19969 lines
521 KiB
JSON
19969 lines
521 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": 34,
|
|
"candidate_pairs": 155,
|
|
"accepted_pairs": 133,
|
|
"parameters": {
|
|
"command": "pairs",
|
|
"backend": "small_gicp",
|
|
"frames": "<external-data>\\data4_prepared\\frames_all",
|
|
"body": "<external-data>\\data4_prepared\\body_poses_rear_gga_raw_rear_to_front.csv",
|
|
"output": "results\\02_data4_calibration\\small_gicp\\B_estimation.npz",
|
|
"quality_json": "results\\02_data4_calibration\\small_gicp\\B_quality.json",
|
|
"quality_csv": "results\\02_data4_calibration\\small_gicp\\B_quality.csv",
|
|
"time_offset": 0.0,
|
|
"min_stations": 30,
|
|
"min_pairs": 20,
|
|
"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": 204,
|
|
"translation_rms_m": 0.05535585175309386,
|
|
"translation_p95_m": 0.1115116379074081,
|
|
"rotation_rms_deg": 0.7065238289963304,
|
|
"rotation_p95_deg": 1.3657417416649225
|
|
},
|
|
"pairs": [
|
|
{
|
|
"i": 0,
|
|
"j": 1,
|
|
"lidar_time_i": 1784783825.357129,
|
|
"lidar_time_j": 1784783905.353819,
|
|
"frame_counter_i": 382,
|
|
"frame_counter_j": 1182,
|
|
"rtk_translation_m": 1.8477087194158957,
|
|
"rtk_rotation_deg": 24.171297449440786,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9125981263771286,
|
|
0.4087746109055665,
|
|
0.008244829407349786,
|
|
1.609483991564837
|
|
],
|
|
[
|
|
-0.4088014793696517,
|
|
0.9126215324852639,
|
|
0.0018135350652826935,
|
|
-1.2615552121092464
|
|
],
|
|
[
|
|
-0.006783081758140572,
|
|
-0.005025527161571208,
|
|
0.9999643663044252,
|
|
0.007918305352787577
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 9148,
|
|
"backend_objective": 925.5850309227212,
|
|
"backend_elapsed_sec": 0.3304098999942653,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4489,
|
|
"objective": 873.2318068011239
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 7401,
|
|
"objective": 985.1234245006173
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 9148,
|
|
"objective": 925.5850309227212
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7785,
|
|
"inliers": 6379,
|
|
"inlier_ratio": 0.8193962748876044,
|
|
"inlier_rmse_m": 0.11049677170760565,
|
|
"median_m": 0.10312860156857301,
|
|
"p90_m": 0.43216665589086356,
|
|
"p95_m": 0.6431893032606215
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
59129.030987988175,
|
|
141835.53829922067,
|
|
290431.2141896815,
|
|
487284.4491534459,
|
|
526614.1106785885,
|
|
828624.9457322137
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 14.01384280930539,
|
|
"weakest_scaled_direction": [
|
|
-0.008611429903847459,
|
|
0.09949068386374309,
|
|
0.0023060514298579486,
|
|
-0.46409753819566063,
|
|
0.8753677187089856,
|
|
-0.09147109548427051
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.026680306344951596,
|
|
"rotation_deg": 0.12400141971813113
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.5257718890254282e-15,
|
|
"rotation_deg": 3.066809389089159e-14
|
|
},
|
|
{
|
|
"translation_m": 1.1185402273152979e-15,
|
|
"rotation_deg": 2.8015561028388492e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 0,
|
|
"j": 2,
|
|
"lidar_time_i": 1784783825.357129,
|
|
"lidar_time_j": 1784783971.0503054,
|
|
"frame_counter_i": 382,
|
|
"frame_counter_j": 1839,
|
|
"rtk_translation_m": 2.633731568575307,
|
|
"rtk_rotation_deg": 80.09074797031298,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.18426548423554648,
|
|
0.9828685104373209,
|
|
-0.003965162060012078,
|
|
0.12828748804201265
|
|
],
|
|
[
|
|
-0.9821009084969061,
|
|
0.1839583434891191,
|
|
-0.04046150504235337,
|
|
-3.659471702290386
|
|
],
|
|
[
|
|
-0.03903891454680426,
|
|
0.011349848081003564,
|
|
0.9991732302756845,
|
|
-0.07048425573871506
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 8469,
|
|
"backend_objective": 932.0956168819439,
|
|
"backend_elapsed_sec": 0.23317170000518672,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4338,
|
|
"objective": 1043.2254570048926
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6813,
|
|
"objective": 719.7150187499116
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 8469,
|
|
"objective": 932.0956168819439
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7779,
|
|
"inliers": 5854,
|
|
"inlier_ratio": 0.7525388867463684,
|
|
"inlier_rmse_m": 0.11492533799497681,
|
|
"median_m": 0.11888823104171088,
|
|
"p90_m": 0.7382134357650539,
|
|
"p95_m": 1.1900330298653434
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
53808.45740554642,
|
|
115133.385726355,
|
|
169157.98498104126,
|
|
433349.10199557134,
|
|
587022.6537334354,
|
|
805087.9836723672
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 14.962108606915407,
|
|
"weakest_scaled_direction": [
|
|
-0.059301337748371014,
|
|
0.0618270121704139,
|
|
0.0024288157160767144,
|
|
-0.9855496669869919,
|
|
0.11838117736011235,
|
|
-0.08563073928335065
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0018465318763874656,
|
|
"rotation_deg": 0.03093450642761156
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.6088660122137097e-15,
|
|
"rotation_deg": 8.159244233220607e-15
|
|
},
|
|
{
|
|
"translation_m": 4.436865193864425e-13,
|
|
"rotation_deg": 6.5763507935517475e-12
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 0,
|
|
"j": 3,
|
|
"lidar_time_i": 1784783825.357129,
|
|
"lidar_time_j": 1784784059.7468228,
|
|
"frame_counter_i": 382,
|
|
"frame_counter_j": 2726,
|
|
"rtk_translation_m": 6.923255970100826,
|
|
"rtk_rotation_deg": 79.91583883299243,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.18135208754517712,
|
|
0.9833998431724239,
|
|
-0.006014049505849529,
|
|
1.00962374311255
|
|
],
|
|
[
|
|
-0.9827591582417957,
|
|
0.18100330257526198,
|
|
-0.037712615246437764,
|
|
-7.910621242012589
|
|
],
|
|
[
|
|
-0.03599801709655899,
|
|
0.012749623731722724,
|
|
0.9992705288658399,
|
|
-0.1131479049251044
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 7200,
|
|
"backend_objective": 489.0994289127987,
|
|
"backend_elapsed_sec": 0.25339030000031926,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 3908,
|
|
"objective": 972.5397997428759
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6140,
|
|
"objective": 697.6473636258237
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 7200,
|
|
"objective": 489.0994289127987
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7838,
|
|
"inliers": 4923,
|
|
"inlier_ratio": 0.628093901505486,
|
|
"inlier_rmse_m": 0.12365050970311489,
|
|
"median_m": 0.1611449207266876,
|
|
"p90_m": 1.1299369194229054,
|
|
"p95_m": 1.6857992321503965
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
27903.088279234078,
|
|
36451.67223560738,
|
|
55909.88534318,
|
|
213105.34497378222,
|
|
343259.1475761004,
|
|
655459.99019328
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 23.49058941554809,
|
|
"weakest_scaled_direction": [
|
|
-0.9028878702374442,
|
|
0.25066229932656925,
|
|
-0.029953556537140765,
|
|
-0.23237919716998515,
|
|
-0.051886535740285886,
|
|
-0.2537171378852663
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.010524333328229862,
|
|
"rotation_deg": 0.23898233567763014
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.0403713898150154e-15,
|
|
"rotation_deg": 8.952591147592273e-15
|
|
},
|
|
{
|
|
"translation_m": 9.155133597044475e-16,
|
|
"rotation_deg": 3.38655375367174e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 0,
|
|
"j": 4,
|
|
"lidar_time_i": 1784783825.357129,
|
|
"lidar_time_j": 1784784149.2434597,
|
|
"frame_counter_i": 382,
|
|
"frame_counter_j": 3621,
|
|
"rtk_translation_m": 2.952974950373882,
|
|
"rtk_rotation_deg": 130.25781950514033,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.6476475632293136,
|
|
0.7610364930282889,
|
|
-0.03709568872976496,
|
|
-1.3570028891787609
|
|
],
|
|
[
|
|
-0.7602011277261135,
|
|
-0.6486905928097526,
|
|
-0.035982776492063835,
|
|
-3.8785521354018337
|
|
],
|
|
[
|
|
-0.05144783034373829,
|
|
0.0048960268928340345,
|
|
0.9986636819638464,
|
|
-0.08071707267307117
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 8047,
|
|
"backend_objective": 960.8982356674691,
|
|
"backend_elapsed_sec": 0.2555380999983754,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 4415,
|
|
"objective": 995.1431994278853
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6643,
|
|
"objective": 840.4757049772511
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 8047,
|
|
"objective": 960.8982356674691
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8032,
|
|
"inliers": 5569,
|
|
"inlier_ratio": 0.693351593625498,
|
|
"inlier_rmse_m": 0.11485738628517483,
|
|
"median_m": 0.13088700168222678,
|
|
"p90_m": 0.9218091524208296,
|
|
"p95_m": 1.354492368198559
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
45835.24985805154,
|
|
112080.95011365153,
|
|
130484.87191300928,
|
|
298267.3222219178,
|
|
537247.3122031885,
|
|
747349.4564190693
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 16.30512452170669,
|
|
"weakest_scaled_direction": [
|
|
-0.07488910133867964,
|
|
0.021173407913573625,
|
|
0.0015875708907936862,
|
|
-0.712814688943928,
|
|
-0.6927663592165134,
|
|
-0.07688159519901616
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 2.3214755241040135,
|
|
"rotation_deg": 1.4768350244766943
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.049271190539746e-15,
|
|
"rotation_deg": 3.1066337440483974e-15
|
|
},
|
|
{
|
|
"translation_m": 3.4220497415806435e-15,
|
|
"rotation_deg": 6.682872246605371e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 0,
|
|
"j": 5,
|
|
"lidar_time_i": 1784783825.357129,
|
|
"lidar_time_j": 1784784224.2408776,
|
|
"frame_counter_i": 382,
|
|
"frame_counter_j": 4371,
|
|
"rtk_translation_m": 8.205074921973447,
|
|
"rtk_rotation_deg": 88.82606603101337,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.036498794675990334,
|
|
0.9993158388908494,
|
|
-0.005974289001879268,
|
|
-0.9369116740785512
|
|
],
|
|
[
|
|
-0.998566739701707,
|
|
0.036235957795985055,
|
|
-0.03938809114582146,
|
|
-9.529070391608311
|
|
],
|
|
[
|
|
-0.0391446592615627,
|
|
0.0074033441420528695,
|
|
0.9992061279569955,
|
|
-0.16997184679236196
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 6879,
|
|
"backend_objective": 479.589248694357,
|
|
"backend_elapsed_sec": 0.2800021000148263,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 3749,
|
|
"objective": 860.2201271321458
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5798,
|
|
"objective": 613.4067689784008
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 6879,
|
|
"objective": 479.589248694357
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7965,
|
|
"inliers": 4791,
|
|
"inlier_ratio": 0.6015065913370998,
|
|
"inlier_rmse_m": 0.12959862169013578,
|
|
"median_m": 0.1773042442214013,
|
|
"p90_m": 1.44613985908007,
|
|
"p95_m": 2.1131854564918497
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
23277.98079913783,
|
|
28610.078849637262,
|
|
57734.907609341,
|
|
134391.82333810086,
|
|
263732.67635003163,
|
|
611663.52234089
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 26.276485388438196,
|
|
"weakest_scaled_direction": [
|
|
0.03440417940301551,
|
|
-0.03973336609902496,
|
|
-0.003749411924063033,
|
|
0.9933037360980752,
|
|
0.029214457834631016,
|
|
0.09857868570489119
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.013711901937629547,
|
|
"rotation_deg": 0.26024107991311357
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.2411577700731207e-06,
|
|
"rotation_deg": 7.1051812670707434e-06
|
|
},
|
|
{
|
|
"translation_m": 1.9173458420030423e-15,
|
|
"rotation_deg": 8.145138298268245e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 1,
|
|
"j": 2,
|
|
"lidar_time_i": 1784783905.353819,
|
|
"lidar_time_j": 1784783971.0503054,
|
|
"frame_counter_i": 1182,
|
|
"frame_counter_j": 1839,
|
|
"rtk_translation_m": 1.7155362084417105,
|
|
"rtk_rotation_deg": 55.91945052087219,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.5702640432133582,
|
|
0.8214463514480748,
|
|
-0.0049812358506465225,
|
|
-0.37347182826086966
|
|
],
|
|
[
|
|
-0.8212044239585355,
|
|
0.5699234492621486,
|
|
-0.028470266104582403,
|
|
-2.7846446470414015
|
|
],
|
|
[
|
|
-0.02054787309877627,
|
|
0.02032618197749117,
|
|
0.9995822283520919,
|
|
-0.07351763499455538
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 8899,
|
|
"backend_objective": 1260.3771436689235,
|
|
"backend_elapsed_sec": 0.26640120000229217,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4399,
|
|
"objective": 880.1341652279585
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7046,
|
|
"objective": 677.9067358195165
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 8899,
|
|
"objective": 1260.3771436689235
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7812,
|
|
"inliers": 6235,
|
|
"inlier_ratio": 0.7981310803891449,
|
|
"inlier_rmse_m": 0.11167434332282761,
|
|
"median_m": 0.1043961904931863,
|
|
"p90_m": 0.5248354583355893,
|
|
"p95_m": 0.9460018103722176
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
64352.74081211555,
|
|
116243.33514861012,
|
|
160172.27419490964,
|
|
308032.32191253814,
|
|
601454.5575800784,
|
|
867756.9576646221
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 13.484382276710292,
|
|
"weakest_scaled_direction": [
|
|
0.1086331200310428,
|
|
-0.06937800909820407,
|
|
0.008673188306079476,
|
|
0.9747630788842918,
|
|
-0.11910044305060002,
|
|
0.13770380314161215
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.050742368484802715,
|
|
"rotation_deg": 0.5170998105709517
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.4533775614978635e-15,
|
|
"rotation_deg": 9.930467138941337e-15
|
|
},
|
|
{
|
|
"translation_m": 8.158149256099716e-16,
|
|
"rotation_deg": 9.682187128603608e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 1,
|
|
"j": 3,
|
|
"lidar_time_i": 1784783905.353819,
|
|
"lidar_time_j": 1784784059.7468228,
|
|
"frame_counter_i": 1182,
|
|
"frame_counter_j": 2726,
|
|
"rtk_translation_m": 5.885389341942907,
|
|
"rtk_rotation_deg": 55.74454138355163,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.5679059602473382,
|
|
0.8229875260128184,
|
|
-0.013204254725284094,
|
|
2.178453117101531
|
|
],
|
|
[
|
|
-0.822632379122666,
|
|
0.5669779216577895,
|
|
-0.04256765405324437,
|
|
-6.298543416126213
|
|
],
|
|
[
|
|
-0.027546127396267456,
|
|
0.035036671929786406,
|
|
0.9990063275503078,
|
|
-0.09666259763547998
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 7574,
|
|
"backend_objective": 498.08704089773306,
|
|
"backend_elapsed_sec": 0.27526229998329654,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4019,
|
|
"objective": 965.371478113488
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6347,
|
|
"objective": 638.3568163916656
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7574,
|
|
"objective": 498.08704089773306
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7871,
|
|
"inliers": 5343,
|
|
"inlier_ratio": 0.678820988438572,
|
|
"inlier_rmse_m": 0.12109867185657652,
|
|
"median_m": 0.14152252448187463,
|
|
"p90_m": 0.9536360823088159,
|
|
"p95_m": 1.4646456349434764
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
24172.660580993655,
|
|
39751.5424180105,
|
|
64123.59619526433,
|
|
131861.61042681473,
|
|
350849.4900439128,
|
|
664233.6271160279
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 27.478714016209608,
|
|
"weakest_scaled_direction": [
|
|
0.9721701864047402,
|
|
-0.21163208276291448,
|
|
0.029842064473668113,
|
|
0.012010927412879307,
|
|
0.07578244896854729,
|
|
-0.057612493872120314
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.008324315958289934,
|
|
"rotation_deg": 0.25689852176843175
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.431499025786612e-15,
|
|
"rotation_deg": 7.54032382181622e-15
|
|
},
|
|
{
|
|
"translation_m": 3.955826839503363e-15,
|
|
"rotation_deg": 3.196236133011314e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 1,
|
|
"j": 4,
|
|
"lidar_time_i": 1784783905.353819,
|
|
"lidar_time_j": 1784784149.2434597,
|
|
"frame_counter_i": 1182,
|
|
"frame_counter_j": 3621,
|
|
"rtk_translation_m": 2.3031736807956613,
|
|
"rtk_rotation_deg": 106.08652205569953,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.27957983069531067,
|
|
0.9596739975938705,
|
|
-0.029341721329572322,
|
|
-1.6355702478603278
|
|
],
|
|
[
|
|
-0.9583541849572967,
|
|
-0.2807884725114551,
|
|
-0.05210652434695195,
|
|
-3.597897620216403
|
|
],
|
|
[
|
|
-0.05824409363374912,
|
|
0.013551828175004483,
|
|
0.9982103853947311,
|
|
-0.1300981939324638
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 9,
|
|
"backend_num_inliers": 7721,
|
|
"backend_objective": 718.945055188074,
|
|
"backend_elapsed_sec": 0.41765899999882095,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 14,
|
|
"num_inliers": 4284,
|
|
"objective": 765.9840185836492
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6397,
|
|
"objective": 568.3772079008166
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 7721,
|
|
"objective": 718.945055188074
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8065,
|
|
"inliers": 5462,
|
|
"inlier_ratio": 0.6772473651580905,
|
|
"inlier_rmse_m": 0.11157492180388107,
|
|
"median_m": 0.12762272560377705,
|
|
"p90_m": 1.0355962798332152,
|
|
"p95_m": 1.5582970551014323
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
53134.399566846485,
|
|
66206.64566640113,
|
|
70397.39517738722,
|
|
203946.5430779024,
|
|
477063.3338727754,
|
|
704048.1585454656
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 13.25032679930311,
|
|
"weakest_scaled_direction": [
|
|
-0.40453888738313803,
|
|
-0.04859784536243417,
|
|
-0.021436218321679558,
|
|
-0.5853066174884034,
|
|
-0.620437690736912,
|
|
-0.32557681428863744
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.00802452890723869,
|
|
"rotation_deg": 0.011334867255723058
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.677370212168891e-15,
|
|
"rotation_deg": 3.057866681311417e-14
|
|
},
|
|
{
|
|
"translation_m": 4.308824046522781e-16,
|
|
"rotation_deg": 3.5665276927786675e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 1,
|
|
"j": 5,
|
|
"lidar_time_i": 1784783905.353819,
|
|
"lidar_time_j": 1784784224.2408776,
|
|
"frame_counter_i": 1182,
|
|
"frame_counter_j": 4371,
|
|
"rtk_translation_m": 7.590375029412286,
|
|
"rtk_rotation_deg": 64.65476858157257,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.4423345137417773,
|
|
0.896725798967955,
|
|
-0.014933834675282106,
|
|
1.0663469844514077
|
|
],
|
|
[
|
|
-0.8966018964058622,
|
|
0.4417590085102047,
|
|
-0.030887177946391366,
|
|
-8.583916327023964
|
|
],
|
|
[
|
|
-0.02110017332243524,
|
|
0.027052169328242327,
|
|
0.9994113081311411,
|
|
-0.12449407001223341
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 6831,
|
|
"backend_objective": 583.3387582515709,
|
|
"backend_elapsed_sec": 0.27231629999005236,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 3734,
|
|
"objective": 1042.8123042748869
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5761,
|
|
"objective": 739.6838060038175
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6831,
|
|
"objective": 583.3387582515709
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7998,
|
|
"inliers": 4949,
|
|
"inlier_ratio": 0.618779694923731,
|
|
"inlier_rmse_m": 0.12786963556791484,
|
|
"median_m": 0.17137278288043206,
|
|
"p90_m": 1.1870386003170634,
|
|
"p95_m": 1.8889136574723122
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
28238.0852289698,
|
|
34433.743997983,
|
|
59904.435028640124,
|
|
132278.82902109658,
|
|
289188.16053904744,
|
|
603627.3882801067
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 21.376356908960595,
|
|
"weakest_scaled_direction": [
|
|
-0.11184647134105985,
|
|
0.05115259084667171,
|
|
-0.007005960913332743,
|
|
-0.9859540039802402,
|
|
-0.03194138366606826,
|
|
-0.10816258990398264
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.012044684321695526,
|
|
"rotation_deg": 0.5185219918090508
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.978448892181099e-15,
|
|
"rotation_deg": 9.644804243470644e-15
|
|
},
|
|
{
|
|
"translation_m": 3.538792391074002e-07,
|
|
"rotation_deg": 2.84679803629782e-06
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 1,
|
|
"j": 6,
|
|
"lidar_time_i": 1784783905.353819,
|
|
"lidar_time_j": 1784784301.6372502,
|
|
"frame_counter_i": 1182,
|
|
"frame_counter_j": 5145,
|
|
"rtk_translation_m": 8.114848491620153,
|
|
"rtk_rotation_deg": 8.108983632525,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9901859095753072,
|
|
0.13975165667857892,
|
|
0.0011571232063867275,
|
|
3.680765954212872
|
|
],
|
|
[
|
|
-0.13975270128876133,
|
|
0.9901860499066577,
|
|
0.0008769565238640183,
|
|
-7.405411158982142
|
|
],
|
|
[
|
|
-0.0010232111299423143,
|
|
-0.0010300610870567503,
|
|
0.9999989460060147,
|
|
-0.049129888185824706
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 7635,
|
|
"backend_objective": 504.61016521511675,
|
|
"backend_elapsed_sec": 0.27115309998043813,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4120,
|
|
"objective": 940.9675105216816
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6457,
|
|
"objective": 599.8576761580636
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7635,
|
|
"objective": 504.61016521511675
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7899,
|
|
"inliers": 5477,
|
|
"inlier_ratio": 0.6933789087226231,
|
|
"inlier_rmse_m": 0.12162612003144421,
|
|
"median_m": 0.13882579038985704,
|
|
"p90_m": 0.7789919311960801,
|
|
"p95_m": 1.3197768971341812
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
29392.501781799183,
|
|
34476.17420216574,
|
|
70679.52345490734,
|
|
256351.0032776257,
|
|
334389.3632440969,
|
|
692495.5609974158
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 23.560279629760274,
|
|
"weakest_scaled_direction": [
|
|
0.5559722097702826,
|
|
-0.7852706399029713,
|
|
0.0012960432067103916,
|
|
0.1596355437191486,
|
|
-0.10341517697640891,
|
|
0.19510263630705632
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.008258211706006158,
|
|
"rotation_deg": 0.08942722541817279
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 8.899114524108741e-16,
|
|
"rotation_deg": 2.394549914859817e-15
|
|
},
|
|
{
|
|
"translation_m": 9.586729210015212e-16,
|
|
"rotation_deg": 4.1137391856819014e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 2,
|
|
"j": 3,
|
|
"lidar_time_i": 1784783971.0503054,
|
|
"lidar_time_j": 1784784059.7468228,
|
|
"frame_counter_i": 1839,
|
|
"frame_counter_j": 2726,
|
|
"rtk_translation_m": 4.339151683168145,
|
|
"rtk_rotation_deg": 0.17490913732054883,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9999942699015206,
|
|
0.0033852635401801128,
|
|
-1.2445459718489256e-05,
|
|
4.333063289815064
|
|
],
|
|
[
|
|
-0.0033852786535696648,
|
|
0.9999930922990801,
|
|
-0.00153467995421118,
|
|
0.08489590026183398
|
|
],
|
|
[
|
|
7.250077654139208e-06,
|
|
0.0015347132916930235,
|
|
0.9999988223005811,
|
|
0.07295896317659771
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 8587,
|
|
"backend_objective": 856.0715475024649,
|
|
"backend_elapsed_sec": 0.21810389999882318,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 4309,
|
|
"objective": 1092.9351938432587
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7052,
|
|
"objective": 788.8250774559538
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 8587,
|
|
"objective": 856.0715475024649
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7865,
|
|
"inliers": 5985,
|
|
"inlier_ratio": 0.7609663064208518,
|
|
"inlier_rmse_m": 0.11583878636897658,
|
|
"median_m": 0.11597829185554752,
|
|
"p90_m": 0.5973270988674076,
|
|
"p95_m": 0.9803465040544063
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
60122.366066792594,
|
|
66116.53641011147,
|
|
171595.85762173674,
|
|
449428.6277738331,
|
|
522163.18503998395,
|
|
799595.7532849461
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 13.299472485774093,
|
|
"weakest_scaled_direction": [
|
|
-0.2849548318491117,
|
|
0.06824523530051936,
|
|
0.006234854987810354,
|
|
-0.9503829447306366,
|
|
0.09048009226723176,
|
|
-0.05186588007871201
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.00784220284106163,
|
|
"rotation_deg": 0.01711532312869618
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.836601059614785e-16,
|
|
"rotation_deg": 3.41063218999891e-15
|
|
},
|
|
{
|
|
"translation_m": 2.37502359079444e-13,
|
|
"rotation_deg": 5.522506562167771e-12
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 2,
|
|
"j": 4,
|
|
"lidar_time_i": 1784783971.0503054,
|
|
"lidar_time_j": 1784784149.2434597,
|
|
"frame_counter_i": 1839,
|
|
"frame_counter_j": 3621,
|
|
"rtk_translation_m": 0.6150408096900305,
|
|
"rtk_rotation_deg": 50.167071534827386,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.6290828243794595,
|
|
0.7773266084656674,
|
|
-0.004259558900319325,
|
|
-0.07621676503688517
|
|
],
|
|
[
|
|
-0.777260708762794,
|
|
0.6289331938752699,
|
|
-0.01757351004813966,
|
|
-1.5068897974764908
|
|
],
|
|
[
|
|
-0.010981378980880044,
|
|
0.014365981105223549,
|
|
0.9998365005852522,
|
|
-0.06346997696192133
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 13,
|
|
"backend_num_inliers": 9254,
|
|
"backend_objective": 2072.3958582293526,
|
|
"backend_elapsed_sec": 0.3460661999997683,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4723,
|
|
"objective": 813.4360858542922
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7492,
|
|
"objective": 690.7974819308214
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 13,
|
|
"num_inliers": 9254,
|
|
"objective": 2072.3958582293526
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8059,
|
|
"inliers": 6421,
|
|
"inlier_ratio": 0.796748976299789,
|
|
"inlier_rmse_m": 0.11484342359047915,
|
|
"median_m": 0.11118234619542774,
|
|
"p90_m": 0.47119981023226915,
|
|
"p95_m": 0.7568246620211112
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
72652.97771722807,
|
|
265442.77925389394,
|
|
338966.21054632735,
|
|
531116.4377634256,
|
|
646142.3713620297,
|
|
874862.9224589223
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 12.041666425070249,
|
|
"weakest_scaled_direction": [
|
|
-0.05150819311963626,
|
|
0.0048259818320180725,
|
|
0.004054125957658555,
|
|
-0.7192534425710625,
|
|
-0.6927756416048727,
|
|
0.0066011932450483505
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.011210942709507262,
|
|
"rotation_deg": 0.11462542679280045
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.2159359137519293e-16,
|
|
"rotation_deg": 1.8073954534709845e-14
|
|
},
|
|
{
|
|
"translation_m": 3.2159359137519293e-16,
|
|
"rotation_deg": 7.124131932641092e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 2,
|
|
"j": 5,
|
|
"lidar_time_i": 1784783971.0503054,
|
|
"lidar_time_j": 1784784224.2408776,
|
|
"frame_counter_i": 1839,
|
|
"frame_counter_j": 4371,
|
|
"rtk_translation_m": 5.894923525501676,
|
|
"rtk_rotation_deg": 8.735318060700383,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9889080800989196,
|
|
0.14849643879107052,
|
|
0.0031010935877352173,
|
|
5.576686585894074
|
|
],
|
|
[
|
|
-0.14849080684774918,
|
|
0.9889118161680467,
|
|
-0.0019748733936760057,
|
|
-2.128406640853887
|
|
],
|
|
[
|
|
-0.0033599697579784374,
|
|
0.0014924843672253902,
|
|
0.9999932415239812,
|
|
0.0893816263911876
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 7992,
|
|
"backend_objective": 818.2560074086199,
|
|
"backend_elapsed_sec": 0.3050091000040993,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4103,
|
|
"objective": 875.0728423878306
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6483,
|
|
"objective": 770.6464926720075
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 7992,
|
|
"objective": 818.2560074086199
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7992,
|
|
"inliers": 5684,
|
|
"inlier_ratio": 0.7112112112112112,
|
|
"inlier_rmse_m": 0.12001317983504071,
|
|
"median_m": 0.13295490000749227,
|
|
"p90_m": 0.7598164437148195,
|
|
"p95_m": 1.2751449641484631
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
43664.47319558568,
|
|
72543.82818908544,
|
|
146201.22719238102,
|
|
301046.72712777543,
|
|
426999.7180266239,
|
|
682029.0790520908
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 15.619771158055366,
|
|
"weakest_scaled_direction": [
|
|
-0.06912375615627211,
|
|
0.025181210662304124,
|
|
-0.004005521569876777,
|
|
-0.9964863566115368,
|
|
-0.03260316362698907,
|
|
-0.02288544449991913
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.011298647069299764,
|
|
"rotation_deg": 0.02158504824207679
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.2884146304124796e-07,
|
|
"rotation_deg": 9.728381509807967e-07
|
|
},
|
|
{
|
|
"translation_m": 3.888257972851056e-16,
|
|
"rotation_deg": 6.00787833770186e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 2,
