "inlier_ratio": 0.7415730337078652, "inlier_rmse_m": 0.11426627617931512, "median_m": 0.11712763916482276, "p90_m": 0.6957885693377909, "p95_m": 1.3931753345819387 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 67920.43585228751, 69887.49572982028, 279543.68741538405, 628033.0896915299, 764467.4198873412, 912661.1493606786 ], "effective_rank": 6, "scaled_condition_number": 13.437209845730706, "weakest_scaled_direction": [ 0.25969565826261753, -0.5526317174416979, -0.013442520265785957, -0.00046308474005973376, 0.4147476706451852, -0.6745070821368786 ] }, "forward_reverse": { "translation_m": 0.009280638111078932, "rotation_deg": 0.07287904157175247 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 0.00012826266749592022, "rotation_deg": 0.000799135485345998 }, { "translation_m": 1.5486019394121221e-15, "rotation_deg": 1.3936123058757155e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 14, "j": 16, "lidar_time_i": 1784281630.3553114, "lidar_time_j": 1784281908.3446162, "frame_counter_i": 9502, "frame_counter_j": 12282, "rtk_translation_m": 3.79947855245853, "rtk_rotation_deg": 60.13636784418198, "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": [ [ 0.5090798543856124, 0.8605365882755138, 0.017733643107452745, -4.046728407440868 ], [ -0.8599739632735559, 0.5093882906554842, -0.031118352055612364, 0.5673302965503934 ], [ -0.03581179066029275, 0.0005912547867964601, 0.9993583771938273, 0.0039959329330042665 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 8116, "backend_objective": 1340.6413915787145, "backend_elapsed_sec": 0.11053770000580698, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3874, "objective": 887.3960001018577 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6378, "objective": 570.9752154993206 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 8116, "objective": 1340.6413915787145 } ], "heldout_symmetric": { "evaluated": 8335, "inliers": 5943, "inlier_ratio": 0.7130173965206958, "inlier_rmse_m": 0.11194096137848975, "median_m": 0.12002866174377448, "p90_m": 0.8582575597224169, "p95_m": 1.6564200634423782 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 22159.767697576845, 67799.48415296727, 88091.11938133356, 559973.7269333624, 676448.0673033217, 811196.5366376427 ], "effective_rank": 6, "scaled_condition_number": 36.60672565292038, "weakest_scaled_direction": [ -0.42603536291462957, 0.4558644797358401, 0.017941201444679082, -0.06395473559867118, -0.11704118224112185, 0.7697861471903727 ] }, "forward_reverse": { "translation_m": 0.0004016408999195087, "rotation_deg": 0.020284570842973915 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 9.575673587391975e-16, "rotation_deg": 3.4743314094827805e-15 }, { "translation_m": 9.43689570931383e-16, "rotation_deg": 6.117387047332023e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 14, "j": 17, "lidar_time_i": 1784281630.3553114, "lidar_time_j": 1784282032.5400162, "frame_counter_i": 9502, "frame_counter_j": 13524, "rtk_translation_m": 6.190474035537447, "rtk_rotation_deg": 15.261944565117341, "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": [ [ 0.9660442523653936, 0.2550637004034034, -0.04124331713515304, 6.08119428393812 ], [ -0.25574502503499796, 0.9666685721160466, -0.012097679652644066, -1.0660345158480398 ], [ 0.036782939545869114, 0.02223466706865058, 0.9990758904801507, 0.493119731124628 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6615, "backend_objective": 407.657713178893, "backend_elapsed_sec": 0.18718209999497049, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 59, "num_inliers": 3151, "objective": 953.6159322461191 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 4983, "objective": 519.9682727155362 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6615, "objective": 407.657713178893 } ], "heldout_symmetric": { "evaluated": 8527, "inliers": 5217, "inlier_ratio": 0.6118212736015011, "inlier_rmse_m": 0.11991020962112661, "median_m": 0.1628273773578813, "p90_m": 1.607350948519011, "p95_m": 2.6063509683165824 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 33953.43170599871, 65451.13973053229, 77819.34369765205, 124607.1428489892, 315896.7637424806, 582379.9370480704 ], "effective_rank": 6, "scaled_condition_number": 17.152314443231333, "weakest_scaled_direction": [ -0.42565707689461674, -0.47774066603255283, -0.024837681387175663, 0.03432353607181976, -0.25399520292742916, 0.7240658328170114 ] }, "forward_reverse": { "translation_m": 0.020151321868834806, "rotation_deg": 0.2079666531947748 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 8.285864508759251e-15, "rotation_deg": 7.29095905172244e-14 }, { "translation_m": 8.686031891111346e-15, "rotation_deg": 7.192649523194445e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 14, "j": 18, "lidar_time_i": 1784281630.3553114, "lidar_time_j": 1784282152.7353525, "frame_counter_i": 9502, "frame_counter_j": 14726, "rtk_translation_m": 4.170672674565236, "rtk_rotation_deg": 60.26594304817776, "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": [ [ 0.5012323533771013, 0.8631598603866406, -0.06100150281237688, 3.443525580734251 ], [ -0.8652304627983591, 0.5009098620115114, -0.02157675567240608, -2.020313525287488 ], [ 0.01193206494245182, 0.063595326533671, 0.9979044344371283, 0.22180973978417215 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 7546, "backend_objective": 801.7454405615922, "backend_elapsed_sec": 0.10277720000158297, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3732, "objective": 876.8441986574896 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 6080, "objective": 756.261827999846 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 7546, "objective": 801.7454405615922 } ], "heldout_symmetric": { "evaluated": 8145, "inliers": 5503, "inlier_ratio": 0.6756292203806016, "inlier_rmse_m": 0.1138218459710723, "median_m": 0.13100859766820297, "p90_m": 1.2851587314685828, "p95_m": 2.1313651425047837 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 58205.1809464706, 69641.71870571708, 102943.63698573122, 129184.12586068816, 259012.32625586778, 642668.732011874 ], "effective_rank": 6, "scaled_condition_number": 11.041435170572107, "weakest_scaled_direction": [ -0.8678163358011179, -0.07317435953769108, 0.020186724366409094, 0.09173469514395835, -0.12036854863570132, 0.467149841901401 ] }, "forward_reverse": { "translation_m": 0.023698120255922432, "rotation_deg": 0.1321697884270417 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1970346188077032e-15, "rotation_deg": 2.6406476077672395e-14 }, { "translation_m": 5.721958498152797e-16, "rotation_deg": 5.4655274305522586e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 14, "j": 19, "lidar_time_i": 1784281630.3553114, "lidar_time_j": 1784282248.831164, "frame_counter_i": 9502, "frame_counter_j": 15687, "rtk_translation_m": 3.9999134794649294, "rtk_rotation_deg": 94.30913149027137, "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": [ [ -0.056133490496129056, 0.9955996558168776, -0.07503570204932769, 1.7801496883385262 ], [ -0.9983375970525242, -0.05695446985883638, -0.008844810596665224, 1.1273849751417202 ], [ -0.013079509016510421, 0.074414472385507, 0.9971416212070753, 0.07756873462467948 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 22, "backend_num_inliers": 7773, "backend_objective": 997.558371061591, "backend_elapsed_sec": 0.1953536000000895, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 4111, "objective": 1064.047846644086 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6687, "objective": 802.6702672116847 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 22, "num_inliers": 7773, "objective": 997.558371061591 } ], "heldout_symmetric": { "evaluated": 8101, "inliers": 5427, "inlier_ratio": 0.6699172941612147, "inlier_rmse_m": 0.112413086617321, "median_m": 0.12944642726439298, "p90_m": 1.2076549140420911, "p95_m": 2.0572029841898876 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 71699.99283392947, 87643.69330122818, 164322.03001683086, 319996.1009266177, 503885.74651909544, 698959.129938531 ], "effective_rank": 6, "scaled_condition_number": 9.748384934395327, "weakest_scaled_direction": [ 0.1159337424505285, -0.392825824106771, 0.02320624022516457, 0.903679080304573, -0.093031065721482, -0.08011273507669808 ] }, "forward_reverse": { "translation_m": 0.018186549996561333, "rotation_deg": 1.2493862686891326 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 8.720094793600035e-06, "rotation_deg": 3.152646179044986e-05 }, { "translation_m": 8.720094794269891e-06, "rotation_deg": 3.1526461799323915e-05 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 15, "j": 16, "lidar_time_i": 1784281794.7491786, "lidar_time_j": 1784281908.3446162, "frame_counter_i": 11146, "frame_counter_j": 12282, "rtk_translation_m": 1.7328875589135755, "rtk_rotation_deg": 25.463390443999018, "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": [ [ 0.9030296830620778, 0.4294131609448092, -0.011904987030229677, -1.8238306772330162 ], [ -0.4295773517164333, 0.90273475844995, -0.023092309945222433, -0.3113540141721231 ], [ 0.000830903783988953, 0.02596715413167004, 0.999662451283034, -0.10752400043386898 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 8699, "backend_objective": 1431.0013416827755, "backend_elapsed_sec": 0.09614579999470152, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4126, "objective": 875.335034202349 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 6831, "objective": 1272.6586430187901 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 8699, "objective": 1431.0013416827755 } ], "heldout_symmetric": { "evaluated": 8461, "inliers": 6527, "inlier_ratio": 0.7714218177520388, "inlier_rmse_m": 0.10015132538295435, "median_m": 0.08998295155682257, "p90_m": 0.5717583115706976, "p95_m": 0.9766719895662097 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 55837.77513574403, 77293.86826583483, 252960.48439746772, 693120.1732698919, 957279.6658038803, 1200438.811210849 ], "effective_rank": 6, "scaled_condition_number": 21.49868629780701, "weakest_scaled_direction": [ -0.3021919466718487, 0.5742483411290893, 0.03548027703665747, -0.24016915839401468, 0.013787252953878485, 0.7209637348930016 ] }, "forward_reverse": { "translation_m": 0.007439481433750378, "rotation_deg": 0.036349268136368934 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.5305885091534674e-15, "rotation_deg": 2.0640548142816966e-14 }, { "translation_m": 1.0778315928076987e-15, "rotation_deg": 3.028739091321097e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 15, "j": 17, "lidar_time_i": 1784281794.7491786, "lidar_time_j": 1784282032.5400162, "frame_counter_i": 11146, "frame_counter_j": 13524, "rtk_translation_m": 8.352264787019024, "rtk_rotation_deg": 19.411032835065622, "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": [ [ 0.9418174976044725, -0.32704777321473233, -0.07758579278021448, 7.464422984202929 ], [ 0.3258332650347977, 0.9450069563667773, -0.02818751168803704, 3.963382927634167 ], [ 0.08253777682257066, 0.0012674595398333534, 0.9965871306330929, 0.8333299252750302 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 5718, "backend_objective": 203.63091669390306, "backend_elapsed_sec": 0.09304269999847747, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3071, "objective": 907.596233928109 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 4577, "objective": 341.7971946895485 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 5718, "objective": 203.63091669390306 } ], "heldout_symmetric": { "evaluated": 8653, "inliers": 4835, "inlier_ratio": 0.5587657459840518, "inlier_rmse_m": 0.12832496127520593, "median_m": 0.19928204068208086, "p90_m": 1.8624005929209129, "p95_m": 2.808168216613647 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 10476.122247598663, 22381.941058933215, 31673.07486214095, 58978.8331569019, 232748.95984646442, 403668.9472931671 ], "effective_rank": 6, "scaled_condition_number": 38.53228682833441, "weakest_scaled_direction": [ -0.18529410084709205, 0.9722783146235459, -0.002227965008042744, -0.07682067690954515, -0.045134498123139424, 0.11134393541778292 ] }, "forward_reverse": { "translation_m": 0.005430301274456062, "rotation_deg": 0.06530638270069017 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1957467920563633e-15, "rotation_deg": 9.933564501892405e-15 }, { "translation_m": 8.005932084973442e-16, "rotation_deg": 1.2529175777050077e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 15, "j": 18, "lidar_time_i": 1784281794.7491786, "lidar_time_j": 1784282152.7353525, "frame_counter_i": 11146, "frame_counter_j": 14726, "rtk_translation_m": 6.346037230040679, "rtk_rotation_deg": 25.592965647994788, "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": [ [ 0.8972125233138744, 0.4343282964429472, -0.07980362722157111, 5.810564210896743 ], [ -0.4387622549546749, 0.8972223936320542, -0.049796184515047366, 1.6929262958036027 ], [ 0.049973709446478935, 0.0796925797934476, 0.9955660305022587, 0.5553852774515462 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 6497, "backend_objective": 534.6845196250059, "backend_elapsed_sec": 0.08179950000339886, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3518, "objective": 880.0071313217519 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5432, "objective": 463.0347830977745 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 6497, "objective": 534.6845196250059 } ], "heldout_symmetric": { "evaluated": 8271, "inliers": 5087, "inlier_ratio": 0.615040502962157, "inlier_rmse_m": 0.11840729454457544, "median_m": 0.15863689432677794, "p90_m": 1.719130370523116, "p95_m": 2.6709552479051744 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 24462.247953490274, 47493.95990616991, 69163.4639683061, 113245.55784497439, 208276.87547963014, 514491.5983901216 ], "effective_rank": 6, "scaled_condition_number": 21.032065383701333, "weakest_scaled_direction": [ -0.6712475401493424, 0.5597644121207646, 0.030434321051525326, 0.018545801283390596, -0.07915719876280576, 0.4780737244478797 ] }, "forward_reverse": { "translation_m": 0.012871328625232324, "rotation_deg": 0.037753566213482644 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.784159510899133e-15, "rotation_deg": 2.083823619515493e-14 }, { "translation_m": 1.1086637278072168e-15, "rotation_deg": 7.728092304312818e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 15, "j": 19, "lidar_time_i": 1784281794.7491786, "lidar_time_j": 1784282248.831164, "frame_counter_i": 11146, "frame_counter_j": 15687, "rtk_translation_m": 5.607512178689573, "rtk_rotation_deg": 59.636154090088375, "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": [ [ 0.5120112987510401, 0.8544185817207568, -0.08839297009131361, 2.679154080116313 ], [ -0.8588963923812681, 0.5078196973867183, -0.06645406007540469, 3.392816424221629 ], [ -0.011891892436329076, 0.10994563272978207, 0.9938664602138111, 0.21327404338897046 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 6933, "backend_objective": 884.0233130287177, "backend_elapsed_sec": 0.09180319999722997, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3843, "objective": 895.662589003664 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5847, "objective": 553.3640323952637 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 6933, "objective": 884.0233130287177 } ], "heldout_symmetric": { "evaluated": 8227, "inliers": 5129, "inlier_ratio": 0.6234350309955026, "inlier_rmse_m": 0.11735435665832353, "median_m": 0.15422107292981818, "p90_m": 1.6840291084047259, "p95_m": 2.6873374506858796 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 33806.63447463628, 48738.23485895213, 117985.96378394766, 231577.233671922, 413071.0744724565, 550047.2753105533 ], "effective_rank": 6, "scaled_condition_number": 16.270394372537467, "weakest_scaled_direction": [ -0.7489695945536514, 0.19696851031118778, -0.019173095137490572, 0.040755624274743316, -0.08894920675830198, 0.6247458383293354 ] }, "forward_reverse": { "translation_m": 0.007833445352022574, "rotation_deg": 0.016491686030251827 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.609823385706477e-15, "rotation_deg": 4.713569038122452e-15 }, { "translation_m": 7.021666937153402e-16, "rotation_deg": 8.660476044201486e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 15, "j": 20, "lidar_time_i": 1784281794.7491786, "lidar_time_j": 1784282392.325837, "frame_counter_i": 11146, "frame_counter_j": 17122, "rtk_translation_m": 8.633248754322691, "rtk_rotation_deg": 149.96154617253603, "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": [ [ -0.8620798868258004, 0.48879838391291097, -0.13376998398198783, 2.470136166120419 ], [ -0.48165376465394083, -0.872363190324533, -0.08361886845376827, 6.4286073864258455 ], [ -0.15756877776101694, -0.007655328270504252, 0.9874783421543837, 0.3667225280977284 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 6026, "backend_objective": 522.0189170957937, "backend_elapsed_sec": 0.12099010000383714, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 19, "num_inliers": 3829, "objective": 1264.6899360379891 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5260, "objective": 452.8095702749315 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 6026, "objective": 522.0189170957937 } ], "heldout_symmetric": { "evaluated": 8291, "inliers": 4612, "inlier_ratio": 0.5562658304185261, "inlier_rmse_m": 0.13192141621005607, "median_m": 0.21153042073485148, "p90_m": 1.7210371830139495, "p95_m": 2.7309457671874293 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 15567.017596654456, 32537.707238558993, 50923.31120711576, 71840.71116318663, 302109.94563786394, 419442.7788424268 ], "effective_rank": 6, "scaled_condition_number": 26.944324835385952, "weakest_scaled_direction": [ 0.34213717884055467, 0.7548704475807149, 0.012786897184138538, -0.04880592075726528, 0.025054774641916154, -0.5567220975059266 ] }, "forward_reverse": { "translation_m": 0.023510650105734523, "rotation_deg": 0.673469393155776 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.447059237218225e-15, "rotation_deg": 2.1713794845927764e-14 }, { "translation_m": 1.2755491433176288e-15, "rotation_deg": 1.347080612622878e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 16, "j": 17, "lidar_time_i": 1784281908.3446162, "lidar_time_j": 1784282032.5400162, "frame_counter_i": 12282, "frame_counter_j": 13524, "rtk_translation_m": 9.849975560032544, "rtk_rotation_deg": 44.87442327906463, "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": [ [ 0.7102233297641525, -0.7018862364708912, -0.05420823656464816, 6.546859580520278 ], [ 0.700596110952532, 0.7122514192430445, -0.043162542840478976, 7.891766395232707 ], [ 0.06890508817865072, -0.00732303482153448, 0.997596342206654, 0.6928363766864664 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 5817, "backend_objective": 193.25441421890258, "backend_elapsed_sec": 0.08441310000489466, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 2958, "objective": 736.9230890405553 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 4568, "objective": 351.3173069198099 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 5817, "objective": 193.25441421890258 } ], "heldout_symmetric": { "evaluated": 8444, "inliers": 4982, "inlier_ratio": 0.5900047370914259, "inlier_rmse_m": 0.1265936504427481, "median_m": 0.17756188887032337, "p90_m": 1.744083908818472, "p95_m": 2.692710849561225 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 5307.984688189913, 9595.642722165228, 24542.26956233285, 64909.93466570358, 281256.21603713726, 480517.8850347315 ], "effective_rank": 6, "scaled_condition_number": 90.52736834449948, "weakest_scaled_direction": [ 0.8879711724289627, 0.38411377642912403, 0.032863143184040454, -0.02006206175139438, 0.06951961956819577, -0.24010071571307653 ] }, "forward_reverse": { "translation_m": 0.011296955150750666, "rotation_deg": 0.21501790849158783 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 8.881784197001252e-16, "rotation_deg": 3.639161690164715e-14 }, { "translation_m": 1.860917887849723e-15, "rotation_deg": 5.2655185660289347e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 16, "j": 18, "lidar_time_i": 1784281908.3446162, "lidar_time_j": 1784282152.7353525, "frame_counter_i": 12282, "frame_counter_j": 14726, "rtk_translation_m": 7.9099649541476005, "rtk_rotation_deg": 0.12957520399577063, "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": [ [ 0.9987058012089111, 0.005967694885010022, -0.05050850670359466, 6.035498697769971 ], [ -0.009303686973892424, 0.9977714138279992, -0.06607304409793685, 5.124155156663671 ], [ 0.050001640376686265, 0.06645744778003067, 0.996535620835605, 0.4770025998301771 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6736, "backend_objective": 452.2055109206372, "backend_elapsed_sec": 0.07670710000093095, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3260, "objective": 833.8983675285479 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5328, "objective": 406.48955527023446 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6736, "objective": 452.2055109206372 } ], "heldout_symmetric": { "evaluated": 8062, "inliers": 5217, "inlier_ratio": 0.6471098982882659, "inlier_rmse_m": 0.12019779875781794, "median_m": 0.1509105384994479, "p90_m": 1.7168833151835579, "p95_m": 2.841151381473104 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 14226.795232678189, 59270.37658277949, 73741.20570561186, 96238.30991169997, 215586.86618071568, 546985.0876606673 ], "effective_rank": 6, "scaled_condition_number": 38.44752656622707, "weakest_scaled_direction": [ 0.5771337134262265, 0.7385149868664682, 0.0014072030315212636, -0.0764565237402876, 0.047792798210252584, -0.3367202981658338 ] }, "forward_reverse": { "translation_m": 0.016821400599454826, "rotation_deg": 0.06522344447557246 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.849726278076531e-15, "rotation_deg": 6.820469087873063e-14 }, { "translation_m": 1.1102230246251565e-16, "rotation_deg": 7.254239957964296e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 16, "j": 19, "lidar_time_i": 1784281908.3446162, "lidar_time_j": 1784282248.831164, "frame_counter_i": 12282, "frame_counter_j": 15687, "rtk_translation_m": 6.609737623005951, "rtk_rotation_deg": 34.172763646089344, "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": [ [ 0.8331053475649987, 0.5522437403187099, -0.031021462528453867, 2.4746694003430205 ], [ -0.5520324130213826, 0.8266607348695248, -0.10905156761260716, 5.305832918991947 ], [ -0.03457882057550575, 0.10797629695344377, 0.9935519233859041, 0.24555144777693338 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 14, "backend_num_inliers": 6913, "backend_objective": 849.3640821769262, "backend_elapsed_sec": 0.13104209999437444, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3613, "objective": 798.4099519902669 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5794, "objective": 605.5436075821551 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 14, "num_inliers": 6913, "objective": 849.3640821769262 } ], "heldout_symmetric": { "evaluated": 8018, "inliers": 5036, "inlier_ratio": 0.6280868046894488, "inlier_rmse_m": 0.12242728727104996, "median_m": 0.15982050263896022, "p90_m": 1.6883188431263076, "p95_m": 2.6764277449203657 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 17385.77170497271, 36134.09221190568, 51832.29643967986, 160634.8878490351, 432024.4152587716, 574528.5874227288 ], "effective_rank": 6, "scaled_condition_number": 33.04590657073916, "weakest_scaled_direction": [ -0.7457607868252705, 0.1538594948580726, -0.031861723767725114, -0.0472806771522627, -0.06185741869124247, 0.6427216602505329 ] }, "forward_reverse": { "translation_m": 0.06745241310870236, "rotation_deg": 1.6183598806956783 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.532855638319363e-07, "rotation_deg": 4.580909343002165e-06 }, { "translation_m": 4.532855664480938e-07, "rotation_deg": 4.580909329859064e-06 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 16, "j": 20, "lidar_time_i": 1784281908.3446162, "lidar_time_j": 1784282392.325837, "frame_counter_i": 12282, "frame_counter_j": 17122, "rtk_translation_m": 9.541288639020653, "rtk_rotation_deg": 124.49815572853673, "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": [ [ -0.571715130675369, 0.8162127656630495, -0.08329784226210957, 0.9767776112492216 ], [ -0.8093225660000615, -0.5777115903748182, -0.10604858560901438, 7.949862540775063 ], [ -0.1346803382826224, 0.006785242462443379, 0.9908658672922411, 0.29790238927882146 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6232, "backend_objective": 513.7635116583571, "backend_elapsed_sec": 0.17997939999622758, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 59, "num_inliers": 3610, "objective": 1357.563480706797 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5209, "objective": 489.4682499336968 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6232, "objective": 513.7635116583571 } ], "heldout_symmetric": { "evaluated": 8082, "inliers": 4681, "inlier_ratio": 0.5791883197228409, "inlier_rmse_m": 0.127436475456937, "median_m": 0.18858820331337045, "p90_m": 1.6798930630468436, "p95_m": 2.805701308759569 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 12468.52107972311, 22655.304911037623, 