calibration/results/diagnostics/small_gicp_refined_pair0_left_rpy_scan.json

{
  "schema_version": 1,
  "diagnostic_only": true,
  "extrinsic_was_modified": false,
  "equation": "delta_ij = B_ij^-1 * (X^-1 * A_ij * X)",
  "correction_convention": "X_test = DeltaR_body * X; DeltaR uses fixed body xyz RPY axes",
  "component_frame": "delta translation/RPY components are in station-j LiDAR coordinates, not screen axes",
  "selection_rule": "Never accept a correction from selected_pair alone. Require improvement over all refined pairs, directional consistency across pairs, acceptable ground constraints, and independent visual review. This script never overwrites X.",
  "pairs_file": "D:\\Outdoor Ackerman Cart Sensor Adaptation\\LiDAR_RTK_Calibration_Rigorous_20260721\\results\\small_gicp\\B_batch2_refined.npz",
  "extrinsic_file": "D:\\Outdoor Ackerman Cart Sensor Adaptation\\LiDAR_RTK_Calibration_Rigorous_20260721\\results\\final_extrinsic_recommended.json",
  "stations": 38,
  "pairs": 80,
  "selected_pair_index": 0,
  "selected_pair_stations": [
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    1
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  "normalization": {
    "translation_scale_m": 0.05,
    "rotation_scale_deg": 0.5
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  "z_observability": {
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    "max_predicted_motion_change_translation_m": 9.977540720306595e-16,
    "max_predicted_motion_change_rotation_deg": 0.0,
    "numerically_unobservable": true,
    "note": "AX pairs cannot determine X.z when every A rotation preserves body Z; use ground/external height constraints."
  },
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