|
|
"j": 6,
|
|
"lidar_time_i": 1784783971.0503054,
|
|
"lidar_time_j": 1784784301.6372502,
|
|
"frame_counter_i": 1839,
|
|
"frame_counter_j": 5145,
|
|
"rtk_translation_m": 6.5470565092896145,
|
|
"rtk_rotation_deg": 47.810466888347186,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.679607543043412,
|
|
-0.7331071876051084,
|
|
-0.02621905643278578,
|
|
6.106807104650168
|
|
],
|
|
[
|
|
0.733558982397586,
|
|
0.6794003353205805,
|
|
0.017504391166282395,
|
|
0.7002711803942592
|
|
],
|
|
[
|
|
0.004980640753570885,
|
|
-0.03112934062924716,
|
|
0.9995029551580485,
|
|
0.11411103758893074
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 8220,
|
|
"backend_objective": 814.9787693610598,
|
|
"backend_elapsed_sec": 0.23136229999363422,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4254,
|
|
"objective": 947.8982151389088
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6874,
|
|
"objective": 693.1863685911549
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 8220,
|
|
"objective": 814.9787693610598
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7893,
|
|
"inliers": 5726,
|
|
"inlier_ratio": 0.7254529329785886,
|
|
"inlier_rmse_m": 0.11794151013960824,
|
|
"median_m": 0.12559233854459917,
|
|
"p90_m": 0.690575598333221,
|
|
"p95_m": 1.233371965878733
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
33462.004282357586,
|
|
45754.60231662486,
|
|
119903.75846890768,
|
|
284155.69505675446,
|
|
455801.7573525642,
|
|
760904.8138077022
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 22.73936753420594,
|
|
"weakest_scaled_direction": [
|
|
-0.5757045971727006,
|
|
0.8083689469310571,
|
|
0.0031816263247047873,
|
|
-0.058901349073318544,
|
|
-0.05104603613026958,
|
|
0.09496669394294326
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.004729020804343234,
|
|
"rotation_deg": 0.026463705119922912
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.1102230246251565e-16,
|
|
"rotation_deg": 1.1877367235973417e-14
|
|
},
|
|
{
|
|
"translation_m": 2.0469737016526324e-15,
|
|
"rotation_deg": 2.3599702469516848e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 2,
|
|
"j": 7,
|
|
"lidar_time_i": 1784783971.0503054,
|
|
"lidar_time_j": 1784784387.733771,
|
|
"frame_counter_i": 1839,
|
|
"frame_counter_j": 6006,
|
|
"rtk_translation_m": 5.848768648120739,
|
|
"rtk_rotation_deg": 73.12203319515616,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.3006040225830624,
|
|
-0.9533810275890214,
|
|
-0.026492222258313082,
|
|
4.516991468811158
|
|
],
|
|
[
|
|
0.9537490189394499,
|
|
0.3004829439382328,
|
|
0.008532835065217377,
|
|
-0.877901707004186
|
|
],
|
|
[
|
|
-0.000174582127080686,
|
|
-0.027831935533034088,
|
|
0.9996126014039471,
|
|
0.07024498912604761
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 8602,
|
|
"backend_objective": 1069.0019960130649,
|
|
"backend_elapsed_sec": 0.28784810000797734,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4404,
|
|
"objective": 1580.9634624997295
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7053,
|
|
"objective": 853.7741832339575
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 8602,
|
|
"objective": 1069.0019960130649
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7841,
|
|
"inliers": 5935,
|
|
"inlier_ratio": 0.7569187603621987,
|
|
"inlier_rmse_m": 0.11528530285715083,
|
|
"median_m": 0.11929042652918181,
|
|
"p90_m": 0.5949135774640592,
|
|
"p95_m": 1.0173779799268166
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
55965.556518478406,
|
|
79682.01027441541,
|
|
191552.95561020085,
|
|
508354.9613065142,
|
|
552170.9303599342,
|
|
752173.518828362
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 13.439936375510058,
|
|
"weakest_scaled_direction": [
|
|
-0.042623718185682676,
|
|
0.0406623692919027,
|
|
0.011640945315802658,
|
|
0.176259184710576,
|
|
-0.9807109261989321,
|
|
0.059439530642041626
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.011994525026310043,
|
|
"rotation_deg": 0.05882394078371607
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 7.929792726436376e-16,
|
|
"rotation_deg": 5.5004508349214495e-15
|
|
},
|
|
{
|
|
"translation_m": 5.7642290025260994e-15,
|
|
"rotation_deg": 3.473191958692075e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 3,
|
|
"j": 4,
|
|
"lidar_time_i": 1784784059.7468228,
|
|
"lidar_time_j": 1784784149.2434597,
|
|
"frame_counter_i": 2726,
|
|
"frame_counter_j": 3621,
|
|
"rtk_translation_m": 3.9735035126146885,
|
|
"rtk_rotation_deg": 50.34198067214791,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.6317826050962754,
|
|
0.7751274010635448,
|
|
-0.005315262762812435,
|
|
-4.392524912649905
|
|
],
|
|
[
|
|
-0.7749169413246866,
|
|
0.6314148152680543,
|
|
-0.028619313548737965,
|
|
-1.6018978130059436
|
|
],
|
|
[
|
|
-0.018827478475773568,
|
|
0.02220007163238442,
|
|
0.999576251655551,
|
|
-0.11203743690185429
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 7746,
|
|
"backend_objective": 764.2179390458136,
|
|
"backend_elapsed_sec": 0.29167679999955,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4500,
|
|
"objective": 930.7151403888046
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6659,
|
|
"objective": 669.8774540091324
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 7746,
|
|
"objective": 764.2179390458136
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8118,
|
|
"inliers": 5648,
|
|
"inlier_ratio": 0.6957378664695738,
|
|
"inlier_rmse_m": 0.11619002437046372,
|
|
"median_m": 0.1306868403333145,
|
|
"p90_m": 0.8673560181965742,
|
|
"p95_m": 1.321002184414254
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
43822.80846199571,
|
|
48057.061925362636,
|
|
122675.43469925378,
|
|
245703.9302869912,
|
|
649349.6183279632,
|
|
778717.1681727384
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 17.769677378118345,
|
|
"weakest_scaled_direction": [
|
|
0.4275526555866418,
|
|
0.33255436336907923,
|
|
0.011680211870989552,
|
|
-0.6096467399635787,
|
|
-0.5219889368925024,
|
|
-0.24965635775854209
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.006018969660459514,
|
|
"rotation_deg": 0.057234124307389854
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.88411095042053e-15,
|
|
"rotation_deg": 4.1321581381786235e-15
|
|
},
|
|
{
|
|
"translation_m": 9.535363269142996e-16,
|
|
"rotation_deg": 5.299246052064489e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 3,
|
|
"j": 5,
|
|
"lidar_time_i": 1784784059.7468228,
|
|
"lidar_time_j": 1784784224.2408776,
|
|
"frame_counter_i": 2726,
|
|
"frame_counter_j": 4371,
|
|
"rtk_translation_m": 2.3619393178889707,
|
|
"rtk_rotation_deg": 8.910227198020932,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9893982103948105,
|
|
0.14520885224472682,
|
|
-0.002360190101662168,
|
|
1.2315298807919002
|
|
],
|
|
[
|
|
-0.14521711564298428,
|
|
0.989392442510526,
|
|
-0.0038189039511107126,
|
|
-2.2059485326979678
|
|
],
|
|
[
|
|
0.0017806155898990599,
|
|
0.004121156733831111,
|
|
0.9999899226868719,
|
|
-0.04251477640004765
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 9081,
|
|
"backend_objective": 1099.02857099634,
|
|
"backend_elapsed_sec": 0.2541962999966927,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4292,
|
|
"objective": 786.4461680914845
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7015,
|
|
"objective": 673.9496249417359
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 9081,
|
|
"objective": 1099.02857099634
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8051,
|
|
"inliers": 6432,
|
|
"inlier_ratio": 0.7989069680784996,
|
|
"inlier_rmse_m": 0.1077590577814381,
|
|
"median_m": 0.0992503950794747,
|
|
"p90_m": 0.497401795766372,
|
|
"p95_m": 0.7191295322528828
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
63669.100211894445,
|
|
122628.58457622542,
|
|
312225.14596344164,
|
|
512488.84409043816,
|
|
588006.4146637795,
|
|
773678.6287238784
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 12.151555874812605,
|
|
"weakest_scaled_direction": [
|
|
0.027307597765790118,
|
|
-0.0461349678648937,
|
|
-0.0030753359845690697,
|
|
0.9981276090766803,
|
|
0.02864736034558914,
|
|
-0.006083329437762221
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01353229173052898,
|
|
"rotation_deg": 0.06486032517688407
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.3784667683267003e-15,
|
|
"rotation_deg": 5.235678387664452e-15
|
|
},
|
|
{
|
|
"translation_m": 1.3847223016301615e-15,
|
|
"rotation_deg": 4.449207215945554e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 3,
|
|
"j": 6,
|
|
"lidar_time_i": 1784784059.7468228,
|
|
"lidar_time_j": 1784784301.6372502,
|
|
"frame_counter_i": 2726,
|
|
"frame_counter_j": 5145,
|
|
"rtk_translation_m": 2.2300116834828536,
|
|
"rtk_rotation_deg": 47.63555775102664,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.67709207194386,
|
|
-0.7354856262118965,
|
|
-0.024641829202908194,
|
|
1.7745705825908622
|
|
],
|
|
[
|
|
0.7357999079681138,
|
|
0.6771694618675113,
|
|
0.006325768584300728,
|
|
0.6277320504546843
|
|
],
|
|
[
|
|
0.01203418235226848,
|
|
-0.022414583417047322,
|
|
0.9996763300715655,
|
|
0.051454602337922074
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 7,
|
|
"backend_num_inliers": 9640,
|
|
"backend_objective": 1324.5318215061093,
|
|
"backend_elapsed_sec": 0.28068219998385757,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4385,
|
|
"objective": 850.2055960686419
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7544,
|
|
"objective": 944.528287827637
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 9640,
|
|
"objective": 1324.5318215061093
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7952,
|
|
"inliers": 6708,
|
|
"inlier_ratio": 0.8435613682092555,
|
|
"inlier_rmse_m": 0.11222309863990207,
|
|
"median_m": 0.09985002373567062,
|
|
"p90_m": 0.3472719337003683,
|
|
"p95_m": 0.6263514571056615
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
66093.02239897958,
|
|
75656.89005478329,
|
|
234043.8065575262,
|
|
426965.29563004465,
|
|
666843.604976733,
|
|
919677.9147286874
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 13.914901775514604,
|
|
"weakest_scaled_direction": [
|
|
-0.06747562450273357,
|
|
-0.08028438637478795,
|
|
-0.01014254984946794,
|
|
0.5823576455471786,
|
|
-0.8058988638203852,
|
|
0.01688727481567722
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.009512765198853305,
|
|
"rotation_deg": 0.09743636874085052
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 7.499464594287265e-16,
|
|
"rotation_deg": 1.1388783981579358e-14
|
|
},
|
|
{
|
|
"translation_m": 7.411310411386368e-16,
|
|
"rotation_deg": 2.2093305098138265e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 3,
|
|
"j": 7,
|
|
"lidar_time_i": 1784784059.7468228,
|
|
"lidar_time_j": 1784784387.733771,
|
|
"frame_counter_i": 2726,
|
|
"frame_counter_j": 6006,
|
|
"rtk_translation_m": 2.450274232383144,
|
|
"rtk_rotation_deg": 72.94712405783562,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.29750555994608924,
|
|
-0.954356501241259,
|
|
-0.026345973880412904,
|
|
0.18064584180701715
|
|
],
|
|
[
|
|
0.9547059445146591,
|
|
0.2972376618624461,
|
|
0.013650343545833549,
|
|
-0.9662070068219294
|
|
],
|
|
[
|
|
-0.005196278431439895,
|
|
-0.029213710977717827,
|
|
0.9995596819506946,
|
|
0.0526388063859415
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 9707,
|
|
"backend_objective": 1925.8736714572685,
|
|
"backend_elapsed_sec": 0.26173430000199005,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4478,
|
|
"objective": 901.8597500613186
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7536,
|
|
"objective": 906.9466459753235
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 9707,
|
|
"objective": 1925.8736714572685
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7900,
|
|
"inliers": 6835,
|
|
"inlier_ratio": 0.8651898734177215,
|
|
"inlier_rmse_m": 0.11184568072686094,
|
|
"median_m": 0.09777937779985399,
|
|
"p90_m": 0.30794231021079616,
|
|
"p95_m": 0.5884625201365746
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
68960.67232667019,
|
|
134669.02712657556,
|
|
239610.41123137888,
|
|
402189.01429493976,
|
|
810013.9197832796,
|
|
894818.3230359544
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 12.975777248765134,
|
|
"weakest_scaled_direction": [
|
|
-0.07341355859242478,
|
|
-0.016624375753157422,
|
|
-0.014165459083398455,
|
|
0.18433866396576204,
|
|
-0.9797054408146324,
|
|
0.01816385201700405
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.010827690226297962,
|
|
"rotation_deg": 0.12520280777371934
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 8.428971209373367e-16,
|
|
"rotation_deg": 7.468673804681556e-15
|
|
},
|
|
{
|
|
"translation_m": 6.886305980398687e-16,
|
|
"rotation_deg": 4.907815366160238e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 3,
|
|
"j": 8,
|
|
"lidar_time_i": 1784784059.7468228,
|
|
"lidar_time_j": 1784784474.9314597,
|
|
"frame_counter_i": 2726,
|
|
"frame_counter_j": 6878,
|
|
"rtk_translation_m": 1.9936391786054533,
|
|
"rtk_rotation_deg": 163.56928836557165,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9584723349348874,
|
|
-0.2809125906691351,
|
|
-0.0491823095027087,
|
|
-0.6000371984860277
|
|
],
|
|
[
|
|
0.28213214547205395,
|
|
-0.9591717928748923,
|
|
-0.01977180428036556,
|
|
-0.03071934600768833
|
|
],
|
|
[
|
|
-0.04162013522084039,
|
|
-0.03282663791374737,
|
|
0.9985940998160759,
|
|
-0.031271634276991124
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 9352,
|
|
"backend_objective": 1390.9125260940514,
|
|
"backend_elapsed_sec": 0.2632891999965068,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 4350,
|
|
"objective": 731.216867716811
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7289,
|
|
"objective": 972.051009810749
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 9352,
|
|
"objective": 1390.9125260940514
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7964,
|
|
"inliers": 6575,
|
|
"inlier_ratio": 0.825590155700653,
|
|
"inlier_rmse_m": 0.10787987267070262,
|
|
"median_m": 0.09740790038508482,
|
|
"p90_m": 0.4161748314222322,
|
|
"p95_m": 0.8411795615121116
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
73425.87460077305,
|
|
111589.29592121772,
|
|
209223.73122451387,
|
|
450215.0745205711,
|
|
922500.2501722764,
|
|
951556.0240426623
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 12.959410142765178,
|
|
"weakest_scaled_direction": [
|
|
-0.04892400816475284,
|
|
0.08106406285957779,
|
|
-0.0011096859706196036,
|
|
-0.9801047124872695,
|
|
-0.17395946256606523,
|
|
-0.012910680803605518
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0056088079192386986,
|
|
"rotation_deg": 0.021536601402145895
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 8.650741990671528e-16,
|
|
"rotation_deg": 3.5054248032768868e-15
|
|
},
|
|
{
|
|
"translation_m": 9.350958321038125e-16,
|
|
"rotation_deg": 1.200625963401235e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 4,
|
|
"j": 5,
|
|
"lidar_time_i": 1784784149.2434597,
|
|
"lidar_time_j": 1784784224.2408776,
|
|
"frame_counter_i": 3621,
|
|
"frame_counter_j": 4371,
|
|
"rtk_translation_m": 5.370771070097231,
|
|
"rtk_rotation_deg": 41.431753474126985,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.7374659969389349,
|
|
-0.6752644377386929,
|
|
-0.012721732755800672,
|
|
4.019843316779792
|
|
],
|
|
[
|
|
0.675383271270438,
|
|
0.7373017858395939,
|
|
0.015604918640872895,
|
|
3.9859783604748
|
|
],
|
|
[
|
|
-0.0011576903321611819,
|
|
-0.02010014236748322,
|
|
0.9997973014716045,
|
|
0.09109239938318082
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 7645,
|
|
"backend_objective": 1056.9446442627448,
|
|
"backend_elapsed_sec": 0.2659155000001192,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4090,
|
|
"objective": 858.9660576080098
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6283,
|
|
"objective": 721.2220380460718
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 7645,
|
|
"objective": 1056.9446442627448
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8245,
|
|
"inliers": 5485,
|
|
"inlier_ratio": 0.6652516676773802,
|
|
"inlier_rmse_m": 0.12444356767629798,
|
|
"median_m": 0.1507694842440363,
|
|
"p90_m": 0.9728378708380272,
|
|
"p95_m": 1.5110915609833526
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
38052.42667159524,
|
|
85012.15121452378,
|
|
159271.63518174115,
|
|
302194.9536642637,
|
|
485374.66931093106,
|
|
647950.8436168886
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 17.0278455355532,
|
|
"weakest_scaled_direction": [
|
|
-0.002403626452954274,
|
|
-0.021700868900574353,
|
|
-0.002374023859786528,
|
|
0.9993912833974224,
|
|
0.019256749864934933,
|
|
0.01907614042305581
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.003155412913416372,
|
|
"rotation_deg": 0.05824374716659687
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 6.26712627438548e-07,
|
|
"rotation_deg": 3.535739034654156e-06
|
|
},
|
|
{
|
|
"translation_m": 6.267126280294208e-07,
|
|
"rotation_deg": 3.53573904247501e-06
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 4,
|
|
"j": 6,
|
|
"lidar_time_i": 1784784149.2434597,
|
|
"lidar_time_j": 1784784301.6372502,
|
|
"frame_counter_i": 3621,
|
|
"frame_counter_j": 5145,
|
|
"rtk_translation_m": 6.142548765456278,
|
|
"rtk_rotation_deg": 97.97753842317456,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.14229570842138864,
|
|
-0.9882693919755955,
|
|
-0.05545755357967844,
|
|
2.1761112016551567
|
|
],
|
|
[
|
|
0.9895389699740372,
|
|
-0.14337618163308116,
|
|
0.015996794773976683,
|
|
6.189580459141358
|
|
],
|
|
[
|
|
-0.02376043491980259,
|
|
-0.05260113520168032,
|
|
0.9983328915286303,
|
|
0.1279515644779054
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 7592,
|
|
"backend_objective": 598.5505091587456,
|
|
"backend_elapsed_sec": 0.3208908000087831,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 33,
|
|
"num_inliers": 4058,
|
|
"objective": 962.4915677611875
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6373,
|
|
"objective": 643.3430473354808
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 7592,
|
|
"objective": 598.5505091587456
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8146,
|
|
"inliers": 5337,
|
|
"inlier_ratio": 0.6551681807021851,
|
|
"inlier_rmse_m": 0.12030857820705748,
|
|
"median_m": 0.14646410705918078,
|
|
"p90_m": 1.1055559769962546,
|
|
"p95_m": 1.6731341122978325
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
33023.60306441301,
|
|
37755.00907861605,
|
|
65103.603795172334,
|
|
169801.5569909478,
|
|
443927.4351391484,
|
|
805139.856984835
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 24.380739297719824,
|
|
"weakest_scaled_direction": [
|
|
-0.02318604817580618,
|
|
-0.11064884812677978,
|
|
-0.014082402317942269,
|
|
0.5740007998299039,
|
|
-0.8046677893199408,
|
|
0.1002684204959461
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.011212969141455763,
|
|
"rotation_deg": 0.08373658947114908
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.5,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.749658739313112e-15,
|
|
"rotation_deg": 2.2280720281219955e-14
|
|
},
|
|
{
|
|
"translation_m": 3.9394491319598717,
|
|
"rotation_deg": 14.745371348057061
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 4,
|
|
"j": 7,
|
|
"lidar_time_i": 1784784149.2434597,
|
|
"lidar_time_j": 1784784387.733771,
|
|
"frame_counter_i": 3621,
|
|
"frame_counter_j": 6006,
|
|
"rtk_translation_m": 5.314106070657687,
|
|
"rtk_rotation_deg": 123.28910472998356,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.551778422493324,
|
|
-0.8326271560469253,
|
|
-0.0476717052766947,
|
|
2.399423296507796
|
|
],
|
|
[
|
|
0.8333280707624733,
|
|
-0.5527167714067429,
|
|
0.008276296575140195,
|
|
3.9557143537357122
|
|
],
|
|
[
|
|
-0.03324002030794837,
|
|
-0.03515948831986747,
|
|
0.9988287698254449,
|
|
0.11782839969184788
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 8120,
|
|
"backend_objective": 911.3269054429245,
|
|
"backend_elapsed_sec": 0.2587496999767609,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 14,
|
|
"num_inliers": 4340,
|
|
"objective": 1168.9548284196028
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6693,
|
|
"objective": 667.6622157295589
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 8120,
|
|
"objective": 911.3269054429245
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8094,
|
|
"inliers": 5641,
|
|
"inlier_ratio": 0.696936001976773,
|
|
"inlier_rmse_m": 0.11799538994568655,
|
|
"median_m": 0.13117582233595904,
|
|
"p90_m": 0.8734065520860324,
|
|
"p95_m": 1.3047221742601938
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
44815.362013424856,
|
|
81485.57205402893,
|
|
149068.71423976633,
|
|
283990.86435743235,
|
|
594300.7090449224,
|
|
757122.4098688973
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 16.89426071448657,
|
|
"weakest_scaled_direction": [
|
|
0.06594166242816017,
|
|
-0.06458643039461481,
|
|
0.010881795535945824,
|
|
-0.168340367826165,
|
|
0.9805634427395648,
|
|
-0.03897091240772168
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.00409529177569414,
|
|
"rotation_deg": 0.0519770010059835
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.5,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.0708381084068963e-05,
|
|
"rotation_deg": 2.448970877648878e-05
|
|
},
|
|
{
|
|
"translation_m": 4.150540892490724,
|
|
"rotation_deg": 14.444443118813961
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 4,
|
|
"j": 8,
|
|
"lidar_time_i": 1784784149.2434597,
|
|
"lidar_time_j": 1784784474.9314597,
|
|
"frame_counter_i": 3621,
|
|
"frame_counter_j": 6878,
|
|
"rtk_translation_m": 5.8981084980454765,
|
|
"rtk_rotation_deg": 146.08873096228052,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.8230585501363342,
|
|
0.5664886127873069,
|
|
-0.04080777658471567,
|
|
1.1763627337508966
|
|
],
|
|
[
|
|
-0.5656853135574051,
|
|
-0.824067644281984,
|
|
-0.030209992932839415,
|
|
3.9319938046451908
|
|
],
|
|
[
|
|
-0.05074198530739072,
|
|
-0.0017802330900263054,
|
|
0.998710209068281,
|
|
0.05831095285049873
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 8126,
|
|
"backend_objective": 1395.105996665611,
|
|
"backend_elapsed_sec": 0.29162850001011975,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 4239,
|
|
"objective": 1045.507242743976
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6636,
|
|
"objective": 683.7631380532132
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 8126,
|
|
"objective": 1395.105996665611
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8158,
|
|
"inliers": 5816,
|
|
"inlier_ratio": 0.7129198332924737,
|
|
"inlier_rmse_m": 0.11349036082807595,
|
|
"median_m": 0.12174384310683242,
|
|
"p90_m": 0.7662109101628424,
|
|
"p95_m": 1.27093399641272
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
43854.08277708816,
|
|
147424.1769120334,
|
|
165074.9461661054,
|
|
461930.31112894457,
|
|
587030.0288614861,
|
|
816428.1755470857
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 18.616925126379197,
|
|
"weakest_scaled_direction": [
|
|
0.008525273930728508,
|
|
0.07037188777655633,
|
|
0.0029364544939218615,
|
|
-0.9842591433276218,
|
|
-0.16146055329769937,
|
|
0.011442152548863415
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01249802665331653,
|
|
"rotation_deg": 0.04549823831834878
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.0565363201361521e-15,
|
|
"rotation_deg": 3.688480629111411e-15
|
|
},
|
|
{
|
|
"translation_m": 1.1567783389051904e-15,
|
|
"rotation_deg": 4.004855127086144e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 4,
|
|
"j": 9,
|
|
"lidar_time_i": 1784784149.2434597,
|
|
"lidar_time_j": 1784784549.4274275,
|
|
"frame_counter_i": 3621,
|
|
"frame_counter_j": 7623,
|
|
"rtk_translation_m": 3.1650365894055956,
|
|
"rtk_rotation_deg": 158.11607430100375,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9245775344317981,
|
|
0.37492570835562733,
|
|
-0.06772810375353527,
|
|
-5.619191303355375
|
|
],
|
|
[
|
|
-0.3762742140238945,
|
|
-0.9264746043425068,
|
|
0.007907172003650162,
|
|
0.10900839528480788
|
|
],
|
|
[
|
|
-0.059783766063366495,
|
|
0.03279513260265325,
|
|
0.9976724816255362,
|
|
-0.1753923001723502
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 13,
|
|
"backend_num_inliers": 6479,
|
|
"backend_objective": 579.3974892880387,
|
|
"backend_elapsed_sec": 0.3270135000057053,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 13,
|
|
"num_inliers": 3621,
|
|
"objective": 894.7035123523374
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5371,
|
|
"objective": 405.9383838926391
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 13,
|
|
"num_inliers": 6479,
|
|
"objective": 579.3974892880387
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8207,
|
|
"inliers": 5004,
|
|
"inlier_ratio": 0.6097234068478128,
|
|
"inlier_rmse_m": 0.11677937926620108,
|
|
"median_m": 0.16010401355984838,
|
|
"p90_m": 1.4432517724797858,
|
|
"p95_m": 2.024006149456596
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
28502.594796980742,
|
|
34954.04382772704,
|
|
72559.5090223596,
|
|
93660.34393608902,
|
|
384177.170504467,
|
|
739549.7164863998
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 25.94675052408701,
|
|
"weakest_scaled_direction": [
|
|
0.7532750218769544,
|
|
0.019100684498135678,
|
|
0.021577140405260743,
|
|
0.288207459563672,
|
|
0.16037921728186152,
|
|
-0.568296840740664
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.00616984405743089,
|
|
"rotation_deg": 0.11548555225177864
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.5,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.684743678573239,
|
|
"rotation_deg": 8.917021605976972
|
|
},
|
|
{
|
|
"translation_m": 7.327682229021407e-16,
|
|
"rotation_deg": 2.7284661037734292e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 5,
|
|
"j": 6,
|
|
"lidar_time_i": 1784784224.2408776,
|
|
"lidar_time_j": 1784784301.6372502,
|
|
"frame_counter_i": 4371,
|
|
"frame_counter_j": 5145,
|
|
"rtk_translation_m": 1.9357867378988893,
|
|
"rtk_rotation_deg": 56.54578494904757,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.5633453878228181,
|
|
-0.8258046721041434,
|
|
-0.02624152338809676,
|
|
0.123729406077843
|
|
],
|
|
[
|
|
0.8262070981271508,
|
|
0.5632389159328265,
|
|
0.011989769936393205,
|
|
2.877432713421258
|
|
],
|
|
[
|
|
0.004879039154610243,
|
|
-0.028435314483638965,
|
|
0.9995837272920881,
|
|
0.09881861794523908
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 8550,
|
|
"backend_objective": 1190.9493477572096,
|
|
"backend_elapsed_sec": 0.2862141999939922,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4238,
|
|
"objective": 1014.755055819071
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 6853,
|
|
"objective": 872.9701826168684
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 8550,
|
|
"objective": 1190.9493477572096
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8079,
|
|
"inliers": 6144,
|
|
"inlier_ratio": 0.7604901596732269,
|
|
"inlier_rmse_m": 0.11101741624951145,
|
|
"median_m": 0.1098746279102792,
|
|
"p90_m": 0.6999629104990043,
|
|
"p95_m": 1.2865591824571803
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
48399.23367949531,
|
|
63739.6105463391,
|
|
183676.69309251418,
|
|
213768.82216003287,
|
|
473447.78057423956,
|
|
812688.1981731247
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 16.791344333152654,
|
|
"weakest_scaled_direction": [
|
|
-0.08980395369145808,
|
|
-0.04103955313972449,
|
|
-0.03088420242237186,
|
|
0.5755629976571488,
|
|
-0.8111072995478653,
|
|
0.01137345014904398
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01028641250952863,
|
|
"rotation_deg": 0.031127073736479716
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 5.828670879282072e-16,
|
|
"rotation_deg": 1.762878204908289e-14
|
|
},
|
|
{
|
|
"translation_m": 1.1322097734007351e-15,
|
|
"rotation_deg": 3.785341145175467e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 5,
|
|
"j": 7,
|
|
"lidar_time_i": 1784784224.2408776,
|
|
"lidar_time_j": 1784784387.733771,
|
|
"frame_counter_i": 4371,
|
|
"frame_counter_j": 6006,
|
|
"rtk_translation_m": 0.19501559913675365,
|
|
"rtk_rotation_deg": 81.85735125585654,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.1555886146242255,
|
|
-0.9875503789153085,
|
|
-0.023161003940796943,
|
|
-1.2124291651011598
|
|
],
|
|
[
|
|
0.9878123237292821,
|
|
0.1556477784433822,
|
|
-0.0007629902985765479,
|
|
1.0841654619680714
|
|
],
|
|
[
|
|
0.004358450168371444,
|
|
-0.02276001251913443,
|
|
0.9997314568134081,
|
|
0.025125772210571946
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 9069,
|
|
"backend_objective": 1560.896240171915,
|
|
"backend_elapsed_sec": 0.28599299999768846,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 4399,