53563.57150624327, 73209.11606962135, 380179.03799744166, 510525.4869915539 ], "effective_rank": 6, "scaled_condition_number": 40.945151692592816, "weakest_scaled_direction": [ -0.3923342092174033, -0.7059650327182809, -0.01465582822048815, 0.039893193399784456, -0.010247074248178296, 0.5880271916720547 ] }, "forward_reverse": { "translation_m": 2.599521231663455, "rotation_deg": 5.87323656621683 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 5.503168468209964e-15, "rotation_deg": 3.48611937076645e-14 }, { "translation_m": 4.896322696446008e-15, "rotation_deg": 1.8111910407921455e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 16, "j": 21, "lidar_time_i": 1784281908.3446162, "lidar_time_j": 1784282521.1221898, "frame_counter_i": 12282, "frame_counter_j": 18410, "rtk_translation_m": 9.407850320517097, "rtk_rotation_deg": 175.38299577015903, "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": [ [ -0.9909874123338378, 0.0821385004569138, -0.10581689533611122, -1.5782627506350164 ], [ -0.07193034453209338, -0.9926893840412072, -0.09692168151338362, 9.195812870389304 ], [ -0.11300431023362913, -0.08843672062314946, 0.9896509345794826, 0.1952073144911196 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 5709, "backend_objective": 498.92756422803666, "backend_elapsed_sec": 0.11415320000378415, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 18, "num_inliers": 3524, "objective": 1016.9395424266695 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 7, "num_inliers": 4951, "objective": 530.1319027098068 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 5709, "objective": 498.92756422803666 } ], "heldout_symmetric": { "evaluated": 8257, "inliers": 4081, "inlier_ratio": 0.49424730531670097, "inlier_rmse_m": 0.13389808634231865, "median_m": 0.25476905894367896, "p90_m": 1.7479641408742923, "p95_m": 2.7904930053206223 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 10577.17789211361, 16349.87938238224, 41541.746537241284, 68535.78360826505, 334688.7705395411, 479031.1293750813 ], "effective_rank": 6, "scaled_condition_number": 45.28912477989511, "weakest_scaled_direction": [ -0.017365371616825397, -0.7369681412943482, -0.025812733259332803, 0.004898661483407918, 0.01309260261617339, 0.6750664354416175 ] }, "forward_reverse": { "translation_m": 0.04478742358365585, "rotation_deg": 0.10475809279093058 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.2728049099669922e-15, "rotation_deg": 3.285410348688876e-14 }, { "translation_m": 2.3128906185831588e-15, "rotation_deg": 3.64618419040048e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 18, "lidar_time_i": 1784282032.5400162, "lidar_time_j": 1784282152.7353525, "frame_counter_i": 13524, "frame_counter_j": 14726, "rtk_translation_m": 2.081596655954183, "rtk_rotation_deg": 45.003998483060414, "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": [ [ 0.7060889127890213, 0.7080948615336959, -0.006333585555963055, -2.324982136224881 ], [ -0.7080570607394956, 0.7058725064170783, -0.019980075610909497, -1.6103753096630251 ], [ -0.009677084962145087, 0.01859224983824685, 0.9997803170059845, -0.03875773060724815 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 12, "backend_num_inliers": 7370, "backend_objective": 980.9065722761011, "backend_elapsed_sec": 0.1194441999978153, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 3715, "objective": 883.4938725288476 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6044, "objective": 739.7978945748894 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 12, "num_inliers": 7370, "objective": 980.9065722761011 } ], "heldout_symmetric": { "evaluated": 8254, "inliers": 6297, "inlier_ratio": 0.7629028349890962, "inlier_rmse_m": 0.10358638519274684, "median_m": 0.10000777608550016, "p90_m": 0.7375049962673237, "p95_m": 1.602798043220705 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 40053.97928784006, 108738.0958039393, 183435.98128710146, 271901.80075056653, 358707.63716683054, 746201.3494956727 ], "effective_rank": 6, "scaled_condition_number": 18.62989302843653, "weakest_scaled_direction": [ -0.48891554760539574, 0.5619211679145203, -0.02127617534876025, -0.17429599986590583, 0.06611127171867963, -0.6403153261513489 ] }, "forward_reverse": { "translation_m": 0.007136146106563684, "rotation_deg": 0.13887814859043496 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 8.407523046883221e-16, "rotation_deg": 1.286393106742583e-14 }, { "translation_m": 1.3913996292750186e-15, "rotation_deg": 4.332764772017017e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 19, "lidar_time_i": 1784282032.5400162, "lidar_time_j": 1784282248.831164, "frame_counter_i": 13524, "frame_counter_j": 15687, "rtk_translation_m": 4.34928579963815, "rtk_rotation_deg": 79.047186925154, "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": [ [ 0.20173542656049445, 0.978975188906406, -0.03017278866995732, -4.735049394375317 ], [ -0.9789854744710699, 0.20060762884524821, -0.036660878654795975, 1.0199078702183717 ], [ -0.029837199015824812, 0.03693451982568126, 0.9988721553833287, -0.13742071141353582 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 6495, "backend_objective": 342.8863756815649, "backend_elapsed_sec": 0.11054340000555385, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3621, "objective": 854.621916657401 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5456, "objective": 468.35806913054256 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 6495, "objective": 342.8863756815649 } ], "heldout_symmetric": { "evaluated": 8210, "inliers": 5524, "inlier_ratio": 0.6728380024360536, "inlier_rmse_m": 0.10727518915463004, "median_m": 0.11990532826372502, "p90_m": 1.2331715318408036, "p95_m": 2.0730742543993914 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 20890.4939494118, 34420.71302012863, 44921.03632632975, 65486.47357955509, 319597.69207243994, 706420.6719865692 ], "effective_rank": 6, "scaled_condition_number": 33.81541258417489, "weakest_scaled_direction": [ 0.7393379623243183, -0.5963685178044921, 0.0289778622258286, 0.14905628799182316, 0.050897013615230725, 0.26846967976620556 ] }, "forward_reverse": { "translation_m": 0.0017207670327870018, "rotation_deg": 0.035486867252565536 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.905391235859706e-07, "rotation_deg": 1.1951139807427482e-05 }, { "translation_m": 2.7822109252321576e-15, "rotation_deg": 1.425795767675707e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 20, "lidar_time_i": 1784282032.5400162, "lidar_time_j": 1784282392.325837, "frame_counter_i": 13524, "frame_counter_j": 17122, "rtk_translation_m": 4.4206846692505035, "rtk_rotation_deg": 169.37257900760153, "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": [ [ -0.981689741673125, 0.17503737785350298, -0.07514763767359972, -3.93421742278851 ], [ -0.17375918822824543, -0.9845131124392799, -0.023273932658283095, 3.9461807881083826 ], [ -0.07805764280333986, -0.009790188419592633, 0.9969007757097471, -0.06008100495921305 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 6328, "backend_objective": 421.51590804100243, "backend_elapsed_sec": 0.10009140000329353, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 3718, "objective": 909.6338967531472 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5439, "objective": 549.0582206511566 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 6328, "objective": 421.51590804100243 } ], "heldout_symmetric": { "evaluated": 8274, "inliers": 5258, "inlier_ratio": 0.6354846507130771, "inlier_rmse_m": 0.11168219002675635, "median_m": 0.1422128499224208, "p90_m": 1.2439478657522292, "p95_m": 1.9482182033239916 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 16991.467608062278, 41812.06516351033, 56328.47540744242, 67122.87991572126, 359275.6917557686, 652558.3398507584 ], "effective_rank": 6, "scaled_condition_number": 38.40506040461897, "weakest_scaled_direction": [ 0.40937549455267525, 0.8521417336779876, 0.013271772889715717, -0.06716933784289171, 0.12093503277199806, 0.2948779885487776 ] }, "forward_reverse": { "translation_m": 0.020290214498459216, "rotation_deg": 0.2831192364677464 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6300346472626374e-15, "rotation_deg": 1.2905397487224749e-14 }, { "translation_m": 2.5159782473646242e-15, "rotation_deg": 1.4087016975794695e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 21, "lidar_time_i": 1784282032.5400162, "lidar_time_j": 1784282521.1221898, "frame_counter_i": 13524, "frame_counter_j": 18410, "rtk_translation_m": 6.400116212709096, "rtk_rotation_deg": 139.7425809507742, "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": [ [ -0.7611079264481618, -0.6432415351488416, -0.08339695292479797, -4.880588611475269 ], [ 0.6460247477361825, -0.7632662758557905, -0.008753139644348006, 6.643547004823147 ], [ -0.05802369869442864, -0.06053857943982982, 0.9964779630223769, -0.04565445488914063 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 6067, "backend_objective": 309.5235928483319, "backend_elapsed_sec": 0.11562870000489056, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 3784, "objective": 1431.597619002345 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 7, "num_inliers": 5415, "objective": 562.324758742745 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 6067, "objective": 309.5235928483319 } ], "heldout_symmetric": { "evaluated": 8449, "inliers": 4812, "inlier_ratio": 0.5695348561959995, "inlier_rmse_m": 0.1231813524465837, "median_m": 0.1888648460290231, "p90_m": 1.3787862968217646, "p95_m": 2.0013386026113054 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 10129.051212593078, 20618.707321907415, 26827.8803266032, 39826.78927145235, 369144.0643862018, 585279.3554166609 ], "effective_rank": 6, "scaled_condition_number": 57.78224861663297, "weakest_scaled_direction": [ 0.4524425226130679, -0.8668479586489823, -0.006391844190337294, 0.13907757366262805, -0.027334904919392347, -0.154077110962746 ] }, "forward_reverse": { "translation_m": 0.009859208985419086, "rotation_deg": 0.31053558178227947 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 5.946692800781008e-15, "rotation_deg": 3.806829528700142e-14 }, { "translation_m": 9.124284020788476e-15, "rotation_deg": 5.1432761808339316e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 22, "lidar_time_i": 1784282032.5400162, "lidar_time_j": 1784282614.418045, "frame_counter_i": 13524, "frame_counter_j": 19343, "rtk_translation_m": 8.798226453379533, "rtk_rotation_deg": 96.08482130259475, "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": [ [ -0.1033540141338549, -0.9922589624874357, -0.0688483778006262, -3.699906137437823 ], [ 0.994574476675296, -0.10392096553298631, 0.004695025958632048, 9.757808447286939 ], [ -0.011813471482984693, -0.06798958954171364, 0.9976160872828135, 0.02168485171069871 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 5824, "backend_objective": 353.92642070597697, "backend_elapsed_sec": 0.105740799997875, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 3629, "objective": 1222.574240537578 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5272, "objective": 556.7907455753679 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 5824, "objective": 353.92642070597697 } ], "heldout_symmetric": { "evaluated": 8278, "inliers": 4519, "inlier_ratio": 0.5459048079246195, "inlier_rmse_m": 0.1287223998113377, "median_m": 0.20750534883444208, "p90_m": 1.3262885512599953, "p95_m": 2.1013089503069096 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 10229.633897536547, 20018.710191223454, 25434.536340675808, 36096.637286828045, 290824.4190971514, 641994.558447521 ], "effective_rank": 6, "scaled_condition_number": 62.758312260043155, "weakest_scaled_direction": [ 0.9387291943448326, -0.09394094061567632, 0.006109687082178901, 0.057378035750000625, 0.06816897796787551, -0.31935250514281016 ] }, "forward_reverse": { "translation_m": 0.03194615937469955, "rotation_deg": 0.5773515871730924 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 5.268340157421459e-12, "rotation_deg": 1.4024774928902618e-10 }, { "translation_m": 2.767925512340501e-12, "rotation_deg": 7.715157471287801e-11 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 18, "j": 19, "lidar_time_i": 1784282152.7353525, "lidar_time_j": 1784282248.831164, "frame_counter_i": 14726, "frame_counter_j": 15687, "rtk_translation_m": 3.459222336215112, "rtk_rotation_deg": 34.04318844209358, "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": [ [ 0.8356396048912293, 0.5492646423826864, -0.0038475141910832775, -3.56771603140493 ], [ -0.5491651382245906, 0.835305163608998, -0.026133017562312358, 0.14516883533103006 ], [ -0.011140094074873185, 0.02395070513295354, 0.9996510701377943, -0.12978734867907502 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 8199, "backend_objective": 741.3931721836564, "backend_elapsed_sec": 0.12332069999683881, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4088, "objective": 961.6873192136786 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6557, "objective": 609.1600446234677 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 8199, "objective": 741.3931721836564 } ], "heldout_symmetric": { "evaluated": 7828, "inliers": 5920, "inlier_ratio": 0.7562595809913132, "inlier_rmse_m": 0.11139160446923307, "median_m": 0.11190472236589606, "p90_m": 0.8079478135406484, "p95_m": 1.3171246693436498 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 79356.83525361754, 81361.99209405147, 154537.26707912018, 239726.2205963392, 383296.65268360724, 762263.8775446839 ], "effective_rank": 6, "scaled_condition_number": 9.605522638453952, "weakest_scaled_direction": [ 0.8578356690151397, -0.20294710418152312, -0.00042804519883183365, 0.03949632630946456, 0.073035300013174, -0.46479688016060444 ] }, "forward_reverse": { "translation_m": 0.013156152321531143, "rotation_deg": 0.09121207325672914 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.878779230325418e-06, "rotation_deg": 4.792593290068823e-05 }, { "translation_m": 1.2670655869532562e-15, "rotation_deg": 1.4127710038631277e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 18, "j": 20, "lidar_time_i": 1784282152.7353525, "lidar_time_j": 1784282392.325837, "frame_counter_i": 14726, "frame_counter_j": 17122, "rtk_translation_m": 4.94806857498194, "rtk_rotation_deg": 124.36858052454107, "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": [ [ -0.570138685705177, 0.8207578609489499, -0.03603349487460453, -5.082082941590957 ], [ -0.819494244427104, -0.571265532332821, -0.04566043056463954, 2.782822882920512 ], [ -0.058060850951594474, 0.0034964637854758836, 0.9983069229088682, -0.09988187979695946 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7018, "backend_objective": 494.33938050930027, "backend_elapsed_sec": 0.11729900000500493, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 4047, "objective": 1033.8564976077014 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5925, "objective": 706.1525641476267 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7018, "objective": 494.33938050930027 } ], "heldout_symmetric": { "evaluated": 7892, "inliers": 5263, "inlier_ratio": 0.6668778509883426, "inlier_rmse_m": 0.1149564835181103, "median_m": 0.1352750618488363, "p90_m": 1.054510521672473, "p95_m": 1.6596179332911616 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 34436.291861267186, 54456.834804635044, 64324.72107727979, 134685.61415153305, 339384.2349875465, 646177.3444256904 ], "effective_rank": 6, "scaled_condition_number": 18.76442873201715, "weakest_scaled_direction": [ 0.0865286547797389, 0.9560205677665312, -0.0033158592484256147, -0.06457200904962684, 0.04777232586683662, -0.26846737514152474 ] }, "forward_reverse": { "translation_m": 0.0076759006397633354, "rotation_deg": 0.11713903044228172 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.6067439801475816e-15, "rotation_deg": 1.8034280756477328e-14 }, { "translation_m": 3.3494163781626583e-15, "rotation_deg": 1.3111645899685401e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 18, "j": 21, "lidar_time_i": 1784282152.7353525, "lidar_time_j": 1784282521.1221898, "frame_counter_i": 14726, "frame_counter_j": 18410, "rtk_translation_m": 6.5847443121227816, "rtk_rotation_deg": 175.25342056617163, "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": [ [ -0.9949749911988532, 0.08639635189479178, -0.05060076351314392, -7.662779682867011 ], [ -0.08473557130758755, -0.9958198394207861, -0.03409883240137704, 4.0129209329112365 ], [ -0.05333525891957905, -0.029639800863564925, 0.9981366802000368, -0.16178867695152757 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 6462, "backend_objective": 413.1823953597963, "backend_elapsed_sec": 0.13680150000436697, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 4059, "objective": 1177.943822446005 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 5669, "objective": 616.006829925897 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 6462, "objective": 413.1823953597963 } ], "heldout_symmetric": { "evaluated": 8067, "inliers": 4822, "inlier_ratio": 0.5977438948803768, "inlier_rmse_m": 0.12625086545570646, "median_m": 0.17682107874368982, "p90_m": 1.1793804079177113, "p95_m": 1.7241449064011338 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 19348.09431023545, 31651.065666632057, 35610.60735532536, 70613.23681215479, 255632.71127269874, 515950.0852090167 ], "effective_rank": 6, "scaled_condition_number": 26.666713369082085, "weakest_scaled_direction": [ -0.6170990980603307, 0.7629611016209566, -4.431396718401545e-05, -0.14246157460012185, 0.03113191415770684, -0.12575596330220848 ] }, "forward_reverse": { "translation_m": 0.021119392446408227, "rotation_deg": 0.18202979634982344 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.4771945964160176e-15, "rotation_deg": 8.461620723670677e-15 }, { "translation_m": 5.07010500352012e-15, "rotation_deg": 2.137506176837694e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 18, "j": 22, "lidar_time_i": 1784282152.7353525, "lidar_time_j": 1784282614.418045, "frame_counter_i": 14726, "frame_counter_j": 19343, "rtk_translation_m": 9.20681259274594, "rtk_rotation_deg": 141.08881978565523, "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": [ [ -0.777217640042936, -0.6261430612235105, -0.06227043349568842, -9.028089438927536 ], [ 0.6282295362635718, -0.777753994758715, -0.020648811174485932, 7.053940951724084 ], [ -0.03550196856720969, -0.05516874584865414, 0.9978456893274327, -0.18774052311110073 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 5828, "backend_objective": 335.0320758252906, "backend_elapsed_sec": 0.1571025999946869, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 22, "num_inliers": 3699, "objective": 1294.133104901423 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 7, "num_inliers": 5214, "objective": 566.1598641180501 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 5828, "objective": 335.0320758252906 } ], "heldout_symmetric": { "evaluated": 7896, "inliers": 4174, "inlier_ratio": 0.5286220871327254, "inlier_rmse_m": 0.13561310095446666, "median_m": 0.2266709164509707, "p90_m": 1.3064327289886077, "p95_m": 2.000919144660866 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 9155.43669348682, 19672.928266232062, 24075.804626674133, 54100.23811168628, 230546.0909323727, 597171.9656806894 ], "effective_rank": 6, "scaled_condition_number": 65.22594013516775, "weakest_scaled_direction": [ 0.9862029606670814, 0.07609900329633977, 0.013643993076005645, 0.023571040233445296, 0.0657724742481554, 0.12862694591460264 ] }, "forward_reverse": { "translation_m": 0.03713510940704989, "rotation_deg": 0.6483189610135184 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.7843618982877262e-15, "rotation_deg": 3.242737309321394e-15 }, { "translation_m": 7.367837660024574e-15, "rotation_deg": 2.907105034657369e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 18, "j": 23, "lidar_time_i": 1784282152.7353525, "lidar_time_j": 1784282682.8141525, "frame_counter_i": 14726, "frame_counter_j": 20027, "rtk_translation_m": 13.164275822166362, "rtk_rotation_deg": 109.14103513098563, "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": [ [ -0.3249300252923515, -0.9450813391730081, -0.03523834573971629, -10.83482978113538 ], [ 0.9454239449018544, -0.325556793593735, 0.013650587942883775, 10.69950143066267 ], [ -0.02437299878412895, -0.02887968995552108, 0.999285705110574, -0.15907896446026204 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 4945, "backend_objective": 238.87004958058156, "backend_elapsed_sec": 0.2299674000023515, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 59, "num_inliers": 3622, "objective": 1811.256551512719 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 14, "num_inliers": 4982, "objective": 525.9946945412389 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 4945, "objective": 238.87004958058156 } ], "heldout_symmetric": { "evaluated": 7850, "inliers": 3701, "inlier_ratio": 0.47146496815286626, "inlier_rmse_m": 0.14168298172295804, "median_m": 0.2745116892735326, "p90_m": 1.6611046882664817, "p95_m": 2.553829973963533 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 5353.016649824014, 13639.542347675055, 17166.41657049205, 25512.03711029395, 180330.60297528756, 604434.2492385092 ], "effective_rank": 6, "scaled_condition_number": 112.91469628781756, "weakest_scaled_direction": [ 0.9385804655255442, 0.3279015838459074, 0.020479752249664213, 0.005060023065294971, 0.0777670871854315, 0.07109512719070406 ] }, "forward_reverse": { "translation_m": 0.01208598984738065, "rotation_deg": 0.6082838532521024 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.2777160817397065e-14, "rotation_deg": 2.7369202532343456e-13 }, { "translation_m": 3.666359205665212e-14, "rotation_deg": 3.5710657920062396e-13 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 19, "j": 20, "lidar_time_i": 1784282248.831164, "lidar_time_j": 1784282392.325837, "frame_counter_i": 15687, "frame_counter_j": 17122, "rtk_translation_m": 3.031758915138065, "rtk_rotation_deg": 90.32539208244746, "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": [ [ -0.025739357234676605, 0.9995585911337304, -0.014836050009942732, -2.71435132781464 ], [ -0.9990041931713595, -0.02626044674540959, -0.03606952956129582, 1.3664802257239488 ], [ -0.036443209452343625, 0.013892869663367854, 0.9992391508829751, -0.08948901367685502 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 14, "backend_num_inliers": 8308, "backend_objective": 1517.861896369934, "backend_elapsed_sec": 0.14077059999544872, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4467, "objective": 965.7707702452477 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6961, "objective": 746.1117845473925 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 14, "num_inliers": 8308, "objective": 1517.861896369934 } ], "heldout_symmetric": { "evaluated": 7848, "inliers": 5815, "inlier_ratio": 0.7409531090723751, "inlier_rmse_m": 0.11651827109675585, "median_m": 0.12261444438249264, "p90_m": 0.6255899780243315, "p95_m": 0.9726402369535453 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 80423.24881238765, 130764.89743239863, 220204.2621480841, 340435.28303629305, 517783.9781361802, 809127.8380679083 ], "effective_rank": 6, "scaled_condition_number": 10.060869835729363, "weakest_scaled_direction": [ -0.1662804548830486, -0.06198608636788827, -0.01527653471497872, -0.09412816637504243, -0.9790772137522035, 0.02868554886828434 ] }, "forward_reverse": { "translation_m": 0.0051743650857167135, "rotation_deg": 0.07263138471648796 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.156774043330696e-07, "rotation_deg": 6.32677911293002e-06 }, { "translation_m": 1.5004064489311687e-15, "rotation_deg": 3.874797467642067e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 19, "j": 21, "lidar_time_i": 1784282248.831164, "lidar_time_j": 1784282521.1221898, "frame_counter_i": 15687, "frame_counter_j": 18410, "rtk_translation_m": 3.732423384308353, "rtk_rotation_deg": 141.21023212407198, "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": [ [ -0.7848036151675973, 0.619002017712907, -0.030328001701719298, -5.558305059605946 ], [ -0.6183048570168526, -0.7853760650007595, -0.02972440602084526, 0.9731548141931269 ], [ -0.04221835393805353, -0.004575870548080443, 0.9990979291338206, -0.15808276184445877 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7494, "backend_objective": 860.4455798918295, "backend_elapsed_sec": 0.11359380000067176, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 4408, "objective": 1288.9501899829115 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6492, "objective": 798.2525944526354 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7494, "objective": 860.4455798918295 } ], "heldout_symmetric": { "evaluated": 8023, "inliers": 5266, "inlier_ratio": 0.6563629565000623, "inlier_rmse_m": 0.12291187901196955, "median_m": 0.15064438947225078, "p90_m": 0.8438788157607275, "p95_m": 1.2515477435791516 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 41430.465588848856, 55738.64678287068, 96322.65182286796, 166197.53168911196, 414477.87300157564, 635527.9142253236 ], "effective_rank": 6, "scaled_condition_number": 