22523 lines
588 KiB
JSON
22523 lines
588 KiB
JSON
{
|
|
"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": []
|
|
}
|
|
]
|
|
} |