|
|
"objective": 982.6352876946811
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7186,
|
|
"objective": 1034.0781039114954
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 9069,
|
|
"objective": 1560.896240171915
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8027,
|
|
"inliers": 6496,
|
|
"inlier_ratio": 0.8092687180764918,
|
|
"inlier_rmse_m": 0.10777871969807898,
|
|
"median_m": 0.09896862680977196,
|
|
"p90_m": 0.5028552845289067,
|
|
"p95_m": 0.9027651744908558
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
58304.9798973356,
|
|
122521.56729192781,
|
|
313784.5960502238,
|
|
428531.57400996145,
|
|
649057.5496280706,
|
|
886433.1390384957
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 15.20338641054919,
|
|
"weakest_scaled_direction": [
|
|
-0.07106918665679612,
|
|
-0.009478504710697777,
|
|
-0.017555608793906902,
|
|
0.18019014046939646,
|
|
-0.9806403872882102,
|
|
-0.020665753146522137
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.010579714886860828,
|
|
"rotation_deg": 0.03333492483252218
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 0.00020624130376430415,
|
|
"rotation_deg": 0.0012803364903162873
|
|
},
|
|
{
|
|
"translation_m": 0.00020624130376367875,
|
|
"rotation_deg": 0.0012803364903171586
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 5,
|
|
"j": 8,
|
|
"lidar_time_i": 1784784224.2408776,
|
|
"lidar_time_j": 1784784474.9314597,
|
|
"frame_counter_i": 4371,
|
|
"frame_counter_j": 6878,
|
|
"rtk_translation_m": 1.8038807059856978,
|
|
"rtk_rotation_deg": 172.47951556359365,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.989043789356313,
|
|
-0.13824265003616112,
|
|
-0.051781777168087864,
|
|
-2.127120411843897
|
|
],
|
|
[
|
|
0.1399077673482785,
|
|
-0.9897091205461781,
|
|
-0.030027876104239497,
|
|
1.8903823432013909
|
|
],
|
|
[
|
|
-0.047097763973738764,
|
|
-0.036943557201372136,
|
|
0.9982068794643641,
|
|
-0.05425103705640133
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 8167,
|
|
"backend_objective": 911.0549254504226,
|
|
"backend_elapsed_sec": 0.39979839997249655,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 13,
|
|
"num_inliers": 4185,
|
|
"objective": 990.3528848304294
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6647,
|
|
"objective": 739.1754678887037
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 8167,
|
|
"objective": 911.0549254504226
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8091,
|
|
"inliers": 5903,
|
|
"inlier_ratio": 0.7295760721789643,
|
|
"inlier_rmse_m": 0.11311887218463837,
|
|
"median_m": 0.1191035473389751,
|
|
"p90_m": 0.8208300037591001,
|
|
"p95_m": 1.3956153630557229
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
43843.61449220036,
|
|
72080.001103961,
|
|
156100.69687134246,
|
|
244088.09168319812,
|
|
548300.927810985,
|
|
747685.4323274246
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 17.053462425193878,
|
|
"weakest_scaled_direction": [
|
|
0.08955216039964135,
|
|
-0.07466934828288518,
|
|
0.012579064266736778,
|
|
0.9768816758948728,
|
|
0.17817914185739156,
|
|
0.014179239920658575
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.009759205787181369,
|
|
"rotation_deg": 0.05935114015788255
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 5.281202090555001e-16,
|
|
"rotation_deg": 4.827670870689668e-15
|
|
},
|
|
{
|
|
"translation_m": 7.102651377905854e-07,
|
|
"rotation_deg": 2.5601660870277687e-06
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 5,
|
|
"j": 9,
|
|
"lidar_time_i": 1784784224.2408776,
|
|
"lidar_time_j": 1784784549.4274275,
|
|
"frame_counter_i": 4371,
|
|
"frame_counter_j": 7623,
|
|
"rtk_translation_m": 7.881613621164215,
|
|
"rtk_rotation_deg": 160.45217222486949,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.935144645130155,
|
|
-0.3486484848767959,
|
|
-0.06283889462355961,
|
|
-9.741602292759962
|
|
],
|
|
[
|
|
0.34846385695356036,
|
|
-0.9372141946978932,
|
|
0.014230026487268855,
|
|
3.66811733618357
|
|
],
|
|
[
|
|
-0.06385478119486813,
|
|
-0.008589950517594196,
|
|
0.9979222312728888,
|
|
-0.2770624000724965
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 5548,
|
|
"backend_objective": 430.6958553724255,
|
|
"backend_elapsed_sec": 0.37327330000698566,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 15,
|
|
"num_inliers": 3565,
|
|
"objective": 1021.7625342165487
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 5015,
|
|
"objective": 560.8323333383298
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5548,
|
|
"objective": 430.6958553724255
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8140,
|
|
"inliers": 4192,
|
|
"inlier_ratio": 0.514987714987715,
|
|
"inlier_rmse_m": 0.13057312144553648,
|
|
"median_m": 0.2372434596641945,
|
|
"p90_m": 1.6330972938281554,
|
|
"p95_m": 2.609032762991326
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
16689.387754071493,
|
|
21711.291631547363,
|
|
43013.95749940708,
|
|
76472.2653266211,
|
|
250776.93482799002,
|
|
613561.2792232784
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 36.76355827214787,
|
|
"weakest_scaled_direction": [
|
|
0.6453018415031739,
|
|
0.22710962037942833,
|
|
0.022800493863631806,
|
|
0.4858979583141081,
|
|
0.23517105842851208,
|
|
-0.4899843247973277
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.013423709236357283,
|
|
"rotation_deg": 0.8456480282562385
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 8.482940736268976e-05,
|
|
"rotation_deg": 0.0028185092825386508
|
|
},
|
|
{
|
|
"translation_m": 5.113269112482064e-06,
|
|
"rotation_deg": 1.1019559180956556e-05
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 5,
|
|
"j": 10,
|
|
"lidar_time_i": 1784784224.2408776,
|
|
"lidar_time_j": 1784784614.7244046,
|
|
"frame_counter_i": 4371,
|
|
"frame_counter_j": 8276,
|
|
"rtk_translation_m": 7.671857805815354,
|
|
"rtk_rotation_deg": 143.54232919109316,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.8102224662916406,
|
|
0.584630388816484,
|
|
-0.041795497228493836,
|
|
-9.91223605454469
|
|
],
|
|
[
|
|
-0.5828986823978723,
|
|
-0.8111835906903282,
|
|
-0.04701391553115116,
|
|
0.439643191413919
|
|
],
|
|
[
|
|
-0.0613895852332592,
|
|
-0.013729190327023234,
|
|
0.998019452795311,
|
|
-0.2327682687560738
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 6242,
|
|
"backend_objective": 459.54726521698797,
|
|
"backend_elapsed_sec": 0.7127776000124868,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 20,
|
|
"num_inliers": 3943,
|
|
"objective": 1737.3754506655084
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": false,
|
|
"iterations": 59,
|
|
"num_inliers": 5509,
|
|
"objective": 649.7054411431354
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 6242,
|
|
"objective": 459.54726521698797
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8228,
|
|
"inliers": 4478,
|
|
"inlier_ratio": 0.5442391832766165,
|
|
"inlier_rmse_m": 0.13173165083201857,
|
|
"median_m": 0.21318490235964233,
|
|
"p90_m": 1.7031669990975942,
|
|
"p95_m": 2.4625418073761773
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
23843.846922270168,
|
|
31566.52141650056,
|
|
46612.5091334634,
|
|
77075.53779336283,
|
|
268920.7635411925,
|
|
627980.7105134609
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 26.337222871823027,
|
|
"weakest_scaled_direction": [
|
|
-0.039136354401498145,
|
|
-0.04141233640357178,
|
|
-0.0011318194785625462,
|
|
0.8232989865454154,
|
|
-0.5605664462660774,
|
|
-0.06852825122778679
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.00523999417676037,
|
|
"rotation_deg": 0.17134499262937464
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 8.493957768041548e-07,
|
|
"rotation_deg": 1.6379535954423843e-06
|
|
},
|
|
{
|
|
"translation_m": 1.0057327710640516e-15,
|
|
"rotation_deg": 2.981354146035955e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 6,
|
|
"j": 7,
|
|
"lidar_time_i": 1784784301.6372502,
|
|
"lidar_time_j": 1784784387.733771,
|
|
"frame_counter_i": 5145,
|
|
"frame_counter_j": 6006,
|
|
"rtk_translation_m": 2.130456053070114,
|
|
"rtk_rotation_deg": 25.311566306808988,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.903816336210661,
|
|
-0.4278967661815101,
|
|
-0.0045152951336126295,
|
|
-2.238117232394065
|
|
],
|
|
[
|
|
0.42787476180112083,
|
|
0.9038236542245877,
|
|
-0.005098066079151287,
|
|
0.08983993299489049
|
|
],
|
|
[
|
|
0.006262476536612753,
|
|
0.0026757345756621017,
|
|
0.9999768106471816,
|
|
-0.04295472992242238
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 9528,
|
|
"backend_objective": 967.9119598478012,
|
|
"backend_elapsed_sec": 0.22638690000167117,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4417,
|
|
"objective": 907.9839605449163
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7396,
|
|
"objective": 598.4407511552671
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 9528,
|
|
"objective": 967.9119598478012
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7928,
|
|
"inliers": 6770,
|
|
"inlier_ratio": 0.8539354187689203,
|
|
"inlier_rmse_m": 0.10462253085153163,
|
|
"median_m": 0.09089497611222586,
|
|
"p90_m": 0.34589342958747005,
|
|
"p95_m": 0.6093985534408818
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
67533.4761572415,
|
|
75784.2925666808,
|
|
254733.81929713167,
|
|
520339.422211383,
|
|
678526.7038856247,
|
|
844365.0261521871
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 12.502910766598342,
|
|
"weakest_scaled_direction": [
|
|
-0.04916099685404092,
|
|
-0.020925498702230427,
|
|
-0.0009383292158298141,
|
|
0.189497561190563,
|
|
-0.9804246414553831,
|
|
0.0016236257497808974
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.002843314342407394,
|
|
"rotation_deg": 0.028424505305675103
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.3520108268424918e-05,
|
|
"rotation_deg": 0.00024038284434075026
|
|
},
|
|
{
|
|
"translation_m": 7.588439123779458e-14,
|
|
"rotation_deg": 1.788188916214634e-12
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 6,
|
|
"j": 8,
|
|
"lidar_time_i": 1784784301.6372502,
|
|
"lidar_time_j": 1784784474.9314597,
|
|
"frame_counter_i": 5145,
|
|
"frame_counter_j": 6878,
|
|
"rtk_translation_m": 0.24494500622098103,
|
|
"rtk_rotation_deg": 115.93373061454483,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.4417415919170311,
|
|
-0.8960836883888302,
|
|
-0.043570510372002415,
|
|
-2.0801537079611045
|
|
],
|
|
[
|
|
0.8970195349329632,
|
|
-0.44196345584787117,
|
|
-0.004925204935534324,
|
|
1.296659718225676
|
|
],
|
|
[
|
|
-0.014843177532361237,
|
|
-0.04125926681942602,
|
|
0.9990382139749538,
|
|
-0.060069474061796
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 8509,
|
|
"backend_objective": 798.712662343223,
|
|
"backend_elapsed_sec": 0.2860050000017509,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4350,
|
|
"objective": 1063.7956670653055
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6913,
|
|
"objective": 677.9644992233723
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 8509,
|
|
"objective": 798.712662343223
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7992,
|
|
"inliers": 6200,
|
|
"inlier_ratio": 0.7757757757757757,
|
|
"inlier_rmse_m": 0.1131640002846509,
|
|
"median_m": 0.10815997691749255,
|
|
"p90_m": 0.5778816662633676,
|
|
"p95_m": 0.9477012148061267
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
53837.05517196205,
|
|
63412.648740112454,
|
|
156742.37273516264,
|
|
321227.1632565483,
|
|
704113.8368888075,
|
|
835645.168237381
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 15.521747346102597,
|
|
"weakest_scaled_direction": [
|
|
0.1336094425880643,
|
|
-0.051201145853172314,
|
|
0.006609490973777755,
|
|
0.9734041540341579,
|
|
0.17720534798243429,
|
|
0.02378847828605677
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.007224674181694773,
|
|
"rotation_deg": 0.10395594559619498
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.2713088951712972e-15,
|
|
"rotation_deg": 1.2535080635125873e-15
|
|
},
|
|
{
|
|
"translation_m": 2.7184882531662156e-15,
|
|
"rotation_deg": 4.268472857957785e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 6,
|
|
"j": 9,
|
|
"lidar_time_i": 1784784301.6372502,
|
|
"lidar_time_j": 1784784549.4274275,
|
|
"frame_counter_i": 5145,
|
|
"frame_counter_j": 7623,
|
|
"rtk_translation_m": 8.025985916230132,
|
|
"rtk_rotation_deg": 103.90638727582186,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.23933357401741576,
|
|
-0.9709359548600442,
|
|
0.0016768744928121674,
|
|
-4.888304363513462
|
|
],
|
|
[
|
|
0.9707892049528275,
|
|
-0.23926651269745547,
|
|
0.017884503030732156,
|
|
8.574670623379882
|
|
],
|
|
[
|
|
-0.01696348711521479,
|
|
0.005908253685553226,
|
|
0.9998386533052618,
|
|
0.09313031290403795
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 6221,
|
|
"backend_objective": 632.1522892990403,
|
|
"backend_elapsed_sec": 0.27332659999956377,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 12,
|
|
"num_inliers": 3733,
|
|
"objective": 1053.3640164002381
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5493,
|
|
"objective": 554.7744093376959
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6221,
|
|
"objective": 632.1522892990403
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8041,
|
|
"inliers": 4832,
|
|
"inlier_ratio": 0.6009202835468226,
|
|
"inlier_rmse_m": 0.1259448851291812,
|
|
"median_m": 0.17414727637283134,
|
|
"p90_m": 1.1907502106432875,
|
|
"p95_m": 1.8639725078609017
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
22861.98250361814,
|
|
26337.171411235602,
|
|
53943.12212662387,
|
|
163054.33254127414,
|
|
247957.03602520522,
|
|
658315.1294629404
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 28.795189977892573,
|
|
"weakest_scaled_direction": [
|
|
0.37740074542762864,
|
|
0.1117288849914091,
|
|
0.02018633881794456,
|
|
0.8201500150733184,
|
|
0.34898400702905,
|
|
-0.2241471859014914
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.007975110549369148,
|
|
"rotation_deg": 0.07338758946554978
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.39188966358397e-16,
|
|
"rotation_deg": 1.6768013629861905e-14
|
|
},
|
|
{
|
|
"translation_m": 8.899114524108741e-16,
|
|
"rotation_deg": 1.3688984843834901e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 6,
|
|
"j": 10,
|
|
"lidar_time_i": 1784784301.6372502,
|
|
"lidar_time_j": 1784784614.7244046,
|
|
"frame_counter_i": 5145,
|
|
"frame_counter_j": 8276,
|
|
"rtk_translation_m": 8.303463402700086,
|
|
"rtk_rotation_deg": 159.91188585985975,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9386504575160534,
|
|
-0.3412675181111925,
|
|
-0.04971719709650229,
|
|
-7.676787596102102
|
|
],
|
|
[
|
|
0.3427907075780171,
|
|
-0.9390518733119324,
|
|
-0.02600211582761954,
|
|
6.9295262521925745
|
|
],
|
|
[
|
|
-0.03781334953515751,
|
|
-0.04144949108948617,
|
|
0.9984248045222804,
|
|
-0.014729886776682672
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 6042,
|
|
"backend_objective": 421.7166624929832,
|
|
"backend_elapsed_sec": 0.3282193000195548,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 17,
|
|
"num_inliers": 3999,
|
|
"objective": 1316.0904703785436
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5531,
|
|
"objective": 703.9032624697284
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6042,
|
|
"objective": 421.7166624929832
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8129,
|
|
"inliers": 4360,
|
|
"inlier_ratio": 0.5363513347275187,
|
|
"inlier_rmse_m": 0.13083118553166714,
|
|
"median_m": 0.21935723463379142,
|
|
"p90_m": 1.6653789510194081,
|
|
"p95_m": 2.322035390231559
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
20109.104728678132,
|
|
21323.193111517587,
|
|
42816.04753689338,
|
|
97743.45923404122,
|
|
238392.02166191582,
|
|
626753.7645055518
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 31.167661263990606,
|
|
"weakest_scaled_direction": [
|
|
-0.6553017924210387,
|
|
0.3914158782408808,
|
|
-0.0008046946753143494,
|
|
-0.5605846166082455,
|
|
0.31733093897426073,
|
|
0.049178108636606585
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 1.7146158775247784,
|
|
"rotation_deg": 14.688249303878628
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.7324799859770865e-15,
|
|
"rotation_deg": 4.077222334994345e-14
|
|
},
|
|
{
|
|
"translation_m": 4.432905188312947e-15,
|
|
"rotation_deg": 4.5554237104872835e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 6,
|
|
"j": 11,
|
|
"lidar_time_i": 1784784301.6372502,
|
|
"lidar_time_j": 1784784682.921899,
|
|
"frame_counter_i": 5145,
|
|
"frame_counter_j": 8958,
|
|
"rtk_translation_m": 11.328882063792355,
|
|
"rtk_rotation_deg": 138.54043874549896,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.7506504661534054,
|
|
-0.6587274700724787,
|
|
-0.05100978176376703,
|
|
-10.25490447137044
|
|
],
|
|
[
|
|
0.6603256958564974,
|
|
-0.7505832779969291,
|
|
-0.02438684446617117,
|
|
8.88686075020083
|
|
],
|
|
[
|
|
-0.02222280484790427,
|
|
-0.05198906580518948,
|
|
0.9984003625707457,
|
|
-0.027423987565750433
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 7,
|
|
"backend_num_inliers": 4745,
|
|
"backend_objective": 303.62057820395694,
|
|
"backend_elapsed_sec": 0.39190260000759736,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 15,
|
|
"num_inliers": 3612,
|
|
"objective": 1298.241906433932
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4495,
|
|
"objective": 566.4614808703178
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4745,
|
|
"objective": 303.62057820395694
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7841,
|
|
"inliers": 3633,
|
|
"inlier_ratio": 0.4633337584491774,
|
|
"inlier_rmse_m": 0.13769942152040132,
|
|
"median_m": 0.28909135050969004,
|
|
"p90_m": 1.99746033667199,
|
|
"p95_m": 2.682341573042235
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
9886.936957579832,
|
|
16725.091120622805,
|
|
27443.236334426467,
|
|
57611.55488206106,
|
|
176884.1961096952,
|
|
577169.8629601572
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 58.377014583638996,
|
|
"weakest_scaled_direction": [
|
|
0.9175892817389134,
|
|
-0.09240989109957376,
|
|
-0.000575180334206903,
|
|
0.18140715432267251,
|
|
0.02132241852270542,
|
|
0.3407738107033831
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.023339879627157865,
|
|
"rotation_deg": 0.18888808553225306
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.112343365827712e-15,
|
|
"rotation_deg": 1.4889738300726686e-14
|
|
},
|
|
{
|
|
"translation_m": 2.1795197195325206e-15,
|
|
"rotation_deg": 1.1923503179419012e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 7,
|
|
"j": 8,
|
|
"lidar_time_i": 1784784387.733771,
|
|
"lidar_time_j": 1784784474.9314597,
|
|
"frame_counter_i": 6006,
|
|
"frame_counter_j": 6878,
|
|
"rtk_translation_m": 1.9962664218365056,
|
|
"rtk_rotation_deg": 90.62216430773583,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.015575129246330722,
|
|
-0.998947724407544,
|
|
-0.04313767784605076,
|
|
0.6650746067001984
|
|
],
|
|
[
|
|
0.9998751093195618,
|
|
-0.015676198192909677,
|
|
0.002005635413113796,
|
|
1.0297315594440202
|
|
],
|
|
[
|
|
-0.002679759719417803,
|
|
-0.04310105232133182,
|
|
0.9990671239594668,
|
|
0.021464738545207192
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 9,
|
|
"backend_num_inliers": 9269,
|
|
"backend_objective": 1211.8424907334938,
|
|
"backend_elapsed_sec": 0.5779362000175752,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4449,
|
|
"objective": 725.2848772368529
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7399,
|
|
"objective": 918.7144988456685
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 9269,
|
|
"objective": 1211.8424907334938
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7940,
|
|
"inliers": 6622,
|
|
"inlier_ratio": 0.8340050377833753,
|
|
"inlier_rmse_m": 0.11132245152738919,
|
|
"median_m": 0.10235115239145279,
|
|
"p90_m": 0.38695471193159847,
|
|
"p95_m": 0.7071362834784134
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
56892.708551191885,
|
|
159705.36847593202,
|
|
216350.72338471992,
|
|
396516.6641602697,
|
|
859499.768491504,
|
|
919975.0539280197
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 16.170350777028464,
|
|
"weakest_scaled_direction": [
|
|
-0.031887616577349676,
|
|
0.0978563998797459,
|
|
-0.019655922821621086,
|
|
-0.9798608488407152,
|
|
-0.169964623682212,
|
|
-0.0023860459631844843
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.004806949653405585,
|
|
"rotation_deg": 0.02034039865601464
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.2530543612044369e-15,
|
|
"rotation_deg": 3.634283176409649e-15
|
|
},
|
|
{
|
|
"translation_m": 8.007811261798586e-16,
|
|
"rotation_deg": 7.058683289809877e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 7,
|
|
"j": 9,
|
|
"lidar_time_i": 1784784387.733771,
|
|
"lidar_time_j": 1784784549.4274275,
|
|
"frame_counter_i": 6006,
|
|
"frame_counter_j": 7623,
|
|
"rtk_translation_m": 7.8811064994361235,
|
|
"rtk_rotation_deg": 78.59482096901284,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.1987460112662474,
|
|
-0.9800239171286769,
|
|
0.0072900522303022165,
|
|
1.232593111217831
|
|
],
|
|
[
|
|
0.9798240623423039,
|
|
0.1988545643140699,
|
|
0.020041684222784073,
|
|
8.81379910842588
|
|
],
|
|
[
|
|
-0.021090990037952423,
|
|
0.003159763792646276,
|
|
0.9997725671531473,
|
|
0.05893003624333094
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 6563,
|
|
"backend_objective": 579.0289537400707,
|
|
"backend_elapsed_sec": 0.33615809999173507,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 3732,
|
|
"objective": 1035.3979929388902
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5690,
|
|
"objective": 641.7015263772731
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6563,
|
|
"objective": 579.0289537400707
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7989,
|
|
"inliers": 4922,
|
|
"inlier_ratio": 0.6160971335586432,
|
|
"inlier_rmse_m": 0.12637042711002067,
|
|
"median_m": 0.17161346512353012,
|
|
"p90_m": 1.2286319173668765,
|
|
"p95_m": 1.912245360708687
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
26448.731670219793,
|
|
28519.307971584632,
|
|
56345.57086135047,
|
|
162736.02196619354,
|
|
312472.10544495506,
|
|
639495.0168850824
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 24.17866477904224,
|
|
"weakest_scaled_direction": [
|
|
-0.5499601899624774,
|
|
-0.06252867361524048,
|
|
-0.018988035468898386,
|
|
-0.7156176371642422,
|
|
-0.31921783589049624,
|
|
0.2815400141547218
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.012112046262530643,
|
|
"rotation_deg": 0.5927664140170301
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.125882886419572e-15,
|
|
"rotation_deg": 2.2093607401731488e-13
|
|
},
|
|
{
|
|
"translation_m": 5.688265343916739e-14,
|
|
"rotation_deg": 1.4124558378794116e-12
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 7,
|
|
"j": 10,
|
|
"lidar_time_i": 1784784387.733771,
|
|
"lidar_time_j": 1784784614.7244046,
|
|
"frame_counter_i": 6006,
|
|
"frame_counter_j": 8276,
|
|
"rtk_translation_m": 7.620696678413973,
|
|
"rtk_rotation_deg": 134.60031955305035,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.7021951307608287,
|
|
-0.7103295416361552,
|
|
-0.04851742588752914,
|
|
-1.9924158672542818
|
|
],
|
|
[
|
|
0.7110990662865663,
|
|
-0.7030891198748863,
|
|
0.001951266238155456,
|
|
8.492405615922873
|
|
],
|
|
[
|
|
-0.03549811631841692,
|
|
-0.03313052659599889,
|
|
0.9988204302802964,
|
|
0.05513288958260977
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 6733,
|
|
"backend_objective": 507.4437443751415,
|
|
"backend_elapsed_sec": 0.3288567999843508,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 4218,
|
|
"objective": 1268.9921617749187
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5953,
|
|
"objective": 564.4925870205415
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 6733,
|
|
"objective": 507.4437443751415
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8077,
|
|
"inliers": 4621,
|
|
"inlier_ratio": 0.5721183607775164,
|
|
"inlier_rmse_m": 0.13040415535689726,
|
|
"median_m": 0.19470962492307675,
|
|
"p90_m": 1.3294493585805893,
|
|
"p95_m": 1.9149484669944727
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
31214.11671303788,
|
|
36779.35561015317,
|
|
64147.10865950941,
|
|
95570.78320399583,
|
|
369800.4899921501,
|
|
642132.8386662777
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 20.571872802604858,
|
|
"weakest_scaled_direction": [
|
|
-0.01506726367338361,
|
|
0.151262929506742,
|
|
0.002769142492144822,
|
|
-0.8157435900050348,
|
|
0.5496934778839169,
|
|
0.09635513120677543
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.010507785715791607,
|
|
"rotation_deg": 0.10324111221368969
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.440892098500626e-16,
|
|
"rotation_deg": 7.396663432446125e-15
|
|
},
|
|
{
|
|
"translation_m": 2.8000135031123616e-15,
|
|
"rotation_deg": 1.529851387921262e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 7,
|
|
"j": 11,
|
|
"lidar_time_i": 1784784387.733771,
|
|
"lidar_time_j": 1784784682.921899,
|
|
"frame_counter_i": 6006,
|
|
"frame_counter_j": 8958,
|
|
"rtk_translation_m": 10.356268683459426,
|
|
"rtk_rotation_deg": 113.22887243868989,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.3958821146862112,
|
|
-0.9172372745097772,
|
|
-0.044194270233249754,
|
|
-3.4838146346579677
|
|
],
|
|
[
|
|
0.9181699573312505,
|
|
-0.3961808801824617,
|
|
-0.0021539805430749333,
|
|
11.372971737118831
|
|
],
|
|
[
|
|
-0.01553321363735332,
|
|
-0.04143057358673409,
|
|
0.9990206338441513,
|
|
0.05245460282842453
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 5454,
|
|
"backend_objective": 431.2874040786367,
|
|
"backend_elapsed_sec": 0.4485889000061434,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 3851,
|
|
"objective": 1191.5832359732697
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5217,
|
|
"objective": 610.6771379474781
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5454,
|
|
"objective": 431.2874040786367
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7789,
|
|
"inliers": 4034,
|
|
"inlier_ratio": 0.5179098728976762,
|
|
"inlier_rmse_m": 0.13593896500168,
|
|
"median_m": 0.23308466036992806,
|
|
"p90_m": 1.5903235951488612,
|
|
"p95_m": 2.35130130918032
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
17600.616225415997,
|
|
27686.44606155642,
|
|
46608.027700594444,
|
|
73075.6451347259,
|
|
299010.4103784413,
|
|
636838.9524350392
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 36.18276452817704,
|
|
"weakest_scaled_direction": [
|
|
0.12021964803006051,
|
|
-0.06152608364791256,
|
|
-0.009060896325285917,
|
|
0.9676254882221084,
|
|
-0.2115491017015165,
|
|
-0.025051337857858708
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01570096854689765,
|
|
"rotation_deg": 0.062213006599939585
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.440892098500626e-16,
|
|
"rotation_deg": 2.3191600509986052e-15
|
|
},
|
|
{
|
|
"translation_m": 3.916684464318413e-15,
|
|
"rotation_deg": 4.9138628136762796e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 7,
|
|
"j": 12,
|
|
"lidar_time_i": 1784784387.733771,
|
|
"lidar_time_j": 1784784758.8187964,
|
|
"frame_counter_i": 6006,
|
|
"frame_counter_j": 9717,
|
|
"rtk_translation_m": 13.76202076313695,
|
|
"rtk_rotation_deg": 94.9510481861355,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.09105685096653844,
|
|
-0.9948838238547816,
|
|
-0.04375873540386313,
|
|
-2.882347543007339
|
|
],
|
|
[
|
|
0.995665170951414,
|
|
-0.09178905356754663,
|
|
0.01502121830829222,
|
|
14.942363422798389
|
|
],
|
|
[
|
|
-0.01896094001754452,
|
|
-0.04220126392967105,
|
|
0.9989291947262279,
|
|
0.047133237746127675
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 11,
|
|
"backend_num_inliers": 4892,
|
|
"backend_objective": 308.71653537220755,
|
|
"backend_elapsed_sec": 0.414707299991278,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 12,
|
|
"num_inliers": 3543,
|
|
"objective": 1486.4483684820311
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4885,
|
|
"objective": 824.5120965570165
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 4892,
|
|
"objective": 308.71653537220755
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8011,
|
|
"inliers": 3358,
|
|
"inlier_ratio": 0.419173636250156,
|
|
"inlier_rmse_m": 0.14753718360891266,
|
|
"median_m": 0.32493234801462306,
|
|
"p90_m": 1.8294809048516345,
|
|
"p95_m": 2.8849842982348815
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
6448.9037381029,
|
|
12970.81955992246,
|
|
19982.864476873714,
|
|
37484.66857646037,
|
|
241967.7689235441,
|
|
575820.0746342305
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 89.28960611274712,