15.339627619255575, "weakest_scaled_direction": [ -0.006222973995830481, -0.3362104453890515, -0.027329590559903052, 0.6534727888571428, -0.643408467107404, 0.2125459083669671 ] }, "forward_reverse": { "translation_m": 0.0075358808329252175, "rotation_deg": 0.06620678153945667 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.991016288122638e-15, "rotation_deg": 1.636068016419404e-14 }, { "translation_m": 3.9670067233741415e-07, "rotation_deg": 3.3618910305719702e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 19, "j": 22, "lidar_time_i": 1784282248.831164, "lidar_time_j": 1784282614.418045, "frame_counter_i": 15687, "frame_counter_j": 19343, "rtk_translation_m": 6.37255124464243, "rtk_rotation_deg": 175.13200822775684, "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": [ [ -0.9941776950597708, -0.09592384926564294, -0.049084883494860794, -8.361065190125789 ], [ 0.09727759199264194, -0.994918361359694, -0.025971606139294723, 2.7630390141232057 ], [ -0.046344155421745976, -0.030595250798183645, 0.9984568843404513, -0.19573758310243158 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6586, "backend_objective": 409.85015788804515, "backend_elapsed_sec": 0.11121850000199629, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 19, "num_inliers": 3902, "objective": 1032.5297228287486 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5646, "objective": 571.5753340468408 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6586, "objective": 409.85015788804515 } ], "heldout_symmetric": { "evaluated": 7852, "inliers": 4626, "inlier_ratio": 0.5891492613346918, "inlier_rmse_m": 0.12519472268444526, "median_m": 0.17609524097044943, "p90_m": 1.2311531217177614, "p95_m": 1.8023280882566661 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 24530.84224938827, 30837.919660583273, 40352.664500084094, 210398.43592173947, 385576.47599722084, 694275.2791532425 ], "effective_rank": 6, "scaled_condition_number": 28.30213785955742, "weakest_scaled_direction": [ -0.38488906185602095, 0.06038766587956955, -0.001399684435525816, -0.9209416317593776, -0.008769024869184398, 0.0011814617677586234 ] }, "forward_reverse": { "translation_m": 0.010212573357042046, "rotation_deg": 0.11056129275235052 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.667053162230112e-06, "rotation_deg": 1.0798339262154593e-05 }, { "translation_m": 9.72552922168604e-07, "rotation_deg": 3.3169903727314494e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 19, "j": 23, "lidar_time_i": 1784282248.831164, "lidar_time_j": 1784282682.8141525, "frame_counter_i": 15687, "frame_counter_j": 20027, "rtk_translation_m": 10.37094757900695, "rtk_rotation_deg": 143.1842235730793, "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": [ [ -0.7901523468745162, -0.6107220481233084, -0.051747933917851284, -11.854931521177805 ], [ 0.6108658529822221, -0.7915951710772986, 0.01483222125663261, 4.822144929598029 ], [ -0.05002177914666693, -0.019891331357505527, 0.9985500270631545, -0.29482882908658975 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 5454, "backend_objective": 289.75336967137235, "backend_elapsed_sec": 0.10817080000560964, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 15, "num_inliers": 3664, "objective": 1264.3250834867924 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5056, "objective": 517.5203323014636 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 5454, "objective": 289.75336967137235 } ], "heldout_symmetric": { "evaluated": 7806, "inliers": 3891, "inlier_ratio": 0.4984627209838586, "inlier_rmse_m": 0.13443006540917718, "median_m": 0.2518730428918361, "p90_m": 1.7669018344418363, "p95_m": 2.8065250605179632 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 6915.736324230611, 16080.971070088182, 22232.35139987582, 29461.191162011983, 235355.85877134962, 665454.4730598385 ], "effective_rank": 6, "scaled_condition_number": 96.22322799212152, "weakest_scaled_direction": [ 0.9483345147193819, 0.2747837043362865, 0.02010961364344444, 0.005768391573351547, 0.07618287134544725, 0.13752840882709905 ] }, "forward_reverse": { "translation_m": 0.02229275506707497, "rotation_deg": 0.2903847316754494 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.535759671556655e-15, "rotation_deg": 5.980459930205193e-14 }, { "translation_m": 1.217454592664719e-15, "rotation_deg": 6.525576398152575e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 19, "j": 24, "lidar_time_i": 1784282248.831164, "lidar_time_j": 1784282765.6112185, "frame_counter_i": 15687, "frame_counter_j": 20855, "rtk_translation_m": 7.752290899896264, "rtk_rotation_deg": 99.91483670708607, "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": [ [ -0.16193428260774095, -0.9860652469684292, -0.0381132107989753, -8.67742448710782 ], [ 0.9866691138279127, -0.16242448061815126, 0.010116714583598769, 4.150951549871499 ], [ -0.016166259133099097, -0.03596688500571904, 0.9992222151496768, -0.13186725757960355 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 6413, "backend_objective": 405.4833578879405, "backend_elapsed_sec": 0.10886330000357702, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 3824, "objective": 1740.8781148806195 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5616, "objective": 628.7453432069508 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 6413, "objective": 405.4833578879405 } ], "heldout_symmetric": { "evaluated": 7815, "inliers": 4480, "inlier_ratio": 0.5732565579014716, "inlier_rmse_m": 0.1300803661721533, "median_m": 0.19334699920317183, "p90_m": 1.4107283359809373, "p95_m": 2.268270699718537 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 14330.371332862476, 29893.0918259055, 37637.360127168664, 98748.25993421908, 336873.2946937004, 650307.2331651767 ], "effective_rank": 6, "scaled_condition_number": 45.37964984018865, "weakest_scaled_direction": [ -0.4068788123436113, -0.9102070626123997, -0.018644123528388217, 0.05672058253582406, -0.047884373500570045, 0.010723534187528916 ] }, "forward_reverse": { "translation_m": 0.07078749161909308, "rotation_deg": 0.6582469262123747 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2888024527136935e-06, "rotation_deg": 1.1011577322779559e-05 }, { "translation_m": 6.147531058296644e-15, "rotation_deg": 1.3574121532173272e-13 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_rotation" ] }, { "i": 20, "j": 21, "lidar_time_i": 1784282392.325837, "lidar_time_j": 1784282521.1221898, "frame_counter_i": 17122, "frame_counter_j": 18410, "rtk_translation_m": 2.057726146362386, "rtk_rotation_deg": 50.884840041624386, "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": [ [ 0.6395449310763489, 0.7687496615409016, 0.0024978020931547312, 0.4687339764245485 ], [ -0.7686090599938725, 0.6394842398356906, -0.017321082446101584, -2.8230208001717894 ], [ -0.014912881340763703, 0.009157777160289409, 0.9998468588176883, -0.04468205702967698 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 9137, "backend_objective": 1182.70762260448, "backend_elapsed_sec": 0.078512200001569, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4672, "objective": 907.1031686148219 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7326, "objective": 688.1571814326416 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 9137, "objective": 1182.70762260448 } ], "heldout_symmetric": { "evaluated": 8087, "inliers": 6315, "inlier_ratio": 0.7808828984790405, "inlier_rmse_m": 0.11119787612354914, "median_m": 0.10877006396340823, "p90_m": 0.5486396480481777, "p95_m": 0.8598015030080081 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 74971.85429305334, 171735.7804816571, 302264.7018190518, 343060.7223177358, 680907.8133937123, 793526.4632159139 ], "effective_rank": 6, "scaled_condition_number": 10.584324886965474, "weakest_scaled_direction": [ 0.07909461325697613, 0.09520530095421094, -0.0007627608268938775, -0.7007427149112185, 0.7022846240673357, -0.02086540958917273 ] }, "forward_reverse": { "translation_m": 0.0031476308503252674, "rotation_deg": 0.022487168529706673 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.4831938166996518e-14, "rotation_deg": 4.175800096125572e-13 }, { "translation_m": 1.1322097734007351e-15, "rotation_deg": 1.323337378202001e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 20, "j": 22, "lidar_time_i": 1784282392.325837, "lidar_time_j": 1784282614.418045, "frame_counter_i": 17122, "frame_counter_j": 19343, "rtk_translation_m": 4.388457127616061, "rtk_rotation_deg": 94.54259968980386, "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": [ [ -0.07019151224718564, 0.9975321253672126, -0.0016764452944088605, -1.249103332779739 ], [ -0.9969738353219306, -0.0702083196959857, -0.03337609217609748, -5.670851382501102 ], [ -0.03341142457205718, -0.0006713462878675328, 0.999441457015981, -0.045410977697476526 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7447, "backend_objective": 662.2961843339123, "backend_elapsed_sec": 0.10036509999918053, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 4161, "objective": 1094.8624289785055 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6162, "objective": 738.0553548058183 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7447, "objective": 662.2961843339123 } ], "heldout_symmetric": { "evaluated": 7916, "inliers": 5191, "inlier_ratio": 0.6557604850934815, "inlier_rmse_m": 0.11898674179731801, "median_m": 0.1439955500514084, "p90_m": 1.0820764069478983, "p95_m": 1.5441379109263882 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 41494.043780185086, 59705.91684899521, 115429.46811057995, 176013.68296336784, 497032.35997360013, 700575.3396850093 ], "effective_rank": 6, "scaled_condition_number": 16.883756700029306, "weakest_scaled_direction": [ 0.07682011233021456, -0.10299780403473364, -0.0024522007625594634, 0.9915598773466017, -0.015910076129293998, -0.006323648548786686 ] }, "forward_reverse": { "translation_m": 0.008500396323601164, "rotation_deg": 0.06463449106814506 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5318501588558664e-15, "rotation_deg": 6.023478324697416e-15 }, { "translation_m": 4.145163035616955e-15, "rotation_deg": 8.717665780651885e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 20, "j": 23, "lidar_time_i": 1784282392.325837, "lidar_time_j": 1784282682.8141525, "frame_counter_i": 17122, "frame_counter_j": 20027, "rtk_translation_m": 8.256548639868363, "rtk_rotation_deg": 126.4903843444735, "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": [ [ -0.5883275322750665, 0.8070705788867297, -0.05007789395100734, -3.205003884977883 ], [ -0.8068294506714909, -0.5900181747818201, -0.03007974328797271, -9.24101292520687 ], [ -0.05382334341407922, 0.022707578527195946, 0.9982922485831299, -0.17744394224989266 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6386, "backend_objective": 369.6954712737488, "backend_elapsed_sec": 0.10228469999856316, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 3915, "objective": 1274.9860423984346 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 7, "num_inliers": 5647, "objective": 592.0598773446236 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6386, "objective": 369.6954712737488 } ], "heldout_symmetric": { "evaluated": 7870, "inliers": 4591, "inlier_ratio": 0.5833545108005083, "inlier_rmse_m": 0.12863144503040289, "median_m": 0.18860633761395, "p90_m": 1.5334246920678039, "p95_m": 2.2704339331424603 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 14377.108180612453, 25478.90534500814, 37638.086267060055, 56998.85004926957, 340297.67367649154, 700514.1604227221 ], "effective_rank": 6, "scaled_condition_number": 48.7242741462686, "weakest_scaled_direction": [ 0.9448551893371939, 0.2428921303688794, 0.03675066658469947, 0.040726990357932515, 0.09786300619201982, -0.18885342720869222 ] }, "forward_reverse": { "translation_m": 0.013890482176493085, "rotation_deg": 0.14514813799569015 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.1680287445335408e-15, "rotation_deg": 4.687489467857236e-14 }, { "translation_m": 2.5341311739065124e-15, "rotation_deg": 3.490025706945999e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 20, "j": 24, "lidar_time_i": 1784282392.325837, "lidar_time_j": 1784282765.6112185, "frame_counter_i": 17122, "frame_counter_j": 20855, "rtk_translation_m": 5.797339988732605, "rtk_rotation_deg": 169.75977121046614, "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": [ [ -0.9811177484417674, 0.18855704639162954, -0.043060468513721195, -2.6245028066815794 ], [ -0.1877603825968958, -0.9819709579213345, -0.021887816842362202, -6.046882355178831 ], [ -0.046411231610717064, -0.013389475535746308, 0.998832678442818, -0.10855408852029273 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7032, "backend_objective": 407.0445351718546, "backend_elapsed_sec": 0.19909390000248095, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 14, "num_inliers": 3965, "objective": 1622.9312881127344 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6037, "objective": 716.3888694525901 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7032, "objective": 407.0445351718546 } ], "heldout_symmetric": { "evaluated": 7879, "inliers": 5002, "inlier_ratio": 0.6348521385962685, "inlier_rmse_m": 0.11831053318180502, "median_m": 0.1521371508163006, "p90_m": 1.3051837331469633, "p95_m": 1.9171985455549974 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 20710.81344604819, 38342.79432659552, 49297.75345540817, 73061.35107117619, 364633.95128815144, 655932.7777292394 ], "effective_rank": 6, "scaled_condition_number": 31.671029215629257, "weakest_scaled_direction": [ -0.5678910730905744, -0.796779154656965, -0.02719163962301397, 0.019533482257423188, -0.16452183828930608, 0.12022616329063754 ] }, "forward_reverse": { "translation_m": 0.00725649124030166, "rotation_deg": 0.27346756317921195 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5476231888929307e-15, "rotation_deg": 1.5514880592725393e-14 }, { "translation_m": 2.788986529080262e-15, "rotation_deg": 2.259705993270636e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 20, "j": 25, "lidar_time_i": 1784282392.325837, "lidar_time_j": 1784282827.209564, "frame_counter_i": 17122, "frame_counter_j": 21471, "rtk_translation_m": 3.9584300095978864, "rtk_rotation_deg": 99.81821396908215, "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": [ [ -0.1818237018454576, -0.9821180684538241, -0.04882869098945697, -2.305445495889172 ], [ 0.9831718295841109, -0.18246379909891738, 0.008950727938118012, -2.6164816428098354 ], [ -0.01770014009680354, -0.04637953896838138, 0.9987670616343097, -0.042555782380241575 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8061, "backend_objective": 723.654149352357, "backend_elapsed_sec": 0.0911742000025697, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4167, "objective": 1127.043719325118 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6654, "objective": 788.4464718241757 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8061, "objective": 723.654149352357 } ], "heldout_symmetric": { "evaluated": 7943, "inliers": 5635, "inlier_ratio": 0.7094296865164296, "inlier_rmse_m": 0.11461231093244224, "median_m": 0.1266860812666248, "p90_m": 0.8785748893959482, "p95_m": 1.3009744703472628 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 46767.93452827792, 63419.22727269234, 114316.99745819427, 197327.26451609196, 548563.4623924628, 757971.4760627617 ], "effective_rank": 6, "scaled_condition_number": 16.207076145397426, "weakest_scaled_direction": [ -0.7263729595400203, 0.5322400781352772, 0.00031534285377282477, -0.300449456347135, 0.022249924939196294, -0.3135885655686801 ] }, "forward_reverse": { "translation_m": 0.005999722474434507, "rotation_deg": 0.07369423294061743 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.4849604400550063e-06, "rotation_deg": 2.0430327968283742e-06 }, { "translation_m": 2.7073070733395767e-15, "rotation_deg": 3.727429573655849e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 22, "lidar_time_i": 1784282521.1221898, "lidar_time_j": 1784282614.418045, "frame_counter_i": 18410, "frame_counter_j": 19343, "rtk_translation_m": 2.665930009787955, "rtk_rotation_deg": 43.65775964817948, "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": [ [ 0.7219205570614048, 0.6919314699717553, 0.00784539067715106, 1.0922648696131512 ], [ -0.6918483353994663, 0.7219587616679721, -0.011019403606170765, -3.1406040799782953 ], [ -0.013288720673507226, 0.0025273135093058004, 0.9999085071091688, 0.06964006745580492 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 8142, "backend_objective": 1234.3177121689323, "backend_elapsed_sec": 0.10909959999844432, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4338, "objective": 1175.425677860173 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6644, "objective": 681.080488511983 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 8142, "objective": 1234.3177121689323 } ], "heldout_symmetric": { "evaluated": 8091, "inliers": 5977, "inlier_ratio": 0.7387220368310469, "inlier_rmse_m": 0.11520069835112393, "median_m": 0.12019105796620244, "p90_m": 0.6953242320612882, "p95_m": 1.050094131806798 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 46140.67294854187, 113395.7322843758, 213814.09550776437, 264414.66107346705, 595953.9424334377, 739415.9231262935 ], "effective_rank": 6, "scaled_condition_number": 16.025252253059314, "weakest_scaled_direction": [ 0.035978967776125, 0.09232038069703316, -0.003760053758143683, -0.99467079003564, 0.023334703483338794, 0.01593217639487336 ] }, "forward_reverse": { "translation_m": 0.0021484382611444506, "rotation_deg": 0.09312757978022868 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0274250349872947e-15, "rotation_deg": 5.166217357201134e-15 }, { "translation_m": 8.618765454229259e-16, "rotation_deg": 2.2338469708649284e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 23, "lidar_time_i": 1784282521.1221898, "lidar_time_j": 1784282682.8141525, "frame_counter_i": 18410, "frame_counter_j": 20027, "rtk_translation_m": 6.670349114267683, "rtk_rotation_deg": 75.60554430284907, "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": [ [ 0.24436370438726612, 0.9694739353719043, -0.020166026198825345, 2.5897912076367744 ], [ -0.9686478021100676, 0.24308887787406797, -0.05127604627174069, -6.929195922481931 ], [ -0.044808653689524615, 0.0320637815680817, 0.9984808953936409, -0.04983887756914136 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 12, "backend_num_inliers": 6880, "backend_objective": 395.22629506667727, "backend_elapsed_sec": 0.22173710000060964, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 59, "num_inliers": 4037, "objective": 1677.8124494309295 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 5971, "objective": 595.6628801457048 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 12, "num_inliers": 6880, "objective": 395.22629506667727 } ], "heldout_symmetric": { "evaluated": 8045, "inliers": 5019, "inlier_ratio": 0.6238657551274084, "inlier_rmse_m": 0.11987801174807478, "median_m": 0.15964974154627096, "p90_m": 1.1924422703354376, "p95_m": 1.7953914669449917 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 21961.099961712505, 35352.19315284042, 44434.67716782579, 60745.290642263484, 422428.2313359957, 708725.8561103218 ], "effective_rank": 6, "scaled_condition_number": 32.271874238810035, "weakest_scaled_direction": [ 0.8823713228792739, 0.33803437184340035, 0.028220506245232865, 0.005566686616904023, 0.07748245271082842, -0.31673758312205996 ] }, "forward_reverse": { "translation_m": 0.007927242611182222, "rotation_deg": 0.08795608522524892 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 9.171947447016606e-16, "rotation_deg": 1.0025744583430352e-14 }, { "translation_m": 1.0877919644084146e-15, "rotation_deg": 3.537012099682432e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 24, "lidar_time_i": 1784282521.1221898, "lidar_time_j": 1784282765.6112185, "frame_counter_i": 18410, "frame_counter_j": 20855, "rtk_translation_m": 4.0761181240750135, "rtk_rotation_deg": 118.87493116884215, "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": [ [ -0.48210731401008083, 0.8755697198980263, -0.030825369027424124, 0.5107414721139739 ], [ -0.8747980997925152, -0.48301248170504174, -0.037778659538697155, -4.441086014106092 ], [ -0.04796688834382983, 0.008752606173491063, 0.9988105773908195, -0.038434761087867676 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 7385, "backend_objective": 492.6840049349837, "backend_elapsed_sec": 0.09386020000238204, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 4017, "objective": 1190.3513306770155 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6235, "objective": 597.2104797027926 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 7385, "objective": 492.6840049349837 } ], "heldout_symmetric": { "evaluated": 8054, "inliers": 5406, "inlier_ratio": 0.6712192699279861, "inlier_rmse_m": 0.11172772070549726, "median_m": 0.13049105050726378, "p90_m": 1.0512623760988142, "p95_m": 1.4670069304909048 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 34000.22870007506, 51332.16734236435, 73869.8353364477, 118207.92607092683, 562523.0439376541, 732936.8484663698 ], "effective_rank": 6, "scaled_condition_number": 21.556821129992922, "weakest_scaled_direction": [ -0.46762644517433677, -0.8781724683732526, -0.010053832082836769, 0.06097474891776988, -0.078771533569528, 0.010708385443719796 ] }, "forward_reverse": { "translation_m": 0.04673963175312233, "rotation_deg": 0.22273623714194987 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 6.1302434868979906e-12, "rotation_deg": 7.590828428462755e-11 }, { "translation_m": 6.130624227548357e-12, "rotation_deg": 7.590555622372597e-11 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 25, "lidar_time_i": 1784282521.1221898, "lidar_time_j": 1784282827.209564, "frame_counter_i": 18410, "frame_counter_j": 21471, "rtk_translation_m": 2.626640779558244, "rtk_rotation_deg": 150.70305401070652, "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": [ [ -0.8715442470095095, -0.4870917116354646, -0.05614525768629649, -1.936816585942209 ], [ 0.4890071656519628, -0.8718626967214445, -0.02697091037848085, -1.9900284150445566 ], [ -0.03581364887387394, -0.05096177510294897, 0.9980582548291935, 0.009200885006098211 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 7615, "backend_objective": 630.9514278965746, "backend_elapsed_sec": 0.1252849000011338, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 4050, "objective": 1159.2541181177896 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6327, "objective": 669.2084869876427 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 7615, "objective": 630.9514278965746 } ], "heldout_symmetric": { "evaluated": 8118, "inliers": 5677, "inlier_ratio": 0.699310174919931, "inlier_rmse_m": 0.11234398811200015, "median_m": 0.12337833995510551, "p90_m": 0.9406389120616805, "p95_m": 1.3194385416076555 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 50235.535200086946, 57616.50559669636, 93773.2772238529, 120450.02516814355, 506017.9817498882, 770397.8988914583 ], "effective_rank": 6, "scaled_condition_number": 15.335715959290205, "weakest_scaled_direction": [ 0.8392339542693569, -0.470428022827891, -0.002171715838917393, 0.18367278969314832, 0.0230492033428044, 0.20028022753525643 ] }, "forward_reverse": { "translation_m": 0.018678960705618183, "rotation_deg": 0.1734016933410122 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.249571853013791e-15, "rotation_deg": 9.364652646721899e-15 }, { "translation_m": 1.6625566625485463e-15, "rotation_deg": 8.90962490323952e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 26, "lidar_time_i": 1784282521.1221898, "lidar_time_j": 1784282910.2059953, "frame_counter_i": 18410, "frame_counter_j": 22301, "rtk_translation_m": 2.086425835169367, "rtk_rotation_deg": 83.91641671720558, "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": [ [ 0.10600988867850965, -0.9928851524064495, -0.05423078123345443, -2.686453248640751 ], [ 0.9943296011084952, 0.10630901331585778, -0.0026529318177621795, -0.17620932782547558 ], [ 0.008399277456479401, -0.05364203406499015, 0.9985249042059889, -0.059155813310063886 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8011, "backend_objective": 693.8085868704294, "backend_elapsed_sec": 0.11214460000337567, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 4325, "objective": 1348.0314661640668 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6630, "objective": 726.933341906807 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8011, "objective": 693.8085868704294 } ], "heldout_symmetric": { "evaluated": 8103, "inliers": 5807, "inlier_ratio": 0.7166481550043194, "inlier_rmse_m": 0.11091971646336789, "median_m": 0.11866963272182393, "p90_m": 0.8546560900586597, "p95_m": 1.2753273868600694 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 64824.188029488, 74417.89759646068, 128426.72435213615, 144344.76599854397, 530756.5972497095, 784985.4469221719 ], "effective_rank": 6, "scaled_condition_number": 12.109452825928004, "weakest_scaled_direction": [ 0.6666599538454016, 0.24263726172680627, 0.0059981368738075734, 0.37958353478733803, 0.55346086304494, 0.21506534056073914 ] }, "forward_reverse": { "translation_m": 