|
|
"weakest_scaled_direction": [
|
|
0.9264290241280293,
|
|
0.15832099245514938,
|
|
0.006538034766120178,
|
|
-0.07409119321316872,
|
|
0.05915070649239118,
|
|
0.3280741832456509
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.018245717875293024,
|
|
"rotation_deg": 0.41212759156893974
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.985994439185401e-15,
|
|
"rotation_deg": 2.7685093616410986e-14
|
|
},
|
|
{
|
|
"translation_m": 1.2412670766236366e-15,
|
|
"rotation_deg": 2.9368517486974605e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 8,
|
|
"j": 9,
|
|
"lidar_time_i": 1784784474.9314597,
|
|
"lidar_time_j": 1784784549.4274275,
|
|
"frame_counter_i": 6878,
|
|
"frame_counter_j": 7623,
|
|
"rtk_translation_m": 7.803713858547152,
|
|
"rtk_rotation_deg": 12.027343338722998,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9767614712966242,
|
|
0.21427395168652957,
|
|
0.004868451405968611,
|
|
7.766978515767815
|
|
],
|
|
[
|
|
-0.2139069629591747,
|
|
0.9760106497080835,
|
|
-0.0405835293436424,
|
|
-0.7070571255107969
|
|
],
|
|
[
|
|
-0.013447653625660153,
|
|
0.03859903217754081,
|
|
0.999164288456569,
|
|
0.12803808425669047
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 6804,
|
|
"backend_objective": 531.6935692491993,
|
|
"backend_elapsed_sec": 0.2675932999991346,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 3880,
|
|
"objective": 1018.048380404935
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5890,
|
|
"objective": 628.0580165416324
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6804,
|
|
"objective": 531.6935692491993
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8053,
|
|
"inliers": 5160,
|
|
"inlier_ratio": 0.6407549981373402,
|
|
"inlier_rmse_m": 0.12189583104066963,
|
|
"median_m": 0.15419497180015548,
|
|
"p90_m": 1.1291169201957723,
|
|
"p95_m": 1.7319093677442594
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
24102.672656024908,
|
|
28132.24412747677,
|
|
60991.30839574281,
|
|
126216.67179941971,
|
|
312060.103447803,
|
|
676492.9307550354
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 28.06713348388497,
|
|
"weakest_scaled_direction": [
|
|
0.6462448740678424,
|
|
0.1405828012021304,
|
|
0.01738749021676203,
|
|
0.6466690564364066,
|
|
0.29873514167101284,
|
|
-0.23426088130460485
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.025170709673794655,
|
|
"rotation_deg": 0.14112050756711447
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 6.938893903907228e-16,
|
|
"rotation_deg": 9.647521844476607e-15
|
|
},
|
|
{
|
|
"translation_m": 1.0068810866857322e-15,
|
|
"rotation_deg": 1.4503947531494247e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 8,
|
|
"j": 10,
|
|
"lidar_time_i": 1784784474.9314597,
|
|
"lidar_time_j": 1784784614.7244046,
|
|
"frame_counter_i": 6878,
|
|
"frame_counter_j": 8276,
|
|
"rtk_translation_m": 8.062504137991457,
|
|
"rtk_rotation_deg": 43.97815524531457,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.7227614730011143,
|
|
-0.6909633900050299,
|
|
-0.013617885959897949,
|
|
7.504727299229808
|
|
],
|
|
[
|
|
0.6910846376839269,
|
|
0.7224870681747577,
|
|
0.020358287686297997,
|
|
2.5189109601011483
|
|
],
|
|
[
|
|
-0.004228084972517256,
|
|
-0.024125297780546298,
|
|
0.9997000016527283,
|
|
0.24205873956103108
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 7010,
|
|
"backend_objective": 812.9622128843123,
|
|
"backend_elapsed_sec": 0.2784631999966223,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4331,
|
|
"objective": 1255.0369765197802
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6260,
|
|
"objective": 727.8061185566299
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7010,
|
|
"objective": 812.9622128843123
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8141,
|
|
"inliers": 4946,
|
|
"inlier_ratio": 0.6075420709986488,
|
|
"inlier_rmse_m": 0.12933255373443525,
|
|
"median_m": 0.1773875611131982,
|
|
"p90_m": 1.0586313554558715,
|
|
"p95_m": 1.5992170956790337
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
30435.712422955603,
|
|
52010.38323259794,
|
|
133772.92953285715,
|
|
158835.34324193356,
|
|
343687.89863201004,
|
|
621790.4316893131
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 20.429632894689156,
|
|
"weakest_scaled_direction": [
|
|
-0.03512224446332845,
|
|
0.09088531156333027,
|
|
0.012075344276156075,
|
|
-0.8199771153633209,
|
|
0.5619352444233221,
|
|
0.04718882814666677
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01256038832173067,
|
|
"rotation_deg": 0.12386976869589704
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.6023110072162766e-08,
|
|
"rotation_deg": 2.0998959129808942e-08
|
|
},
|
|
{
|
|
"translation_m": 2.6023109930632802e-08,
|
|
"rotation_deg": 2.0998958826595784e-08
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 8,
|
|
"j": 11,
|
|
"lidar_time_i": 1784784474.9314597,
|
|
"lidar_time_j": 1784784682.921899,
|
|
"frame_counter_i": 6878,
|
|
"frame_counter_j": 8958,
|
|
"rtk_translation_m": 11.084531710563947,
|
|
"rtk_rotation_deg": 22.606708130954026,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9243899349067348,
|
|
-0.38120141047961975,
|
|
-0.013738009006799418,
|
|
10.405956760445594
|
|
],
|
|
[
|
|
0.3813336258467257,
|
|
0.9243963821216479,
|
|
0.00871748352433042,
|
|
3.96946634435529
|
|
],
|
|
[
|
|
0.009376248808132398,
|
|
-0.013297118814084123,
|
|
0.9998676275335311,
|
|
0.2888452351987371
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 5606,
|
|
"backend_objective": 378.5080329085616,
|
|
"backend_elapsed_sec": 0.2886214999889489,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 3910,
|
|
"objective": 1056.2927355913773
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5256,
|
|
"objective": 548.4385197355723
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5606,
|
|
"objective": 378.5080329085616
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7853,
|
|
"inliers": 4278,
|
|
"inlier_ratio": 0.5447599643448364,
|
|
"inlier_rmse_m": 0.13547919137380177,
|
|
"median_m": 0.21351278265947216,
|
|
"p90_m": 1.3398476713241319,
|
|
"p95_m": 2.091862477817637
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
22774.38438022873,
|
|
28226.403973158238,
|
|
56159.97681521618,
|
|
69727.78054387387,
|
|
249511.41633860112,
|
|
631497.3153184594
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 27.72840331379869,
|
|
"weakest_scaled_direction": [
|
|
0.34269641788326166,
|
|
-0.2690626197573097,
|
|
-0.025245826519742637,
|
|
0.8753625298150922,
|
|
-0.17049792995682203,
|
|
-0.11915543352616999
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.006462771421800638,
|
|
"rotation_deg": 0.08629803406158434
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.9301603260928013e-15,
|
|
"rotation_deg": 2.6444228144193955e-14
|
|
},
|
|
{
|
|
"translation_m": 4.723897861430799e-14,
|
|
"rotation_deg": 5.544805625423182e-13
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 8,
|
|
"j": 12,
|
|
"lidar_time_i": 1784784474.9314597,
|
|
"lidar_time_j": 1784784758.8187964,
|
|
"frame_counter_i": 6878,
|
|
"frame_counter_j": 9717,
|
|
"rtk_translation_m": 14.350449135419003,
|
|
"rtk_rotation_deg": 4.328883878399632,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9971754663480695,
|
|
-0.07507512775379334,
|
|
-0.002194198318704511,
|
|
13.966714483921436
|
|
],
|
|
[
|
|
0.0750908502042479,
|
|
0.9971423273214032,
|
|
0.008279086885561782,
|
|
3.3035957215894984
|
|
],
|
|
[
|
|
0.0015663745124994213,
|
|
-0.008420466543314511,
|
|
0.9999633204343442,
|
|
0.35012164117541633
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 5236,
|
|
"backend_objective": 329.7824719483567,
|
|
"backend_elapsed_sec": 0.29968260001624003,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3713,
|
|
"objective": 1199.9425263214039
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5038,
|
|
"objective": 579.3374261002559
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5236,
|
|
"objective": 329.7824719483567
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8075,
|
|
"inliers": 3754,
|
|
"inlier_ratio": 0.46489164086687307,
|
|
"inlier_rmse_m": 0.14530908872417966,
|
|
"median_m": 0.27951538979919144,
|
|
"p90_m": 1.5491108102474644,
|
|
"p95_m": 2.3089813172626723
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
13901.219791369556,
|
|
18966.638816699935,
|
|
37841.70941568832,
|
|
55816.59050224912,
|
|
208073.3462936252,
|
|
527675.9118769562
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 37.958964738084276,
|
|
"weakest_scaled_direction": [
|
|
0.8638632830539,
|
|
-0.06878739138695336,
|
|
0.0030384305954635244,
|
|
0.2851460604957918,
|
|
0.10986761218753847,
|
|
-0.3944871644210632
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.00955628888567663,
|
|
"rotation_deg": 0.1112688142308669
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.9506627632986034e-15,
|
|
"rotation_deg": 1.0915323608264886e-14
|
|
},
|
|
{
|
|
"translation_m": 4.1143762843750484e-14,
|
|
"rotation_deg": 9.496717164332357e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 8,
|
|
"j": 13,
|
|
"lidar_time_i": 1784784474.9314597,
|
|
"lidar_time_j": 1784784836.0155501,
|
|
"frame_counter_i": 6878,
|
|
"frame_counter_j": 10489,
|
|
"rtk_translation_m": 18.245302761704593,
|
|
"rtk_rotation_deg": 28.43334478424675,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8712576472135323,
|
|
0.49077303725774324,
|
|
0.007206807389507719,
|
|
17.83885631550189
|
|
],
|
|
[
|
|
-0.4906422418999359,
|
|
0.8712393520770557,
|
|
-0.014566463392218697,
|
|
2.209227555174436
|
|
],
|
|
[
|
|
-0.013427681681681741,
|
|
0.009155178488797421,
|
|
0.9998679313146781,
|
|
0.40031079935476305
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 9,
|
|
"backend_num_inliers": 4165,
|
|
"backend_objective": 244.0998723263817,
|
|
"backend_elapsed_sec": 0.34662629998638295,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 3507,
|
|
"objective": 1026.1259780030157
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4554,
|
|
"objective": 629.4667804436332
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 4165,
|
|
"objective": 244.0998723263817
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7808,
|
|
"inliers": 2954,
|
|
"inlier_ratio": 0.37832991803278687,
|
|
"inlier_rmse_m": 0.15442802982944018,
|
|
"median_m": 0.36929693670247854,
|
|
"p90_m": 2.0301112771069065,
|
|
"p95_m": 3.356620420845132
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
4639.456002589504,
|
|
11142.092649894259,
|
|
23773.516018542028,
|
|
82142.44887617574,
|
|
177056.34888126588,
|
|
470857.0356533245
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 101.4897081447731,
|
|
"weakest_scaled_direction": [
|
|
-0.6711792299500938,
|
|
-0.6200237845756325,
|
|
-0.004781401182955758,
|
|
0.03916221952861478,
|
|
-0.05688790086673817,
|
|
0.4003700455121542
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.027875630486669568,
|
|
"rotation_deg": 0.37387837894914167
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.5146000066436358e-15,
|
|
"rotation_deg": 1.2002448938568858e-14
|
|
},
|
|
{
|
|
"translation_m": 2.5989654674417885e-15,
|
|
"rotation_deg": 1.110672134964334e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 9,
|
|
"j": 10,
|
|
"lidar_time_i": 1784784549.4274275,
|
|
"lidar_time_j": 1784784614.7244046,
|
|
"frame_counter_i": 7623,
|
|
"frame_counter_j": 8276,
|
|
"rtk_translation_m": 2.04815062353057,
|
|
"rtk_rotation_deg": 56.00549858403758,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.5585402611504936,
|
|
-0.8287865031991155,
|
|
-0.033848320326429454,
|
|
-0.9276587446874038
|
|
],
|
|
[
|
|
0.8291802818257895,
|
|
0.5567829749179408,
|
|
0.04952553960162207,
|
|
3.1024518072851404
|
|
],
|
|
[
|
|
-0.022199930298152856,
|
|
-0.05572836761030748,
|
|
0.9981991345108691,
|
|
-0.0918601778786096
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7538,
|
|
"backend_objective": 608.0118186215705,
|
|
"backend_elapsed_sec": 0.2677478000114206,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4357,
|
|
"objective": 1324.6661052053641
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6291,
|
|
"objective": 557.40269090636
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7538,
|
|
"objective": 608.0118186215705
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8190,
|
|
"inliers": 5386,
|
|
"inlier_ratio": 0.6576312576312576,
|
|
"inlier_rmse_m": 0.10693844153477818,
|
|
"median_m": 0.1288778907124714,
|
|
"p90_m": 1.1136753409311773,
|
|
"p95_m": 1.7213657641802305
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
47269.46473083048,
|
|
69995.82165520151,
|
|
146112.1985207452,
|
|
235663.1375590507,
|
|
454973.5441271389,
|
|
754310.6305504619
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 15.957672354569297,
|
|
"weakest_scaled_direction": [
|
|
0.3979511773838894,
|
|
-0.5358952868515874,
|
|
-0.015695037907353385,
|
|
0.44537251442255593,
|
|
-0.21518509078866688,
|
|
-0.556366307241301
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0038184479242649575,
|
|
"rotation_deg": 0.016135929192430513
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.5,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.2870479187534012e-15,
|
|
"rotation_deg": 3.168114144539765e-15
|
|
},
|
|
{
|
|
"translation_m": 2.5836590661309904,
|
|
"rotation_deg": 6.858156244423453
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 9,
|
|
"j": 11,
|
|
"lidar_time_i": 1784784549.4274275,
|
|
"lidar_time_j": 1784784682.921899,
|
|
"frame_counter_i": 7623,
|
|
"frame_counter_j": 8958,
|
|
"rtk_translation_m": 4.738677237611319,
|
|
"rtk_rotation_deg": 34.634051469677026,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8218592794898043,
|
|
-0.5689630135783226,
|
|
-0.028782180187980497,
|
|
1.5818050327821167
|
|
],
|
|
[
|
|
0.5696826609555828,
|
|
0.8205324215915045,
|
|
0.04677831681182805,
|
|
5.127115738614646
|
|
],
|
|
[
|
|
-0.0029984200950525243,
|
|
-0.05484190274830656,
|
|
0.9984905483678247,
|
|
0.018282150203836847
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 6186,
|
|
"backend_objective": 608.7584534468984,
|
|
"backend_elapsed_sec": 0.35689550000824966,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 3870,
|
|
"objective": 1072.1342193992616
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5326,
|
|
"objective": 755.9554540091757
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 6186,
|
|
"objective": 608.7584534468984
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7902,
|
|
"inliers": 4649,
|
|
"inlier_ratio": 0.5883320678309288,
|
|
"inlier_rmse_m": 0.11815838246331245,
|
|
"median_m": 0.1732761356088094,
|
|
"p90_m": 1.3501275015012313,
|
|
"p95_m": 1.810297568884802
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
35779.64456052172,
|
|
55099.034207127086,
|
|
90158.88514826825,
|
|
121972.77920522196,
|
|
341810.39286721504,
|
|
770216.7057141428
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 21.526672921842792,
|
|
"weakest_scaled_direction": [
|
|
0.8136834885680856,
|
|
-0.24928441973477838,
|
|
-0.011353846441186583,
|
|
0.3132175219694385,
|
|
0.018744214916075416,
|
|
-0.42094059796919014
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.008866435423074387,
|
|
"rotation_deg": 0.05039949658393549
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.163336342344337e-16,
|
|
"rotation_deg": 9.948813902605265e-15
|
|
},
|
|
{
|
|
"translation_m": 1.2755491433176288e-15,
|
|
"rotation_deg": 1.5746131234065862e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 9,
|
|
"j": 12,
|
|
"lidar_time_i": 1784784549.4274275,
|
|
"lidar_time_j": 1784784758.8187964,
|
|
"frame_counter_i": 7623,
|
|
"frame_counter_j": 9717,
|
|
"rtk_translation_m": 7.170741483679294,
|
|
"rtk_rotation_deg": 16.35622721712263,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9580389060611738,
|
|
-0.28583494628803124,
|
|
-0.021443832531232578,
|
|
5.206220344183419
|
|
],
|
|
[
|
|
0.2865026035134924,
|
|
0.9572030750268492,
|
|
0.04096988331853636,
|
|
5.2485799740167325
|
|
],
|
|
[
|
|
0.008815478041475866,
|
|
-0.04539445604544996,
|
|
0.9989302431637751,
|
|
0.10583336091245205
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 6103,
|
|
"backend_objective": 518.2601822681988,
|
|
"backend_elapsed_sec": 0.5235329999995884,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 3867,
|
|
"objective": 1426.300059188684
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5492,
|
|
"objective": 809.5194505361512
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6103,
|
|
"objective": 518.2601822681988
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8124,
|
|
"inliers": 4398,
|
|
"inlier_ratio": 0.5413589364844904,
|
|
"inlier_rmse_m": 0.12469816852157387,
|
|
"median_m": 0.2078334752819168,
|
|
"p90_m": 1.360876011490024,
|
|
"p95_m": 1.787772302528427
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
18767.9434067404,
|
|
28114.456016397115,
|
|
43095.188369482436,
|
|
150800.6730324435,
|
|
361897.92464180023,
|
|
713847.6342105864
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 38.0354745717217,
|
|
"weakest_scaled_direction": [
|
|
0.9449892265376355,
|
|
0.10758356523122609,
|
|
0.0032027873352404126,
|
|
0.1374104131483723,
|
|
0.08634815676563548,
|
|
-0.2628179114040674
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.03403608365914784,
|
|
"rotation_deg": 0.249719392637206
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.51548375191671e-11,
|
|
"rotation_deg": 2.2703385960631228e-10
|
|
},
|
|
{
|
|
"translation_m": 2.5175287103637324e-11,
|
|
"rotation_deg": 2.271749122594669e-10
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 9,
|
|
"j": 13,
|
|
"lidar_time_i": 1784784549.4274275,
|
|
"lidar_time_j": 1784784836.0155501,
|
|
"frame_counter_i": 7623,
|
|
"frame_counter_j": 10489,
|
|
"rtk_translation_m": 10.733928030180744,
|
|
"rtk_rotation_deg": 16.40600144552375,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.955934795551706,
|
|
0.29354415476489515,
|
|
-0.004527235015012502,
|
|
9.205828284047165
|
|
],
|
|
[
|
|
-0.29341936681268177,
|
|
0.9558097619542706,
|
|
0.018242097800575154,
|
|
4.998375280144739
|
|
],
|
|
[
|
|
0.009682036602018515,
|
|
-0.016109877599909873,
|
|
0.99982334940276,
|
|
0.2662011583595962
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 5507,
|
|
"backend_objective": 471.20211599619284,
|
|
"backend_elapsed_sec": 0.26943060001940466,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3824,
|
|
"objective": 1680.1148512546545
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5301,
|
|
"objective": 863.2255987553363
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5507,
|
|
"objective": 471.20211599619284
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7857,
|
|
"inliers": 3988,
|
|
"inlier_ratio": 0.5075728649611811,
|
|
"inlier_rmse_m": 0.13356609480985904,
|
|
"median_m": 0.2438814670298096,
|
|
"p90_m": 1.4852497542840035,
|
|
"p95_m": 2.008081893939577
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
13201.515080585677,
|
|
42100.58061144254,
|
|
48810.58011128647,
|
|
140947.2209097996,
|
|
310776.03761790437,
|
|
664674.8399612899
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 50.3483756147633,
|
|
"weakest_scaled_direction": [
|
|
-0.6866129556117017,
|
|
-0.5403756410791841,
|
|
0.0040646757872530494,
|
|
0.020668719932248943,
|
|
-0.05020145580139912,
|
|
0.4833145062761431
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0053243668825205025,
|
|
"rotation_deg": 0.1401976908512776
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.305364597889227e-16,
|
|
"rotation_deg": 1.1451146831523094e-14
|
|
},
|
|
{
|
|
"translation_m": 2.5852944279136686e-15,
|
|
"rotation_deg": 3.019679426825962e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 9,
|
|
"j": 14,
|
|
"lidar_time_i": 1784784549.4274275,
|
|
"lidar_time_j": 1784784921.1126208,
|
|
"frame_counter_i": 7623,
|
|
"frame_counter_j": 11340,
|
|
"rtk_translation_m": 7.8912187855633125,
|
|
"rtk_rotation_deg": 14.085282580602351,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9651200333834665,
|
|
-0.2612146485288876,
|
|
-0.017613306215091305,
|
|
5.2377577927151835
|
|
],
|
|
[
|
|
0.26167847043212705,
|
|
0.9645721295320843,
|
|
0.03354079668466707,
|
|
6.202530412241703
|
|
],
|
|
[
|
|
0.008227956866627133,
|
|
-0.036979917845631725,
|
|
0.9992821355362713,
|
|
0.10190679759281068
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 5857,
|
|
"backend_objective": 534.3183532132553,
|
|
"backend_elapsed_sec": 0.2981466999917757,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3826,
|
|
"objective": 1175.7687093888226
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5279,
|
|
"objective": 675.5257952928124
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 5857,
|
|
"objective": 534.3183532132553
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8188,
|
|
"inliers": 4435,
|
|
"inlier_ratio": 0.5416463116756228,
|
|
"inlier_rmse_m": 0.12859551377809317,
|
|
"median_m": 0.21150959547510495,
|
|
"p90_m": 1.4240677020622226,
|
|
"p95_m": 1.8723492575115726
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
24277.66112889738,
|
|
35313.23773507953,
|
|
51232.650421287224,
|
|
168805.43646907425,
|
|
339402.4806427054,
|
|
648734.7831650357
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 26.721469573230642,
|
|
"weakest_scaled_direction": [
|
|
0.9523961335282563,
|
|
0.1421400273058059,
|
|
-0.0005115147650476002,
|
|
0.1791691525240432,
|
|
0.10073141745058144,
|
|
-0.17461143190750852
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.011377143482081005,
|
|
"rotation_deg": 0.045883349808202654
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.6039333325912283e-07,
|
|
"rotation_deg": 1.3581863004148793e-07
|
|
},
|
|
{
|
|
"translation_m": 3.210061615366513e-15,
|
|
"rotation_deg": 2.035897884802707e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 10,
|
|
"j": 11,
|
|
"lidar_time_i": 1784784614.7244046,
|
|
"lidar_time_j": 1784784682.921899,
|
|
"frame_counter_i": 8276,
|
|
"frame_counter_j": 8958,
|
|
"rtk_translation_m": 3.2047552083250137,
|
|
"rtk_rotation_deg": 21.371447114360556,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9314508413496043,
|
|
0.3637994932255433,
|
|
-0.007018466923255387,
|
|
3.107744093458173
|
|
],
|
|
[
|
|
-0.3638593544726402,
|
|
0.9313840680347846,
|
|
-0.011405611501804977,
|
|
-0.968187162602047
|
|
],
|
|
[
|
|
0.002387532590065103,
|
|
0.013177501273546255,
|
|
0.9999103225531363,
|
|
0.06717614584206823
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 20,
|
|
"backend_num_inliers": 7917,
|
|
"backend_objective": 1960.5329712839716,
|
|
"backend_elapsed_sec": 0.4523613000055775,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4483,
|
|
"objective": 1070.74752037691
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6707,
|
|
"objective": 914.6379742618799
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 20,
|
|
"num_inliers": 7917,
|
|
"objective": 1960.5329712839716
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7990,
|
|
"inliers": 5698,
|
|
"inlier_ratio": 0.7131414267834794,
|
|
"inlier_rmse_m": 0.12095106901516857,
|
|
"median_m": 0.13597985016316375,
|
|
"p90_m": 0.654815430759017,
|
|
"p95_m": 0.937070744846754
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
66427.5644095764,
|
|
196624.74014773467,
|
|
295181.1551861929,
|
|
372275.52242307784,
|
|
550663.422299847,
|
|
890408.5165427345
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 13.404202373771971,
|
|
"weakest_scaled_direction": [
|
|
0.011031775994603218,
|
|
-0.07488398699455912,
|
|
-0.033085995958195405,
|
|
0.9686527638067878,
|
|
-0.23254012851851713,
|
|
-0.02851170075111955
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.006897671932212844,
|
|
"rotation_deg": 0.18540056788520093
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.6240489487473085e-15,
|
|
"rotation_deg": 9.805240141345259e-15
|
|
},
|
|
{
|
|
"translation_m": 7.550332863779066e-16,
|
|
"rotation_deg": 5.6161527533700886e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 10,
|
|
"j": 12,
|
|
"lidar_time_i": 1784784614.7244046,
|
|
"lidar_time_j": 1784784758.8187964,
|
|
"frame_counter_i": 8276,
|
|
"frame_counter_j": 9717,
|
|
"rtk_translation_m": 6.291813977735496,
|
|
"rtk_rotation_deg": 39.64927136691496,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.7725759805259751,
|
|
0.6349211688524118,
|
|
0.001209817100048753,
|
|
5.212004145895133
|
|
],
|
|
[
|
|
-0.6348336094634592,
|
|
0.7724984845669595,
|
|
-0.015244003324179146,
|
|
-3.903948906740347
|
|
],
|
|
[
|
|
-0.01061332228496872,
|
|
0.011009118258904356,
|
|
0.9998830715164829,
|
|
0.0723992199053718
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 7260,
|
|
"backend_objective": 723.6829923932979,
|
|
"backend_elapsed_sec": 0.29579410000587814,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4141,
|
|
"objective": 1364.6826341533097
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 6331,
|
|
"objective": 774.0528055588874
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 7260,
|
|
"objective": 723.6829923932979
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8212,
|
|
"inliers": 5024,
|
|
"inlier_ratio": 0.6117876278616659,
|
|
"inlier_rmse_m": 0.125002241212049,
|
|
"median_m": 0.17043150415444092,
|
|
"p90_m": 1.126473701003775,
|
|
"p95_m": 1.6731491720771163
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
40394.41642674513,
|
|
65179.81419804479,
|
|
131734.4440523064,
|
|
206960.24969306024,
|
|
516706.69312906166,
|
|
800074.394720169
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 19.806559061723195,
|
|
"weakest_scaled_direction": [
|
|
0.11782910246444485,
|
|
-0.08462088371949368,
|
|
-0.005297509306259454,
|
|
0.9832693418338864,
|
|
0.08390749755120346,
|
|
-0.07119324624117172
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.006509808900811586,
|
|
"rotation_deg": 0.06742381610992963
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.630824789273724e-16,
|
|
"rotation_deg": 1.2559680439502817e-14
|
|
},
|
|
{
|
|
"translation_m": 2.728670952130552e-15,
|
|
"rotation_deg": 6.729029131328503e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 10,
|
|
"j": 13,
|
|
"lidar_time_i": 1784784614.7244046,
|
|
"lidar_time_j": 1784784836.0155501,
|
|
"frame_counter_i": 8276,
|
|
"frame_counter_j": 10489,
|
|
"rtk_translation_m": 10.199392557022867,
|
|
"rtk_rotation_deg": 72.41150002956134,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.29025882947499887,
|
|
0.9568820341303022,
|
|
-0.011250985310564758,
|
|
7.251141950911897
|
|
],
|
|
[
|
|
-0.9565681268131608,
|
|
0.2897921782619427,
|
|
-0.03158974807369129,
|
|
-7.380728726628164
|
|
],
|
|
[
|
|
-0.026967214853675838,
|
|
0.01993153724260905,
|
|
0.9994375934225119,
|
|
0.10814934062978022
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 6056,
|
|
"backend_objective": 356.4176913882986,
|
|
"backend_elapsed_sec": 0.2953964000043925,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 3970,
|
|
"objective": 1284.3243327120063
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5714,
|
|
"objective": 678.1439980278099
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 6056,
|
|
"objective": 356.4176913882986
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7945,
|
|
"inliers": 4167,
|
|
"inlier_ratio": 0.5244808055380743,
|
|
"inlier_rmse_m": 0.13689263771908436,
|
|
"median_m": 0.2339437735126918,
|
|
"p90_m": 1.6217423638751356,
|
|
"p95_m": 2.480595414697209
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
18361.276664261397,
|
|
22007.958244877147,
|
|
46300.312308999855,
|
|
72554.1464969259,
|
|
434920.79812304565,
|
|
664354.1886706232
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 36.18235272080672,
|
|
"weakest_scaled_direction": [
|
|
0.8555229864862803,
|
|
0.3006792949355037,
|
|
-0.013761971452608485,
|
|
0.011123215109815534,
|
|
0.07883475263508956,
|
|
-0.41369595743130916
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0046518429660042555,
|
|
"rotation_deg": 0.17931102925270673
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.0137621733714643e-15,
|
|
"rotation_deg": 6.4525742777465674e-15
|
|
},
|
|
{
|
|
"translation_m": 1.790180836524724e-15,
|
|
"rotation_deg": 3.1094093509920868e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 10,
|
|
"j": 14,
|
|
"lidar_time_i": 1784784614.7244046,
|
|
"lidar_time_j": 1784784921.1126208,
|
|
"frame_counter_i": 8276,
|
|
"frame_counter_j": 11340,
|
|
"rtk_translation_m": 6.819808471778838,
|
|
"rtk_rotation_deg": 41.920216003435236,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.7557460696051378,
|
|
0.6548477476846684,
|
|
-0.004722883515703205,
|
|
6.02645109837871
|
|
],
|
|
[
|
|
-0.6547843528290462,
|
|
0.7555205759810366,
|
|
-0.021121329492490282,
|
|
-3.4042988172869557
|
|
],
|
|
[
|
|
-0.010263019372187593,
|
|
0.019054831975101296,
|
|
0.9997657644727428,
|
|
0.1059899428415869
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 7036,
|
|
"backend_objective": 791.3687289870281,
|
|
"backend_elapsed_sec": 0.23039960002643056,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4164,
|
|
"objective": 1052.0659014095324
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6153,
|
|
"objective": 843.4670180931835
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 7036,
|
|
"objective": 791.3687289870281
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8276,
|
|
"inliers": 4963,
|
|
"inlier_ratio": 0.5996858385693572,
|
|
"inlier_rmse_m": 0.12955691635611957,
|
|
"median_m": 0.18147170016897698,
|
|
"p90_m": 1.1277348193756978,
|
|
"p95_m": 1.645515420506277
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
41783.89606331603,
|
|
72609.2001619175,
|
|
129223.05732286548,
|
|
207488.88832643736,
|
|
501543.9834986491,
|
|
748615.21851125
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 17.916357473627098,
|
|
"weakest_scaled_direction": [
|
|
-0.01511216788533129,
|
|
0.06474776254351719,
|
|
0.005948136339408654,
|
|
-0.993105182982255,
|
|
-0.09531389081921925,
|
|
0.014188976431979035
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.009593578345611205,
|
|
"rotation_deg": 0.05753783232412823
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.9022190146023508e-15,
|
|
"rotation_deg": 1.159149537339861e-14
|
|
},
|
|
{
|
|
"translation_m": 3.344633236840599e-15,
|
|
"rotation_deg": 2.451781459681271e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 10,
|
|
"j": 15,
|
|
"lidar_time_i": 1784784614.7244046,
|
|
"lidar_time_j": 1784784992.709947,
|
|
"frame_counter_i": 8276,
|
|
"frame_counter_j": 12056,
|
|
"rtk_translation_m": 10.561163834622734,
|
|
"rtk_rotation_deg": 65.51298166784417,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.4133663127260252,
|
|
0.9105534311559065,
|
|
-0.004554175391352016,
|
|
8.211959145727498
|
|
],
|
|
[
|
|
-0.9104277322865137,
|
|
0.4132121256621924,
|
|
-0.019418637680553828,
|
|
-6.8047147554839045
|
|
],
|
|
[
|
|
-0.01579986667430266,
|
|
0.012173258230156863,
|
|
0.9998010682116402,
|
|
0.18389997201377958
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 5931,
|
|
"backend_objective": 425.51722908662924,
|
|
"backend_elapsed_sec": 0.2832541999814566,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3963,
|
|
"objective": 1154.8125012038524
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5627,
|
|
"objective": 627.1119434215982
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5931,
|
|
"objective": 425.51722908662924
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7964,
|
|
"inliers": 4021,
|
|
"inlier_ratio": 0.5048970366649924,
|
|
"inlier_rmse_m": 0.13966622273060364,
|
|
"median_m": 0.2466352059576603,
|
|
"p90_m": 1.6997910547185842,
|
|
"p95_m": 2.6288511706828523
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
22858.51135498755,
|
|
39550.79447777227,
|
|
49627.11391869356,
|
|
92977.77775930591,
|
|
386248.5604290127,
|
|
689724.161288384
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 30.173625507677322,
|
|
"weakest_scaled_direction": [
|
|
0.702592645405361,
|
|
0.6965539434222758,
|
|
-0.001442226562302501,
|
|
-0.10542621618514535,
|
|
0.005892964191415783,
|
|
-0.10012334603696395
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.006074999657630774,
|
|
"rotation_deg": 0.04867559411570644
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.0658801409477063e-15,
|
|
"rotation_deg": 1.0723263109506197e-14
|
|
},
|
|
{
|
|
"translation_m": 2.1988302645701685e-15,
|
|
"rotation_deg": 6.936570407277658e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 11,
|
|
"j": 12,
|
|
"lidar_time_i": 1784784682.921899,
|
|
"lidar_time_j": 1784784758.8187964,
|
|
"frame_counter_i": 8958,
|
|
"frame_counter_j": 9717,
|
|
"rtk_translation_m": 3.467398797536633,
|
|
"rtk_rotation_deg": 18.277824252554396,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9504433935004358,
|
|
0.3108699288544366,
|
|
-0.004152479429601264,
|
|
3.0412510252823077
|
|
],
|
|
[
|
|
-0.3108962362764304,
|
|
0.9503946957064814,
|
|
-0.009667090675907373,
|
|
-1.9624152454246937
|
|
],
|
|
[
|
|
0.0009412866332746023,
|
|
0.010479012693164157,
|
|
0.9999446506044473,
|
|
0.006938928443856374
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 23,
|
|
"backend_num_inliers": 7693,
|
|
"backend_objective": 1427.8710136436068,
|
|
"backend_elapsed_sec": 0.47855639999033883,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4290,
|
|
"objective": 999.096582002139
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6651,
|
|
"objective": 1132.2989015074832
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 23,
|
|
"num_inliers": 7693,
|
|
"objective": 1427.8710136436068
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7924,
|
|
"inliers": 5157,
|
|
"inlier_ratio": 0.6508076728924785,
|
|
"inlier_rmse_m": 0.12017753597340274,
|
|
"median_m": 0.14671480883966115,
|
|
"p90_m": 0.9401828007833469,
|
|
"p95_m": 1.367934426813996
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
57131.84333195028,
|
|
133675.67515040856,
|
|
237033.47281957857,
|
|
305488.1079948467,
|
|
593318.576170641,
|
|
869075.8926799411
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 15.211760062254479,
|
|
"weakest_scaled_direction": [
|
|
0.016444278146483127,
|
|
-0.08117415124435234,
|
|
-0.01654078390099138,
|
|
0.9922263848513138,
|
|
0.08181679085150644,
|
|
-0.04073768885927197
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.016302173123952383,
|
|
"rotation_deg": 0.05141023051579345
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.8682029553238323e-15,
|
|
"rotation_deg": 9.733100321856565e-15
|
|
},
|
|
{
|
|
"translation_m": 6.555349938080652e-16,
|
|
"rotation_deg": 1.8754138480784483e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 11,
|
|
"j": 13,
|
|
"lidar_time_i": 1784784682.921899,
|
|
"lidar_time_j": 1784784836.0155501,
|
|
"frame_counter_i": 8958,
|
|
"frame_counter_j": 10489,
|
|
"rtk_translation_m": 7.516502113110916,
|
|
"rtk_rotation_deg": 51.04005291520078,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.6182391429232594,
|
|
0.7859851720259684,
|
|
0.0027697495957383633,
|
|
6.214282032960136
|
|
],
|
|
[
|
|
-0.7852674802296215,
|
|
0.6178180190544496,
|
|
-0.04069250330781977,
|
|
-4.45825153979771
|
|
],
|
|
[
|
|
-0.03369490542107991,
|
|
0.022982704082515897,
|
|
0.9991678781174462,
|
|
0.07675188590804839
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 7,
|
|
"backend_num_inliers": 6443,
|
|
"backend_objective": 472.097100200573,
|
|
"backend_elapsed_sec": 0.30156139997416176,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4113,
|
|
"objective": 1062.5361846990106
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6018,
|
|
"objective": 693.7424421423952
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 6443,
|
|
"objective": 472.097100200573
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7657,
|
|
"inliers": 4339,
|
|
"inlier_ratio": 0.5666710199817161,
|
|
"inlier_rmse_m": 0.12966061077144844,
|
|
"median_m": 0.19703442801383284,
|
|
"p90_m": 1.4197259223628946,
|
|
"p95_m": 2.079747901535407
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
29590.291689393558,
|
|
54337.624830687884,
|
|
67341.03074587212,
|
|
135527.10863196754,
|
|
443725.93536806316,
|
|
773551.7651238618
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 26.14207974844453,
|
|
"weakest_scaled_direction": [
|
|
0.666766807633356,
|
|
0.615172649289733,
|
|
-0.0022160018858633558,
|
|
-0.05392610294968842,
|
|
0.04492081364211016,
|
|
-0.41479370904379287
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.010250004424021303,
|
|
"rotation_deg": 0.0630753341579125
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.7798229048217483e-15,
|
|
"rotation_deg": 2.2026197310775185e-14
|
|
},
|
|
{
|
|
"translation_m": 5.551115123125783e-16,
|
|
"rotation_deg": 1.4908859356854676e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 11,
|
|
"j": 14,
|
|
"lidar_time_i": 1784784682.921899,
|
|
"lidar_time_j": 1784784921.1126208,
|
|
"frame_counter_i": 8958,
|
|
"frame_counter_j": 11340,
|
|
"rtk_translation_m": 3.767517331528496,
|
|
"rtk_rotation_deg": 20.548768889074672,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.942026925919612,
|
|
0.3355237071803427,
|
|
-0.0030187352328095727,
|
|
3.6069602953031183
|
|
],
|
|
[
|
|
-0.33553665317259207,
|
|
0.9419695375826291,
|
|
-0.010418476093145685,
|
|
-1.206369087684881
|
|
],
|
|
[
|
|
-0.0006520890906079957,
|
|
0.010827381323624107,
|
|
0.9999411695662349,
|
|
0.07924499098366505
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 10,
|
|
"backend_num_inliers": 7408,
|
|
"backend_objective": 1459.8703284439798,
|
|
"backend_elapsed_sec": 0.3203974000061862,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4275,
|
|
"objective": 1064.8857923542525
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6347,
|
|
"objective": 928.3262646342594
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 10,
|
|
"num_inliers": 7408,
|
|
"objective": 1459.8703284439798
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7988,
|
|
"inliers": 5134,
|
|
"inlier_ratio": 0.64271407110666,
|
|
"inlier_rmse_m": 0.12109534664165014,
|
|
"median_m": 0.15504103975148426,
|
|
"p90_m": 0.9524874908970329,
|
|
"p95_m": 1.41090815960974
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
61505.82455169954,
|
|
143556.04669624314,
|
|
250928.05845858628,
|
|
375812.23863406415,
|
|
573922.2693983567,
|
|
863904.4673688253
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 14.04589685067402,
|
|
"weakest_scaled_direction": [
|
|
0.01180305193261193,
|
|
0.09185640342475676,
|
|
0.019835137835105623,
|
|
-0.9903338151215791,
|
|
-0.09689871093297722,
|
|
0.029651827401897906
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.007610676428698485,
|
|
"rotation_deg": 0.05350102444543152
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.985625923664639e-13,
|
|
"rotation_deg": 2.8826369385899637e-12
|
|
},
|
|
{
|
|
"translation_m": 2.8617366805038644e-07,
|
|
"rotation_deg": 1.5337474030764892e-07
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 11,
|
|
"j": 15,
|
|
"lidar_time_i": 1784784682.921899,
|
|
"lidar_time_j": 1784784992.709947,
|
|
"frame_counter_i": 8958,
|
|
"frame_counter_j": 12056,
|
|
"rtk_translation_m": 7.712397127778454,
|
|
"rtk_rotation_deg": 44.141534553483616,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.716094201727167,
|
|
0.6979874068050286,
|
|
0.004761742782103645,
|
|
6.894343637585203
|
|
],
|
|
[
|
|
-0.6976885985463354,
|
|
0.715959274117259,
|
|
-0.02515824445261516,
|
|
-3.5712566539558304
|
|
],
|
|
[
|
|
-0.02096935171105586,
|
|
0.014693459329868349,
|
|
0.9996721405249523,
|
|
0.10646586545710361
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 6629,
|
|
"backend_objective": 596.9478996131159,
|
|
"backend_elapsed_sec": 0.2352178000146523,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4100,
|
|
"objective": 1009.2812485827473
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5942,
|
|
"objective": 742.3828834104637
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6629,
|
|
"objective": 596.9478996131159
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7676,
|
|
"inliers": 4379,
|
|
"inlier_ratio": 0.570479416362689,
|
|
"inlier_rmse_m": 0.12836105648377344,
|
|
"median_m": 0.19583855766353528,
|
|
"p90_m": 1.4560376428526856,
|
|
"p95_m": 2.062279090391627
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
38049.27132401841,
|
|
63332.56476827506,
|
|
71744.68145153238,
|
|
188411.65734390708,
|
|
503547.31521629175,
|
|
717503.9237202356
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 18.857231656557765,
|
|
"weakest_scaled_direction": [
|
|
0.7673350045286186,
|
|
0.4242982572414473,
|
|
0.005601452564885276,
|
|
-0.06830701461078995,
|
|
0.047533100756362544,
|
|
-0.4735096192724549
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.006898635416764969,
|
|
"rotation_deg": 0.028532809525243653
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.131015977260606e-11,
|
|
"rotation_deg": 6.110649119113154e-11
|
|
},
|
|
{
|
|
"translation_m": 3.794401387868872e-15,
|
|
"rotation_deg": 5.500759727794842e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 11,
|
|
"j": 16,
|
|
"lidar_time_i": 1784784682.921899,
|
|
"lidar_time_j": 1784785067.6067727,
|
|
"frame_counter_i": 8958,
|
|
"frame_counter_j": 12805,
|
|
"rtk_translation_m": 11.0395297023812,
|
|
"rtk_rotation_deg": 69.98495270981527,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.33997459216691417,
|
|
0.9404220709679335,
|
|
-0.004858509784271119,
|
|
8.665326582789657
|
|
],
|
|
[
|
|
-0.9385271305567985,
|
|
0.33895161243540245,
|
|
-0.06541123478626168,
|
|
-6.8664357105870675
|
|
],
|
|
[
|
|
-0.05986736915685403,
|
|
0.026798001116207656,
|
|
0.9978465639798603,
|
|
-0.023810029264402142
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 5353,
|
|
"backend_objective": 334.0375475607748,
|
|
"backend_elapsed_sec": 0.2557258000015281,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 3397,
|
|
"objective": 1004.791683813135
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 4966,
|
|
"objective": 579.5436701602518
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5353,
|
|
"objective": 334.0375475607748
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7922,
|
|
"inliers": 3772,
|
|
"inlier_ratio": 0.4761423882857864,
|
|
"inlier_rmse_m": 0.13515636052103228,
|
|
"median_m": 0.27440520801976354,
|
|
"p90_m": 1.7053159063617707,
|
|
"p95_m": 2.47427889172865
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
10127.045516353472,
|
|
24223.753044945723,
|
|
52985.03994164588,
|
|
77287.00801523344,
|
|
338167.59849025833,
|
|
459810.51357045333
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 45.4042112112498,
|
|
"weakest_scaled_direction": [
|
|
0.3754067618118904,
|
|
0.8534683468201325,
|
|
0.0033299375093265252,
|
|
-0.020975171147207282,
|
|
0.04313620589694269,
|
|
-0.3582593552363523
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.037021121414326036,
|
|
"rotation_deg": 0.5129154434742894
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.217454592664719e-15,
|
|
"rotation_deg": 1.2677297387073151e-14
|
|
},
|
|
{
|
|
"translation_m": 1.807312143953211e-15,
|
|
"rotation_deg": 2.5212748876285697e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 12,
|
|
"j": 13,
|
|
"lidar_time_i": 1784784758.8187964,
|
|
"lidar_time_j": 1784784836.0155501,
|
|
"frame_counter_i": 9717,
|
|
"frame_counter_j": 10489,
|
|
"rtk_translation_m": 4.049286119591895,
|
|
"rtk_rotation_deg": 32.762228662646386,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8316727394710671,
|
|
0.5552590632983242,
|
|
0.0027976857848656515,
|
|
3.7890687060066965
|
|
],
|
|
[
|
|
-0.5550814798447131,
|
|
0.8315155678841479,
|
|
-0.021596552958877947,
|
|
-1.3906575724641173
|
|
],
|
|
[
|
|
-0.014318001050583175,
|
|
0.016408320796838335,
|
|
0.9997628528078737,
|
|
0.11008740201136429
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 7953,
|
|
"backend_objective": 869.6936700072964,
|
|
"backend_elapsed_sec": 0.5297750000027008,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": false,
|
|
"iterations": 59,
|
|
"num_inliers": 4370,
|
|
"objective": 962.2433630772165
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6858,
|
|
"objective": 821.9086325078015
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7953,
|
|
"objective": 869.6936700072964
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7879,
|
|
"inliers": 5560,
|
|
"inlier_ratio": 0.7056733087955325,
|
|
"inlier_rmse_m": 0.11689859246507509,
|
|
"median_m": 0.12986412584869617,
|
|
"p90_m": 0.832358221560291,
|
|
"p95_m": 1.2013856283425157
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
57100.09669312741,
|
|
70309.95131630609,
|
|
120136.47232763257,
|
|
230672.1520484908,
|
|
626073.0789463806,
|
|
828508.547965252
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 14.509757355016381,
|
|
"weakest_scaled_direction": [
|
|
-0.6854969296403723,
|
|
-0.5748624669478345,
|
|
0.00775359846363909,
|
|
0.04562986047685622,
|
|
-0.0556223085124074,
|
|
0.4408980152912356
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0020816591744367207,
|
|
"rotation_deg": 0.08889045467662131
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.4365173483345e-13,
|
|
"rotation_deg": 1.1223558095281077e-11
|
|
},
|
|
{
|
|
"translation_m": 1.1959046253703445e-14,
|
|
"rotation_deg": 1.6420504838174178e-13
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 12,
|
|
"j": 14,
|
|
"lidar_time_i": 1784784758.8187964,
|
|
"lidar_time_j": 1784784921.1126208,
|
|
"frame_counter_i": 9717,
|
|
"frame_counter_j": 11340,
|
|
"rtk_translation_m": 0.97948616772873,
|
|
"rtk_rotation_deg": 2.2709446365202806,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9996581263228405,
|
|
0.02610659396280804,
|
|
-0.0014409123394368004,
|
|
0.30889730725744324
|
|
],
|
|
[
|
|
-0.026122075707762333,
|
|
0.9995862066640262,
|
|
-0.012043778798241984,
|
|
0.9063295399378696
|
|
],
|
|
[
|
|
0.0011258940566494396,
|
|
0.01207730096851634,
|
|
0.9999264328758839,
|
|
0.006439480993300663
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 10372,
|
|
"backend_objective": 1198.5516746258368,
|
|
"backend_elapsed_sec": 0.21869030001107603,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 4568,
|
|
"objective": 795.9998919658881
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7631,
|
|
"objective": 637.9132618321958
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 10372,
|
|
"objective": 1198.5516746258368
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8210,
|
|
"inliers": 7180,
|
|
"inlier_ratio": 0.8745432399512789,
|
|
"inlier_rmse_m": 0.09766069029332589,
|
|
"median_m": 0.08197666179497584,
|
|
"p90_m": 0.3146202596650354,
|
|
"p95_m": 0.672829810365911
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
109114.22823551347,
|
|
359789.4940437043,
|
|
459655.61713220185,
|
|
844519.4260670365,
|
|
970171.191170407,
|
|
1293820.6527927371
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 11.857488007889668,
|
|
"weakest_scaled_direction": [
|
|
-0.003601391110131631,
|
|
0.11329322266653565,
|
|
0.013475728477684981,
|
|
-0.9873747958599314,
|
|
-0.10269021557784694,
|
|
0.03893343739040223
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.002473515580842477,
|
|
"rotation_deg": 0.018069288085025077
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.889675394751205e-07,
|
|
"rotation_deg": 3.918435456343839e-07
|
|
},
|
|
{
|
|
"translation_m": 9.889675395902287e-07,
|
|
"rotation_deg": 3.9184354761591926e-07
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 12,
|
|
"j": 15,
|
|
"lidar_time_i": 1784784758.8187964,
|
|
"lidar_time_j": 1784784992.709947,
|
|
"frame_counter_i": 9717,
|
|
"frame_counter_j": 12056,
|
|
"rtk_translation_m": 4.286747470271891,
|
|
"rtk_rotation_deg": 25.863710300929224,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8972862712213516,
|
|
0.441420931836251,
|
|
-0.004990833046564667,
|
|
4.169157063684358
|
|
],
|
|
[
|
|
-0.44144650095283283,
|
|
0.897184424089816,
|
|
-0.013604997873056782,
|
|
-0.3321808532165975
|
|
],
|
|
[
|
|
-0.0015278331661443911,
|
|
0.014410763596735278,
|
|
0.9998949922958784,
|
|
0.1295301488733824
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 8050,
|
|
"backend_objective": 1077.6421379499968,
|
|
"backend_elapsed_sec": 0.2883843000163324,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4390,
|
|
"objective": 807.5217644124835
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 6848,
|
|
"objective": 1073.9983012769767
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 8050,
|
|
"objective": 1077.6421379499968
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7898,
|
|
"inliers": 5555,
|
|
"inlier_ratio": 0.7033426183844012,
|
|
"inlier_rmse_m": 0.12103901189560114,
|
|
"median_m": 0.13437732506016573,
|
|
"p90_m": 0.7657373090860967,
|
|
"p95_m": 1.1689393422349994
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
64933.51746675845,
|
|
73612.68072860739,
|
|
115393.72227781739,
|
|
302897.5851089768,
|
|
659714.9901210441,
|
|
770072.3652140237
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 11.859397045728326,
|
|
"weakest_scaled_direction": [
|
|
-0.7011289510728151,
|
|
-0.5219313719608661,
|
|
-0.009393314541797756,
|
|
0.2600295997417285,
|
|
0.06395736258760248,
|
|
0.40523038583193016
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.022780233796594867,
|
|
"rotation_deg": 0.04927694758545139
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.6272671962866384e-15,
|
|
"rotation_deg": 1.289339939708841e-14
|
|
},
|
|
{
|
|
"translation_m": 6.463236069784172e-16,
|
|
"rotation_deg": 3.4338493613969134e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 12,
|
|
"j": 16,
|
|
"lidar_time_i": 1784784758.8187964,
|
|
"lidar_time_j": 1784785067.6067727,
|
|
"frame_counter_i": 9717,
|
|
"frame_counter_j": 12805,
|
|
"rtk_translation_m": 7.5836501880550475,
|
|
"rtk_rotation_deg": 51.70712845726087,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.6146203489219709,
|
|
0.7888162783528037,
|
|
0.0032719560918860312,
|
|
6.874101640514283
|
|
],
|
|
[
|
|
-0.7867989688670807,
|
|
0.61333493294241,
|
|
-0.0690481181657285,
|
|
-2.908082059139103
|
|
],
|
|
[
|
|
-0.05647308456896194,
|
|
0.03986400680015121,
|
|
0.9976079649246516,
|
|
0.062062628879110515
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 6703,
|
|
"backend_objective": 409.69494126831563,
|
|
"backend_elapsed_sec": 0.2799302999919746,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3727,
|
|
"objective": 1444.9177421282147
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 5693,
|
|
"objective": 557.4885047395345
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6703,
|
|
"objective": 409.69494126831563
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8144,
|
|
"inliers": 4740,
|
|
"inlier_ratio": 0.5820235756385069,
|
|
"inlier_rmse_m": 0.12458133956199553,
|
|
"median_m": 0.18601408084225746,
|
|
"p90_m": 1.194987294606242,
|
|
"p95_m": 1.8480348406894138
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
18364.402130109076,
|
|
50475.82362826073,
|
|
72295.18416243164,
|
|
85622.68251926747,
|
|
399729.3199221288,
|
|
594122.6450628712
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 32.351864267271,
|
|
"weakest_scaled_direction": [
|
|
-0.4363491064464678,
|
|
-0.7313957369241603,
|
|
-0.0007090641582729063,
|
|
0.0036630210635555348,
|
|
-0.045485057920586804,
|
|
0.5220889984698033
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.00989839849833309,
|
|
"rotation_deg": 0.03808519306435704
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.7064176995603496e-15,
|
|
"rotation_deg": 3.337593529060993e-14
|
|
},
|
|
{
|
|
"translation_m": 1.3732700395566711e-15,
|
|
"rotation_deg": 2.974763671380339e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 12,
|
|
"j": 17,
|
|
"lidar_time_i": 1784784758.8187964,
|
|
"lidar_time_j": 1784785215.9006598,
|
|
"frame_counter_i": 9717,
|
|
"frame_counter_j": 14288,
|
|
"rtk_translation_m": 6.351478009829798,
|
|
"rtk_rotation_deg": 1.4248238883471207,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9994930132691149,
|
|
0.03176504947624508,
|
|
-0.002167500402989367,
|
|
6.214675156608227
|
|
],
|
|
[
|
|
-0.031777216054501095,
|
|
0.9994779687978029,
|
|
-0.0058308170648675,
|
|
1.2668750661132342
|
|
],
|
|
[
|
|
0.0019811527075957814,
|
|
0.005896738046589404,
|
|
0.9999806515699989,
|
|
0.168039175109176
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 7418,
|
|
"backend_objective": 794.1740626832127,
|
|
"backend_elapsed_sec": 0.30334379998384975,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4110,
|
|
"objective": 1000.8154301262603
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 6282,
|
|
"objective": 952.1492925664304
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 7418,
|
|
"objective": 794.1740626832127
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7982,
|
|
"inliers": 5222,
|
|
"inlier_ratio": 0.6542219994988725,
|
|
"inlier_rmse_m": 0.12658997093251892,
|
|
"median_m": 0.1569803781567281,
|
|
"p90_m": 0.9639560015701379,
|
|
"p95_m": 1.4863364576008102
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
58399.48050163931,
|
|
73088.6637050867,
|
|
110601.33854849968,
|
|
181423.41026453133,
|
|
533909.1279579732,
|
|
655823.3109375546
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 11.229951110937455,
|
|
"weakest_scaled_direction": [
|
|
0.8981188066549503,
|
|
0.06658162660065642,
|
|
-0.020771352105241295,
|
|
0.12506204124973389,
|
|
0.10764458161261564,
|
|
-0.4016094831444013
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.019742680150836883,
|
|
"rotation_deg": 0.07899236042083516
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.47711785560036e-08,
|
|
"rotation_deg": 7.434739841825308e-08
|
|
},
|
|
{
|
|
"translation_m": 4.163798909574513e-15,
|
|
"rotation_deg": 7.626668552228922e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 13,
|
|
"j": 14,
|
|
"lidar_time_i": 1784784836.0155501,
|
|
"lidar_time_j": 1784784921.1126208,
|
|
"frame_counter_i": 10489,
|
|
"frame_counter_j": 11340,
|
|
"rtk_translation_m": 4.006260191078547,
|
|
"rtk_rotation_deg": 30.491284026126113,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8458419211807263,
|
|
-0.5333682309069453,
|
|
-0.00835312112295205,
|
|
-4.163012048475338
|
|
],
|
|
[
|
|
0.5334336026840818,
|
|
0.8457437194742415,
|
|
0.012890015413359665,
|
|
-0.02563827897866835
|
|
],
|
|
[
|
|
0.00018947501035742524,
|
|
-0.015358750895558125,
|
|
0.9998820294765522,
|
|
-0.12498525406937654
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 7969,
|
|
"backend_objective": 927.1435594183387,
|
|
"backend_elapsed_sec": 0.2421326999901794,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4371,
|
|
"objective": 898.8586398352164
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6619,
|
|
"objective": 1040.935285233254
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7969,
|
|
"objective": 927.1435594183387
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7943,
|
|
"inliers": 5548,
|
|
"inlier_ratio": 0.6984766461034874,
|
|
"inlier_rmse_m": 0.11406275231178287,
|
|
"median_m": 0.12602217998844806,
|
|
"p90_m": 0.903519338084722,
|
|
"p95_m": 1.2994502303492355
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
50804.88184126566,
|
|
65956.17290397525,
|
|
85728.84407798086,
|
|
229995.28112754674,
|
|
650389.4248986854,
|
|
707443.6587959855
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 13.924718120717541,
|
|
"weakest_scaled_direction": [
|
|
0.7793258965377641,
|
|
0.38266690749821086,
|
|
0.007168629255221333,
|
|
-0.2360058333543049,
|
|
0.036974014982615655,
|
|
0.43485625726758553
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.012533581961738958,
|
|
"rotation_deg": 0.10861604448395465
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.811417634492977e-15,
|
|
"rotation_deg": 2.555001865261242e-14
|
|
},
|
|
{
|
|
"translation_m": 3.213209896484438e-15,
|
|
"rotation_deg": 1.4494936274853144e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 13,
|
|
"j": 15,
|
|
"lidar_time_i": 1784784836.0155501,
|
|
"lidar_time_j": 1784784992.709947,
|
|
"frame_counter_i": 10489,
|
|
"frame_counter_j": 12056,
|
|
"rtk_translation_m": 0.9562774815922267,
|
|
"rtk_rotation_deg": 6.898518361717157,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9913539248889289,
|
|
-0.13121463619117796,
|
|
0.0003389049016727283,
|
|
-0.284327351271054
|
|
],
|
|
[
|
|
0.13121452196401232,
|
|
0.9913389575266908,
|
|
-0.00546081639047433,
|
|
1.0919146226885657
|
|
],
|
|
[
|
|
0.00038056940405798226,
|
|
0.005458071006458768,
|
|
0.9999850322018909,
|
|
-0.016932016341550456
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 10084,
|
|
"backend_objective": 1638.7163254148252,
|
|
"backend_elapsed_sec": 0.22533139999723062,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 4787,
|
|
"objective": 819.4918491535332
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7838,
|
|
"objective": 907.68020938366
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 10084,
|
|
"objective": 1638.7163254148252
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7631,
|
|
"inliers": 6711,
|
|
"inlier_ratio": 0.8794391298650243,
|
|
"inlier_rmse_m": 0.09903209123829654,
|
|
"median_m": 0.0794929932661052,