0.00977162867106615, "rotation_deg": 0.0631934229127065 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.580397579524694e-06, "rotation_deg": 2.966876599145002e-05 }, { "translation_m": 3.4115314244809973e-06, "rotation_deg": 2.776937689748114e-05 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 23, "lidar_time_i": 1784282614.418045, "lidar_time_j": 1784282682.8141525, "frame_counter_i": 19343, "frame_counter_j": 20027, "rtk_translation_m": 4.005228418650323, "rtk_rotation_deg": 31.947784654669576, "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": [ [ 0.8472282734250743, 0.5311711811207518, 0.007837669038207625, 3.688216404995122 ], [ -0.530372717569916, 0.8466079267091516, -0.04426961588645973, -1.7065207886098472 ], [ -0.03015017689284228, 0.03334958440546874, 0.9989888748396116, 0.07504877067206552 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 8076, "backend_objective": 702.75476398074, "backend_elapsed_sec": 0.11438759999873582, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4249, "objective": 1437.0893535588048 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6694, "objective": 675.6245784853854 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 8076, "objective": 702.75476398074 } ], "heldout_symmetric": { "evaluated": 7874, "inliers": 5711, "inlier_ratio": 0.7252984505969012, "inlier_rmse_m": 0.11644876240570266, "median_m": 0.12559382273605466, "p90_m": 0.8100897955193409, "p95_m": 1.325661859216763 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 44482.10326467668, 49123.54649386713, 87711.40579106665, 192239.8007806176, 550500.4764714487, 797825.5835756668 ], "effective_rank": 6, "scaled_condition_number": 17.935878140214236, "weakest_scaled_direction": [ -0.8453361437101158, -0.4855253659307402, -0.01905454453148178, 0.10031955771328369, -0.015806813050512014, 0.19747146251857922 ] }, "forward_reverse": { "translation_m": 0.013002087545984397, "rotation_deg": 0.11470841251550605 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.965068306494546e-16, "rotation_deg": 9.588964487858306e-15 }, { "translation_m": 8.95090418262362e-16, "rotation_deg": 8.179500677465726e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 24, "lidar_time_i": 1784282614.418045, "lidar_time_j": 1784282765.6112185, "frame_counter_i": 19343, "frame_counter_j": 20855, "rtk_translation_m": 1.4231800329066895, "rtk_rotation_deg": 75.21717152066267, "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": [ [ 0.25783489903877715, 0.9661748116409473, -0.005234327869357972, 0.46618394606639413 ], [ -0.9652532312439733, 0.2573430302171511, -0.04539564265127379, -1.3466924116515082 ], [ -0.04251310869286354, 0.016757032829079754, 0.9989553730973342, 0.04215897337221628 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 8437, "backend_objective": 902.5644852165073, "backend_elapsed_sec": 0.1038200000039069, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 4337, "objective": 1174.1320240838352 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 7187, "objective": 1104.84796922368 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 8437, "objective": 902.5644852165073 } ], "heldout_symmetric": { "evaluated": 7883, "inliers": 5956, "inlier_ratio": 0.7555499175440822, "inlier_rmse_m": 0.1089594430160029, "median_m": 0.10578378907431588, "p90_m": 0.6051629555151, "p95_m": 1.0818350027224624 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 59658.44329912656, 85168.59325148223, 125682.99783127634, 210228.71051244237, 669686.6614320468, 860716.4476327386 ], "effective_rank": 6, "scaled_condition_number": 14.427403734239578, "weakest_scaled_direction": [ -0.15428157942780082, 0.026708380982565283, -0.008302649507831389, -0.2681359082786029, -0.9495492801807837, 0.0432922839021855 ] }, "forward_reverse": { "translation_m": 0.0044919719825295985, "rotation_deg": 0.008669004448985662 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.5573135061829016e-14, "rotation_deg": 1.5785644813422326e-13 }, { "translation_m": 1.549907850668595e-14, "rotation_deg": 1.6070046715274183e-13 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 25, "lidar_time_i": 1784282614.418045, "lidar_time_j": 1784282827.209564, "frame_counter_i": 19343, "frame_counter_j": 21471, "rtk_translation_m": 0.9824487562406952, "rtk_rotation_deg": 165.63918634111403, "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": [ [ -0.9668033522374386, 0.2528196224005817, -0.03706098530365002, -2.9746736857688463 ], [ -0.25058559917200207, -0.9664722575440158, -0.0560199329291046, -1.2674713104881266 ], [ -0.04998135242326642, -0.04487330973975492, 0.9977415749997295, -0.07055428070517192 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 7791, "backend_objective": 592.2131502548845, "backend_elapsed_sec": 0.12333800000487827, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 18, "num_inliers": 4161, "objective": 1451.8631491623144 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6587, "objective": 728.3597863107123 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 7791, "objective": 592.2131502548845 } ], "heldout_symmetric": { "evaluated": 7947, "inliers": 5633, "inlier_ratio": 0.7088209387190134, "inlier_rmse_m": 0.11165869814478939, "median_m": 0.11978290082908663, "p90_m": 0.9281751461832283, "p95_m": 1.4517912317289203 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 36370.525368980416, 56508.14273594371, 78725.24163073627, 163300.4494046264, 598518.2948794718, 851420.0815139217 ], "effective_rank": 6, "scaled_condition_number": 23.409617344710625, "weakest_scaled_direction": [ 0.9540918566872878, -0.2566807233042168, 0.021396307989543204, 0.1250819785191461, 0.042474560030864764, 0.07691777227250848 ] }, "forward_reverse": { "translation_m": 0.005265657588642687, "rotation_deg": 0.10195131255569051 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.9466129872826794e-05, "rotation_deg": 8.107706844091935e-05 }, { "translation_m": 1.946612987271537e-05, "rotation_deg": 8.107706842650995e-05 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 26, "lidar_time_i": 1784282614.418045, "lidar_time_j": 1784282910.2059953, "frame_counter_i": 19343, "frame_counter_j": 22301, "rtk_translation_m": 3.0743977770984916, "rtk_rotation_deg": 127.57417636538506, "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": [ [ -0.611617227556335, -0.78988226066086, -0.044837275224882414, -4.782659963293652 ], [ 0.7911032638626728, -0.6112358852625852, -0.023373456592692375, -0.4867185524006974 ], [ -0.008943872881948844, -0.04976652349274425, 0.9987208320032772, -0.12551668962640913 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 7430, "backend_objective": 488.3593273380921, "backend_elapsed_sec": 0.09648729999753414, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 12, "num_inliers": 4194, "objective": 971.5497914030336 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6377, "objective": 615.3692190231524 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 7430, "objective": 488.3593273380921 } ], "heldout_symmetric": { "evaluated": 7932, "inliers": 5419, "inlier_ratio": 0.6831820474029249, "inlier_rmse_m": 0.11509847268437542, "median_m": 0.13249770875702188, "p90_m": 1.1312127847258586, "p95_m": 1.728064679430129 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 41015.504174713715, 50565.34116586249, 91300.00260572834, 185965.65028602816, 422750.596064571, 740461.3550567983 ], "effective_rank": 6, "scaled_condition_number": 18.05320621935197, "weakest_scaled_direction": [ -0.5635457779882261, -0.5326307475682727, -0.03140995689480733, -0.2523779340280646, -0.4028315082989892, -0.41444687452273193 ] }, "forward_reverse": { "translation_m": 0.010313466929779696, "rotation_deg": 0.02189018950989812 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.008512185982529e-08, "rotation_deg": 5.162860289385775e-07 }, { "translation_m": 2.3562731337043467e-13, "rotation_deg": 1.5940744183987593e-12 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 27, "lidar_time_i": 1784282614.418045, "lidar_time_j": 1784282963.3037353, "frame_counter_i": 19343, "frame_counter_j": 22832, "rtk_translation_m": 3.054692363582515, "rtk_rotation_deg": 96.43768805753649, "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": [ [ -0.11105936141133146, -0.9928909061092921, -0.04281900055321735, -3.7657405495120875 ], [ 0.9936970624002296, -0.11028290311388689, -0.0200955084018292, -0.7182670529367128 ], [ 0.015230443856375155, -0.04478090939498908, 0.998880725479121, -0.048434989336104496 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7872, "backend_objective": 674.0822302728145, "backend_elapsed_sec": 0.09539320000476437, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 4163, "objective": 1142.904837086234 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6412, "objective": 654.4075700412851 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7872, "objective": 674.0822302728145 } ], "heldout_symmetric": { "evaluated": 7943, "inliers": 5658, "inlier_ratio": 0.712325317889966, "inlier_rmse_m": 0.11297739003609018, "median_m": 0.12230824460828289, "p90_m": 0.9244032506879108, "p95_m": 1.5043599686221012 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 51095.73711929689, 58324.69214314388, 127264.95363964487, 194899.3452349152, 475710.46193595085, 744489.7621380414 ], "effective_rank": 6, "scaled_condition_number": 14.570486778570737, "weakest_scaled_direction": [ 0.21205084554134654, 0.46222081230733225, 0.027852060717769897, 0.07414576847826533, 0.8307416042831952, 0.212088222725058 ] }, "forward_reverse": { "translation_m": 0.006473104665270118, "rotation_deg": 0.07627008321159866 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2779626727101132e-15, "rotation_deg": 5.8494627683542094e-15 }, { "translation_m": 1.0695546869292897e-13, "rotation_deg": 1.2818532378045082e-12 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 24, "lidar_time_i": 1784282682.8141525, "lidar_time_j": 1784282765.6112185, "frame_counter_i": 20027, "frame_counter_j": 20855, "rtk_translation_m": 2.6253440212817054, "rtk_rotation_deg": 43.26938686599312, "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": [ [ 0.7316385219835515, 0.6816856721831934, -0.003117288865629237, -2.928569573553622 ], [ -0.6816926156029554, 0.731634035323485, -0.0026107831536129854, -1.4137194175023107 ], [ 0.0005009811630340623, 0.004035182328129723, 0.9999917331265555, -0.06016299122785323 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8664, "backend_objective": 718.4382749860787, "backend_elapsed_sec": 0.09146969999710564, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4276, "objective": 1060.3558447311034 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7048, "objective": 907.9673301968234 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8664, "objective": 718.4382749860787 } ], "heldout_symmetric": { "evaluated": 7837, "inliers": 6172, "inlier_ratio": 0.787546254944494, "inlier_rmse_m": 0.11112536909525574, "median_m": 0.10446503721484761, "p90_m": 0.5450621875516725, "p95_m": 1.001418134214043 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 59818.112315563776, 70156.99926867911, 104752.68740716732, 343999.48350022855, 544123.459767399, 817579.969940869 ], "effective_rank": 6, "scaled_condition_number": 13.667766137918514, "weakest_scaled_direction": [ -0.08181946336381639, 0.18565903818231316, -0.021613276934704294, -0.28361740332044505, -0.9302845462486405, 0.11180784749269009 ] }, "forward_reverse": { "translation_m": 0.003984385308883342, "rotation_deg": 0.012875657690538275 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 8.568339948907339e-16, "rotation_deg": 3.980573504125873e-15 }, { "translation_m": 5.6661939073952674e-14, "rotation_deg": 4.483416428860257e-13 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 25, "lidar_time_i": 1784282682.8141525, "lidar_time_j": 1784282827.209564, "frame_counter_i": 20027, "frame_counter_j": 21471, "rtk_translation_m": 4.30404511575867, "rtk_rotation_deg": 133.69140168644446, "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": [ [ -0.684775479697797, 0.7280331457171291, -0.03240804131499784, -5.885911399550697 ], [ -0.7275609859606644, -0.6855216898305089, -0.026739941657930238, -3.183251160291944 ], [ -0.04168397908786969, 0.005267970116293473, 0.999116957306929, -0.14256531141547005 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7334, "backend_objective": 441.10293254883305, "backend_elapsed_sec": 0.11134479999600444, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 18, "num_inliers": 3889, "objective": 2096.0155731973537 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6155, "objective": 636.912425900376 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7334, "objective": 441.10293254883305 } ], "heldout_symmetric": { "evaluated": 7901, "inliers": 5404, "inlier_ratio": 0.6839640551828883, "inlier_rmse_m": 0.11561487899989795, "median_m": 0.13320342154151646, "p90_m": 1.059724966903968, "p95_m": 1.8630882686324364 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 18277.081943360936, 40037.65569659247, 48113.94852960326, 169467.63266558063, 366879.0550574965, 735162.1195192076 ], "effective_rank": 6, "scaled_condition_number": 40.22316701306096, "weakest_scaled_direction": [ 0.9303106732966971, -0.35446008300782333, 0.021250207612046466, 0.03862650032102158, 0.061568078689399515, 0.05608827453420191 ] }, "forward_reverse": { "translation_m": 0.009663940236368565, "rotation_deg": 0.2587163051792124 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.6700812920971042e-05, "rotation_deg": 0.00010070947164169274 }, { "translation_m": 2.0307144547971162e-15, "rotation_deg": 2.696066277988921e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 26, "lidar_time_i": 1784282682.8141525, "lidar_time_j": 1784282910.2059953, "frame_counter_i": 20027, "frame_counter_j": 22301, "rtk_translation_m": 6.580252552934289, "rtk_rotation_deg": 159.52196102005493, "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": [ [ -0.937652640941694, -0.3436423846450911, -0.05212903615550391, -7.83285756373407 ], [ 0.3445889421983096, -0.9386990399126087, -0.010127851785875731, -3.4825275139221468 ], [ -0.04545311705171078, -0.027459496400734956, 0.9985889996428473, -0.2362012597280001 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 6760, "backend_objective": 382.8073713454754, "backend_elapsed_sec": 0.11480090000259224, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 15, "num_inliers": 3775, "objective": 1439.0183504849776 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5722, "objective": 492.357069028601 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 6760, "objective": 382.8073713454754 } ], "heldout_symmetric": { "evaluated": 7886, "inliers": 4901, "inlier_ratio": 0.6214811057570377, "inlier_rmse_m": 0.12356096223549605, "median_m": 0.16384331155514473, "p90_m": 1.5538134695314363, "p95_m": 2.317860782035522 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 11904.225853867052, 32315.599031740323, 39318.095670072995, 79508.85118857495, 308004.06194042746, 704586.1183803094 ], "effective_rank": 6, "scaled_condition_number": 59.18789907295204, "weakest_scaled_direction": [ 0.7950948314396045, 0.5556142085478614, 0.02281207092996104, -0.015520908322619075, 0.08576110552205275, 0.22583357563064646 ] }, "forward_reverse": { "translation_m": 0.03346639663911815, "rotation_deg": 0.040359288659068966 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.187061866953045e-15, "rotation_deg": 2.7889140701982987e-14 }, { "translation_m": 8.474018412808198e-08, "rotation_deg": 9.464229819866394e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 27, "lidar_time_i": 1784282682.8141525, "lidar_time_j": 1784282963.3037353, "frame_counter_i": 20027, "frame_counter_j": 22832, "rtk_translation_m": 6.261292051742304, "rtk_rotation_deg": 128.3854727122061, "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": [ [ -0.6218964522934143, -0.7817651851253367, -0.04569461621255804, -6.839632222855389 ], [ 0.7827131512584892, -0.6223631998729469, -0.004916329007710244, -3.127634648147262 ], [ -0.02459523270616417, -0.03882322461948075, 0.9989433576325911, -0.18350709226514308 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 6864, "backend_objective": 360.49708262335116, "backend_elapsed_sec": 0.10761560000537429, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 12, "num_inliers": 3725, "objective": 1110.052621917542 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5735, "objective": 496.84407211054696 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 6864, "objective": 360.49708262335116 } ], "heldout_symmetric": { "evaluated": 7897, "inliers": 5085, "inlier_ratio": 0.6439154109155375, "inlier_rmse_m": 0.11883308044324468, "median_m": 0.1501234605509406, "p90_m": 1.4004608509008665, "p95_m": 2.100443424706241 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 14995.327513467042, 31055.449294812966, 41523.3079852468, 127499.94617471834, 294776.29218309023, 723568.8459938181 ], "effective_rank": 6, "scaled_condition_number": 48.252953818047224, "weakest_scaled_direction": [ 0.26650340064692807, 0.9520240679412312, 0.01349180377962655, -0.061366095440010995, 0.023494729288998782, 0.13463388414923647 ] }, "forward_reverse": { "translation_m": 0.01363202571969651, "rotation_deg": 0.268813724284828 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.4133820648210267e-06, "rotation_deg": 1.4694369969203062e-05 }, { "translation_m": 4.550645659709847e-12, "rotation_deg": 1.0268685170595407e-11 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 28, "lidar_time_i": 1784282682.8141525, "lidar_time_j": 1784283066.8004546, "frame_counter_i": 20027, "frame_counter_j": 23867, "rtk_translation_m": 10.83543880539923, "rtk_rotation_deg": 37.57580831192121, "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": [ [ 0.7864106380412907, -0.6169764078230248, -0.029973664528813723, -10.5690840037096 ], [ 0.6176988190545919, 0.7856775097616834, 0.034044376822604715, -2.588662588597491 ], [ 0.0025450567868462934, -0.0452875572809694, 0.998970750243212, -0.3615413912046347 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 5758, "backend_objective": 362.4569520335848, "backend_elapsed_sec": 0.2575600999989547, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 18, "num_inliers": 3558, "objective": 1464.8678508444634 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": false, "iterations": 59, "num_inliers": 5046, "objective": 536.6596144729192 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 5758, "objective": 362.4569520335848 } ], "heldout_symmetric": { "evaluated": 7884, "inliers": 4377, "inlier_ratio": 0.5551750380517504, "inlier_rmse_m": 0.13104613123848732, "median_m": 0.2058536041837457, "p90_m": 1.6577513661084293, "p95_m": 2.289017549809099 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 14390.235422471975, 23787.63789576247, 32804.45229613129, 119277.17490529893, 263333.46922642423, 633292.3467836828 ], "effective_rank": 6, "scaled_condition_number": 44.00847715074386, "weakest_scaled_direction": [ 0.9404503190480624, -0.3082908160509529, 0.003962202000027104, 0.12476055944871436, 0.0701353762029909, 0.0031785070796152923 ] }, "forward_reverse": { "translation_m": 0.01592501575703795, "rotation_deg": 0.1925228188054137 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 5.4378974214416385e-15, "rotation_deg": 5.956130244946421e-14 }, { "translation_m": 2.5669031001846587e-15, "rotation_deg": 2.747411973876145e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 25, "lidar_time_i": 1784282765.6112185, "lidar_time_j": 1784282827.209564, "frame_counter_i": 20855, "frame_counter_j": 21471, "rtk_translation_m": 2.0155105379126432, "rtk_rotation_deg": 90.4220148204513, "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": [ [ -0.005222484454047837, 0.9999723179739274, -0.005299900185628911, -0.9563258472367476 ], [ -0.9995526553564481, -0.005376224503562952, -0.029420832414470126, -3.313175791022872 ], [ -0.029448511439464555, 0.005143879463759797, 0.9995530629626734, -0.03525307801587053 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 8347, "backend_objective": 642.9366409945478, "backend_elapsed_sec": 0.11560399999871152, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4227, "objective": 2610.2838075402897 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6909, "objective": 720.8489607781735 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 8347, "objective": 642.9366409945478 } ], "heldout_symmetric": { "evaluated": 7910, "inliers": 6020, "inlier_ratio": 0.7610619469026548, "inlier_rmse_m": 0.10446971824743242, "median_m": 0.1007578122622833, "p90_m": 0.6529933155559581, "p95_m": 1.1275482682900053 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 34674.42613312141, 55462.82668670179, 107294.12450985223, 169601.63868303315, 479294.70292038884, 773203.0297448203 ], "effective_rank": 6, "scaled_condition_number": 22.29894236104597, "weakest_scaled_direction": [ 0.9267818181191543, -0.3642850835854793, 0.021605440889195655, 0.04819804176088377, 0.06150820221557558, 0.04241148706992467 ] }, "forward_reverse": { "translation_m": 0.01721789520038266, "rotation_deg": 0.09266069416139829 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.862323494706137e-06, "rotation_deg": 1.9393338023955322e-05 }, { "translation_m": 1.4060466165506383e-15, "rotation_deg": 5.568188765909471e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 26, "lidar_time_i": 1784282765.6112185, "lidar_time_j": 1784282910.2059953, "frame_counter_i": 20855, "frame_counter_j": 22301, "rtk_translation_m": 4.344602404326578, "rtk_rotation_deg": 157.20865211395216, "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": [ [ -0.9212102577280694, 0.38836016947644203, -0.02341025033640561, -2.1853134081267176 ], [ -0.3874191809609859, -0.9211798663075629, -0.036524404623475414, -4.861845408098207 ], [ -0.03574967524471575, -0.024577076185134158, 0.9990585208315311, -0.03620244623781051 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 7624, "backend_objective": 540.158487226316, "backend_elapsed_sec": 0.11349199999676785, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 14, "num_inliers": 4067, "objective": 2114.4343582170354 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6370, "objective": 553.3364988358043 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 7624, "objective": 540.158487226316 } ], "heldout_symmetric": { "evaluated": 7895, "inliers": 5516, "inlier_ratio": 0.6986700443318556, "inlier_rmse_m": 0.11795525471114342, "median_m": 0.13465463483159976, "p90_m": 1.1040015867883632, "p95_m": 1.7109335211240762 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 23809.22476255567, 56967.99719319072, 77761.8586939183, 233931.45213473478, 420178.787628248, 722705.5242172445 ], "effective_rank": 6, "scaled_condition_number": 30.354013262701024, "weakest_scaled_direction": [ 0.7246093351546515, 0.6835687376467154, 0.023695802939696097, -0.04439918338332187, 0.05577116317410626, -0.04507650291398417 ] }, "forward_reverse": { "translation_m": 0.0239438468814135, "rotation_deg": 0.2700005297192175 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.541430110368098e-08, "rotation_deg": 2.8007577805020575e-07 }, { "translation_m": 3.541430081316921e-08, "rotation_deg": 2.800757954660126e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 27, "lidar_time_i": 1784282765.6112185, "lidar_time_j": 1784282963.3037353, "frame_counter_i": 20855, "frame_counter_j": 22832, "rtk_translation_m": 4.194437499675352, "rtk_rotation_deg": 171.65485957819877, "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": [ [ -0.9886190264470782, -0.148160054509517, -0.026096336803643722, -1.693947908745894 ], [ 0.14887852744115113, -0.9884547007756772, -0.028151173713006503, -3.9162560866104426 ], [ -0.02162416735476102, -0.031715970144429846, 0.9992629747088656, -0.1371324446218627 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7777, "backend_objective": 637.7690379445443, "backend_elapsed_sec": 0.10812219999934314, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 4073, "objective": 1288.5098998568735 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6388, "objective": 747.1045646805275 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7777, "objective": 637.7690379445443 } ], "heldout_symmetric": { "evaluated": 7906, "inliers": 5719, "inlier_ratio": 0.7233746521629142, "inlier_rmse_m": 0.11505806966234582, "median_m": 0.12376002252011303, "p90_m": 0.8664774088506898, "p95_m": 1.4852122368232208 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 30500.801507336088, 51236.66393006205, 102042.46775737686, 201960.20851744784, 465296.0256839811, 738693.6981030428 ], "effective_rank": 6, "scaled_condition_number": 24.218829066684407, "weakest_scaled_direction": [ 0.33062292489026934, 0.9267045673075242, 0.020433273969173073, -0.06387654473028298, 0.08084344380966146, 0.14447744602391363 ] }, "forward_reverse": { "translation_m": 0.0071603040929797065, "rotation_deg": 0.1144565168286882 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.245503975015694e-15, "rotation_deg": 2.4642849864535424e-14 }, { "translation_m": 1.6241991748877272e-06, "rotation_deg": 1.310480562167213e-05 