|
|
"p90_m": 0.2843674999851667,
|
|
"p95_m": 0.553116797826763
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
133310.850116709,
|
|
175848.0556674358,
|
|
230524.304184143,
|
|
890824.1160299031,
|
|
949801.0613552652,
|
|
1401739.4866404298
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 10.514819201987352,
|
|
"weakest_scaled_direction": [
|
|
0.6678512120762216,
|
|
0.24626612198557973,
|
|
-0.002692070337053267,
|
|
-0.016863926230058553,
|
|
0.08457369218430565,
|
|
-0.6970533745920943
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.006638809913641406,
|
|
"rotation_deg": 0.04266354358349458
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.053575702315565e-15,
|
|
"rotation_deg": 7.241464937813613e-15
|
|
},
|
|
{
|
|
"translation_m": 9.436959485696706e-16,
|
|
"rotation_deg": 7.257507082768534e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 13,
|
|
"j": 16,
|
|
"lidar_time_i": 1784784836.0155501,
|
|
"lidar_time_j": 1784785067.6067727,
|
|
"frame_counter_i": 10489,
|
|
"frame_counter_j": 12805,
|
|
"rtk_translation_m": 3.565173336606111,
|
|
"rtk_rotation_deg": 18.944899794614482,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9489251511944998,
|
|
0.31464278140628316,
|
|
0.023258923866203304,
|
|
3.4130945373445862
|
|
],
|
|
[
|
|
-0.31369495630964817,
|
|
0.9488023328035168,
|
|
-0.03700821060918089,
|
|
0.4494671051487981
|
|
],
|
|
[
|
|
-0.03371248754369525,
|
|
0.027821814741736783,
|
|
0.9990442506756612,
|
|
0.04584407398787109
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 10,
|
|
"backend_num_inliers": 8310,
|
|
"backend_objective": 890.4256617264003,
|
|
"backend_elapsed_sec": 0.3422549999959301,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4122,
|
|
"objective": 901.2164938557783
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6697,
|
|
"objective": 1062.8376030689396
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 10,
|
|
"num_inliers": 8310,
|
|
"objective": 890.4256617264003
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7877,
|
|
"inliers": 5729,
|
|
"inlier_ratio": 0.7273073505141552,
|
|
"inlier_rmse_m": 0.10958532316684438,
|
|
"median_m": 0.11088671307791485,
|
|
"p90_m": 0.6526082260217301,
|
|
"p95_m": 1.0313552461224216
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
50138.26586802238,
|
|
75062.54890217083,
|
|
130722.92080997657,
|
|
299118.1598858921,
|
|
768567.2732860111,
|
|
972935.8821858894
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 19.40505650408657,
|
|
"weakest_scaled_direction": [
|
|
-0.38672167429684523,
|
|
-0.6532940659090329,
|
|
-0.0024710847024261564,
|
|
0.024890199464270537,
|
|
-0.02032408794266449,
|
|
0.6500880811377863
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.005441055528592516,
|
|
"rotation_deg": 0.12519365495730794
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.4049503905841223e-15,
|
|
"rotation_deg": 3.70702022880602e-15
|
|
},
|
|
{
|
|
"translation_m": 2.8522145930998398e-15,
|
|
"rotation_deg": 3.402144189154636e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 13,
|
|
"j": 17,
|
|
"lidar_time_i": 1784784836.0155501,
|
|
"lidar_time_j": 1784785215.9006598,
|
|
"frame_counter_i": 10489,
|
|
"frame_counter_j": 14288,
|
|
"rtk_translation_m": 2.967150651379281,
|
|
"rtk_rotation_deg": 31.337404774299262,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8489495177179236,
|
|
-0.528332223669453,
|
|
-0.012238374033990258,
|
|
0.5419932722823791
|
|
],
|
|
[
|
|
0.5284484316622716,
|
|
0.8489084395372175,
|
|
0.00983444742587709,
|
|
3.556042865317767
|
|
],
|
|
[
|
|
0.005193403526593496,
|
|
-0.014816298963579038,
|
|
0.9998767453265581,
|
|
0.0404797123576018
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 11,
|
|
"backend_num_inliers": 7967,
|
|
"backend_objective": 1111.9187402346486,
|
|
"backend_elapsed_sec": 0.29831579999881797,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4309,
|
|
"objective": 920.5379342221945
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6597,
|
|
"objective": 1098.5312376041902
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 7967,
|
|
"objective": 1111.9187402346486
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7715,
|
|
"inliers": 5501,
|
|
"inlier_ratio": 0.7130265716137395,
|
|
"inlier_rmse_m": 0.11779895987026284,
|
|
"median_m": 0.13060126881310336,
|
|
"p90_m": 0.7839507232547154,
|
|
"p95_m": 1.2257874058501432
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
59654.597100181374,
|
|
127705.55415331507,
|
|
154997.31781970174,
|
|
484842.7934717072,
|
|
664238.141275342,
|
|
764556.613382757
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 12.816390530620689,
|
|
"weakest_scaled_direction": [
|
|
-0.825518074746113,
|
|
-0.28261208492193335,
|
|
-0.003827921662312285,
|
|
0.039473874928980246,
|
|
-0.09616863988319821,
|
|
0.4773144358181554
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.013263327701592687,
|
|
"rotation_deg": 0.16221305155705806
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.094764613337708e-15,
|
|
"rotation_deg": 1.9179512446675555e-14
|
|
},
|
|
{
|
|
"translation_m": 1.3340734093775516e-15,
|
|
"rotation_deg": 1.990236080151568e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 13,
|
|
"j": 18,
|
|
"lidar_time_i": 1784784836.0155501,
|
|
"lidar_time_j": 1784785296.4990919,
|
|
"frame_counter_i": 10489,
|
|
"frame_counter_j": 15094,
|
|
"rtk_translation_m": 5.249882044431148,
|
|
"rtk_rotation_deg": 3.4459964529377567,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9977571417147861,
|
|
-0.0667962881856638,
|
|
-0.004352245599464723,
|
|
2.936043866868282
|
|
],
|
|
[
|
|
0.0667959258106268,
|
|
0.9977666320230834,
|
|
-0.00022872782023320318,
|
|
4.434809149161473
|
|
],
|
|
[
|
|
0.004357803602911574,
|
|
-6.24974580249391e-05,
|
|
0.9999905027758146,
|
|
0.11203964846465073
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7543,
|
|
"backend_objective": 841.8866254288604,
|
|
"backend_elapsed_sec": 0.2504865999799222,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4277,
|
|
"objective": 793.0656724866166
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 6560,
|
|
"objective": 958.332626200767
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7543,
|
|
"objective": 841.8866254288604
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7446,
|
|
"inliers": 5227,
|
|
"inlier_ratio": 0.7019876443728176,
|
|
"inlier_rmse_m": 0.11940768524727291,
|
|
"median_m": 0.13180635915653727,
|
|
"p90_m": 0.857866015488963,
|
|
"p95_m": 1.5608407355086427
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
33811.95297915407,
|
|
74476.92295847525,
|
|
139856.87652361512,
|
|
336907.90021488024,
|
|
602828.555566902,
|
|
878620.0541353419
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 25.985486690964983,
|
|
"weakest_scaled_direction": [
|
|
0.5771258940496528,
|
|
0.6404774288226794,
|
|
-0.0027055542924389717,
|
|
-0.05116004191354056,
|
|
0.055856331158730524,
|
|
-0.500968827316571
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.008995185113784413,
|
|
"rotation_deg": 0.05198334813202341
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.264917572290597e-16,
|
|
"rotation_deg": 3.2565984009314428e-15
|
|
},
|
|
{
|
|
"translation_m": 4.742874840267547e-16,
|
|
"rotation_deg": 5.494358663589623e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 14,
|
|
"j": 15,
|
|
"lidar_time_i": 1784784921.1126208,
|
|
"lidar_time_j": 1784784992.709947,
|
|
"frame_counter_i": 11340,
|
|
"frame_counter_j": 12056,
|
|
"rtk_translation_m": 4.019575892829469,
|
|
"rtk_rotation_deg": 23.592765664408944,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9085170701592518,
|
|
0.41783878252876905,
|
|
-0.002735880868219632,
|
|
3.8911482014585665
|
|
],
|
|
[
|
|
-0.4178475701601259,
|
|
0.9085031190204823,
|
|
-0.005048845544674135,
|
|
-1.1353852142585041
|
|
],
|
|
[
|
|
0.00037595282648356077,
|
|
0.005730143534967087,
|
|
0.9999835119213423,
|
|
0.16406336153145454
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7966,
|
|
"backend_objective": 902.9205965703671,
|
|
"backend_elapsed_sec": 0.2668874000082724,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4290,
|
|
"objective": 958.6151327290297
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 6698,
|
|
"objective": 1275.2840755374373
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7966,
|
|
"objective": 902.9205965703671
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7962,
|
|
"inliers": 5602,
|
|
"inlier_ratio": 0.7035920622959055,
|
|
"inlier_rmse_m": 0.12189498753760801,
|
|
"median_m": 0.13573370144706748,
|
|
"p90_m": 0.810941644922927,
|
|
"p95_m": 1.3610394034846007
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
68945.42428668191,
|
|
77582.4108575915,
|
|
116985.42825515481,
|
|
197764.31044804805,
|
|
616820.4872774186,
|
|
709858.1746199143
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 10.295943232842452,
|
|
"weakest_scaled_direction": [
|
|
-0.08533000640036743,
|
|
-0.29768613088104035,
|
|
-0.009596037934023782,
|
|
0.8292050077175325,
|
|
0.46520946393242857,
|
|
0.0029805014053541678
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.010817230757509965,
|
|
"rotation_deg": 0.008099442158890762
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.5,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.0905310879782476e-15,
|
|
"rotation_deg": 1.611090055341308e-14
|
|
},
|
|
{
|
|
"translation_m": 0.08606585746770694,
|
|
"rotation_deg": 0.8387443181814452
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 14,
|
|
"j": 16,
|
|
"lidar_time_i": 1784784921.1126208,
|
|
"lidar_time_j": 1784785067.6067727,
|
|
"frame_counter_i": 11340,
|
|
"frame_counter_j": 12805,
|
|
"rtk_translation_m": 7.5676649485439835,
|
|
"rtk_rotation_deg": 49.43618382074059,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.6349122470255462,
|
|
0.7725608831825928,
|
|
0.006010021056944039,
|
|
6.655705349267587
|
|
],
|
|
[
|
|
-0.7709997280782875,
|
|
0.6340888682829757,
|
|
-0.059082369813874124,
|
|
-3.6396657145186144
|
|
],
|
|
[
|
|
-0.049455615254281604,
|
|
0.032878395577472457,
|
|
0.9982350190331288,
|
|
0.06220101301599634
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 6708,
|
|
"backend_objective": 387.4594836405733,
|
|
"backend_elapsed_sec": 0.24329849999048747,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3600,
|
|
"objective": 1289.3156658433
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5585,
|
|
"objective": 460.5022697437489
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6708,
|
|
"objective": 387.4594836405733
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8208,
|
|
"inliers": 4862,
|
|
"inlier_ratio": 0.5923489278752436,
|
|
"inlier_rmse_m": 0.12241126089476961,
|
|
"median_m": 0.17858216608738586,
|
|
"p90_m": 1.2951310482418497,
|
|
"p95_m": 1.9536327645697338
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
18839.99127827367,
|
|
44246.580454990275,
|
|
71798.78942804766,
|
|
81252.29609650953,
|
|
400147.1512237064,
|
|
634034.6025680369
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 33.65365690477826,
|
|
"weakest_scaled_direction": [
|
|
0.42183630237970215,
|
|
0.7931639495655218,
|
|
-0.005825229284865469,
|
|
-0.010288172641256362,
|
|
0.04591388166329985,
|
|
-0.43668892679152543
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.003104373432332903,
|
|
"rotation_deg": 0.13386003286196627
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.7499872543679206e-07,
|
|
"rotation_deg": 3.650840534413396e-07
|
|
},
|
|
{
|
|
"translation_m": 3.74998724994446e-07,
|
|
"rotation_deg": 3.650840466010599e-07
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 14,
|
|
"j": 17,
|
|
"lidar_time_i": 1784784921.1126208,
|
|
"lidar_time_j": 1784785215.9006598,
|
|
"frame_counter_i": 11340,
|
|
"frame_counter_j": 14288,
|
|
"rtk_translation_m": 5.910977627463022,
|
|
"rtk_rotation_deg": 0.8461207481731591,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9999810311615547,
|
|
0.005256007544014506,
|
|
0.0032111838581707084,
|
|
5.886999225033465
|
|
],
|
|
[
|
|
-0.005263753844837616,
|
|
0.9999832455873373,
|
|
0.0024086178766968913,
|
|
0.5172458084494828
|
|
],
|
|
[
|
|
-0.003198470342940645,
|
|
-0.0024254750693934388,
|
|
0.9999919433966221,
|
|
0.14574668511076191
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7592,
|
|
"backend_objective": 978.1514630810549,
|
|
"backend_elapsed_sec": 0.23258599999826401,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4104,
|
|
"objective": 1018.089983840903
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6315,
|
|
"objective": 795.6756085182283
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7592,
|
|
"objective": 978.1514630810549
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8046,
|
|
"inliers": 5381,
|
|
"inlier_ratio": 0.6687795177728063,
|
|
"inlier_rmse_m": 0.12452036369759786,
|
|
"median_m": 0.1504837039015933,
|
|
"p90_m": 0.8884399853069347,
|
|
"p95_m": 1.4154431558457168
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
78482.02592436179,
|
|
85000.72426497057,
|
|
140118.92499435777,
|
|
200075.4481312525,
|
|
527280.7777253377,
|
|
702653.6176268102
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 8.95305147071513,
|
|
"weakest_scaled_direction": [
|
|
0.6682663506337039,
|
|
-0.12573044567191893,
|
|
-0.04161918367411972,
|
|
0.6728833238532822,
|
|
0.1486228302734804,
|
|
-0.24702038376176852
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01159286549234958,
|
|
"rotation_deg": 0.10132041390926738
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 6.637438791077969e-07,
|
|
"rotation_deg": 4.734803485491884e-07
|
|
},
|
|
{
|
|
"translation_m": 2.190454440024561e-08,
|
|
"rotation_deg": 1.5774695801797192e-07
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 14,
|
|
"j": 18,
|
|
"lidar_time_i": 1784784921.1126208,
|
|
"lidar_time_j": 1784785296.4990919,
|
|
"frame_counter_i": 11340,
|
|
"frame_counter_j": 15094,
|
|
"rtk_translation_m": 8.548241724186095,
|
|
"rtk_rotation_deg": 27.045287573188347,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8796843299610488,
|
|
0.47554326950822207,
|
|
0.003752125585852792,
|
|
8.386652041996692
|
|
],
|
|
[
|
|
-0.4754753480973043,
|
|
0.8796510895953867,
|
|
-0.011711273431879549,
|
|
-0.01463790464529569
|
|
],
|
|
[
|
|
-0.008869778617794907,
|
|
0.00851818050287543,
|
|
0.9999243809549762,
|
|
0.18329554143287938
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7035,
|
|
"backend_objective": 678.2874870199292,
|
|
"backend_elapsed_sec": 0.21809029998257756,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 3921,
|
|
"objective": 1152.3067795625525
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 5991,
|
|
"objective": 616.5435255495543
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7035,
|
|
"objective": 678.2874870199292
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7777,
|
|
"inliers": 4819,
|
|
"inlier_ratio": 0.6196476790536196,
|
|
"inlier_rmse_m": 0.12845393182350578,
|
|
"median_m": 0.1731602947244192,
|
|
"p90_m": 1.2571440001147722,
|
|
"p95_m": 1.9928971214320321
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
40431.25205982152,
|
|
75564.08180304668,
|
|
90949.10875347017,
|
|
123277.63194673136,
|
|
432859.04912703205,
|
|
719898.8698119103
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 17.805505225184664,
|
|
"weakest_scaled_direction": [
|
|
-0.6794571416531119,
|
|
-0.7022532493594741,
|
|
0.0012572727446779881,
|
|
0.006708870553632756,
|
|
-0.0765369796544835,
|
|
0.19817635451070353
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.010070495463159433,
|
|
"rotation_deg": 0.13041926369959572
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.0547118733938987e-15,
|
|
"rotation_deg": 7.049615762303467e-15
|
|
},
|
|
{
|
|
"translation_m": 1.6014269617894046e-15,
|
|
"rotation_deg": 1.226560617416122e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 14,
|
|
"j": 19,
|
|
"lidar_time_i": 1784784921.1126208,
|
|
"lidar_time_j": 1784785363.1952267,
|
|
"frame_counter_i": 11340,
|
|
"frame_counter_j": 15761,
|
|
"rtk_translation_m": 9.249254057266956,
|
|
"rtk_rotation_deg": 79.47127430600668,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.16864462120307008,
|
|
0.9856558183330172,
|
|
-0.006449769417807938,
|
|
8.028845027944058
|
|
],
|
|
[
|
|
-0.9841353949736018,
|
|
0.1680114525860001,
|
|
-0.0570059309203547,
|
|
-3.086991614382891
|
|
],
|
|
[
|
|
-0.05510459236240697,
|
|
0.015961189999874656,
|
|
0.9983530058623359,
|
|
0.12073617114424255
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 6469,
|
|
"backend_objective": 441.0332153778222,
|
|
"backend_elapsed_sec": 0.22742700000526384,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 3355,
|
|
"objective": 718.9129117928787
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5297,
|
|
"objective": 547.1775931939246
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6469,
|
|
"objective": 441.0332153778222
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8112,
|
|
"inliers": 4742,
|
|
"inlier_ratio": 0.5845660749506904,
|
|
"inlier_rmse_m": 0.12584132662356784,
|
|
"median_m": 0.18632614571820721,
|
|
"p90_m": 1.2545048509935826,
|
|
"p95_m": 1.7995966868342481
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
20396.428174903343,
|
|
39202.1818399841,
|
|
72169.12531908663,
|
|
84188.99712048641,
|
|
347318.5542943997,
|
|
618731.203703752
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 30.335272352492872,
|
|
"weakest_scaled_direction": [
|
|
-0.008377089592741012,
|
|
-0.8800967663169411,
|
|
0.012677412919848172,
|
|
0.028982638826861546,
|
|
-0.03291253049716893,
|
|
0.4725204349792536
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.016830803029542436,
|
|
"rotation_deg": 0.2574761671757917
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.485749680535094e-16,
|
|
"rotation_deg": 4.7858488900142276e-15
|
|
},
|
|
{
|
|
"translation_m": 3.824646945720487e-08,
|
|
"rotation_deg": 2.990864239737409e-07
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 15,
|
|
"j": 16,
|
|
"lidar_time_i": 1784784992.709947,
|
|
"lidar_time_j": 1784785067.6067727,
|
|
"frame_counter_i": 12056,
|
|
"frame_counter_j": 12805,
|
|
"rtk_translation_m": 3.7301261399251735,
|
|
"rtk_rotation_deg": 25.84341815633164,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8992976777543386,
|
|
0.43674267702152464,
|
|
0.022793000103672113,
|
|
3.5719600246891323
|
|
],
|
|
[
|
|
-0.435676317216372,
|
|
0.8992027959867313,
|
|
-0.04025516496580931,
|
|
-1.1219973503743492
|
|
],
|
|
[
|
|
-0.03807667793325846,
|
|
0.026271006027889867,
|
|
0.9989294273570327,
|
|
0.013785246908084234
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 8047,
|
|
"backend_objective": 677.6641874672224,
|
|
"backend_elapsed_sec": 0.46031090000178665,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4045,
|
|
"objective": 944.0731860097742
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6516,
|
|
"objective": 703.732504367553
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 8047,
|
|
"objective": 677.6641874672224
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7896,
|
|
"inliers": 5553,
|
|
"inlier_ratio": 0.7032674772036475,
|
|
"inlier_rmse_m": 0.11602216892855616,
|
|
"median_m": 0.12856434316622817,
|
|
"p90_m": 0.8237440138060417,
|
|
"p95_m": 1.249103905675259
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
46006.88661431607,
|
|
89386.44791066805,
|
|
126549.715838319,
|
|
258894.6678202254,
|
|
761451.6775041186,
|
|
1044213.2886563556
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 22.696890954829907,
|
|
"weakest_scaled_direction": [
|
|
0.2762530279556851,
|
|
0.7885899512178404,
|
|
0.009052518246365292,
|
|
-0.03752590959284089,
|
|
0.015068193732708488,
|
|
-0.5478074122753568
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0009988867448423883,
|
|
"rotation_deg": 0.09036168134112703
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.496487509300926e-07,
|
|
"rotation_deg": 1.8603225390632326e-06
|
|
},
|
|
{
|
|
"translation_m": 5.5689195279226995e-15,
|
|
"rotation_deg": 1.444178934938382e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 15,
|
|
"j": 17,
|
|
"lidar_time_i": 1784784992.709947,
|
|
"lidar_time_j": 1784785215.9006598,
|
|
"frame_counter_i": 12056,
|
|
"frame_counter_j": 14288,
|
|
"rtk_translation_m": 2.2049738368271745,
|
|
"rtk_rotation_deg": 24.438886412582093,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9108869875354506,
|
|
-0.4125846265933177,
|
|
-0.007669539584862537,
|
|
1.137127467449205
|
|
],
|
|
[
|
|
0.41264758822687425,
|
|
0.9108292929501547,
|
|
0.010581447654499285,
|
|
2.337090897611843
|
|
],
|
|
[
|
|
0.0026198986879852415,
|
|
-0.01280331999027499,
|
|
0.9999146019176293,
|
|
0.0014113832191833349
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 8481,
|
|
"backend_objective": 1411.3543687050185,
|
|
"backend_elapsed_sec": 0.32633010001154616,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4406,
|
|
"objective": 1048.0658041408024
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6942,
|
|
"objective": 1184.8493873034854
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 8481,
|
|
"objective": 1411.3543687050185
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7734,
|
|
"inliers": 5792,
|
|
"inlier_ratio": 0.7489009568140678,
|
|
"inlier_rmse_m": 0.11923375870790391,
|
|
"median_m": 0.12228074153052311,
|
|
"p90_m": 0.6399208318778252,
|
|
"p95_m": 1.0259624076068736
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
116187.99654779934,
|
|
139885.37269974177,
|
|
161757.95725716965,
|
|
550664.2422881951,
|
|
751625.9731662428,
|
|
806916.9372316723
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 6.944925131742929,
|
|
"weakest_scaled_direction": [
|
|
0.8512941529709663,
|
|
0.39602818804055295,
|
|
0.007439589220697924,
|
|
-0.19259023763953056,
|
|
0.09563504495527503,
|
|
-0.26864015047892764
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.02582458487951314,
|
|
"rotation_deg": 0.095039680889365
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.715952546737407e-14,
|
|
"rotation_deg": 7.886538886890109e-13
|
|
},
|
|
{
|
|
"translation_m": 1.088109979028084e-07,
|
|
"rotation_deg": 4.773299735272517e-07
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 15,
|
|
"j": 18,
|
|
"lidar_time_i": 1784784992.709947,
|
|
"lidar_time_j": 1784785296.4990919,
|
|
"frame_counter_i": 12056,
|
|
"frame_counter_j": 15094,
|
|
"rtk_translation_m": 4.7000039832559155,
|
|
"rtk_rotation_deg": 3.452521908779401,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9979119148987198,
|
|
0.06458109882961766,
|
|
-0.0010448813947702214,
|
|
3.625977126782013
|
|
],
|
|
[
|
|
-0.06457946758945692,
|
|
0.9979114005357889,
|
|
0.001526121411667174,
|
|
2.8920498347958117
|
|
],
|
|
[
|
|
0.0011412576537618143,
|
|
-0.0014554568561163375,
|
|
0.9999982895866913,
|
|
0.12402487360318108
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 8033,
|
|
"backend_objective": 1109.9035314686819,
|
|
"backend_elapsed_sec": 0.2834294000058435,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4322,
|
|
"objective": 1072.150891932064
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6681,
|
|
"objective": 1042.5162725642767
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 8033,
|
|
"objective": 1109.9035314686819
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7465,
|
|
"inliers": 5349,
|
|
"inlier_ratio": 0.7165438713998661,
|
|
"inlier_rmse_m": 0.11783922962071142,
|
|
"median_m": 0.13030031278079807,
|
|
"p90_m": 0.8690573063958871,
|
|
"p95_m": 1.5526475747415203
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
51927.807327871626,
|
|
86642.60862666558,
|
|
155545.85956133596,
|
|
373029.6265212382,
|
|
789682.7347752531,
|
|
1003980.8086995601
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 19.334165264487982,
|
|
"weakest_scaled_direction": [
|
|
-0.5802503351084414,
|
|
-0.6445267211977116,
|
|
-0.008012710232842335,
|
|
0.07662723130540065,
|
|
-0.04869576731771482,
|
|
0.48947690488030343
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.009354386824208725,
|
|
"rotation_deg": 0.17478401338848865
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.198774900268694e-14,
|
|
"rotation_deg": 9.175874595023294e-12
|
|
},
|
|
{
|
|
"translation_m": 1.5265566588595902e-16,
|
|
"rotation_deg": 1.6705760377223011e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 15,
|
|
"j": 19,
|
|
"lidar_time_i": 1784784992.709947,
|
|
"lidar_time_j": 1784785363.1952267,
|
|
"frame_counter_i": 12056,
|
|
"frame_counter_j": 15761,
|
|
"rtk_translation_m": 5.238340351181781,
|
|
"rtk_rotation_deg": 55.87850864159773,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.5645701896065889,
|
|
0.8253654397768558,
|
|
0.005691382041061125,
|
|
4.587045087231857
|
|
],
|
|
[
|
|
-0.8243392754522068,
|
|
0.5641884597246338,
|
|
-0.046434263862749445,
|
|
-0.046454652733170926
|
|
],
|
|
[
|
|
-0.04153624868124346,
|
|
0.021523771405184824,
|
|
0.9989051342895319,
|
|
0.08465923636290916
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 7699,
|
|
"backend_objective": 767.9166797724031,
|
|
"backend_elapsed_sec": 0.2584838999900967,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3854,
|
|
"objective": 1076.8824304773595
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6216,
|
|
"objective": 769.177723471952
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 7699,
|
|
"objective": 767.9166797724031
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7800,
|
|
"inliers": 5401,
|
|
"inlier_ratio": 0.6924358974358974,
|
|
"inlier_rmse_m": 0.11506895717743916,
|
|
"median_m": 0.1289445617051141,
|
|
"p90_m": 0.8453403966703839,
|
|
"p95_m": 1.3063421797625605
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
44233.04006452315,
|
|
51153.742344676786,
|
|
124036.93051460973,
|
|
241430.67313910907,
|
|
709925.1177656525,
|
|
903111.5561031906
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 20.41712608461488,
|
|
"weakest_scaled_direction": [
|
|
0.06573189305138759,
|
|
-0.7784808250314448,
|
|
0.008064223538009183,
|
|
0.03451032811327412,
|
|
0.024686991637438926,
|
|
0.6227210300691461
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.012497900854287812,
|
|
"rotation_deg": 0.3255615001296644
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.279719709729456e-15,
|
|
"rotation_deg": 6.057362871732031e-15
|
|
},
|
|
{
|
|
"translation_m": 1.023951298512e-15,
|
|
"rotation_deg": 7.257282718757611e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 15,
|
|
"j": 20,
|
|
"lidar_time_i": 1784784992.709947,
|
|
"lidar_time_j": 1784785434.592462,
|
|
"frame_counter_i": 12056,
|
|
"frame_counter_j": 16475,
|
|
"rtk_translation_m": 2.0380809160783224,
|
|
"rtk_rotation_deg": 128.5450420215843,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.6180248070205486,
|
|
0.7853863257460557,
|
|
-0.03483758370389297,
|
|
-2.9183118830256083
|
|
],
|
|
[
|
|
-0.7835683183308679,
|
|
-0.6189776875497679,
|
|
-0.05373372147618209,
|
|
-2.894884817530272
|
|
],
|
|
[
|
|
-0.06376541707969742,
|
|
-0.005911145968243088,
|
|
0.9979474084028651,
|
|
-0.1432165250889545
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 7352,
|
|
"backend_objective": 583.297661455954,
|
|
"backend_elapsed_sec": 0.574083099985728,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": false,
|
|
"iterations": 59,
|
|
"num_inliers": 4086,
|
|
"objective": 883.4481821360966
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 6296,
|
|
"objective": 603.2673124443803
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 7352,
|
|
"objective": 583.297661455954
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7629,
|
|
"inliers": 5151,
|
|
"inlier_ratio": 0.6751867872591427,
|
|
"inlier_rmse_m": 0.11901811643083532,
|
|
"median_m": 0.14159789712511092,
|
|
"p90_m": 1.0382608333446528,
|
|
"p95_m": 1.821192338489586
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
24123.63768676933,
|
|
38534.47857860633,
|
|
74192.33144082606,
|
|
304072.57505885523,
|
|
604766.940623593,
|
|
660546.5064511801
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 27.381712286843808,
|
|
"weakest_scaled_direction": [
|
|
0.8702933981126788,
|
|
-0.2707296754933225,
|
|
0.03355380132624614,
|
|
-0.0011379634830684894,
|
|
0.07150849524573777,
|
|
0.4037997357256773
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.007126007329084919,
|
|
"rotation_deg": 0.09473387178666172
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 8.815927141515099e-07,
|
|
"rotation_deg": 7.01362978167917e-06
|
|
},
|
|
{
|
|
"translation_m": 3.857226206275732e-15,
|
|
"rotation_deg": 1.2674795752764449e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 16,