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 28, "lidar_time_i": 1784282765.6112185, "lidar_time_j": 1784283066.8004546, "frame_counter_i": 20855, "frame_counter_j": 23867, "rtk_translation_m": 8.235813904401468, "rtk_rotation_deg": 80.84519517791432, "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": [ [ 0.15431772192420115, -0.9871712612951672, -0.04097488954266585, -4.794033888365454 ], [ 0.9879365798398297, 0.1536287364866755, 0.019481415243439177, -6.081846335285466 ], [ -0.01293657274955989, -0.043486919854323035, 0.9989702362368356, -0.1530456526263188 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 6470, "backend_objective": 363.6261667407633, "backend_elapsed_sec": 0.10693129999708617, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 3884, "objective": 2667.924813596058 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5552, "objective": 615.1479326852287 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 6470, "objective": 363.6261667407633 } ], "heldout_symmetric": { "evaluated": 7893, "inliers": 4882, "inlier_ratio": 0.618522741669834, "inlier_rmse_m": 0.1218895746871147, "median_m": 0.16543013169480736, "p90_m": 1.3165359598845314, "p95_m": 1.9653233373028827 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 18157.43226974018, 36033.513148082304, 51849.87927593188, 109996.41705729572, 339131.2684722997, 627490.9800866216 ], "effective_rank": 6, "scaled_condition_number": 34.55835443937473, "weakest_scaled_direction": [ 0.9055466755786573, -0.3488991912370416, 0.0021108337849463647, 0.07864323282329364, 0.06764790584748816, 0.21791998496893933 ] }, "forward_reverse": { "translation_m": 0.008956300116613691, "rotation_deg": 0.24319664279778394 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.0245584642661925e-16, "rotation_deg": 1.999964601359078e-15 }, { "translation_m": 9.751059499069721e-16, "rotation_deg": 8.984477619489771e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 29, "lidar_time_i": 1784282765.6112185, "lidar_time_j": 1784283133.8969557, "frame_counter_i": 20855, "frame_counter_j": 24538, "rtk_translation_m": 2.7255497122534083, "rtk_rotation_deg": 57.0551252080454, "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": [ [ 0.5492994771645193, -0.8350533092318384, -0.030920141133914003, -1.5962475842101014 ], [ 0.835619505605708, 0.5490602342006184, 0.016519717637853582, -1.4388253228181322 ], [ 0.0031821750514377817, -0.03491174530895836, 0.9993853329929472, -0.0671206181838254 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 8433, "backend_objective": 824.9648690027547, "backend_elapsed_sec": 0.11201359999540728, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4425, "objective": 924.2696801690141 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6992, "objective": 1016.9744274360163 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 8433, "objective": 824.9648690027547 } ], "heldout_symmetric": { "evaluated": 7868, "inliers": 6008, "inlier_ratio": 0.7635993899339095, "inlier_rmse_m": 0.11147922533242269, "median_m": 0.11133949221761885, "p90_m": 0.6363788561688158, "p95_m": 1.1544276761141714 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 68798.17806470545, 71680.69275126129, 134728.44625667384, 226982.9615513413, 630508.9332915957, 796168.6854993983 ], "effective_rank": 6, "scaled_condition_number": 11.572525725181164, "weakest_scaled_direction": [ 0.67519199227294, -0.0049714678879932, 0.0011275478599908938, 0.6805796161958426, 0.27794183514429827, -0.0604111662584001 ] }, "forward_reverse": { "translation_m": 0.02246832420061709, "rotation_deg": 0.4519372330281508 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0057567076787437e-15, "rotation_deg": 2.3591354183974442e-14 }, { "translation_m": 3.128387061314213e-15, "rotation_deg": 1.7069159521298948e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 26, "lidar_time_i": 1784282827.209564, "lidar_time_j": 1784282910.2059953, "frame_counter_i": 21471, "frame_counter_j": 22301, "rtk_translation_m": 2.340922525153354, "rtk_rotation_deg": 66.78663729350096, "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": [ [ 0.3932904644892917, 0.9194089903278928, -0.0031175384589049297, 1.5689161645386143 ], [ -0.9191996616647784, 0.3931231408593706, -0.022938572671819122, -1.2203527716368774 ], [ -0.019864353429045613, 0.011887162197473456, 0.9997320155110254, 0.038559781043645484 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 8882, "backend_objective": 959.1946737080699, "backend_elapsed_sec": 0.0923356999992393, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4504, "objective": 819.6259334838549 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7248, "objective": 871.7847638951343 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 8882, "objective": 959.1946737080699 } ], "heldout_symmetric": { "evaluated": 7959, "inliers": 6508, "inlier_ratio": 0.8176906646563639, "inlier_rmse_m": 0.1076748622762494, "median_m": 0.09682656097890656, "p90_m": 0.45264143343176133, "p95_m": 0.7630922462694615 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 82801.50286335814, 92122.57768093605, 208019.04720607624, 296187.9827635429, 562504.1468562767, 844105.0213405968 ], "effective_rank": 6, "scaled_condition_number": 10.194320056407282, "weakest_scaled_direction": [ 0.7394522741684544, 0.32743622752806295, 0.009778110461861132, 0.29967203729425274, 0.459836772665614, 0.21129849089255553 ] }, "forward_reverse": { "translation_m": 0.011727583881002021, "rotation_deg": 0.04299213457608308 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.8638296154205614e-06, "rotation_deg": 3.6902488615193315e-06 }, { "translation_m": 4.47545209131181e-16, "rotation_deg": 9.875181038613888e-16 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 27, "lidar_time_i": 1784282827.209564, "lidar_time_j": 1784282963.3037353, "frame_counter_i": 21471, "frame_counter_j": 22832, "rtk_translation_m": 2.187150933555911, "rtk_rotation_deg": 97.92312560134954, "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": [ [ -0.14279103728398043, 0.989747636072606, -0.003215052107463622, 0.6180823036166979 ], [ -0.9892921924933832, -0.14282292014640846, -0.03004282530801442, -0.7324484491997415 ], [ -0.030193998459960354, -0.0011092202402996421, 0.9995434418210439, -0.011549303017470177 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 9377, "backend_objective": 941.220445781815, "backend_elapsed_sec": 0.1000041000006604, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 4393, "objective": 754.8221197075133 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 7322, "objective": 922.7663547989258 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 9377, "objective": 941.220445781815 } ], "heldout_symmetric": { "evaluated": 7970, "inliers": 6781, "inlier_ratio": 0.8508155583437892, "inlier_rmse_m": 0.10177690901936605, "median_m": 0.08794780126840006, "p90_m": 0.3643641291512237, "p95_m": 0.5743991799426108 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 92787.75565299024, 106219.81244868562, 228951.32827375113, 349764.53764673247, 725644.6539066491, 876603.7121599698 ], "effective_rank": 6, "scaled_condition_number": 9.447407214356089, "weakest_scaled_direction": [ 0.3220058996415483, 0.48849673458555753, -0.008189205777130075, 0.05994790765047574, 0.7907245223301784, 0.16963801448397683 ] }, "forward_reverse": { "translation_m": 0.004921098494284399, "rotation_deg": 0.04722324529000337 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.3567190127249392e-15, "rotation_deg": 4.199795522781451e-15 }, { "translation_m": 1.2667805563364376e-15, "rotation_deg": 5.016858305749333e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 28, "lidar_time_i": 1784282827.209564, "lidar_time_j": 1784283066.8004546, "frame_counter_i": 21471, "frame_counter_j": 23867, "rtk_translation_m": 6.688406442287195, "rtk_rotation_deg": 171.26720999836604, "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": [ [ -0.9877879824853878, -0.14672953398443556, -0.05239604483314723, 2.7953678406719913 ], [ 0.14918143939712175, -0.9877198783097575, -0.04641486972039104, -3.815886411643417 ], [ -0.04494218282248763, -0.05366456790535228, 0.9975471489381713, -0.022524949054600122 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7077, "backend_objective": 602.0223937352076, "backend_elapsed_sec": 0.18108309999661287, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 59, "num_inliers": 4017, "objective": 1665.7813157878095 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5912, "objective": 475.6816693003514 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7077, "objective": 602.0223937352076 } ], "heldout_symmetric": { "evaluated": 7957, "inliers": 5214, "inlier_ratio": 0.6552720874701521, "inlier_rmse_m": 0.1158307449607044, "median_m": 0.14052727692433775, "p90_m": 1.046656111199863, "p95_m": 1.4663672706284545 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 42008.113319588956, 58290.093258571964, 90526.17420147586, 126748.87783217231, 415694.23578957136, 708118.2676005148 ], "effective_rank": 6, "scaled_condition_number": 16.856702471098828, "weakest_scaled_direction": [ -0.7230757778315811, 0.559665372691361, -0.008073719685306258, -0.3487159010619288, -0.03514843026209357, 0.2025653311171864 ] }, "forward_reverse": { "translation_m": 0.010027166778796438, "rotation_deg": 0.069841684352646 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.9321820064161137e-15, "rotation_deg": 7.175657641913215e-15 }, { "translation_m": 8.096574468677559e-11, "rotation_deg": 2.694950365171778e-09 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 29, "lidar_time_i": 1784282827.209564, "lidar_time_j": 1784283133.8969557, "frame_counter_i": 21471, "frame_counter_j": 24538, "rtk_translation_m": 1.411474020521721, "rtk_rotation_deg": 147.47714002849685, "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": [ [ -0.8381797942096519, -0.5430247749723809, -0.050781161318546535, -1.8710702098459255 ], [ 0.544908870154576, -0.8377226893342556, -0.03598637244077235, -0.6438482457794455 ], [ -0.022999039230566797, -0.05783415548598485, 0.9980612479470856, -0.05088904032648747 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 8228, "backend_objective": 589.2497329740725, "backend_elapsed_sec": 0.11608520000299904, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 16, "num_inliers": 4384, "objective": 953.9721877762931 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6859, "objective": 687.1103921467825 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 8228, "objective": 589.2497329740725 } ], "heldout_symmetric": { "evaluated": 7932, "inliers": 5897, "inlier_ratio": 0.7434442763489663, "inlier_rmse_m": 0.11227320270489505, "median_m": 0.11329306266061136, "p90_m": 0.7280985939722301, "p95_m": 1.1824613458158708 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 41758.52113708298, 61266.82169026914, 88446.94000511957, 165042.60242052496, 596453.2194718086, 802070.4042351833 ], "effective_rank": 6, "scaled_condition_number": 19.207346965238134, "weakest_scaled_direction": [ 0.9638496414109743, 0.22986328444560739, 0.02534005200594493, 0.01712673692169194, 0.08302478720781598, 0.10162765652942089 ] }, "forward_reverse": { "translation_m": 0.005744598995027529, "rotation_deg": 0.30413185830684 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6997315992753952e-15, "rotation_deg": 1.4526667320351084e-14 }, { "translation_m": 1.971963787771864e-07, "rotation_deg": 1.2218195962946332e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 30, "lidar_time_i": 1784282827.209564, "lidar_time_j": 1784283183.2952216, "frame_counter_i": 21471, "frame_counter_j": 25032, "rtk_translation_m": 0.5324917816481396, "rtk_rotation_deg": 118.09183853064393, "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": [ [ -0.4735811450423778, -0.8795470950122964, -0.04601963402484206, -2.2283150465270585 ], [ 0.8804299494286093, -0.47417117296958516, 0.0021915459804320928, 0.6489768993443397 ], [ -0.023748751745865295, -0.03947918920238874, 0.9989381314227799, -0.05769870645152169 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 8644, "backend_objective": 751.1823040892174, "backend_elapsed_sec": 0.10671250000450527, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 4370, "objective": 1006.5047570988388 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 7181, "objective": 730.001608170084 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 8644, "objective": 751.1823040892174 } ], "heldout_symmetric": { "evaluated": 7920, "inliers": 6325, "inlier_ratio": 0.7986111111111112, "inlier_rmse_m": 0.1061010900656728, "median_m": 0.09645206395342157, "p90_m": 0.5158664627158488, "p95_m": 0.8943497785416119 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 51175.24596840906, 68015.71030211762, 139145.46040838526, 291489.912757213, 642087.8464369182, 767376.9286384654 ], "effective_rank": 6, "scaled_condition_number": 14.995080416656407, "weakest_scaled_direction": [ 0.7185097906495923, 0.6504079608686344, 0.024949855814964218, 0.035794149307638794, 0.1480796647079181, -0.1920465090792592 ] }, "forward_reverse": { "translation_m": 0.004651476537899485, "rotation_deg": 0.06337779258524685 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1624044754869987e-05, "rotation_deg": 1.0325528650197526e-05 }, { "translation_m": 1.697684268052296e-07, "rotation_deg": 8.472134140412767e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 26, "j": 27, "lidar_time_i": 1784282910.2059953, "lidar_time_j": 1784282963.3037353, "frame_counter_i": 22301, "frame_counter_j": 22832, "rtk_translation_m": 0.6349061963265976, "rtk_rotation_deg": 31.136488307848563, "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": [ [ 0.8536619463221716, 0.5208026472127358, 0.005087637727674223, -0.8037600458537668 ], [ -0.5208126259136155, 0.8536706605605496, 0.0007822960305142633, -0.6659702135135269 ], [ -0.003935745216080582, -0.0033175223166561035, 0.99998675188988, 0.0006824686145608779 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 9926, "backend_objective": 2043.5058867053008, "backend_elapsed_sec": 0.09482869999919785, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4473, "objective": 805.4509019810005 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 7569, "objective": 900.4056552192066 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 9926, "objective": 2043.5058867053008 } ], "heldout_symmetric": { "evaluated": 7955, "inliers": 7029, "inlier_ratio": 0.8835952231301069, "inlier_rmse_m": 0.10164781558403184, "median_m": 0.08085473414709034, "p90_m": 0.2788910789553824, "p95_m": 0.48275665334578555 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 101559.17043150349, 152466.52854812608, 328860.8153645765, 637076.7114674916, 749138.2809763459, 887795.6040643979 ], "effective_rank": 6, "scaled_condition_number": 8.741658683232068, "weakest_scaled_direction": [ 0.15909744870928347, 0.11522601401506771, -0.04108642498941928, 0.11146551129835221, 0.9720575611842073, 0.04901439304522955 ] }, "forward_reverse": { "translation_m": 0.0010243697887392141, "rotation_deg": 0.04630474119881922 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5350455729059196e-08, "rotation_deg": 1.4479858619697106e-07 }, { "translation_m": 2.5350455740888726e-08, "rotation_deg": 1.4479858841447727e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 26, "j": 28, "lidar_time_i": 1784282910.2059953, "lidar_time_j": 1784283066.8004546, "frame_counter_i": 22301, "frame_counter_j": 23867, "rtk_translation_m": 5.008419104260455, "rtk_rotation_deg": 121.94615270813352, "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": [ [ -0.5240862806538904, 0.8516244167625724, -0.008332058819981562, 2.880937414641506 ], [ -0.8499886890974395, -0.5236431455249201, -0.05759413643057307, 0.11406320303437172 ], [ -0.05341159833582459, -0.023102140995492904, 0.9983053101354494, 0.03248515064220392 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 7844, "backend_objective": 1104.6574358849996, "backend_elapsed_sec": 0.11934219999966444, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 12, "num_inliers": 4306, "objective": 891.8769928148329 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6593, "objective": 687.4315810117731 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 7844, "objective": 1104.6574358849996 } ], "heldout_symmetric": { "evaluated": 7942, "inliers": 5570, "inlier_ratio": 0.7013346764039284, "inlier_rmse_m": 0.1156303654422143, "median_m": 0.12775161732661877, "p90_m": 0.754871881703839, "p95_m": 1.1698787741427545 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 72046.8444235557, 92184.04980428005, 174146.77935550862, 218587.06797693414, 522338.0169982444, 749049.0010890709 ], "effective_rank": 6, "scaled_condition_number": 10.39669408260953, "weakest_scaled_direction": [ 0.11111210387995367, -0.23795490003675307, 0.013874358514405511, 0.9568428690008515, -0.10599503753524517, -0.0636855097789378 ] }, "forward_reverse": { "translation_m": 0.016692399239017493, "rotation_deg": 0.1408617368634082 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.148843527161987e-06, "rotation_deg": 1.1829201429159507e-05 }, { "translation_m": 2.458953279334877e-15, "rotation_deg": 2.838149824475859e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 26, "j": 29, "lidar_time_i": 1784282910.2059953, "lidar_time_j": 1784283133.8969557, "frame_counter_i": 22301, "frame_counter_j": 24538, "rtk_translation_m": 2.224643201350574, "rtk_rotation_deg": 145.73622267800252, "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": [ [ -0.8298183889667279, 0.5578693886901691, -0.013534640561294269, -1.872538964358695 ], [ -0.5566627342094188, -0.8292354213180542, -0.04995214083462805, -2.93194450188444 ], [ -0.039090173639412445, -0.03391697501143836, 0.9986599006322997, -0.09874973372844144 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 8048, "backend_objective": 776.7534173434285, "backend_elapsed_sec": 0.11052619999827584, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 15, "num_inliers": 4291, "objective": 1168.8741009019384 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6661, "objective": 775.6420783434858 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 8048, "objective": 776.7534173434285 } ], "heldout_symmetric": { "evaluated": 7917, "inliers": 5744, "inlier_ratio": 0.7255273462170014, "inlier_rmse_m": 0.11343814488049828, "median_m": 0.11916187055826276, "p90_m": 0.9369048813897216, "p95_m": 1.5112765943685864 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 50862.33133943675, 59942.01936876795, 101071.9131168184, 152509.97268507312, 452211.13763264247, 720816.8028809017 ], "effective_rank": 6, "scaled_condition_number": 14.171918272295303, "weakest_scaled_direction": [ 0.37012938492842545, -0.06916503141179607, 0.0006356713714462137, 0.8694802819778074, 0.29724825066326593, -0.11776056000902373 ] }, "forward_reverse": { "translation_m": 0.0030631045126193056, "rotation_deg": 0.10499072900350268 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.428873099349592e-15, "rotation_deg": 2.1925220672754382e-14 }, { "translation_m": 2.194940801758818e-06, "rotation_deg": 1.028382273903599e-05 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 26, "j": 30, "lidar_time_i": 1784282910.2059953, "lidar_time_j": 1784283183.2952216, "frame_counter_i": 22301, "frame_counter_j": 25032, "rtk_translation_m": 2.6736935848107626, "rtk_rotation_deg": 175.1215241758588, "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": [ [ -0.9953335616810653, 0.09055680341207573, -0.0333251608709041, -3.212196948194801 ], [ -0.08977856384982331, -0.9956687956592172, -0.024154892332332024, -2.757410426490333 ], [ -0.03536821262586163, -0.0210502899341086, 0.999152628395353, -0.06427819362861412 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 7859, "backend_objective": 577.1606717207875, "backend_elapsed_sec": 0.10045569999783766, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4192, "objective": 1054.44320095977 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6738, "objective": 571.9620381382674 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 7859, "objective": 577.1606717207875 } ], "heldout_symmetric": { "evaluated": 7905, "inliers": 5750, "inlier_ratio": 0.7273877292852625, "inlier_rmse_m": 0.11178149175643984, "median_m": 0.11486229890008998, "p90_m": 0.9026862092015043, "p95_m": 1.5300165160626082 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 36480.24021640766, 54914.931009515916, 84112.89713517294, 216219.57864769292, 472676.49016378896, 736501.1185425993 ], "effective_rank": 6, "scaled_condition_number": 20.18904245623208, "weakest_scaled_direction": [ -0.7832776666765026, -0.6053419783894618, -0.014829979270937205, 0.04619295039531547, -0.05263400654367961, 0.12211932889229789 ] }, "forward_reverse": { "translation_m": 0.002906139936114469, "rotation_deg": 0.06343916895540856 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.1556331817012896e-15, "rotation_deg": 1.428043541376894e-14 }, { "translation_m": 1.9215600145140428e-15, "rotation_deg": 8.070190727571125e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 26, "j": 31, "lidar_time_i": 1784282910.2059953, "lidar_time_j": 1784283245.892713, "frame_counter_i": 22301, "frame_counter_j": 25658, "rtk_translation_m": 6.867005915953627, "rtk_rotation_deg": 145.82839665297058, "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": [ [ -0.8291601669444454, 0.557002572130979, -0.04734503344738811, -6.639621714290518 ], [ -0.5563039913889392, -0.8305050761416612, -0.028056864893798827, -6.11595200473075 ], [ -0.05494803651992986, 0.00307459629994485, 0.9984844816721975, -0.21379717440210833 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 6497, "backend_objective": 391.5634240770806, "backend_elapsed_sec": 0.21663290000287816, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 14, "num_inliers": 3763, "objective": 1185.4290060618462 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 5653, "objective": 684.2903187539537 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 6497, "objective": 391.5634240770806 } ], "heldout_symmetric": { "evaluated": 7923, "inliers": 4833, "inlier_ratio": 0.6099962135554714, "inlier_rmse_m": 0.12348129729633385, "median_m": 0.16829967983417726, "p90_m": 1.4849730718195646, "p95_m": 2.1820192648045715 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 15283.296924362496, 28883.464673809176, 37536.78369939378, 73211.99383013883, 295122.7325758525, 662622.7649407667 ], "effective_rank": 6, "scaled_condition_number": 43.35600938855713, "weakest_scaled_direction": [ 0.9651752542755169, 0.16403194369182295, 0.02893253464986352, 0.03597486340884722, 0.0725758486677953, -0.18474770313720218 ] }, "forward_reverse": { "translation_m": 0.011230201352754812, "rotation_deg": 0.02547666380871279 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.771561172376096e-16, "rotation_deg": 3.3568020374558377e-14 }, { "translation_m": 3.3306690738754696e-16, "rotation_deg": 1.2877186688978997e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 27, "j": 28, "lidar_time_i": 1784282963.3037353, "lidar_time_j": 1784283066.8004546, "frame_counter_i": 22832, "frame_counter_j": 23867, "rtk_translation_m": 5.622863551235285, "rtk_rotation_deg": 90.80966440028486, "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": [ [ -0.0050057248075906545, 0.9997689451549719, 0.020904521588993533, 2.74120230244797 ], [ -0.9991080488777081, -0.0041236999428806076, -0.04202501358193204, 2.583961915034938 ], [ -0.04192909952444908, -0.02109624143052765, 0.9988978422294112, -0.004636717439527438 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 13, "backend_num_inliers": 7896, "backend_objective": 1079.9871118552, "backend_elapsed_sec": 0.12130400000023656, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 4259, "objective": 1023.151397767661 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6470, "objective": 470.76259236617295 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 13, "num_inliers": 7896, "objective": 1079.9871118552 } ], "heldout_symmetric": { "evaluated": 7953, "inliers": 5660, "inlier_ratio": 0.7116811266188859, "inlier_rmse_m": 0.11387091842867321, "median_m": 0.12212561338207634, "p90_m": 0.767271471014885, "p95_m": 1.1511383668365165 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 71068.97082250098, 104379.83985126337, 187293.56476249878, 225839.8186466437, 525286.3459828754, 768741.867967755 ], "effective_rank": 6, "scaled_condition_number": 10.816842555490693, "weakest_scaled_direction": [ -0.14823824065683378, 0.28331167057110984, -0.007109975062191335, -0.9369505318462866, 0.09256671090313431, 0.10613422862265139 ] }, "forward_reverse": { "translation_m": 0.011430300098438593, "rotation_deg": 0.17858658887118406 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 5.200468367758596e-16, "rotation_deg": 1.945028151596618e-15 }, { "translation_m": 4.359707647240379e-15, "rotation_deg": 3.896970141638708e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 27, "j": 29, "lidar_time_i": 1784282963.3037353, "lidar_time_j": 1784283133.8969557, "frame_counter_i": 22832, "frame_counter_j": 24538, "rtk_translation_m": 2.458639091699311, "rtk_rotation_deg": 114.59973437015381, "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": [ [ -0.41844520046973865, 0.9082396991499938, 0.0020647255915706097, 0.2765688904757041 ], [ -0.9073279133309602, -0.41792099165666197, -0.04580504800999918, -2.4770664433716276 ], [ -0.040739070857424606, -0.021040285659670886, 0.9989482641683868, -0.09923903581438462 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 8537, "backend_objective": 1088.412188786713, "backend_elapsed_sec": 0.1146429000000353, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 4382, "objective": 892.5864128272805 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6916, "objective": 812.4949883299853 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 8537, "objective": 1088.412188786713 } ], "heldout_symmetric": { "evaluated": 7928, "inliers": 6016, "inlier_ratio": 0.7588294651866802, "inlier_rmse_m": 0.10898351788466304, "median_m": 0.10644822213791405, "p90_m": 0.7433781678711225, "p95_m": 1.209383313153328 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 69257.0273144771, 75429.73880547307, 164344.04971797438, 274695.7995948595, 673059.7794943709, 793166.4014263131 ], "effective_rank": 6, "scaled_condition_number": 11.452504275483305, "weakest_scaled_direction": [ -0.8752272884177408, -0.09781033412722306, -0.027622592492544704, -0.4034161419188513, -0.20638417254509123, 0.13530821960630407 ] }, "forward_reverse": { "translation_m": 0.002552411031283606, "rotation_deg": 0.096053889700167 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0531708436766994e-06, "rotation_deg": 4.775460694632327e-06 }, { "translation_m": 1.4060466165506383e-15, "rotation_deg": 5.073305422726997e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 27, "j": 30, "lidar_time_i": 1784282963.3037353, "lidar_time_j": 1784283183.2952216, "frame_counter_i": 22832, "frame_counter_j": 25032, "rtk_translation_m": 2.614522132166758, "rtk_rotation_deg": 143.98503586800658, "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": [ [ -0.8029897605080275, 0.595910038253646, -0.009933319072655914, -0.9683340247500691 ], [ -0.5951119596316267, -0.8025974086323753, -0.0409774957751413, -3.010648368235239 ], [ -0.03239135722173524, -0.026993072539724904, 0.999110691571359, -0.05728229515931686 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 8421, "backend_objective": 687.6600541358612, "backend_elapsed_sec": 0.08787040000606794, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4332, "objective": 876.5178676987696 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 7069, "objective": 661.1233098272667 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 8421, "objective": 687.6600541358612 } ], "heldout_symmetric": { "evaluated": 7916, "inliers": 6095, "inlier_ratio": 0.7699595755432036, "inlier_rmse_m": 0.10809432324457112, "median_m": 0.10258491634321046, "p90_m": 0.6749757479546841, "p95_m": 1.1575881716166816 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 42298.77852782947, 65573.79111202822, 128946.20312676755, 276839.06019393535, 602220.0140914132, 819952.8583942328 ], "effective_rank": 6, "scaled_condition_number": 19.384788093934308, "weakest_scaled_direction": [ -0.7744985253417116, -0.6269652784901497, -0.013502706029628827, 0.028384954561481334, -0.0717144194657676, 0.03058736890273389 ] }, "forward_reverse": { "translation_m": 0.006419845852952349, "rotation_deg": 0.09683669503892821 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 8.619484885243114e-06, "rotation_deg": 1.4924084946599249e-05 }, { "translation_m": 5.707390442361855e-06, "rotation_deg": 3.091323752181703e-05 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 27, "j": 31, "lidar_time_i": 1784282963.3037353, "lidar_time_j": 1784283245.892713, "frame_counter_i": 22832, "frame_counter_j": 25658, "rtk_translation_m": 6.500901961576647, "rtk_rotation_deg": 114.69190834512194, "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": [ [ -0.41886044623131186, 0.9078185126418123, -0.020529848701674975, -2.152132024278162 ], [ -0.9069944552994834, -0.41935644649260784, -0.03874569448449772, -7.688615772852688 ], [ -0.043783383136756095, 0.0023914200592377076, 0.9990381856922187, -0.14393925577034686 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 6635, "backend_objective": 422.1406339343399, "backend_elapsed_sec": 0.10813280000002123, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 11, "num_inliers": 3819, "objective": 1126.036978018063 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5827, "objective": 697.608480663271 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 6635, "objective": 422.1406339343399 } ], "heldout_symmetric": { "evaluated": 7934, "inliers": 5084, "inlier_ratio": 0.6407864885303756, "inlier_rmse_m": 0.12195597170279295, "median_m": 0.1535183081345192, "p90_m": 1.2602701861788788, "p95_m": 2.028768905810599 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 16218.597900492301, 29610.813474848466, 50859.70618426775, 84189.35604185889, 268607.54517291614, 741368.2775907042 ], "effective_rank": 6, "scaled_condition_number": 45.71099685307573, "weakest_scaled_direction": [ 0.9706811179224929, 0.1848719218725011, 0.022025934469173954, -0.058158039492227566, 0.0384714086762028, -0.13510363125969738 ] }, "forward_reverse": { "translation_m": 0.03203829198983217, "rotation_deg": 0.21314212616538905 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.4564247694356734e-06, "rotation_deg": 1.6032002205066762e-05 }, { "translation_m": 1.961830370053296e-15, "rotation_deg": 1.918033389087075e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 27, "j": 32, "lidar_time_i": 1784282963.3037353, "lidar_time_j": 1784283298.8906527, "frame_counter_i": 22832, "frame_counter_j": 26188, "rtk_translation_m": 8.204840364723921, "rtk_rotation_deg": 69.85846065460369, "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": [ [ 0.344991018091877, 0.9385433795904607, 0.010840759329771512, -1.1809981876567281 ], [ -0.9377826210414906, 0.3451490650255806, -0.037892988593140754, -9.422887458853303 ], [ -0.03930589152382708, 0.0029064650149383774, 0.9992229978101151, -0.21261152803012742 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 6483, "backend_objective": 396.93790348862245, "backend_elapsed_sec": 0.08730060000380035, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3903, "objective": 1005.6464916035786 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5657, "objective": 653.9078918872137 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 6483, "objective": 396.93790348862245 } ], "heldout_symmetric": { "evaluated": 7803, "inliers": 4776, "inlier_ratio": 0.6120722798923491, "inlier_rmse_m": 0.12793570356778294, "median_m": 0.17308025742591235, "p90_m": 1.3317057724671162, "p95_m": 2.100100968958307 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 14644.061213091272, 27538.70115537152, 39464.85071392285, 83477.85930772258, 246229.60888379632, 741756.9500963197 ], "effective_rank": 6, "scaled_condition_number": 50.652407095458955, "weakest_scaled_direction": [ -0.8668239901485068, 0.48940268117373753, -0.005101565133149508, -0.011421772401278516, -0.06649081656358242, 0.067258265098737 ] }, "forward_reverse": { "translation_m": 0.02476270066797521, "rotation_deg": 0.18953242722457034 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0547118733938987e-15, "rotation_deg": 6.406938000382308e-14 }, { "translation_m": 3.885780586188048e-16, "rotation_deg": 2.6003136503658074e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 28, "j": 29, "lidar_time_i": 1784283066.8004546, "lidar_time_j": 1784283133.8969557, "frame_counter_i": 23867, "frame_counter_j": 24538, "rtk_translation_m": 5.5254251571777075, "rtk_rotation_deg": 23.790069969868927, "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": [ [ 0.9102734209654582, 0.414007039134331, 0.000686025559389431, 5.0754652480088 ], [ -0.4139603354973354, 0.9101932748905069, -0.013603050357479112, -2.4460497943959667 ], [ -0.00625617445225439, 0.012098507813743296, 0.9999072388926399, 0.09920510715460941 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 13, "backend_num_inliers": 7687, "backend_objective": 691.3744808466765, "backend_elapsed_sec": 0.11987450000015087, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4361, "objective": 1282.907200861367 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6545, "objective": 705.6021424606338 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 13, "num_inliers": 7687, "objective": 691.3744808466765 } ], "heldout_symmetric": { "evaluated": 7915, "inliers": 5344, "inlier_ratio": 0.6751737207833228, "inlier_rmse_m": 0.11816626627973714, "median_m": 0.1387134948339588, "p90_m": 0.8922948694305884, "p95_m": 1.2782908510513573 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 47706.79458519957, 65838.24977140462, 121311.37039411726, 144831.16109063648, 457766.56047272356, 743334.151733743 ], "effective_rank": 6, "scaled_condition_number": 15.58130572797597, "weakest_scaled_direction": [ -0.2363015537339811, 0.1752794248793193, -0.000674311212016816, -0.903670361535916, -0.2979260945745155, 0.08976727730300661 ] }, "forward_reverse": { "translation_m": 0.0036062245918322845, "rotation_deg": 0.04228106700822467 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.385205275550698e-15, "rotation_deg": 7.643117507755694e-15 }, { "translation_m": 2.3177567589976558e-15, "rotation_deg": 7.327828549230946e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 28, "j": 30, "lidar_time_i": 1784283066.8004546, "lidar_time_j": 1784283183.2952216, "frame_counter_i": 23867, "frame_counter_j": 25032, "rtk_translation_m": 6.682895390289165, "rtk_rotation_deg": 53.17537146772172, "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": [ [ 0.5999367768597786, 0.8000473984167767, -0.00015510528022255455, 5.628303348127421 ], [ -0.7994682677268504, 0.5994951024462893, -0.0381590230580222, -3.6819571285907506 ], [ -0.030436042267839462, 0.023017003051242615, 0.9992716672164833, 0.07361738353796984 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7299, "backend_objective": 559.5933776455493, "backend_elapsed_sec": 0.09829349999927217, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4158, "objective": 1005.3280584825617 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6432, "objective": 664.007289991132 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7299, "objective": 559.5933776455493 } ], "heldout_symmetric": { "evaluated": 7903, "inliers": 5118, "inlier_ratio": 0.6476021763887132, "inlier_rmse_m": 0.12162303323930705, "median_m": 0.15189509389827444, "p90_m": 1.1688885959554405, "p95_m": 1.652537357677809 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 35362.13597606628, 41678.157427662954, 65709.7625339488, 140643.99422607553, 408986.802121887, 691946.9563285194 ], "effective_rank": 6, "scaled_condition_number": 19.56745364015458, "weakest_scaled_direction": [ 0.5897020987912308, 0.7157847563490614, 0.013298141431142744, -0.3004566814756481, -0.20737613921397088, 0.08029754750525643 ] }, "forward_reverse": { "translation_m": 0.036760870155111036, "rotation_deg": 0.061189777619461184 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 8.621746912567286e-07, "rotation_deg": 7.416099437788698e-06 }, { "translation_m": 8.621746929083309e-07, "rotation_deg": 7.416099445261761e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 28, "j": 31, "lidar_time_i": 1784283066.8004546, "lidar_time_j": 1784283245.892713, "frame_counter_i": 23867, "frame_counter_j": 25658, "rtk_translation_m": 11.27338119162288, "rtk_rotation_deg": 23.882243944837096, "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": [ [ 0.9103153265395868, 0.41390312282532643, 0.0031954941039620288, 10.309251528424408 ], [ -0.41341808639106337, 0.9095727240940202, -0.0419874437056491, -4.842879639441652 ], [ -0.020285268346187872, 0.03690073846993658, 0.9991130283348808, 0.12510630066467948 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 8, "backend_num_inliers": 6079, "backend_objective": 339.1466518673327, "backend_elapsed_sec": 0.09573049999744399, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3736, "objective": 1139.7870021970266 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5486, "objective": 617.2920264829778 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 8, "num_inliers": 6079, "objective": 339.1466518673327 } ], "heldout_symmetric": { "evaluated": 7921, "inliers": 4424, "inlier_ratio": 0.558515338972352, "inlier_rmse_m": 0.1324943729180927, "median_m": 0.20709442059080946, "p90_m": 1.6130096076003502, "p95_m": 2.2550212607908677 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 14684.338050456314, 20996.39388405723, 41421.213482041596, 84660.74937247872, 232526.3089035502, 686483.6018413204 ], "effective_rank": 6, "scaled_condition_number": 46.74937334475135, "weakest_scaled_direction": [ 0.964872268560723, 0.2546023946915128, 0.014024865625530944, -0.03035208803132967, 0.050157986148948494, -0.0237772223280574 ] }, "forward_reverse": { "translation_m": 0.011294835537302048, "rotation_deg": 0.22869636591571527 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.9389211565826713e-15, "rotation_deg": 1.0478046849755252e-14 }, { "translation_m": 4.061874015289015e-06, "rotation_deg": 8.390291225107998e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 28, "j": 32, "lidar_time_i": 1784283066.8004546, "lidar_time_j": 1784283298.8906527, "frame_counter_i": 23867, "frame_counter_j": 26188, "rtk_translation_m": 12.874594603353637, "rtk_rotation_deg": 20.951203745681177, "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": [ [ 0.9368052957063175, -0.3498496435855262, 0.0010319010027924572, 12.023410387851335 ], [ 0.34984444150089505, 0.9367649292315812, -0.008962929915956054, -3.864814199428018 ], [ 0.0021690291667244028, 0.008757525040318358, 0.9999592997055636, 0.14808885116222767 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 5940, "backend_objective": 441.9883230677034, "backend_elapsed_sec": 0.08663430000160588, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3913, "objective": 1739.3293498747505 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5459, "objective": 614.846701124823 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 5940, "objective": 441.9883230677034 } ], "heldout_symmetric": { "evaluated": 7790, "inliers": 4173, "inlier_ratio": 0.5356867779204108, "inlier_rmse_m": 0.13793317141107478, "median_m": 0.22180765473389125, "p90_m": 1.572528691664501, "p95_m": 2.200974263176926 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 14665.209651964393, 24020.80571948947, 40980.30064074865, 64164.99431482809, 188393.8016565995, 694584.9334189682 ], "effective_rank": 6, "scaled_condition_number": 47.36276875018484, "weakest_scaled_direction": [ -0.8745791381663993, 0.40640117256825276, 0.006202221424973696, -0.01534104905564682, -0.05083780551231419, -0.25901953635435915 ] }, "forward_reverse": { "translation_m": 0.009260784922164039, "rotation_deg": 0.4736145985672847 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.501116646229826e-12, "rotation_deg": 1.1201470432970728e-10 }, { "translation_m": 1.907072653828599e-15, "rotation_deg": 1.4395846952577327e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 28, "j": 33, "lidar_time_i": 1784283066.8004546, "lidar_time_j": 1784283360.3892086, "frame_counter_i": 23867, "frame_counter_j": 26803, "rtk_translation_m": 13.796424177198949, "rtk_rotation_deg": 59.567633422321585, "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": [ [ 0.5177977838869198, -0.8552769395288492, -0.019667529381180906, 12.784536490864836 ], [ 0.8555003946868746, 0.5176021394309098, 0.01439096755420536, -1.81868673886356 ], [ -0.00212830740160022, -0.024277190255672067, 0.9997030000659671, 0.26166163585124713 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 12, "backend_num_inliers": 5632, "backend_objective": 342.9249705224627, "backend_elapsed_sec": 0.11299599999620114, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 3964, "objective": 1579.3444901700204 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5367, "objective": 654.139960770697 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 12, "num_inliers": 5632, "objective": 342.9249705224627 } ], "heldout_symmetric": { "evaluated": 7977, "inliers": 3986, "inlier_ratio": 0.49968659897204465, "inlier_rmse_m": 0.13776776698165452, "median_m": 0.25010093415534185, "p90_m": 1.630028974714434, "p95_m": 2.1629435915950883 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 11438.47973460157, 17583.399385488527, 32032.06026128799, 54994.521117229946, 182480.30305702027, 682370.4799451078 ], "effective_rank": 6, "scaled_condition_number": 59.65569689133837, "weakest_scaled_direction": [ 0.1322875177711942, -0.799747726751828, -0.013632124753326468, 0.019404373296195248, 0.04483919780893496, 0.5833786660555577 ] }, "forward_reverse": { "translation_m": 0.03480709552965627, "rotation_deg": 0.1328751318540718 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.928762266452001e-15, "rotation_deg": 9.003524244854555e-15 }, { "translation_m": 4.825320989909783e-15, "rotation_deg": 1.6595522851322983e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 29, "j": 30, "lidar_time_i": 1784283133.8969557, "lidar_time_j": 1784283183.2952216, "frame_counter_i": 24538, "frame_counter_j": 25032, "rtk_translation_m": 1.1998189814142899, "rtk_rotation_deg": 29.3853014978528, "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": [ [ 0.8773272847218084, 0.479879543661196, 0.003529739109635477, 1.0275725366399584 ], [ -0.4796997306016397, 0.8771595713073665, -0.02189189175453565, -0.8921258941596125 ], [ -0.013601615469281557, 0.01751313905044429, 0.9997541127783498, 0.013222532583380717 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 9152, "backend_objective": 1669.9845827207955, "backend_elapsed_sec": 0.11383700000442332, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4515, "objective": 890.8444595135836 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 7660, "objective": 1035.8641350345395 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 9152, "objective": 1669.9845827207955 } ], "heldout_symmetric": { "evaluated": 7878, "inliers": 6402, "inlier_ratio": 0.8126428027418127, "inlier_rmse_m": 0.11465616151168853, "median_m": 0.10797022509561946, "p90_m": 0.42712714089735, "p95_m": 0.6849025165473656 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 81497.03234668853, 125353.6969703817, 236951.4800607994, 383154.2070222109, 661803.4862036908, 793685.502701832 ], "effective_rank": 6, "scaled_condition_number": 9.73882704495904, "weakest_scaled_direction": [ -0.10964115359146293, 0.07463007441200648, -0.017388411389327285, -0.6813130443601991, -0.7167291811452107, 0.06495097429062456 ] }, "forward_reverse": { "translation_m": 0.059123063905753705, "rotation_deg": 0.35885997079417975 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.0383697063485126e-06, "rotation_deg": 2.0998154279827437e-06 }, { "translation_m": 1.0934648863700224e-15, "rotation_deg": 5.930291471085202e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 29, "j": 31, "lidar_time_i": 1784283133.8969557, "lidar_time_j": 1784283245.892713, "frame_counter_i": 24538, "frame_counter_j": 25658, "rtk_translation_m": 5.755712819539279, "rtk_rotation_deg": 0.09217397496817598, "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": [ [ 0.999941157593839, 0.00018585098927047247, 0.010846511388648542, 5.742627769670279 ], [ 0.0002364363011509317, 0.9992423508301242, -0.03891874105572634, -0.012675533363900718 ], [ -0.010845526624825247, 0.03891901549239097, 0.999183509063942, 0.1275546325181011 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7607, "backend_objective": 642.1981674287681, "backend_elapsed_sec": 0.0949458000031882, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4085, "objective": 1070.5027716657692 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 6454, "objective": 758.4410844048668 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7607, "objective": 642.1981674287681 } ], "heldout_symmetric": { "evaluated": 7896, "inliers": 5668, "inlier_ratio": 0.7178318135764944, "inlier_rmse_m": 0.11831514282300001, "median_m": 0.12800979691455083, "p90_m": 0.8520213437659627, "p95_m": 1.425009033651708 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 38600.108881835404, 44643.01877689907, 143105.2569055979, 201934.39674350785, 398331.3472664213, 755498.453973045 ], "effective_rank": 6, "scaled_condition_number": 19.572443598172608, "weakest_scaled_direction": [ 0.11456685513188783, -0.03810199116569201, 0.00889137450455551, 0.9442096432313197, 0.2965643028473087, -0.0765596586949824 ] }, "forward_reverse": { "translation_m": 0.03055388488044922, "rotation_deg": 0.16788276176822323 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.9797899796144628e-16, "rotation_deg": 3.552455822155075e-15 }, { "translation_m": 9.345906929778292e-08, "rotation_deg": 5.5451911504416426e-08 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 29, "j": 32, "lidar_time_i": 1784283133.8969557, "lidar_time_j": 1784283298.8906527, "frame_counter_i": 24538, "frame_counter_j": 26188, "rtk_translation_m": 7.3497160995478215, "rtk_rotation_deg": 44.7412737155501, "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": [ [ 0.7080431259113152, -0.7061317161919821, -0.007275385728595915, 6.9046602839390845 ], [ 0.7060729332119444, 0.7080791417850065, -0.00921639595991639, 1.5890876986785167 ], [ 0.011659538379139685, 0.0013886528634575843, 0.999931061027714, 0.1748431974883761 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 2, "backend_num_inliers": 7209, "backend_objective": 678.0748546012143, "backend_elapsed_sec": 0.08079139999608742, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4284, "objective": 1012.1372448117104 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6240, "objective": 648.6073320194935 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 2, "num_inliers": 7209, "objective": 678.0748546012143 } ], "heldout_symmetric": { "evaluated": 7765, "inliers": 5332, "inlier_ratio": 0.6866709594333548, "inlier_rmse_m": 0.12344589693451308, "median_m": 0.1420110787162983, "p90_m": 0.8396537728344576, "p95_m": 1.2540886288715745 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 39108.67795498014, 49638.42066771643, 146536.6818614558, 225655.08057179616, 362896.75880510744, 770305.908521257 ], "effective_rank": 6, "scaled_condition_number": 19.69654687402097, "weakest_scaled_direction": [ -0.04825106370939505, 0.09838949485342222, 0.003690094178337567, -0.880751030577914, 0.4569291376701072, 0.05891613227588333 ] }, "forward_reverse": { "translation_m": 0.01847461637742171, "rotation_deg": 0.10764991453418553 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 8.886119947416683e-16, "rotation_deg": 1.9005200009037052e-15 }, { "translation_m": 9.964986097963502e-16, "rotation_deg": 2.4850636286058835e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 29, "j": 33, "lidar_time_i": 1784283133.8969557, "lidar_time_j": 1784283360.3892086, "frame_counter_i": 24538, "frame_counter_j": 26803, "rtk_translation_m": 8.359102419083325, "rtk_rotation_deg": 83.35770339219052, "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": [ [ 0.11727327100016108, -0.9924174316596471, -0.03680517962181283, 6.791542166483658 ], [ 0.9930558621640427, 0.11683938198936715, 0.01373366076373441, 3.775031455631846 ], [ -0.0093292299014099, -0.038160190702011466, 0.999228084730925, 0.21658152867426064 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 6817, "backend_objective": 653.5900838000304, "backend_elapsed_sec": 0.08357650000107242, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 4224, "objective": 992.0590814097582 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6070, "objective": 679.2329593754828 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 6817, "objective": 653.5900838000304 } ], "heldout_symmetric": { "evaluated": 7952, "inliers": 4892, "inlier_ratio": 0.6151911468812877, "inlier_rmse_m": 0.12607024585552623, "median_m": 0.17059127216500558, "p90_m": 0.9953851258762062, "p95_m": 1.5164738320240407 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 36742.594714943065, 51078.787795489865, 86736.09775198369, 99296.01806052207, 370511.35273197334, 709912.9436864179 ], "effective_rank": 6, "scaled_condition_number": 19.321252328369155, "weakest_scaled_direction": [ 0.15591105145097048, 0.09341463765044133, 0.024550826752390807, -0.39440010641545814, 0.8992231144301225, 0.04700056327247212 ] }, "forward_reverse": { "translation_m": 0.005640558537625966, "rotation_deg": 0.060018922799470055 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 9.305364597889227e-16, "rotation_deg": 2.5857095134264785e-15 }, { "translation_m": 2.874277142073027e-15, "rotation_deg": 1.078883051621802e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 29, "j": 34, "lidar_time_i": 1784283133.8969557, "lidar_time_j": 1784283421.0858324, "frame_counter_i": 24538, "frame_counter_j": 27410, "rtk_translation_m": 8.008340805017072, "rtk_rotation_deg": 133.40261903862776, "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": [ [ -0.6862586507197509, -0.7257027478982426, -0.04903657823754838, 