|
|
"j": 17,
|
|
"lidar_time_i": 1784785067.6067727,
|
|
"lidar_time_j": 1784785215.9006598,
|
|
"frame_counter_i": 12805,
|
|
"frame_counter_j": 14288,
|
|
"rtk_translation_m": 3.368526196086246,
|
|
"rtk_rotation_deg": 50.282304568913744,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.6394669809345536,
|
|
-0.7673958414205374,
|
|
-0.04675043170830751,
|
|
-3.696317013339254
|
|
],
|
|
[
|
|
0.7687927199496203,
|
|
0.6387607379184163,
|
|
0.03069973039597831,
|
|
2.048292343528662
|
|
],
|
|
[
|
|
0.006303494817397596,
|
|
-0.055572855463669635,
|
|
0.9984347368199389,
|
|
-0.1872402600565715
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 6460,
|
|
"backend_objective": 537.9167698023417,
|
|
"backend_elapsed_sec": 0.2466442000004463,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3991,
|
|
"objective": 1215.4056887644454
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5641,
|
|
"objective": 582.2921483368284
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 6460,
|
|
"objective": 537.9167698023417
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7980,
|
|
"inliers": 5015,
|
|
"inlier_ratio": 0.6284461152882206,
|
|
"inlier_rmse_m": 0.1113618900510703,
|
|
"median_m": 0.144408219715569,
|
|
"p90_m": 1.1991709577636944,
|
|
"p95_m": 1.7133251503963587
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
22632.024033943286,
|
|
51169.81471120535,
|
|
101486.72079659617,
|
|
212358.80836223956,
|
|
404083.44617557,
|
|
569965.0089348503
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 25.184005110635376,
|
|
"weakest_scaled_direction": [
|
|
0.7976249939076281,
|
|
0.29447002675707135,
|
|
0.011870781607846525,
|
|
-0.00500893768036564,
|
|
0.07710372421815591,
|
|
-0.5205485407092886
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.015370940622322818,
|
|
"rotation_deg": 0.07520125332617648
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.1743442292980627e-15,
|
|
"rotation_deg": 4.6184430945386335e-15
|
|
},
|
|
{
|
|
"translation_m": 7.008488945675242e-15,
|
|
"rotation_deg": 5.806321477459788e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 16,
|
|
"j": 18,
|
|
"lidar_time_i": 1784785067.6067727,
|
|
"lidar_time_j": 1784785296.4990919,
|
|
"frame_counter_i": 12805,
|
|
"frame_counter_j": 15094,
|
|
"rtk_translation_m": 3.5240348999326185,
|
|
"rtk_rotation_deg": 22.39089624755224,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9255542303464891,
|
|
-0.37658036896538655,
|
|
-0.03919939282198775,
|
|
-1.7046279048583803
|
|
],
|
|
[
|
|
0.3777114391060465,
|
|
0.9255319342048977,
|
|
0.02692039255622169,
|
|
3.633427584849505
|
|
],
|
|
[
|
|
0.026142598496676897,
|
|
-0.03972234228787535,
|
|
0.9988687101251127,
|
|
-0.06558745181347346
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 6968,
|
|
"backend_objective": 523.1707509471478,
|
|
"backend_elapsed_sec": 0.22624720001476817,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4121,
|
|
"objective": 1018.0747415048886
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6101,
|
|
"objective": 671.6853579970308
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6968,
|
|
"objective": 523.1707509471478
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7711,
|
|
"inliers": 5337,
|
|
"inlier_ratio": 0.6921281286473868,
|
|
"inlier_rmse_m": 0.10919235768364483,
|
|
"median_m": 0.12047214706280118,
|
|
"p90_m": 1.043079207156195,
|
|
"p95_m": 1.5481102788596193
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
29120.049026715784,
|
|
60387.51926125168,
|
|
145352.913746165,
|
|
297167.32794772723,
|
|
585893.0897598492,
|
|
1148181.0798230364
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 39.42922894015919,
|
|
"weakest_scaled_direction": [
|
|
-0.5523616474072939,
|
|
-0.425660064296291,
|
|
-0.0113183500735427,
|
|
0.028772987244752694,
|
|
-0.05542125155791058,
|
|
0.7139205944425184
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.005355462743716769,
|
|
"rotation_deg": 0.03654303027439279
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.826392801036703e-15,
|
|
"rotation_deg": 4.094903114022454e-15
|
|
},
|
|
{
|
|
"translation_m": 5.03754139627894e-15,
|
|
"rotation_deg": 1.5331683708932568e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 16,
|
|
"j": 19,
|
|
"lidar_time_i": 1784785067.6067727,
|
|
"lidar_time_j": 1784785363.1952267,
|
|
"frame_counter_i": 12805,
|
|
"frame_counter_j": 15761,
|
|
"rtk_translation_m": 2.146829294717985,
|
|
"rtk_rotation_deg": 30.035090485266103,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8684801522066371,
|
|
0.4956975347175394,
|
|
-0.005116570930846743,
|
|
0.4366470307130142
|
|
],
|
|
[
|
|
-0.4957238908605204,
|
|
0.8684384244754766,
|
|
-0.008516274106638735,
|
|
1.4052579477847364
|
|
],
|
|
[
|
|
0.00022193071826193039,
|
|
0.009932621482070235,
|
|
0.9999506456707004,
|
|
0.03001666405700953
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 9165,
|
|
"backend_objective": 1083.0467328585598,
|
|
"backend_elapsed_sec": 0.22576579998712987,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4137,
|
|
"objective": 628.5904983483101
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7105,
|
|
"objective": 731.1875091234955
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 9165,
|
|
"objective": 1083.0467328585598
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8046,
|
|
"inliers": 7145,
|
|
"inlier_ratio": 0.8880188913745961,
|
|
"inlier_rmse_m": 0.0968346861370537,
|
|
"median_m": 0.07327330233977344,
|
|
"p90_m": 0.27608481806151036,
|
|
"p95_m": 0.4577456992353155
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
126380.21761596165,
|
|
151352.82425205142,
|
|
254232.47885422912,
|
|
569669.4774072361,
|
|
828900.8291876996,
|
|
1479797.8866744747
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 11.70909430755386,
|
|
"weakest_scaled_direction": [
|
|
-0.1016208027551598,
|
|
-0.694125913481962,
|
|
-0.05326251190352323,
|
|
0.005523485332426906,
|
|
-0.21833356557136124,
|
|
0.6762584408054617
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.006745004702225108,
|
|
"rotation_deg": 0.04851926363283949
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 6.410219892462108e-16,
|
|
"rotation_deg": 3.6574997703043804e-15
|
|
},
|
|
{
|
|
"translation_m": 1.3280732962197467e-15,
|
|
"rotation_deg": 5.326978507324993e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 16,
|
|
"j": 20,
|
|
"lidar_time_i": 1784785067.6067727,
|
|
"lidar_time_j": 1784785434.592462,
|
|
"frame_counter_i": 12805,
|
|
"frame_counter_j": 16475,
|
|
"rtk_translation_m": 4.728364693236263,
|
|
"rtk_rotation_deg": 102.70162386525263,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.21255684919093382,
|
|
0.9759059311703469,
|
|
-0.049266615152274276,
|
|
-5.055551407751126
|
|
],
|
|
[
|
|
-0.976722894802377,
|
|
-0.2136822895360795,
|
|
-0.01876874815978336,
|
|
-4.447241576850858
|
|
],
|
|
[
|
|
-0.028843935773205966,
|
|
0.044130404996542215,
|
|
0.9986093003392027,
|
|
-0.20611839197809104
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 6554,
|
|
"backend_objective": 426.5789434001036,
|
|
"backend_elapsed_sec": 0.21484369999961928,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 10,
|
|
"num_inliers": 3938,
|
|
"objective": 1050.4660865507365
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5931,
|
|
"objective": 611.5231853974067
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6554,
|
|
"objective": 426.5789434001036
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7875,
|
|
"inliers": 4967,
|
|
"inlier_ratio": 0.6307301587301587,
|
|
"inlier_rmse_m": 0.12362874516637085,
|
|
"median_m": 0.16231191866763003,
|
|
"p90_m": 1.1140320549033425,
|
|
"p95_m": 1.788569027355814
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
14237.517771017796,
|
|
47249.74092295492,
|
|
72921.91702690597,
|
|
150177.7990673665,
|
|
435241.0965762853,
|
|
508286.2314982878
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 35.70048091760535,
|
|
"weakest_scaled_direction": [
|
|
0.8310814266371664,
|
|
-0.3059721702444007,
|
|
0.025914629425142315,
|
|
0.01150043826748368,
|
|
0.06204267849468339,
|
|
0.4593817271956763
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.007128919591300971,
|
|
"rotation_deg": 0.10475436005961275
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.699381867227797e-07,
|
|
"rotation_deg": 4.039327925839266e-06
|
|
},
|
|
{
|
|
"translation_m": 2.470662620641947e-12,
|
|
"rotation_deg": 5.6053474906106605e-11
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 16,
|
|
"j": 21,
|
|
"lidar_time_i": 1784785067.6067727,
|
|
"lidar_time_j": 1784785506.389296,
|
|
"frame_counter_i": 12805,
|
|
"frame_counter_j": 17193,
|
|
"rtk_translation_m": 10.094336026449797,
|
|
"rtk_rotation_deg": 153.311489607007,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.8899984345917292,
|
|
0.4494142546077488,
|
|
-0.0770039880761356,
|
|
-9.274713964325178
|
|
],
|
|
[
|
|
-0.4491512976198232,
|
|
-0.8931926093274017,
|
|
-0.021681201289020256,
|
|
-8.008563415626913
|
|
],
|
|
[
|
|
-0.07852323395464522,
|
|
0.015290205959001577,
|
|
0.9967950197162088,
|
|
-0.43062149481783685
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 4644,
|
|
"backend_objective": 266.9854804589645,
|
|
"backend_elapsed_sec": 0.42213180000544526,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": false,
|
|
"iterations": 59,
|
|
"num_inliers": 3710,
|
|
"objective": 1440.2026338509213
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4866,
|
|
"objective": 663.1837238321684
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 4644,
|
|
"objective": 266.9854804589645
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8113,
|
|
"inliers": 3283,
|
|
"inlier_ratio": 0.40465918895599656,
|
|
"inlier_rmse_m": 0.14174574821871383,
|
|
"median_m": 0.3669682112816362,
|
|
"p90_m": 1.9181229457011237,
|
|
"p95_m": 2.7584674923427643
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
6427.858596617149,
|
|
13985.619800098873,
|
|
35674.316533521705,
|
|
62318.95281829014,
|
|
238260.65846745667,
|
|
368102.50009519083
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 57.2667389243621,
|
|
"weakest_scaled_direction": [
|
|
0.7752852060782287,
|
|
0.6043573613745785,
|
|
0.03703808362227075,
|
|
-0.03503243337133707,
|
|
0.05774669529164447,
|
|
-0.16658708576946268
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01442382622115287,
|
|
"rotation_deg": 0.2621394134233604
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.2203492502216944e-14,
|
|
"rotation_deg": 4.354630933060622e-14
|
|
},
|
|
{
|
|
"translation_m": 2.939518572217377e-14,
|
|
"rotation_deg": 2.4348951708484345e-13
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 17,
|
|
"j": 18,
|
|
"lidar_time_i": 1784785215.9006598,
|
|
"lidar_time_j": 1784785296.4990919,
|
|
"frame_counter_i": 14288,
|
|
"frame_counter_j": 15094,
|
|
"rtk_translation_m": 2.640403049812329,
|
|
"rtk_rotation_deg": 27.891408321361506,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8821126233718427,
|
|
0.4709554229763278,
|
|
-0.008849251789510982,
|
|
2.500926515503556
|
|
],
|
|
[
|
|
-0.4710229621929244,
|
|
0.8820806066082816,
|
|
-0.008436381485460649,
|
|
-0.5222544407418006
|
|
],
|
|
[
|
|
0.0038325937756464863,
|
|
0.01161003939499183,
|
|
0.9999252563117895,
|
|
0.04293224683626978
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 8617,
|
|
"backend_objective": 1317.2217546929442,
|
|
"backend_elapsed_sec": 0.25503369999933057,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 4424,
|
|
"objective": 1069.9385022645633
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7103,
|
|
"objective": 1010.8939072081614
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 8617,
|
|
"objective": 1317.2217546929442
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7549,
|
|
"inliers": 5787,
|
|
"inlier_ratio": 0.7665916015366274,
|
|
"inlier_rmse_m": 0.11462276561713726,
|
|
"median_m": 0.11638049974670785,
|
|
"p90_m": 0.6517230395135248,
|
|
"p95_m": 1.210865366025621
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
96737.16299721874,
|
|
162610.0927309627,
|
|
190431.88317359178,
|
|
529282.7623180376,
|
|
791892.8412374883,
|
|
944089.0903018916
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 9.759321661407776,
|
|
"weakest_scaled_direction": [
|
|
0.2441706927299802,
|
|
0.9602157593336332,
|
|
0.014180686947731067,
|
|
-0.12929711377254885,
|
|
0.001880332584737895,
|
|
0.03799996284532291
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.003676908482849856,
|
|
"rotation_deg": 0.03455537183665902
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.2587378679787436e-15,
|
|
"rotation_deg": 1.832521574973854e-14
|
|
},
|
|
{
|
|
"translation_m": 3.405182206613905e-15,
|
|
"rotation_deg": 1.9263324707288285e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 17,
|
|
"j": 19,
|
|
"lidar_time_i": 1784785215.9006598,
|
|
"lidar_time_j": 1784785363.1952267,
|
|
"frame_counter_i": 14288,
|
|
"frame_counter_j": 15761,
|
|
"rtk_translation_m": 3.933985934417215,
|
|
"rtk_rotation_deg": 80.31739505417984,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.17433313879018336,
|
|
0.9846576725072801,
|
|
-0.0075647003978484536,
|
|
2.158481899696832
|
|
],
|
|
[
|
|
-0.9829774024435192,
|
|
0.1735729128490779,
|
|
-0.060231803978295306,
|
|
-3.588729462494236
|
|
],
|
|
[
|
|
-0.057994680833297806,
|
|
0.017936328989871783,
|
|
0.9981557519232213,
|
|
-0.003959482536303557
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 6960,
|
|
"backend_objective": 568.2084337728777,
|
|
"backend_elapsed_sec": 0.2961113000055775,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 3664,
|
|
"objective": 1188.626559403166
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 5600,
|
|
"objective": 768.2176232624398
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 6960,
|
|
"objective": 568.2084337728777
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7884,
|
|
"inliers": 5091,
|
|
"inlier_ratio": 0.645738203957382,
|
|
"inlier_rmse_m": 0.11467441399973681,
|
|
"median_m": 0.1424969488981438,
|
|
"p90_m": 1.1563110283160816,
|
|
"p95_m": 1.6860533643071316
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
23477.999398523185,
|
|
67432.60435223405,
|
|
111974.20719092335,
|
|
224362.4931759635,
|
|
649756.4959692091,
|
|
702814.5574757532
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 29.93502749301381,
|
|
"weakest_scaled_direction": [
|
|
0.03569074629600905,
|
|
0.6540375458939782,
|
|
-0.002276503189076741,
|
|
-0.01612970227444498,
|
|
0.005582808503203056,
|
|
-0.7554234188035219
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.002658154417044598,
|
|
"rotation_deg": 0.03997293849541112
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.7039753472859274e-15,
|
|
"rotation_deg": 9.028376365212535e-15
|
|
},
|
|
{
|
|
"translation_m": 2.199705978597706e-15,
|
|
"rotation_deg": 1.0576740161774684e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 17,
|
|
"j": 20,
|
|
"lidar_time_i": 1784785215.9006598,
|
|
"lidar_time_j": 1784785434.592462,
|
|
"frame_counter_i": 14288,
|
|
"frame_counter_j": 16475,
|
|
"rtk_translation_m": 4.2254212089887,
|
|
"rtk_rotation_deg": 152.98392843416656,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.8869973550800798,
|
|
0.45975890230703426,
|
|
-0.04309807223500989,
|
|
-5.8560656703750675
|
|
],
|
|
[
|
|
-0.4585108341705753,
|
|
-0.8879608049383231,
|
|
-0.03596420222233985,
|
|
-3.0970809320084833
|
|
],
|
|
[
|
|
-0.054804261049180514,
|
|
-0.01213921919716247,
|
|
0.9984233232092168,
|
|
-0.2329802954475424
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 6743,
|
|
"backend_objective": 630.7807590489808,
|
|
"backend_elapsed_sec": 0.31770300000789575,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 27,
|
|
"num_inliers": 3814,
|
|
"objective": 980.2204783566035
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5796,
|
|
"objective": 601.1886655813404
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6743,
|
|
"objective": 630.7807590489808
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7713,
|
|
"inliers": 4652,
|
|
"inlier_ratio": 0.6031375599636977,
|
|
"inlier_rmse_m": 0.12542519992547976,
|
|
"median_m": 0.17369890124477222,
|
|
"p90_m": 1.3877890152054178,
|
|
"p95_m": 2.1095538861223706
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
22030.239685809873,
|
|
26229.146719298635,
|
|
66937.17777341149,
|
|
262446.80811170733,
|
|
504101.36223162885,
|
|
610427.3912107134
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 27.708613247812377,
|
|
"weakest_scaled_direction": [
|
|
-0.568622896024287,
|
|
0.37650276530424115,
|
|
-0.015065236395297448,
|
|
-0.06793616776914607,
|
|
-0.03526809952239235,
|
|
-0.7272052989029216
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 4.543486491493239,
|
|
"rotation_deg": 1.5708713272202308
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.5,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.1041175742106086e-13,
|
|
"rotation_deg": 7.327186306207946e-13
|
|
},
|
|
{
|
|
"translation_m": 3.5629109797698155,
|
|
"rotation_deg": 0.7266053758533794
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 17,
|
|
"j": 21,
|
|
"lidar_time_i": 1784785215.9006598,
|
|
"lidar_time_j": 1784785506.389296,
|
|
"frame_counter_i": 14288,
|
|
"frame_counter_j": 17193,
|
|
"rtk_translation_m": 9.21529677253323,
|
|
"rtk_rotation_deg": 156.40620582407942,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9151318253834027,
|
|
-0.3995264803035694,
|
|
-0.05396604216247167,
|
|
-11.308982310340763
|
|
],
|
|
[
|
|
0.40100232961028565,
|
|
-0.9158678003722953,
|
|
-0.019578148235549323,
|
|
-2.1111386203048705
|
|
],
|
|
[
|
|
-0.04160377167473093,
|
|
-0.03955709515942306,
|
|
0.9983508213073148,
|
|
-0.28945080053379657
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 5521,
|
|
"backend_objective": 412.39735088646603,
|
|
"backend_elapsed_sec": 0.5441636999894399,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": false,
|
|
"iterations": 59,
|
|
"num_inliers": 3758,
|
|
"objective": 1410.90156779346
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 13,
|
|
"num_inliers": 5250,
|
|
"objective": 552.8338948409191
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 5521,
|
|
"objective": 412.39735088646603
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7951,
|
|
"inliers": 3715,
|
|
"inlier_ratio": 0.4672368255565338,
|
|
"inlier_rmse_m": 0.13751533766984328,
|
|
"median_m": 0.2863154262775397,
|
|
"p90_m": 1.989361641345888,
|
|
"p95_m": 2.71513748136762
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
15519.484227508612,
|
|
21750.496583081116,
|
|
36296.8425998792,
|
|
108337.58185766022,
|
|
268548.4717962843,
|
|
499685.5087396779
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 32.19730123852794,
|
|
"weakest_scaled_direction": [
|
|
0.7355741974444044,
|
|
0.30989265236888863,
|
|
0.0089945150864042,
|
|
0.2032295736860753,
|
|
0.19849117610835296,
|
|
0.5311452119210485
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.13403735422224766,
|
|
"rotation_deg": 1.1805230479043929
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.5,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.7176907667312227,
|
|
"rotation_deg": 2.8903628220292714
|
|
},
|
|
{
|
|
"translation_m": 3.919323152907419e-14,
|
|
"rotation_deg": 6.28433014295275e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 17,
|
|
"j": 22,
|
|
"lidar_time_i": 1784785215.9006598,
|
|
"lidar_time_j": 1784785587.5863533,
|
|
"frame_counter_i": 14288,
|
|
"frame_counter_j": 18005,
|
|
"rtk_translation_m": 11.781237287606983,
|
|
"rtk_rotation_deg": 150.82966218116434,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.8701350250990675,
|
|
-0.49013823166962983,
|
|
-0.05127915708759895,
|
|
-13.99322835862824
|
|
],
|
|
[
|
|
0.4912419575208388,
|
|
-0.8709550715863977,
|
|
-0.010890475151596912,
|
|
-1.2970885678492468
|
|
],
|
|
[
|
|
-0.03932400369927414,
|
|
-0.03466665737710628,
|
|
0.9986249774561812,
|
|
-0.36101056978091484
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 5105,
|
|
"backend_objective": 349.5813579032026,
|
|
"backend_elapsed_sec": 0.3263374999805819,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 21,
|
|
"num_inliers": 3684,
|
|
"objective": 1155.3356770548876
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 5097,
|
|
"objective": 701.6824075488568
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5105,
|
|
"objective": 349.5813579032026
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8064,
|
|
"inliers": 3432,
|
|
"inlier_ratio": 0.4255952380952381,
|
|
"inlier_rmse_m": 0.1417851723285674,
|
|
"median_m": 0.3390866943734385,
|
|
"p90_m": 2.5694914759158456,
|
|
"p95_m": 3.9910709733047884
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
14048.172337682869,
|
|
15598.961862664391,
|
|
22489.957863774205,
|
|
37693.657216505664,
|
|
188687.10583927447,
|
|
543826.5459211724
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 38.71155142811069,
|
|
"weakest_scaled_direction": [
|
|
0.4427333807811441,
|
|
-0.25130733404807826,
|
|
0.019336061627937585,
|
|
0.21434114242231578,
|
|
0.20402480365691325,
|
|
0.8080158713010044
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01638337185583796,
|
|
"rotation_deg": 0.14112774930143776
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.5176617391872307e-15,
|
|
"rotation_deg": 5.359716204636941e-15
|
|
},
|
|
{
|
|
"translation_m": 2.124706989126661e-15,
|
|
"rotation_deg": 1.0397409141450136e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 18,
|
|
"j": 19,
|
|
"lidar_time_i": 1784785296.4990919,
|
|
"lidar_time_j": 1784785363.1952267,
|
|
"frame_counter_i": 15094,
|
|
"frame_counter_j": 15761,
|
|
"rtk_translation_m": 2.4460967931915643,
|
|
"rtk_rotation_deg": 52.425986732818345,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.6166688866180832,
|
|
0.7870446185827106,
|
|
0.01674074780914908,
|
|
1.1454955481033229
|
|
],
|
|
[
|
|
-0.7858715871994714,
|
|
0.6167166851253691,
|
|
-0.0454574385613675,
|
|
-2.8705686978806395
|
|
],
|
|
[
|
|
-0.04610133088965668,
|
|
0.014876109974466376,
|
|
0.9988259951774527,
|
|
-0.04184207404053203
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7415,
|
|
"backend_objective": 799.4553602033754,
|
|
"backend_elapsed_sec": 0.21126290000393055,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 3802,
|
|
"objective": 1034.3148554981492
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5965,
|
|
"objective": 622.4256041837552
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7415,
|
|
"objective": 799.4553602033754
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7615,
|
|
"inliers": 5330,
|
|
"inlier_ratio": 0.6999343401181878,
|
|
"inlier_rmse_m": 0.10876407223187468,
|
|
"median_m": 0.11703481718257248,
|
|
"p90_m": 0.9369166823507337,
|
|
"p95_m": 1.488940077417306
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
27806.40747883796,
|
|
63162.65728278912,
|
|
127946.39824729276,
|
|
337060.43119514745,
|
|
672163.7730502074,
|
|
1026587.6212202314
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 36.919102980185954,
|
|
"weakest_scaled_direction": [
|
|
0.06751866246552198,
|
|
-0.6961557436422777,
|
|
0.002943196657429115,
|
|
0.01995829931269076,
|
|
0.004154402336585817,
|
|
0.7144117549676384
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0029722527816906422,
|
|
"rotation_deg": 0.028553700929610463
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.8209011484034673e-15,
|
|
"rotation_deg": 1.6226628286617997e-15
|
|
},
|
|
{
|
|
"translation_m": 4.074519445727608e-15,
|
|
"rotation_deg": 7.471594471095906e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 18,
|
|
"j": 20,
|
|
"lidar_time_i": 1784785296.4990919,
|
|
"lidar_time_j": 1784785434.592462,
|
|
"frame_counter_i": 15094,
|
|
"frame_counter_j": 16475,
|
|
"rtk_translation_m": 6.593931011285688,
|
|
"rtk_rotation_deg": 125.09252011280485,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.5665450812951606,
|
|
0.8237522552072852,
|
|
-0.02142178566720975,
|
|
-6.155007566423961
|
|
],
|
|
[
|
|
-0.8224464628865413,
|
|
-0.5668759885765905,
|
|
-0.047259171181158625,
|
|
-6.207814488981458
|
|
],
|
|
[
|
|
-0.051073344766881905,
|
|
-0.009156179128061163,
|
|
0.9986529316224421,
|
|
-0.23463190286292565
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 6120,
|
|
"backend_objective": 550.8066595708967,
|
|
"backend_elapsed_sec": 0.24520800000755116,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 13,
|
|
"num_inliers": 3725,
|
|
"objective": 1212.0411610575825
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5461,
|
|
"objective": 567.7029098951957
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6120,
|
|
"objective": 550.8066595708967
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7444,
|
|
"inliers": 4315,
|
|
"inlier_ratio": 0.5796614723267061,
|
|
"inlier_rmse_m": 0.12778176089815,
|
|
"median_m": 0.1858521954540106,
|
|
"p90_m": 1.566677341196506,
|
|
"p95_m": 2.3871834573107855
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
16318.001547284653,
|
|
23145.929877441456,
|
|
53033.59884601272,
|
|
199909.77739597834,
|
|
362669.24723638385,
|
|
529692.1337787998
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 32.46060078153023,
|
|
"weakest_scaled_direction": [
|
|
0.9897729590346724,
|
|
-0.10339858328094514,
|
|
0.03434421736284127,
|
|
0.017559966896857158,
|
|
0.07161301626330527,
|
|
0.055153610373471065
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0849644734357879,
|
|
"rotation_deg": 0.24110896992060843
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 6.041286520114393e-15,
|
|
"rotation_deg": 5.288948761910844e-15
|
|
},
|
|
{
|
|
"translation_m": 2.6929057097562602e-11,
|
|
"rotation_deg": 3.7322772955810407e-10
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation"
|
|
]
|
|
},
|
|
{
|
|
"i": 18,
|
|
"j": 21,
|
|
"lidar_time_i": 1784785296.4990919,
|
|
"lidar_time_j": 1784785506.389296,
|
|
"frame_counter_i": 15094,
|
|
"frame_counter_j": 17193,
|
|
"rtk_translation_m": 11.793089868757727,
|
|
"rtk_rotation_deg": 175.70238585456048,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9961177296562256,
|
|
0.0785002189081896,
|
|
-0.039839481621793654,
|
|
-11.443770192304987
|
|
],
|
|
[
|
|
-0.07723563659408468,
|
|
-0.9964879577117396,
|
|
-0.0323482082253917,
|
|
-7.918746736866754
|
|
],
|
|
[
|
|
-0.04223890510457652,
|
|
-0.029145596011286475,
|
|
0.9986823364457358,
|
|
-0.28275947355445386
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 7,
|
|
"backend_num_inliers": 4812,
|
|
"backend_objective": 303.5010508955818,
|
|
"backend_elapsed_sec": 0.3329832000017632,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 15,
|
|
"num_inliers": 3582,
|
|
"objective": 1112.007109025967
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4890,
|
|
"objective": 587.7227975932129
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4812,
|
|
"objective": 303.5010508955818
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7682,
|
|
"inliers": 3253,
|
|
"inlier_ratio": 0.42345743296016664,
|
|
"inlier_rmse_m": 0.14463219993853524,
|
|
"median_m": 0.33236555424021896,
|
|
"p90_m": 1.9556612977696193,
|
|
"p95_m": 3.111894915346001
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
10554.468165159922,
|
|
12367.895205400244,
|
|
36653.41374055748,
|
|
82348.74780435071,
|
|
230599.68720145605,
|
|
439885.3584055563
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 41.677643204951686,
|
|
"weakest_scaled_direction": [
|
|
-0.5380529269838565,
|
|
-0.6726144877068561,
|
|
-0.02253687127809677,
|
|
0.04962128492547805,
|
|
-0.04536400214628976,
|
|
0.5030514123979367
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.008594432490503082,
|
|
"rotation_deg": 0.044791316017877565
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.094764613337708e-15,
|
|
"rotation_deg": 1.0850074083207034e-14
|
|
},
|
|
{
|
|
"translation_m": 2.5219419200973697e-15,
|
|
"rotation_deg": 3.567475227851567e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 18,
|
|
"j": 22,
|
|
"lidar_time_i": 1784785296.4990919,
|
|
"lidar_time_j": 1784785587.5863533,
|
|
"frame_counter_i": 15094,
|
|
"frame_counter_j": 18005,
|
|
"rtk_translation_m": 14.40479158879449,
|
|
"rtk_rotation_deg": 178.72107050256645,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9985448119288007,
|
|
-0.02217005479007189,
|
|
-0.049160423520143985,
|
|
-14.18395117061842
|
|
],
|
|
[
|
|
0.022748053897618154,
|
|
-0.9996781639247944,
|
|
-0.0112291858931195,
|
|
-8.473655911181039
|
|
],
|
|
[
|
|
-0.04889565025588451,
|
|
-0.012331149279624516,
|
|
0.9987277697868918,
|
|
-0.45196697392102686