5.282362483435766 ], [ 0.7268489391236612, -0.686739347669981, -0.008926816712487224, 3.7461762226223545 ], [ -0.027197132332586024, -0.04176829006255042, 0.9987570905571255, 0.17172334915202492 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 7174, "backend_objective": 824.6272624549424, "backend_elapsed_sec": 0.13687229999777628, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 16, "num_inliers": 4389, "objective": 967.7702960298735 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6363, "objective": 708.0486024874558 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 7174, "objective": 824.6272624549424 } ], "heldout_symmetric": { "evaluated": 8013, "inliers": 5200, "inlier_ratio": 0.6489454636216149, "inlier_rmse_m": 0.1229782406905996, "median_m": 0.15469423976978755, "p90_m": 0.9075775199083312, "p95_m": 1.3977558671526833 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 36759.40070690087, 79671.29530560404, 99395.8500651576, 143250.60712805425, 545030.6363158716, 711706.5470191201 ], "effective_rank": 6, "scaled_condition_number": 19.361211916752247, "weakest_scaled_direction": [ 0.14975491367912053, -0.11015492367256777, 0.013247029831832074, 0.4302857189343582, 0.8803932745171404, 0.07089257426849613 ] }, "forward_reverse": { "translation_m": 0.024951598645873194, "rotation_deg": 0.20519725330906424 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.8791740161887652e-07, "rotation_deg": 6.751435337203136e-07 }, { "translation_m": 1.879173991463769e-07, "rotation_deg": 6.751435304418562e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 30, "j": 31, "lidar_time_i": 1784283183.2952216, "lidar_time_j": 1784283245.892713, "frame_counter_i": 25032, "frame_counter_j": 25658, "rtk_translation_m": 4.592128513798009, "rtk_rotation_deg": 29.29312752288462, "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": [ [ 0.8774615845539951, -0.4796197225335111, 0.005107777292523286, 3.732534176379011 ], [ 0.47964497955036145, 0.8774385702264954, -0.006499928539371522, 3.0482693132691554 ], [ -0.0013642668820459758, 0.00815335733066481, 0.9999658301862681, 0.08100434241251409 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 8022, "backend_objective": 682.2037989617496, "backend_elapsed_sec": 0.09509400000388268, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4137, "objective": 978.522081128475 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6695, "objective": 862.5292909484554 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 8022, "objective": 682.2037989617496 } ], "heldout_symmetric": { "evaluated": 7884, "inliers": 6000, "inlier_ratio": 0.76103500761035, "inlier_rmse_m": 0.11418966560335815, "median_m": 0.11409419679059057, "p90_m": 0.5905110574980494, "p95_m": 1.0447138247539731 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 42934.01908105151, 44646.61149457188, 125328.33753210271, 332646.2999853765, 373076.539164921, 719412.5731741893 ], "effective_rank": 6, "scaled_condition_number": 16.756236396505788, "weakest_scaled_direction": [ 0.34386703083246445, 0.1620296178044596, 0.0002941699220129694, -0.878345873378501, -0.24641833408627015, -0.15260508795505065 ] }, "forward_reverse": { "translation_m": 0.010805499433410783, "rotation_deg": 0.0764328342532002 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.92846187333838e-07, "rotation_deg": 2.4333550860368694e-06 }, { "translation_m": 3.9284618747328264e-07, "rotation_deg": 2.433355086259841e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 30, "j": 32, "lidar_time_i": 1784283183.2952216, "lidar_time_j": 1784283298.8906527, "frame_counter_i": 25032, "frame_counter_j": 26188, "rtk_translation_m": 6.2188831730504885, "rtk_rotation_deg": 74.12657521340287, "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": [ [ 0.2823969446931978, -0.9590301672310669, -0.022651798354619786, 3.9755458845171816 ], [ 0.9592910049684202, 0.2822284174615593, 0.01038692273111732, 5.006051817393974 ], [ -0.0035683910415569182, -0.02466290165197707, 0.999689455714863, 0.13404787229728973 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 4, "backend_num_inliers": 7342, "backend_objective": 487.57135665731505, "backend_elapsed_sec": 0.09921169999870472, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4241, "objective": 1100.7105586118391 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6327, "objective": 661.2252423873856 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 4, "num_inliers": 7342, "objective": 487.57135665731505 } ], "heldout_symmetric": { "evaluated": 7753, "inliers": 5467, "inlier_ratio": 0.7051463949438926, "inlier_rmse_m": 0.11749249261595905, "median_m": 0.13098520099369815, "p90_m": 0.7513026638122486, "p95_m": 1.1212007867363225 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 37985.62473170701, 44213.61372689415, 104801.69420644897, 224286.64425725662, 337381.0463026317, 780774.2687053755 ], "effective_rank": 6, "scaled_condition_number": 20.554466965332146, "weakest_scaled_direction": [ 0.7044484945599631, -0.4619780857842014, -0.004303544844761858, 0.1866099881394012, -0.029928861634439682, -0.5045701356967279 ] }, "forward_reverse": { "translation_m": 0.009422682577629085, "rotation_deg": 0.037900377279079585 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2755491433176288e-15, "rotation_deg": 6.085454041329009e-15 }, { "translation_m": 1.0767589454103068e-15, "rotation_deg": 5.728657435425742e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 30, "j": 33, "lidar_time_i": 1784283183.2952216, "lidar_time_j": 1784283360.3892086, "frame_counter_i": 25032, "frame_counter_j": 26803, "rtk_translation_m": 7.344850966128434, "rtk_rotation_deg": 112.7430048900433, "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": [ [ -0.37343657305038874, -0.9262562170076977, -0.050936689752771165, 2.8193864929364123 ], [ 0.9270865256976757, -0.37456761745947525, 0.01448011811228747, 6.869364164215804 ], [ -0.03249153394648, -0.04181531304821952, 0.9985969055712539, 0.12268657129687172 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 6622, "backend_objective": 564.2483177080967, "backend_elapsed_sec": 0.11038040000130422, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4146, "objective": 1058.8682734761378 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5826, "objective": 598.3433489921683 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 6622, "objective": 564.2483177080967 } ], "heldout_symmetric": { "evaluated": 7940, "inliers": 4815, "inlier_ratio": 0.6064231738035264, "inlier_rmse_m": 0.12368925274094972, "median_m": 0.16956895841990516, "p90_m": 1.0285014819689906, "p95_m": 1.396165723408926 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 31247.70599813066, 45620.48258912383, 57291.98785925098, 90396.7108457152, 355387.10381595045, 634051.6741001282 ], "effective_rank": 6, "scaled_condition_number": 20.291143104650924, "weakest_scaled_direction": [ -0.1612342482588208, -0.13331371233444483, -0.013180598965349838, 0.39984953591402794, -0.8902190937560807, -0.06072525705483543 ] }, "forward_reverse": { "translation_m": 0.0147669225762263, "rotation_deg": 0.09037435316445036 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.2900535501789785e-14, "rotation_deg": 6.835967542612091e-14 }, { "translation_m": 1.2588308695936154e-15, "rotation_deg": 2.7390601371168487e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 30, "j": 34, "lidar_time_i": 1784283183.2952216, "lidar_time_j": 1784283421.0858324, "frame_counter_i": 25032, "frame_counter_j": 27410, "rtk_translation_m": 7.0347870411064095, "rtk_rotation_deg": 162.78792053648075, "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": [ [ -0.9503307022274861, -0.30660880919323424, -0.05350321979956074, 1.527922014329157 ], [ 0.30763790373238953, -0.9514279462175943, -0.011990969239905757, 6.13889607748841 ], [ -0.04722792173020439, -0.027855004600217927, 0.9984956795739112, 0.06559236815603574 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 6955, "backend_objective": 817.7290414475714, "backend_elapsed_sec": 0.15054290000261972, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 17, "num_inliers": 4350, "objective": 1265.4554139503887 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 6180, "objective": 829.5921418372718 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 6955, "objective": 817.7290414475714 } ], "heldout_symmetric": { "evaluated": 8001, "inliers": 5143, "inlier_ratio": 0.6427946506686664, "inlier_rmse_m": 0.12352381867411776, "median_m": 0.15717724716534115, "p90_m": 0.9308450208720612, "p95_m": 1.3333693212296118 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 31002.095247374673, 68250.99095719183, 84098.96363556453, 99215.33779536579, 545909.8291591693, 665775.224512567 ], "effective_rank": 6, "scaled_condition_number": 21.47516866844496, "weakest_scaled_direction": [ 0.13220584184838674, -0.0590702940264384, 0.0053650531476843585, 0.43108680481086376, 0.8891593739774166, 0.050629105616832516 ] }, "forward_reverse": { "translation_m": 3.1821548176867474, "rotation_deg": 2.4099911828321603 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.0115134153574873e-15, "rotation_deg": 1.511175015194238e-14 }, { "translation_m": 9.408280408450705e-16, "rotation_deg": 5.4285676355284266e-15 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 30, "j": 35, "lidar_time_i": 1784283183.2952216, "lidar_time_j": 1784283483.1839027, "frame_counter_i": 25032, "frame_counter_j": 28031, "rtk_translation_m": 9.281470813161304, "rtk_rotation_deg": 166.02816439171798, "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": [ [ -0.9716040807410224, 0.23182160697342968, -0.047373545652080816, 4.436385357657898 ], [ -0.2305477922825371, -0.9725715442135184, -0.03085946953174121, 5.785088772778676 ], [ -0.05322805426690966, -0.01906132016385976, 0.9984004408615658, 0.14236662643033315 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 7206, "backend_objective": 583.2754059607055, "backend_elapsed_sec": 0.16594110000005458, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 15, "num_inliers": 4051, "objective": 2390.3243237159404 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 8, "num_inliers": 6193, "objective": 676.406060075604 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 7206, "objective": 583.2754059607055 } ], "heldout_symmetric": { "evaluated": 7726, "inliers": 5337, "inlier_ratio": 0.690784364483562, "inlier_rmse_m": 0.12252550482763978, "median_m": 0.13978604816675527, "p90_m": 0.8010550526095055, "p95_m": 1.2995635583969385 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 39719.1465222697, 44517.795224211666, 85912.81299502063, 146359.04223228933, 307965.27354962897, 660711.6091529367 ], "effective_rank": 6, "scaled_condition_number": 16.634587270964886, "weakest_scaled_direction": [ 0.21022769224122723, 0.041227263691367824, 0.01034046819579436, 0.808103007926082, 0.5326112428500406, 0.13150094080079971 ] }, "forward_reverse": { "translation_m": 0.009824737708452339, "rotation_deg": 0.14818916841264132 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.818360945611186e-15, "rotation_deg": 1.2669497184496225e-14 }, { "translation_m": 8.920730087951354e-16, "rotation_deg": 3.033557463376703e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 31, "j": 32, "lidar_time_i": 1784283245.892713, "lidar_time_j": 1784283298.8906527, "frame_counter_i": 25658, "frame_counter_j": 26188, "rtk_translation_m": 1.7043840283934533, "rtk_rotation_deg": 44.83344769051828, "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": [ [ 0.7079766041187452, -0.7061288154379645, -0.012297317946032733, 1.1561409094177428 ], [ 0.7062101707269308, 0.7076948992948283, 0.020859632641107052, 1.607770363252775 ], [ -0.006026838501921915, -0.02345262288656664, 0.9997067828605609, 0.037495010753049944 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8528, "backend_objective": 1155.051755854621, "backend_elapsed_sec": 0.09654559999762569, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4455, "objective": 1141.0439271995288 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7037, "objective": 936.42583499589 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8528, "objective": 1155.051755854621 } ], "heldout_symmetric": { "evaluated": 7771, "inliers": 6185, "inlier_ratio": 0.7959078625659504, "inlier_rmse_m": 0.10965414855273443, "median_m": 0.10095515085678866, "p90_m": 0.48442074388805095, "p95_m": 0.7645498361756877 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 69311.66109871498, 107104.28949745452, 238629.53001555963, 510060.0285515343, 617708.4261233442, 892877.5288894214 ], "effective_rank": 6, "scaled_condition_number": 12.882067962817517, "weakest_scaled_direction": [ -0.04923843952393764, 0.06169864530501276, 0.002069945837136591, -0.8824484952020298, 0.4595516259017, 0.06214117002264006 ] }, "forward_reverse": { "translation_m": 0.009608345699366565, "rotation_deg": 0.04073745185785107 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.362595086444728e-07, "rotation_deg": 9.196885157802857e-08 }, { "translation_m": 2.055892507939274e-15, "rotation_deg": 1.0431768410614332e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 31, "j": 33, "lidar_time_i": 1784283245.892713, "lidar_time_j": 1784283360.3892086, "frame_counter_i": 25658, "frame_counter_j": 26803, "rtk_translation_m": 3.3472002644811774, "rtk_rotation_deg": 83.44987736715868, "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": [ [ 0.11761195592589196, -0.9924670579491105, -0.0343011181905573, 1.0376768166365944 ], [ 0.9923750646719047, 0.11617843889313238, 0.041161892009323714, 3.794403539306469 ], [ -0.036866771498444736, -0.038880705011499844, 0.998563534251622, 0.021383721224311047 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 7129, "backend_objective": 914.7396766005143, "backend_elapsed_sec": 0.11347879999811994, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 4123, "objective": 1164.1362153457158 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 5965, "objective": 501.03357907069915 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 7129, "objective": 914.7396766005143 } ], "heldout_symmetric": { "evaluated": 7958, "inliers": 5062, "inlier_ratio": 0.636089469716009, "inlier_rmse_m": 0.11810494837446742, "median_m": 0.15047429891211012, "p90_m": 1.1072909924746916, "p95_m": 1.5485323900479468 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 53697.87483738007, 55122.61889411014, 98952.45230533827, 152798.4389974455, 417221.71094772464, 735727.6187405491 ], "effective_rank": 6, "scaled_condition_number": 13.701242758091343, "weakest_scaled_direction": [ 0.7117648542912769, -0.4617542292156325, 0.008282821139063737, 0.2380425460820263, -0.3625813220502915, -0.30327504022952917 ] }, "forward_reverse": { "translation_m": 0.01055590691460776, "rotation_deg": 0.06271370554561609 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 6.4796043696850615e-16, "rotation_deg": 5.208815676633617e-15 }, { "translation_m": 8.899114524108741e-16, "rotation_deg": 2.3302841051932675e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 31, "j": 34, "lidar_time_i": 1784283245.892713, "lidar_time_j": 1784283421.0858324, "frame_counter_i": 25658, "frame_counter_j": 27410, "rtk_translation_m": 3.311630046755356, "rtk_rotation_deg": 133.49479301359594, "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": [ [ -0.685744660822533, -0.726047167068268, -0.051085921206648885, -0.48478440011271323 ], [ 0.725552341170661, -0.6874645358320884, 0.03108556248395467, 3.7490992691755816 ], [ -0.05768934368808241, -0.015748751230306862, 0.9982103568184029, -0.0832414852883311 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7239, "backend_objective": 803.0541538700068, "backend_elapsed_sec": 0.13346390000515385, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 17, "num_inliers": 4242, "objective": 1137.4933874522956 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6063, "objective": 647.1854794450308 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7239, "objective": 803.0541538700068 } ], "heldout_symmetric": { "evaluated": 8019, "inliers": 5292, "inlier_ratio": 0.6599326599326599, "inlier_rmse_m": 0.11513164519765848, "median_m": 0.14044748704241777, "p90_m": 1.113244018978122, "p95_m": 1.4807093723824782 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 48893.3323882685, 65056.52883212168, 98663.07875035396, 143345.44266778225, 419899.00907723326, 743163.5184167791 ], "effective_rank": 6, "scaled_condition_number": 15.199690471396346, "weakest_scaled_direction": [ -0.1368563343040179, 0.16450367025894858, 0.004800144307778075, -0.43388777541254886, -0.8743518854891829, -0.037894901185876115 ] }, "forward_reverse": { "translation_m": 0.002580333972310516, "rotation_deg": 0.03476275200242535 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 3.9663350254149825e-06, "rotation_deg": 3.471838429947821e-05 }, { "translation_m": 8.969201507613714e-08, "rotation_deg": 1.515642872482503e-07 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 31, "j": 35, "lidar_time_i": 1784283245.892713, "lidar_time_j": 1784283483.1839027, "frame_counter_i": 25658, "frame_counter_j": 28031, "rtk_translation_m": 4.805055361756335, "rtk_rotation_deg": 164.67870808539848, "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": [ [ -0.9631071016403969, -0.2633751650548271, -0.05530129476040849, 1.9117439699026628 ], [ 0.2638294780649017, -0.9645688690948707, -0.0009504088829123195, 2.062163988236093 ], [ -0.05309159325012265, -0.015505457277546819, 0.998469260178188, 0.08747780844153522 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8239, "backend_objective": 1168.074823968981, "backend_elapsed_sec": 0.09365809999871999, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 4181, "objective": 922.1516546262212 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6830, "objective": 653.1583162078713 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8239, "objective": 1168.074823968981 } ], "heldout_symmetric": { "evaluated": 7744, "inliers": 6000, "inlier_ratio": 0.7747933884297521, "inlier_rmse_m": 0.1099315236542533, "median_m": 0.10601762321926043, "p90_m": 0.6071825609600104, "p95_m": 1.0734202932729884 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 61064.5055200236, 77211.93160059862, 172561.45333495192, 264728.68874414585, 478398.39742677164, 853871.5051581641 ], "effective_rank": 6, "scaled_condition_number": 13.983106845566315, "weakest_scaled_direction": [ -0.03445536924415684, 0.08383817286312215, -0.000425115133935425, -0.8382058798592384, -0.5374448387477581, -0.018648213081714573 ] }, "forward_reverse": { "translation_m": 0.002969158365974405, "rotation_deg": 0.02482993261597952 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.634754316485563e-16, "rotation_deg": 4.936654922521141e-15 }, { "translation_m": 1.3877787807814457e-16, "rotation_deg": 4.924920769750705e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 31, "j": 36, "lidar_time_i": 1784283245.892713, "lidar_time_j": 1784283558.880709, "frame_counter_i": 25658, "frame_counter_j": 28788, "rtk_translation_m": 5.921091773191984, "rtk_rotation_deg": 169.88970913698103, "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": [ [ -0.9830061741635658, 0.17694469720444117, -0.04888185437907935, 3.1142645337538695 ], [ -0.1760367303058353, -0.9841303340177249, -0.022328350798744366, 1.4160554403025953 ], [ -0.05205699894864749, -0.013343904877876586, 0.9985549604619017, 0.07726998178478338 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8155, "backend_objective": 890.3677640273263, "backend_elapsed_sec": 0.10692599999310914, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 3917, "objective": 684.5028441154692 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6579, "objective": 620.0670891462463 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8155, "objective": 890.3677640273263 } ], "heldout_symmetric": { "evaluated": 7754, "inliers": 6151, "inlier_ratio": 0.79326799071447, "inlier_rmse_m": 0.11165900641583826, "median_m": 0.10626901115399692, "p90_m": 0.5406794490632864, "p95_m": 1.1117513844978757 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 60134.47729083502, 70954.17982117122, 243470.0402365618, 328318.1119913637, 375799.5113082092, 732548.8489687224 ], "effective_rank": 6, "scaled_condition_number": 12.181844458808802, "weakest_scaled_direction": [ -0.12884738882450322, 0.029170782739809692, 0.0020839536195904787, -0.9760013104248249, -0.1352946673597839, -0.10798086866568495 ] }, "forward_reverse": { "translation_m": 0.004151989866605975, "rotation_deg": 0.032942374858786365 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 8.942634605520997e-08, "rotation_deg": 1.5843573788789117e-06 }, { "translation_m": 8.942634647591839e-08, "rotation_deg": 1.584357371928524e-06 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 32, "j": 33, "lidar_time_i": 1784283298.8906527, "lidar_time_j": 1784283360.3892086, "frame_counter_i": 26188, "frame_counter_j": 26803, "rtk_translation_m": 1.9394369188755196, "rtk_rotation_deg": 38.61642967664041, "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": [ [ 0.7842092810633423, -0.6204877137209277, -0.0032864289878168536, 1.4559940638863316 ], [ 0.6203171111627641, 0.7838443506414765, 0.028190699993512792, 1.6328024912881645 ], [ -0.014915934191282693, -0.024146036710349157, 0.999597160769469, 0.02563053125540825 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8518, "backend_objective": 1533.5718421970232, "backend_elapsed_sec": 0.10003339999821037, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4500, "objective": 853.0136282655557 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6889, "objective": 689.1214999481404 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8518, "objective": 1533.5718421970232 } ], "heldout_symmetric": { "evaluated": 7827, "inliers": 5854, "inlier_ratio": 0.7479238533282229, "inlier_rmse_m": 0.1140254726045761, "median_m": 0.11694244736623101, "p90_m": 0.5910289929156334, "p95_m": 0.8275727488834601 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 69877.78860543235, 163401.12938928476, 242803.52783533448, 357604.94618078147, 565959.3064836741, 898777.4489029327 ], "effective_rank": 6, "scaled_condition_number": 12.862133545437658, "weakest_scaled_direction": [ 0.08842727918412378, 0.05381282612169527, 0.007479436440605393, -0.4087499202178809, 0.9055066207008073, 0.04701187786402185 ] }, "forward_reverse": { "translation_m": 0.005854383016193307, "rotation_deg": 0.042356141718508426 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.1206070861174796e-12, "rotation_deg": 3.4621284797627695e-11 }, { "translation_m": 4.120854947818124e-12, "rotation_deg": 3.462211576893644e-11 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 32, "j": 34, "lidar_time_i": 1784283298.8906527, "lidar_time_j": 1784283421.0858324, "frame_counter_i": 26188, "frame_counter_j": 27410, "rtk_translation_m": 2.1435446082722334, "rtk_rotation_deg": 88.6613453230776, "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": [ [ 0.0273633108959293, -0.9992990553769012, -0.025546959499013252, 0.3581567107204911 ], [ 0.999305165642153, 0.02669860938826939, 0.02600711782650782, 2.6768961546616024 ], [ -0.025306819984382965, -0.02624084944440861, 0.9993352704086419, -0.008525602494821816 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 8356, "backend_objective": 1233.111841503875, "backend_elapsed_sec": 0.13058799999998882, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 9, "num_inliers": 4515, "objective": 913.9124198936138 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6884, "objective": 899.6867968144992 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 8356, "objective": 1233.111841503875 } ], "heldout_symmetric": { "evaluated": 7888, "inliers": 5858, "inlier_ratio": 0.7426470588235294, "inlier_rmse_m": 0.11481351455228676, "median_m": 0.11739528615465933, "p90_m": 0.6722695875318564, "p95_m": 1.08901469495805 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 56881.18119066128, 136125.61494251975, 184142.1518334489, 320828.91833767673, 509397.9806823492, 857625.2473892898 ], "effective_rank": 6, "scaled_condition_number": 15.077486603426832, "weakest_scaled_direction": [ -0.09695761816404562, 0.0169207829285552, -0.0023335116731640648, -0.42969524573468726, -0.8947905795192173, -0.0708468538820254 ] }, "forward_reverse": { "translation_m": 0.0025843844761028077, "rotation_deg": 0.009064526838353553 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.3358046614212626e-15, "rotation_deg": 1.148227768019422e-14 }, { "translation_m": 1.4047618905949049e-15, "rotation_deg": 2.3130808417733572e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 32, "j": 35, "lidar_time_i": 1784283298.8906527, "lidar_time_j": 1784283483.1839027, "frame_counter_i": 26188, "frame_counter_j": 28031, "rtk_translation_m": 3.1027737257249126, "rtk_rotation_deg": 119.84526039487966, "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": [ [ -0.49509181862611884, -0.8673771052903346, -0.05040881220224653, 0.8663587035389528 ], [ 0.868460694710409, -0.49575736655145053, 0.0008094770436961302, -0.21060946122736388 ], [ -0.02569266184333249, -0.04337730660298996, 0.9987283396396018, 0.02190326902049819 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 9073, "backend_objective": 1244.802026177927, "backend_elapsed_sec": 0.13181400000030408, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 13, "num_inliers": 4383, "objective": 854.5975043183511 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 7352, "objective": 746.1589292265447 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 9073, "objective": 1244.802026177927 } ], "heldout_symmetric": { "evaluated": 7613, "inliers": 6250, "inlier_ratio": 0.8209641402863523, "inlier_rmse_m": 0.10635864973089924, "median_m": 0.09472610366645577, "p90_m": 0.44438863958438385, "p95_m": 0.7779500609335901 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 92637.72216711899, 160304.46462182794, 266916.44140749756, 392486.21266712435, 659823.8378731592, 1011048.9027001207 ], "effective_rank": 6, "scaled_condition_number": 10.914008667831691, "weakest_scaled_direction": [ 0.10539847716857471, -0.04320914668614716, -0.010442788341845534, 0.8294929926967327, 0.5409157042445745, 0.07916220558740023 ] }, "forward_reverse": { "translation_m": 0.004447738370013908, "rotation_deg": 0.11616784364821804 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.4337214048435802e-15, "rotation_deg": 1.8996664115072616e-14 }, { "translation_m": 8.099505462106327e-16, "rotation_deg": 7.714963123860832e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 32, "j": 36, "lidar_time_i": 1784283298.8906527, "lidar_time_j": 1784283558.880709, "frame_counter_i": 26188, "frame_counter_j": 28788, "rtk_translation_m": 4.235311686227635, "rtk_rotation_deg": 145.27684317250132, "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": [ [ -0.8197333897152037, -0.569358802759699, -0.06219102432075246, 1.24764430964592 ], [ 0.5715655178110531, -0.8201738570831699, -0.025054001810063037, -1.5078012340092455 ], [ -0.036742735818188, -0.05608384684878452, 0.9977497549422089, 0.0684749652733764 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8022, "backend_objective": 711.4716146185955, "backend_elapsed_sec": 0.11844220000057248, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 29, "num_inliers": 3978, "objective": 785.8233759899201 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 6633, "objective": 862.8024228873745 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8022, "objective": 711.4716146185955 } ], "heldout_symmetric": { "evaluated": 7623, "inliers": 5804, "inlier_ratio": 0.7613800341073068, "inlier_rmse_m": 0.10898930843612145, "median_m": 0.10858673882389068, "p90_m": 0.6346716884786665, "p95_m": 1.272822442958009 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 65302.52836780936, 77054.44857594876, 192401.23695948906, 247900.29010261796, 513376.33891936264, 798444.8792278486 ], "effective_rank": 6, "scaled_condition_number": 12.22686011069426, "weakest_scaled_direction": [ -0.5005979376075405, -0.015096733966080744, -0.004277658808426327, -0.7127961536295928, -0.12293848424203545, -0.47535593778229174 ] }, "forward_reverse": { "translation_m": 0.008302372052489307, "rotation_deg": 0.047221847858387886 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 7.772800161809615e-16, "rotation_deg": 3.977197288053644e-15 }, { "translation_m": 7.696856831808123e-16, "rotation_deg": 1.6901970531227868e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 32, "j": 37, "lidar_time_i": 1784283298.8906527, "lidar_time_j": 1784283636.4777331, "frame_counter_i": 26188, "frame_counter_j": 29564, "rtk_translation_m": 3.1931475050378357, "rtk_rotation_deg": 118.78221388859481, "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": [ [ -0.48224497898845536, -0.8751899817780894, -0.03850033812439116, -3.767058051549315 ], [ 0.8752841844984565, -0.4831862055619484, 0.02021601151361305, 3.7478891752455734 ], [ -0.036295683039401214, -0.023949667010509868, 0.9990540710305869, -0.08072331680775709 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7855, "backend_objective": 553.6170568281559, "backend_elapsed_sec": 0.104597500001546, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 14, "num_inliers": 4286, "objective": 1443.5526590970578 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6519, "objective": 728.1639864411554 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7855, "objective": 553.6170568281559 } ], "heldout_symmetric": { "evaluated": 7805, "inliers": 5401, "inlier_ratio": 0.6919923126201153, "inlier_rmse_m": 0.11497666348297753, "median_m": 0.12944890777489212, "p90_m": 1.061421420073525, "p95_m": 1.7138343946937833 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 45138.50340943636, 47217.18669752816, 81084.28289484356, 119501.66785245285, 525369.1447799009, 763674.1579704946 ], "effective_rank": 6, "scaled_condition_number": 16.91846428853567, "weakest_scaled_direction": [ 0.6574222312127012, 0.4605909559749285, 0.024429024982743103, 0.3814764373915629, 0.33395030909331547, 0.3130624900739918 ] }, "forward_reverse": { "translation_m": 0.00567166990415677, "rotation_deg": 0.10190182649448634 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.2887833992611187e-16, "rotation_deg": 3.8307451321561157e-14 }, { "translation_m": 1.159106867033638e-15, "rotation_deg": 9.792794535212416e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 33, "j": 34, "lidar_time_i": 1784283360.3892086, "lidar_time_j": 1784283421.0858324, "frame_counter_i": 26803, "frame_counter_j": 27410, "rtk_translation_m": 0.5704890065278277, "rtk_rotation_deg": 50.0449156464372, "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": [ [ 0.6417320301105107, -0.7666374208950454, -0.021143945082131462, -0.21461888032798607 ], [ 0.766927852643647, 0.6415336479388286, 0.01600772943623858, 1.503956865861741 ], [ 0.0012924278109744153, -0.02648855310683145, 0.9996482812392865, 0.00879047872790855 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 9514, "backend_objective": 1345.2671068438228, "backend_elapsed_sec": 0.08930059999693185, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4711, "objective": 807.751088203844 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 7514, "objective": 663.7658058441194 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 9514, "objective": 1345.2671068438228 } ], "heldout_symmetric": { "evaluated": 8075, "inliers": 6660, "inlier_ratio": 0.8247678018575851, "inlier_rmse_m": 0.10774292174748101, "median_m": 0.09948778695103232, "p90_m": 0.4188826624780101, "p95_m": 0.6472695244209828 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 71149.4097725868, 219826.22118453225, 381397.08782854903, 456282.1335059236, 803850.1477718899, 946813.6166070981 ], "effective_rank": 6, "scaled_condition_number": 13.307399451848953, "weakest_scaled_direction": [ 0.08456772948098389, -0.03226685879428026, 0.004705237279868437, 0.4313780733187884, 0.8965312276428206, 0.043928640055757216 ] }, "forward_reverse": { "translation_m": 0.005218203824516851, "rotation_deg": 0.054034410494683056 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.5319877213864657e-15, "rotation_deg": 2.2912308442276127e-14 }, { "translation_m": 3.4915808093142e-16, "rotation_deg": 8.210893411165915e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 33, "j": 35, "lidar_time_i": 1784283360.3892086, "lidar_time_j": 1784283483.1839027, "frame_counter_i": 26803, "frame_counter_j": 28031, "rtk_translation_m": 2.3843314966611664, "rtk_rotation_deg": 81.22883071823928, "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": [ [ 0.15024285037045615, -0.987535124178277, -0.04691976584292301, -1.6090724261666272 ], [ 0.9886485900609374, 0.15012269671681636, 0.006094366332217427, -1.0804860994847696 ], [ 0.0010253209649869319, -0.04730279531554929, 0.9988800700145407, -0.034804570982266754 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 3, "backend_num_inliers": 8023, "backend_objective": 938.5023427736984, "backend_elapsed_sec": 0.08114949999435339, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 8, "num_inliers": 4186, "objective": 972.8804876548338 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6675, "objective": 661.4068390036327 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 3, "num_inliers": 8023, "objective": 938.5023427736984 } ], "heldout_symmetric": { "evaluated": 7800, "inliers": 5536, "inlier_ratio": 0.7097435897435898, "inlier_rmse_m": 0.11216257584808116, "median_m": 0.12131908005883268, "p90_m": 0.8572241403697525, "p95_m": 1.166798868262447 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 64980.90739087001, 127739.74091812782, 170655.31465281927, 202066.40723695478, 501890.8456145986, 839567.5651930566 ], "effective_rank": 6, "scaled_condition_number": 12.920219167499932, "weakest_scaled_direction": [ 0.09828196660419128, -0.07405861908960484, -0.00764901959033891, 0.8300978770251836, 0.5398184455297131, 0.06581055312354249 ] }, "forward_reverse": { "translation_m": 0.0055472051152683725, "rotation_deg": 0.06161504272529624 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 1.8732571918778673e-15, "rotation_deg": 1.1304568969979162e-14 }, { "translation_m": 6.753223014464259e-16, "rotation_deg": 1.1302760454722714e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 33, "j": 36, "lidar_time_i": 1784283360.3892086, "lidar_time_j": 1784283558.880709, "frame_counter_i": 26803, "frame_counter_j": 28788, "rtk_translation_m": 3.5605240220038255, "rtk_rotation_deg": 106.66041349586102, "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": [ [ -0.28798013085725144, -0.9545836261914464, -0.07640382738206802, -2.110876036235906 ], [ 0.9573473298874358, -0.28893559453606044, 0.0015205813003238086, -2.3327391649330336 ], [ -0.02352730730105037, -0.072707102935557, 0.9970757960124597, -0.13053696746353466 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 6636, "backend_objective": 483.2858538791529, "backend_elapsed_sec": 0.09562529999675462, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 10, "num_inliers": 3755, "objective": 1078.8740349872571 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 6, "num_inliers": 5492, "objective": 493.6826206248057 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 6636, "objective": 483.2858538791529 } ], "heldout_symmetric": { "evaluated": 7810, "inliers": 4858, "inlier_ratio": 0.62202304737516, "inlier_rmse_m": 0.11282494351568334, "median_m": 0.14981296996885993, "p90_m": 1.3324479381658763, "p95_m": 1.9779957157427326 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 38236.06679495578, 54335.64364952997, 72843.1056675724, 95276.2791436862, 358244.64875116, 707031.9341187379 ], "effective_rank": 6, "scaled_condition_number": 18.491230751066993, "weakest_scaled_direction": [ 0.6337186485717154, 0.4313555219184962, 0.010657754096631476, 0.16215477025129688, 0.06897928063999015, 0.6173873903535895 ] }, "forward_reverse": { "translation_m": 0.009207361872581905, "rotation_deg": 0.07430583689659953 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.847302891456678e-16, "rotation_deg": 1.4641870457497906e-14 }, { "translation_m": 5.978733960281817e-16, "rotation_deg": 4.3537125312492905e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 33, "j": 37, "lidar_time_i": 1784283360.3892086, "lidar_time_j": 1784283636.4777331, "frame_counter_i": 26803, "frame_counter_j": 29564, "rtk_translation_m": 4.013080941901569, "rtk_rotation_deg": 80.16578421195443, "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": [ [ 0.1656155269446003, -0.9856992565372883, -0.03112029718205315, -2.7829396927203383 ], [ 0.986093754343881, 0.1650750633420992, 0.019217989140308995, 4.898675599171988 ], [ -0.013805972579191906, -0.03387032808283578, 0.9993308741336413, -0.027013542532653992 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 10, "backend_num_inliers": 7512, "backend_objective": 689.4851053586125, "backend_elapsed_sec": 0.2124005000005127, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": false, "iterations": 59, "num_inliers": 4335, "objective": 1592.1029357270409 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 5, "num_inliers": 6323, "objective": 675.2869070546722 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 10, "num_inliers": 7512, "objective": 689.4851053586125 } ], "heldout_symmetric": { "evaluated": 7992, "inliers": 5058, "inlier_ratio": 0.6328828828828829, "inlier_rmse_m": 0.12540757119118434, "median_m": 0.1657283082571933, "p90_m": 1.1675133045894066, "p95_m": 1.7326284980689792 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 42809.32379199054, 56384.91415524119, 91345.31402366323, 97945.35394210857, 521479.87494787603, 728537.0829643705 ], "effective_rank": 6, "scaled_condition_number": 17.018187124475837, "weakest_scaled_direction": [ -0.05407514470105457, 0.10232579745601551, -0.003493943250303685, -0.8253064822041906, -0.5420907243321728, -0.10770310713195938 ] }, "forward_reverse": { "translation_m": 0.0036940550280262596, "rotation_deg": 0.12927083795080543 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 5.721958498152797e-16, "rotation_deg": 9.239552042171033e-16 }, { "translation_m": 6.087272963323595e-16, "rotation_deg": 2.0545887207732876e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 34, "j": 35, "lidar_time_i": 1784283421.0858324, "lidar_time_j": 1784283483.1839027, "frame_counter_i": 27410, "frame_counter_j": 28031, "rtk_translation_m": 2.9403442697824866, "rtk_rotation_deg": 31.183915071802076, "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": [ [ 0.8546927210108861, -0.5185183931852261, -0.025279014609337618, -2.8729928456518645 ], [ 0.5190290532818415, 0.8544860206356053, 0.02150540368567032, -0.5932763342421689 ], [ 0.01044961723522882, -0.03150105501312544, 0.999449092766959, -0.117953715679509 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 7, "backend_num_inliers": 8038, "backend_objective": 1067.3971057079461, "backend_elapsed_sec": 0.09174789999815403, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 6, "num_inliers": 4232, "objective": 931.7738320185995 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6778, "objective": 635.9128104832854 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 7, "num_inliers": 8038, "objective": 1067.3971057079461 } ], "heldout_symmetric": { "evaluated": 7861, "inliers": 5618, "inlier_ratio": 0.7146673451214858, "inlier_rmse_m": 0.11428688542425412, "median_m": 0.12488637095215238, "p90_m": 0.7542043225384906, "p95_m": 1.1645586606251188 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 60913.63905996634, 108616.79140980766, 184812.5191752562, 250394.25562252666, 445407.56801270787, 834822.4446111553 ], "effective_rank": 6, "scaled_condition_number": 13.705016766266674, "weakest_scaled_direction": [ -0.11331493649980072, 0.030545809313574757, -0.005871512491549641, -0.827900440697021, -0.5451726471333641, -0.05966447143623407 ] }, "forward_reverse": { "translation_m": 0.013436446539858737, "rotation_deg": 0.05510481554154184 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.2914688736145975e-16, "rotation_deg": 2.0710670697400905e-14 }, { "translation_m": 6.6973807122470445e-16, "rotation_deg": 2.2710478315935853e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 34, "j": 36, "lidar_time_i": 1784283421.0858324, "lidar_time_j": 1784283558.880709, "frame_counter_i": 27410, "frame_counter_j": 28788, "rtk_translation_m": 4.102710388907318, "rtk_rotation_deg": 56.61549784942384, "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": [ [ 0.5493384359693135, -0.8345153004488866, -0.04256167388029166, -4.16405703333326 ], [ 0.8355850334941111, 0.5483111845350708, 0.0339484420024438, -1.0122797958609087 ], [ -0.004993452456342919, -0.054213081728046356, 0.9985169038139087, -0.17027367608351823 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 6713, "backend_objective": 476.2669339373927, "backend_elapsed_sec": 0.10732570000254782, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 7, "num_inliers": 3761, "objective": 1093.5064618593124 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 4, "num_inliers": 5686, "objective": 533.4032942478066 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 6713, "objective": 476.2669339373927 } ], "heldout_symmetric": { "evaluated": 7871, "inliers": 5089, "inlier_ratio": 0.6465506288908652, "inlier_rmse_m": 0.11729490897001751, "median_m": 0.14677969706017155, "p90_m": 1.2514209854958938, "p95_m": 1.724581141736587 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 35042.55983786695, 49869.52208855948, 66711.1071840269, 115853.61830866558, 333428.1836141259, 692242.4573280298 ], "effective_rank": 6, "scaled_condition_number": 19.754334744118587, "weakest_scaled_direction": [ 0.7508204918989283, 0.26937809262675844, 0.010994298846574895, 0.23052054458148646, 0.08652969489023742, 0.5504144329306327 ] }, "forward_reverse": { "translation_m": 0.086056763787067, "rotation_deg": 1.0836879727751445 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 6.866350197783356e-16, "rotation_deg": 8.05187903311777e-15 }, { "translation_m": 5.828670879282072e-16, "rotation_deg": 1.1482919492982322e-14 } ] }, "accepted": false, "rejection_reasons": [ "forward_reverse_translation", "forward_reverse_rotation" ] }, { "i": 34, "j": 37, "lidar_time_i": 1784283421.0858324, "lidar_time_j": 1784283636.4777331, "frame_counter_i": 27410, "frame_counter_j": 29564, "rtk_translation_m": 3.6865711881345757, "rtk_rotation_deg": 30.12086856551724, "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": [ [ 0.8626785698110787, -0.505705541081148, -0.006898616421885131, 0.9620670621720004 ], [ 0.505743861030865, 0.8625032661149866, 0.017642646359710818, 4.153479840567233 ], [ -0.002971904827890494, -0.018708865834253074, 0.9998205569605427, 0.058506638200363954 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 8218, "backend_objective": 1068.690716507707, "backend_elapsed_sec": 0.089938400000392, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4509, "objective": 971.6761969093786 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6821, "objective": 667.6927029322333 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 8218, "objective": 1068.690716507707 } ], "heldout_symmetric": { "evaluated": 8053, "inliers": 5556, "inlier_ratio": 0.6899292189246243, "inlier_rmse_m": 0.11937420197560855, "median_m": 0.1402371743473001, "p90_m": 0.8957892077081874, "p95_m": 1.3640513262009966 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 51650.64075235593, 81611.94381125418, 212125.73042549557, 251535.97918387392, 659915.3258462228, 868173.7933021421 ], "effective_rank": 6, "scaled_condition_number": 16.808577408839643, "weakest_scaled_direction": [ 0.022461108950379973, 0.09760103533057535, -0.0016157224052011654, -0.8281056846951625, -0.5432132109370136, -0.0955369476552555 ] }, "forward_reverse": { "translation_m": 0.005083360744530967, "rotation_deg": 0.10024940937419655 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 2.2247786310271853e-15, "rotation_deg": 2.6623626721193576e-14 }, { "translation_m": 1.2609709600486848e-15, "rotation_deg": 4.595651837322293e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 35, "j": 36, "lidar_time_i": 1784283483.1839027, "lidar_time_j": 1784283558.880709, "frame_counter_i": 28031, "frame_counter_j": 28788, "rtk_translation_m": 1.2045561534352058, "rtk_rotation_deg": 25.431582777621774, "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": [ [ 0.9032195997715037, -0.4289938418735286, -0.012595166660085857, -1.3137260398549253 ], [ 0.42916827718262096, 0.9030131492973146, 0.019540779315238267, 0.3151871751627638 ], [ 0.002990727120001826, -0.023055060848669824, 0.9997297233355412, -0.024553303306160124 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 9, "backend_num_inliers": 8703, "backend_objective": 1085.3729002480788, "backend_elapsed_sec": 0.09698239999852376, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4123, "objective": 810.0674126589012 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 3, "num_inliers": 6980, "objective": 813.5615775357485 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 9, "num_inliers": 8703, "objective": 1085.3729002480788 } ], "heldout_symmetric": { "evaluated": 7596, "inliers": 6261, "inlier_ratio": 0.8242496050552922, "inlier_rmse_m": 0.10907898456971946, "median_m": 0.09854508617547358, "p90_m": 0.4112497567541792, "p95_m": 0.6555833730516762 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 83738.17090681267, 105485.73878651983, 268592.3843328227, 274645.4267945677, 503519.4854165563, 808915.9677823819 ], "effective_rank": 6, "scaled_condition_number": 9.660062538057792, "weakest_scaled_direction": [ -0.3411746897631115, -0.06416066623896582, -0.018539382817937624, -0.8784753819024407, -0.13832440619848, -0.2971311045628603 ] }, "forward_reverse": { "translation_m": 0.0026096461304541156, "rotation_deg": 0.07595057929078583 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 4.860647992286328e-16, "rotation_deg": 4.518587176851247e-15 }, { "translation_m": 4.541813357664188e-16, "rotation_deg": 1.1339971702481732e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 35, "j": 37, "lidar_time_i": 1784283483.1839027, "lidar_time_j": 1784283636.4777331, "frame_counter_i": 28031, "frame_counter_j": 29564, "rtk_translation_m": 6.084062615492111, "rtk_rotation_deg": 1.063046506284832, "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": [ [ 0.9998774858529235, 0.014750976549075564, 0.0052365995918950475, 5.741711183544315 ], [ -0.01471249771138938, 0.9998650289285977, -0.00731206788177003, 2.0542288961584916 ], [ -0.005343752944286856, 0.007234128590498913, 0.9999595550261055, 0.17112441660270292 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 6, "backend_num_inliers": 7776, "backend_objective": 737.2608101741255, "backend_elapsed_sec": 0.10571569999592612, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 5, "num_inliers": 4369, "objective": 1294.035954079842 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 7, "num_inliers": 6552, "objective": 829.4306353008226 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 6, "num_inliers": 7776, "objective": 737.2608101741255 } ], "heldout_symmetric": { "evaluated": 7778, "inliers": 5386, "inlier_ratio": 0.6924659295448702, "inlier_rmse_m": 0.12103303062396852, "median_m": 0.14004857117818825, "p90_m": 0.8070392588399934, "p95_m": 1.364817026922233 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 47587.01517243663, 55588.948690171404, 84315.1045160953, 198657.56990900284, 469871.520129114, 683464.1693404686 ], "effective_rank": 6, "scaled_condition_number": 14.36240888115935, "weakest_scaled_direction": [ 0.11420595076319973, 0.1332063805275653, 0.014478883709867574, 0.8049762560360152, 0.5471174877468391, 0.14723825842274227 ] }, "forward_reverse": { "translation_m": 0.005914867863779407, "rotation_deg": 0.06573359298031699 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 9.485749680535094e-16, "rotation_deg": 1.6699472830681995e-15 }, { "translation_m": 2.3929427303327026e-15, "rotation_deg": 2.0301050393703003e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 36, "j": 37, "lidar_time_i": 1784283558.880709, "lidar_time_j": 1784283636.4777331, "frame_counter_i": 28788, "frame_counter_j": 29564, "rtk_translation_m": 7.2781244258509386, "rtk_rotation_deg": 26.494629283906598, "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": [ [ 0.896967584484528, 0.44205676760033785, 0.005913256525196426, 7.123891991003602 ], [ -0.44107206042291147, 0.895719376157426, -0.05605565707793089, -1.4440102552749041 ], [ -0.0300764010193909, 0.04767193508650709, 0.9984101345172879, 0.10025270685855611 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "small_gicp", "backend_converged": true, "backend_iterations": 5, "backend_num_inliers": 7140, "backend_objective": 547.5959115678768, "backend_elapsed_sec": 0.07864669999980833, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "converged": true, "iterations": 4, "num_inliers": 4163, "objective": 1599.706557228684 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "converged": true, "iterations": 2, "num_inliers": 6159, "objective": 639.3994579382346 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "converged": true, "iterations": 5, "num_inliers": 7140, "objective": 547.5959115678768 } ], "heldout_symmetric": { "evaluated": 7788, "inliers": 4986, "inlier_ratio": 0.6402157164869029, "inlier_rmse_m": 0.12413886977390769, "median_m": 0.15934980571700327, "p90_m": 1.1756167084540492, "p95_m": 1.7182373270123923 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 31970.627654605425, 44442.2161118952, 51595.05148822733, 119957.40703155434, 427869.776626821, 642144.4375172488 ], "effective_rank": 6, "scaled_condition_number": 20.08544982146282, "weakest_scaled_direction": [ 0.5952856724643771, 0.5428830915821967, 0.014546708850620054, 0.1814606260226602, 0.2092925302950072, 0.5234214251065616 ] }, "forward_reverse": { "translation_m": 0.008397869289519334, "rotation_deg": 0.08479281990151419 }, "multistart": { "runs": 2, "success_rate": 1.0, "deltas": [ { "translation_m": 6.306248190244746e-14, "rotation_deg": 3.2572686238697925e-13 }, { "translation_m": 5.251483186427607e-13, "rotation_deg": 2.6887204546990844e-12 } ] }, "accepted": true, "rejection_reasons": [] } ] }