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 14,
|
|
"backend_num_inliers": 4248,
|
|
"backend_objective": 261.62895305298275,
|
|
"backend_elapsed_sec": 0.40820580002036877,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 20,
|
|
"num_inliers": 3515,
|
|
"objective": 1142.1154564057774
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 10,
|
|
"num_inliers": 4552,
|
|
"objective": 557.5256266392594
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 14,
|
|
"num_inliers": 4248,
|
|
"objective": 261.62895305298275
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7795,
|
|
"inliers": 2774,
|
|
"inlier_ratio": 0.35586914688903143,
|
|
"inlier_rmse_m": 0.14801012931814386,
|
|
"median_m": 0.4291732063241244,
|
|
"p90_m": 2.883860679836218,
|
|
"p95_m": 5.831619224817732
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
3825.3604013611125,
|
|
8017.646726456478,
|
|
18185.60160817907,
|
|
21361.11637166481,
|
|
165888.14582796325,
|
|
454524.0934099317
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 118.81863294454718,
|
|
"weakest_scaled_direction": [
|
|
0.2827821147678944,
|
|
-0.6470253074097836,
|
|
0.017550741587884274,
|
|
0.06502437057249673,
|
|
0.0529843601183894,
|
|
0.7028861838326909
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.05364920712348454,
|
|
"rotation_deg": 0.15560820359743163
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.4273359795629357e-15,
|
|
"rotation_deg": 2.4002476230081362e-14
|
|
},
|
|
{
|
|
"translation_m": 1.1102230246251565e-16,
|
|
"rotation_deg": 1.0995617218356242e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 18,
|
|
"j": 23,
|
|
"lidar_time_i": 1784785296.4990919,
|
|
"lidar_time_j": 1784785681.9825997,
|
|
"frame_counter_i": 15094,
|
|
"frame_counter_j": 18949,
|
|
"rtk_translation_m": 11.744734461596845,
|
|
"rtk_rotation_deg": 164.11569663484164,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9611999073835812,
|
|
-0.27111190076755987,
|
|
-0.05092224767227162,
|
|
-10.437033352185441
|
|
],
|
|
[
|
|
0.27281571676242383,
|
|
-0.9615969895960386,
|
|
-0.030046868176919674,
|
|
-8.345739046028372
|
|
],
|
|
[
|
|
-0.040820616521563276,
|
|
-0.04277343640668627,
|
|
0.9982505248707674,
|
|
-0.35411708595409863
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 9,
|
|
"backend_num_inliers": 4613,
|
|
"backend_objective": 310.71837780126924,
|
|
"backend_elapsed_sec": 0.3484112999867648,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 12,
|
|
"num_inliers": 3511,
|
|
"objective": 1040.5534591113503
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4771,
|
|
"objective": 509.6926430777731
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 4613,
|
|
"objective": 310.71837780126924
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7640,
|
|
"inliers": 3031,
|
|
"inlier_ratio": 0.3967277486910995,
|
|
"inlier_rmse_m": 0.14073241205403209,
|
|
"median_m": 0.35988623853274004,
|
|
"p90_m": 2.248437852410559,
|
|
"p95_m": 3.1450616113852243
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
6572.262342046283,
|
|
9565.160177215175,
|
|
29583.698664866857,
|
|
114171.3232614246,
|
|
211996.89197156896,
|
|
445702.64726451575
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 67.8157115569044,
|
|
"weakest_scaled_direction": [
|
|
0.001952230904167986,
|
|
-0.6289463080696699,
|
|
-0.030064534159027205,
|
|
0.08347421334419525,
|
|
0.05857579976379546,
|
|
0.7701427046557209
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0379980141073483,
|
|
"rotation_deg": 0.09667096210106078
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 5.925929145204076e-15,
|
|
"rotation_deg": 2.0315620965726475e-14
|
|
},
|
|
{
|
|
"translation_m": 2.9546328455357126e-15,
|
|
"rotation_deg": 1.0144710744580045e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 19,
|
|
"j": 20,
|
|
"lidar_time_i": 1784785363.1952267,
|
|
"lidar_time_j": 1784785434.592462,
|
|
"frame_counter_i": 15761,
|
|
"frame_counter_j": 16475,
|
|
"rtk_translation_m": 6.650720121741557,
|
|
"rtk_rotation_deg": 72.6665333799865,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.2995923077860652,
|
|
0.9535876114371953,
|
|
-0.030250891374051663,
|
|
-1.8692525432729097
|
|
],
|
|
[
|
|
-0.9538656422857977,
|
|
0.2987264613179423,
|
|
-0.03004725902910414,
|
|
-7.805629127268184
|
|
],
|
|
[
|
|
-0.019615952235914183,
|
|
0.037857213605402694,
|
|
0.9990906094023274,
|
|
-0.1319386642456338
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 6489,
|
|
"backend_objective": 569.4999740060804,
|
|
"backend_elapsed_sec": 0.23349149999557994,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3924,
|
|
"objective": 1013.1238717514323
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 5901,
|
|
"objective": 609.5218769434994
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6489,
|
|
"objective": 569.4999740060804
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7779,
|
|
"inliers": 4870,
|
|
"inlier_ratio": 0.6260444787247719,
|
|
"inlier_rmse_m": 0.12668491637849374,
|
|
"median_m": 0.16690116061994517,
|
|
"p90_m": 0.9919220276627585,
|
|
"p95_m": 1.6480707039030054
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
18712.055963797415,
|
|
62228.326497031216,
|
|
77714.40815168971,
|
|
214006.9347111848,
|
|
394739.3877876983,
|
|
486135.873697716
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 25.97982149253148,
|
|
"weakest_scaled_direction": [
|
|
0.7915814532828056,
|
|
-0.26319498492498683,
|
|
0.03428877964504143,
|
|
-0.009154876029483082,
|
|
0.06927540668896554,
|
|
0.545956581233741
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.022781715838261912,
|
|
"rotation_deg": 0.19834674514582162
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.4875916307951376e-12,
|
|
"rotation_deg": 2.2492564362621704e-11
|
|
},
|
|
{
|
|
"translation_m": 1.4879061046170573e-12,
|
|
"rotation_deg": 2.2490123134142957e-11
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 19,
|
|
"j": 21,
|
|
"lidar_time_i": 1784785363.1952267,
|
|
"lidar_time_j": 1784785506.389296,
|
|
"frame_counter_i": 15761,
|
|
"frame_counter_j": 17193,
|
|
"rtk_translation_m": 12.053580264031138,
|
|
"rtk_rotation_deg": 123.27639912174077,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.5506805388687266,
|
|
0.8328007923203508,
|
|
-0.0565135773230177,
|
|
-3.7747388734195635
|
|
],
|
|
[
|
|
-0.83236569739092,
|
|
-0.5529471237507978,
|
|
-0.037640724523414125,
|
|
-13.014171294621576
|
|
],
|
|
[
|
|
-0.06259624524024228,
|
|
0.026311948736566334,
|
|
0.9976920323604409,
|
|
-0.23227395154899766
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 7,
|
|
"backend_num_inliers": 4457,
|
|
"backend_objective": 279.6845936317817,
|
|
"backend_elapsed_sec": 0.3453620000218507,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 10,
|
|
"num_inliers": 3677,
|
|
"objective": 1198.257620374833
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4844,
|
|
"objective": 692.5596682301618
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4457,
|
|
"objective": 279.6845936317817
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8017,
|
|
"inliers": 3169,
|
|
"inlier_ratio": 0.3952850193339154,
|
|
"inlier_rmse_m": 0.1421446220617431,
|
|
"median_m": 0.3734448025882331,
|
|
"p90_m": 1.8906380817841777,
|
|
"p95_m": 2.796117220715787
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
5961.432446850127,
|
|
7392.873845035771,
|
|
36921.54359593741,
|
|
57983.82739755071,
|
|
231812.44608797968,
|
|
366944.0849801991
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 61.553005632745744,
|
|
"weakest_scaled_direction": [
|
|
0.6544201355899028,
|
|
0.6710714556634665,
|
|
0.024834101230549098,
|
|
-0.015050640102952574,
|
|
0.05417436451595685,
|
|
-0.34295666111924955
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01796074748252817,
|
|
"rotation_deg": 0.16263425635632095
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.155133597044475e-16,
|
|
"rotation_deg": 1.508692995972905e-14
|
|
},
|
|
{
|
|
"translation_m": 1.0190492755571723e-15,
|
|
"rotation_deg": 8.464297521149338e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 19,
|
|
"j": 22,
|
|
"lidar_time_i": 1784785363.1952267,
|
|
"lidar_time_j": 1784785587.5863533,
|
|
"frame_counter_i": 15761,
|
|
"frame_counter_j": 18005,
|
|
"rtk_translation_m": 14.836246959975925,
|
|
"rtk_rotation_deg": 128.85294276465592,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.6300543055212069,
|
|
0.7726255258633034,
|
|
-0.07798313201355275,
|
|
-5.011518345998407
|
|
],
|
|
[
|
|
-0.7728530103686385,
|
|
-0.6336728752027377,
|
|
-0.034013403187997525,
|
|
-15.51780072680438
|
|
],
|
|
[
|
|
-0.07569541900486976,
|
|
0.03883920721062266,
|
|
0.9963742868645936,
|
|
-0.4688497170840485
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 10,
|
|
"backend_num_inliers": 3711,
|
|
"backend_objective": 230.81169182278836,
|
|
"backend_elapsed_sec": 0.2870293999731075,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 16,
|
|
"num_inliers": 3512,
|
|
"objective": 1404.7905509820691
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 4328,
|
|
"objective": 610.2056432940487
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 10,
|
|
"num_inliers": 3711,
|
|
"objective": 230.81169182278836
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8130,
|
|
"inliers": 2632,
|
|
"inlier_ratio": 0.3237392373923739,
|
|
"inlier_rmse_m": 0.15069330869045588,
|
|
"median_m": 0.4880827578091864,
|
|
"p90_m": 2.409953622425376,
|
|
"p95_m": 4.2140066762316835
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
4348.489322610439,
|
|
7293.397334272058,
|
|
16095.643565138025,
|
|
19392.35856061217,
|
|
129209.23229107982,
|
|
329202.6037022384
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 75.70505048512227,
|
|
"weakest_scaled_direction": [
|
|
-0.31482124557625646,
|
|
0.552278987893098,
|
|
-0.020435105741246334,
|
|
-0.10511361044350188,
|
|
-0.10096259062519468,
|
|
-0.7577701455670542
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.2579934626807855,
|
|
"rotation_deg": 1.1847082611411373
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.7012244807939757e-14,
|
|
"rotation_deg": 1.3759039323068125e-13
|
|
},
|
|
{
|
|
"translation_m": 2.8268641583721086e-14,
|
|
"rotation_deg": 9.032318668758963e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"heldout_inlier_ratio",
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 19,
|
|
"j": 23,
|
|
"lidar_time_i": 1784785363.1952267,
|
|
"lidar_time_j": 1784785681.9825997,
|
|
"frame_counter_i": 15761,
|
|
"frame_counter_j": 18949,
|
|
"rtk_translation_m": 11.740810561661805,
|
|
"rtk_rotation_deg": 143.45831663234065,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.8041368954414141,
|
|
0.5908300063778916,
|
|
-0.06545041599062035,
|
|
-2.8143887657091415
|
|
],
|
|
[
|
|
-0.5894167084970622,
|
|
-0.8067777007499145,
|
|
-0.04120297704256744,
|
|
-12.499189000825016
|
|
],
|
|
[
|
|
-0.07714789131488636,
|
|
0.005444734721000917,
|
|
0.9970047932329532,
|
|
-0.21876169270707282
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 4562,
|
|
"backend_objective": 247.01928672257793,
|
|
"backend_elapsed_sec": 0.22123629998532124,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 12,
|
|
"num_inliers": 3594,
|
|
"objective": 1044.6290847344687
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4734,
|
|
"objective": 643.1780536798803
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4562,
|
|
"objective": 247.01928672257793
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7975,
|
|
"inliers": 3012,
|
|
"inlier_ratio": 0.37768025078369905,
|
|
"inlier_rmse_m": 0.1432975121556299,
|
|
"median_m": 0.3957613098519592,
|
|
"p90_m": 2.0120282675938332,
|
|
"p95_m": 2.8069058800432365
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
8948.659512505583,
|
|
12776.907093470927,
|
|
38534.553728192295,
|
|
77386.50643427821,
|
|
239329.48071703356,
|
|
348416.52438594337
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 38.93505210462392,
|
|
"weakest_scaled_direction": [
|
|
0.5476120626836286,
|
|
0.7713750454006084,
|
|
0.021983266633209132,
|
|
-0.009106692833661608,
|
|
0.0939585253531646,
|
|
0.3093657508254854
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.07411982241929344,
|
|
"rotation_deg": 0.4458370864472602
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 8.965351675814767e-15,
|
|
"rotation_deg": 5.322498974963192e-15
|
|
},
|
|
{
|
|
"translation_m": 2.6296119242823513e-15,
|
|
"rotation_deg": 2.6416453477886153e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 19,
|
|
"j": 24,
|
|
"lidar_time_i": 1784785363.1952267,
|
|
"lidar_time_j": 1784785815.4779446,
|
|
"frame_counter_i": 15761,
|
|
"frame_counter_j": 20284,
|
|
"rtk_translation_m": 11.093516369446519,
|
|
"rtk_rotation_deg": 177.87107120383473,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9974791691815873,
|
|
0.04249524157580704,
|
|
-0.056828351130612985,
|
|
-2.205717647384636
|
|
],
|
|
[
|
|
-0.040733265709239935,
|
|
-0.9986634841878906,
|
|
-0.03181267694431082,
|
|
-11.137262226130922
|
|
],
|
|
[
|
|
-0.05810428653267238,
|
|
-0.029417678241432176,
|
|
0.9978769924662122,
|
|
-0.2111400023477513
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 15,
|
|
"backend_num_inliers": 4985,
|
|
"backend_objective": 346.50606556509143,
|
|
"backend_elapsed_sec": 0.3630827000015415,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 3492,
|
|
"objective": 929.9849476190784
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4872,
|
|
"objective": 629.1355433019529
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 15,
|
|
"num_inliers": 4985,
|
|
"objective": 346.50606556509143
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7875,
|
|
"inliers": 3426,
|
|
"inlier_ratio": 0.43504761904761907,
|
|
"inlier_rmse_m": 0.13924446561169374,
|
|
"median_m": 0.3216392154668307,
|
|
"p90_m": 1.6412986649403454,
|
|
"p95_m": 2.578177518818419
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
8616.426171309877,
|
|
22139.86015376056,
|
|
45947.311781646065,
|
|
57613.47300891338,
|
|
275544.0074778941,
|
|
361343.67000271933
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 41.93660606132572,
|
|
"weakest_scaled_direction": [
|
|
0.07175289648514459,
|
|
0.9749666186854877,
|
|
0.03312925170474936,
|
|
-0.0668038916444731,
|
|
0.06827920222720169,
|
|
0.18457859459003498
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.04258350776081339,
|
|
"rotation_deg": 0.7879276702809055
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.5,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.8610729195778454e-15,
|
|
"rotation_deg": 1.703632180535041e-15
|
|
},
|
|
{
|
|
"translation_m": 0.44098324221774876,
|
|
"rotation_deg": 5.762337921680544
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 20,
|
|
"j": 21,
|
|
"lidar_time_i": 1784785434.592462,
|
|
"lidar_time_j": 1784785506.389296,
|
|
"frame_counter_i": 16475,
|
|
"frame_counter_j": 17193,
|
|
"rtk_translation_m": 5.40286046809103,
|
|
"rtk_rotation_deg": 50.60986574175429,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.6301981813065091,
|
|
0.7764268692428195,
|
|
0.003401322648986552,
|
|
4.39863388696172
|
|
],
|
|
[
|
|
-0.7761873138414891,
|
|
0.6301021429851937,
|
|
-0.02246203991182845,
|
|
-3.38202078990369
|
|
],
|
|
[
|
|
-0.019583312015658712,
|
|
0.01151547321044341,
|
|
0.9997419105785438,
|
|
0.08505435361015698
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 7432,
|
|
"backend_objective": 841.7889014088194,
|
|
"backend_elapsed_sec": 0.2433473999844864,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4419,
|
|
"objective": 1021.5747377426837
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6575,
|
|
"objective": 678.6038158007818
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 7432,
|
|
"objective": 841.7889014088194
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7846,
|
|
"inliers": 5184,
|
|
"inlier_ratio": 0.6607188376242672,
|
|
"inlier_rmse_m": 0.12214671257866079,
|
|
"median_m": 0.15023898240221245,
|
|
"p90_m": 0.9374078882444975,
|
|
"p95_m": 1.4616253051790022
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
44340.727888143774,
|
|
50672.870391665434,
|
|
118270.52282821866,
|
|
293841.55674556154,
|
|
476187.42673343327,
|
|
624441.520520691
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 14.082798146569438,
|
|
"weakest_scaled_direction": [
|
|
0.17746322243169121,
|
|
0.03155905325372502,
|
|
-0.011873699009488163,
|
|
0.8336479203850031,
|
|
0.5022823792752309,
|
|
0.14182172760579959
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01471691635641488,
|
|
"rotation_deg": 0.0747935794181239
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 5.534554168259711e-06,
|
|
"rotation_deg": 4.5311436364444247e-05
|
|
},
|
|
{
|
|
"translation_m": 5.534554168333668e-06,
|
|
"rotation_deg": 4.531143636222666e-05
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 20,
|
|
"j": 22,
|
|
"lidar_time_i": 1784785434.592462,
|
|
"lidar_time_j": 1784785587.5863533,
|
|
"frame_counter_i": 16475,
|
|
"frame_counter_j": 18005,
|
|
"rtk_translation_m": 8.200956565000565,
|
|
"rtk_rotation_deg": 56.18640938466938,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.5496172539019083,
|
|
0.835387051591116,
|
|
-0.007024830761537297,
|
|
6.450441857741791
|
|
],
|
|
[
|
|
-0.8351490077183537,
|
|
0.5492089812922016,
|
|
-0.029927074281191027,
|
|
-5.343962062450511
|
|
],
|
|
[
|
|
-0.021142590200218452,
|
|
0.022315216823633896,
|
|
0.9995273993131655,
|
|
0.11285970042172674
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 6757,
|
|
"backend_objective": 573.3125481864666,
|
|
"backend_elapsed_sec": 0.22552869998617098,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4312,
|
|
"objective": 1004.7367361664083
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6214,
|
|
"objective": 734.9190580921559
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6757,
|
|
"objective": 573.3125481864666
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7959,
|
|
"inliers": 4587,
|
|
"inlier_ratio": 0.576328684508104,
|
|
"inlier_rmse_m": 0.13245799460807672,
|
|
"median_m": 0.19975022791929564,
|
|
"p90_m": 1.1478644508327356,
|
|
"p95_m": 1.6805524465089412
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
34413.76904378472,
|
|
35089.02863964063,
|
|
67064.133147841,
|
|
142382.57268090028,
|
|
410896.55246784317,
|
|
551790.7600769354
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 16.034011252149995,
|
|
"weakest_scaled_direction": [
|
|
-0.5413592306245072,
|
|
-0.2686398625801602,
|
|
-0.0202596609897498,
|
|
-0.605727566710206,
|
|
-0.5106932382176763,
|
|
-0.08147935415312677
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.02165175771302933,
|
|
"rotation_deg": 0.4612076789897289
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 6.713178136967715e-15,
|
|
"rotation_deg": 1.5032960692226754e-13
|
|
},
|
|
{
|
|
"translation_m": 1.7684718691806487e-07,
|
|
"rotation_deg": 2.614237323819308e-06
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 20,
|
|
"j": 23,
|
|
"lidar_time_i": 1784785434.592462,
|
|
"lidar_time_j": 1784785681.9825997,
|
|
"frame_counter_i": 16475,
|
|
"frame_counter_j": 18949,
|
|
"rtk_translation_m": 5.175118275082073,
|
|
"rtk_rotation_deg": 70.79178325235415,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.32256721290178414,
|
|
0.9465460797646612,
|
|
0.0009550093859780853,
|
|
4.208259377594814
|
|
],
|
|
[
|
|
-0.945994895560604,
|
|
0.32241349198423586,
|
|
-0.033811207606571476,
|
|
-2.3193859738621594
|
|
],
|
|
[
|
|
-0.032311773923120214,
|
|
0.010002952998147617,
|
|
0.9994277813815551,
|
|
0.10775047283783244
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 7359,
|
|
"backend_objective": 845.5633979281702,
|
|
"backend_elapsed_sec": 0.23695839999709278,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4338,
|
|
"objective": 911.2596131666338
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6516,
|
|
"objective": 691.1437643500954
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7359,
|
|
"objective": 845.5633979281702
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7804,
|
|
"inliers": 5035,
|
|
"inlier_ratio": 0.6451819579702717,
|
|
"inlier_rmse_m": 0.12102263178677423,
|
|
"median_m": 0.1559895039044221,
|
|
"p90_m": 0.9688366245734089,
|
|
"p95_m": 1.49426709179214
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
53027.85303585267,
|
|
56080.75777160752,
|
|
143070.11462165575,
|
|
383136.57859657257,
|
|
443255.2922774473,
|
|
663456.339188899
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 12.511468996120387,
|
|
"weakest_scaled_direction": [
|
|
-0.3103954872435256,
|
|
-0.24401868710361824,
|
|
0.012355200029402224,
|
|
-0.5414145041653489,
|
|
-0.7117003300369048,
|
|
-0.21049903985544594
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.018249896901851893,
|
|
"rotation_deg": 0.12115759970382113
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.662158620367905e-15,
|
|
"rotation_deg": 2.3042195393728068e-14
|
|
},
|
|
{
|
|
"translation_m": 1.8563065093075665e-15,
|
|
"rotation_deg": 1.2622973743528364e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 20,
|
|
"j": 24,
|
|
"lidar_time_i": 1784785434.592462,
|
|
"lidar_time_j": 1784785815.4779446,
|
|
"frame_counter_i": 16475,
|
|
"frame_counter_j": 20284,
|
|
"rtk_translation_m": 4.710308396362637,
|
|
"rtk_rotation_deg": 105.20453782384023,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.2589411585105461,
|
|
0.9658790687160898,
|
|
-0.00520586643649611,
|
|
3.08192906684004
|
|
],
|
|
[
|
|
-0.9657761472795204,
|
|
-0.2589899145061792,
|
|
-0.014165363744281992,
|
|
-1.3317978172202731
|
|
],
|
|
[
|
|
-0.01503029524467048,
|
|
0.001359705931623316,
|
|
0.9998861142273341,
|
|
0.05855535952942754
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7947,
|
|
"backend_objective": 828.765715422846,
|
|
"backend_elapsed_sec": 0.24634510002215393,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4198,
|
|
"objective": 1453.863410541216
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6665,
|
|
"objective": 955.5540696139832
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7947,
|
|
"objective": 828.765715422846
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7704,
|
|
"inliers": 5688,
|
|
"inlier_ratio": 0.7383177570093458,
|
|
"inlier_rmse_m": 0.11441422046802802,
|
|
"median_m": 0.1206966324210205,
|
|
"p90_m": 0.6821797692450176,
|
|
"p95_m": 1.129705958523537
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
62496.01731270753,
|
|
70194.43621434887,
|
|
183680.88832673497,
|
|
374325.9260408858,
|
|
609173.5954095792,
|
|
759497.7110346676
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 12.152737785424229,
|
|
"weakest_scaled_direction": [
|
|
0.21789141672528795,
|
|
0.7454163621037097,
|
|
-0.0009605891814390714,
|
|
-0.031064774376616564,
|
|
0.40307076050369756,
|
|
0.48316228817431883
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.009011279667019194,
|
|
"rotation_deg": 0.06430292411421322
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.943432665244099e-15,
|
|
"rotation_deg": 1.4991032967055917e-14
|
|
},
|
|
{
|
|
"translation_m": 1.996087139617986e-15,
|
|
"rotation_deg": 3.4847052261658093e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 20,
|
|
"j": 25,
|
|
"lidar_time_i": 1784785434.592462,
|
|
"lidar_time_j": 1784785891.9768085,
|
|
"frame_counter_i": 16475,
|
|
"frame_counter_j": 21049,
|
|
"rtk_translation_m": 8.226491803107123,
|
|
"rtk_rotation_deg": 68.57831319871164,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.36472487616827326,
|
|
0.9310705876163026,
|
|
0.009128284607280327,
|
|
4.718091568740359
|
|
],
|
|
[
|
|
-0.9306796876858751,
|
|
0.36423685356907465,
|
|
0.03415894364618221,
|
|
-7.302169850498349
|
|
],
|
|
[
|
|
0.028479530069164212,
|
|
-0.020954125558804243,
|
|
0.9993747250101462,
|
|
0.1831713409168159
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7051,
|
|
"backend_objective": 481.92528333929243,
|
|
"backend_elapsed_sec": 0.2588349000143353,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 10,
|
|
"num_inliers": 4061,
|
|
"objective": 790.7661291518403
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6106,
|
|
"objective": 628.5696545826204
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7051,
|
|
"objective": 481.92528333929243
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7964,
|
|
"inliers": 4924,
|
|
"inlier_ratio": 0.6182822702159718,
|
|
"inlier_rmse_m": 0.12791257682460647,
|
|
"median_m": 0.1698836970918688,
|
|
"p90_m": 1.1685966238925811,
|
|
"p95_m": 1.8448430432547474
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
20350.618460298832,
|
|
37569.96463500192,
|
|
48033.61600525111,
|
|
108559.9013833798,
|
|
526742.970578636,
|
|
592287.6851074039
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 29.104161441720954,
|
|
"weakest_scaled_direction": [
|
|
-0.42556444577949426,
|
|
-0.569911161738633,
|
|
-0.017271094605284174,
|
|
0.09315786156407158,
|
|
-0.04019256455762905,
|
|
0.6953445549426117
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.014703530260578728,
|
|
"rotation_deg": 0.32055535743282454
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.40619762898109e-16,
|
|
"rotation_deg": 4.5170095684232995e-15
|
|
},
|
|
{
|
|
"translation_m": 3.591668609095541e-15,
|
|
"rotation_deg": 2.3570729087321212e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 21,
|
|
"j": 22,
|
|
"lidar_time_i": 1784785506.389296,
|
|
"lidar_time_j": 1784785587.5863533,
|
|
"frame_counter_i": 17193,
|
|
"frame_counter_j": 18005,
|
|
"rtk_translation_m": 2.8644847627909416,
|
|
"rtk_rotation_deg": 5.57654364291509,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9949871489467763,
|
|
0.10000253475913753,
|
|
0.00025782263898075465,
|
|
2.814440047729085
|
|
],
|
|
[
|
|
-0.09999491339360277,
|
|
0.9949372219711345,
|
|
-0.010046971273306804,
|
|
0.35486864144369806
|
|
],
|
|
[
|
|
-0.0012612399341716996,
|
|
0.009970826350321912,
|
|
0.9999494946724657,
|
|
0.09487990842832685
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 9146,
|
|
"backend_objective": 1703.409723975221,
|
|
"backend_elapsed_sec": 0.24805360002210364,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4644,
|
|
"objective": 868.2820515524207
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7403,
|
|
"objective": 778.2783448452358
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 9146,
|
|
"objective": 1703.409723975221
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8197,
|
|
"inliers": 6345,
|
|
"inlier_ratio": 0.7740636818348177,
|
|
"inlier_rmse_m": 0.11564788773425824,
|
|
"median_m": 0.11881922766695734,
|
|
"p90_m": 0.5710791007457086,
|
|
"p95_m": 0.9594951467730475
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
68955.61191477656,
|
|
276543.8285017942,
|
|
369434.1645927724,
|
|
415426.7061479706,
|
|
561199.6486688191,
|
|
841918.661083003
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 12.209574213097333,
|
|
"weakest_scaled_direction": [
|
|
-0.06746522435169258,
|
|
0.05416703526780531,
|
|
-0.032449063001995834,
|
|
-0.804900283074206,
|
|
-0.5853715569081089,
|
|
-0.03061223242111958
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0065184199045192235,
|
|
"rotation_deg": 0.06991965908247275
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.516639917446636e-14,
|
|
"rotation_deg": 4.623659557428911e-13
|
|
},
|
|
{
|
|
"translation_m": 1.787650848661936e-15,
|
|
"rotation_deg": 1.4331825293103942e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 21,
|
|
"j": 23,
|
|
"lidar_time_i": 1784785506.389296,
|
|
"lidar_time_j": 1784785681.9825997,
|
|
"frame_counter_i": 17193,
|
|
"frame_counter_j": 18949,
|
|
"rtk_translation_m": 1.2936223973175418,
|
|
"rtk_rotation_deg": 20.18191751059984,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9381685004700115,
|
|
0.34605724063899157,
|
|
0.009178830381697225,
|
|
-0.9318953948390342
|
|
],
|
|
[
|
|
-0.34596327975609076,
|
|
0.9381901784637574,
|
|
-0.01042104095341573,
|
|
0.5294051243001446
|
|
],
|
|
[
|
|
-0.012217765190818047,
|
|
0.006601154101425794,
|
|
0.9999035708398443,
|
|
-0.002502879994889205
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 10022,
|
|
"backend_objective": 1419.0499751223717,
|
|
"backend_elapsed_sec": 0.2134786999959033,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4616,
|
|
"objective": 750.6539590039605
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7746,
|
|
"objective": 821.9219639122146
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 10022,
|
|
"objective": 1419.0499751223717
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8042,
|
|
"inliers": 6934,
|
|
"inlier_ratio": 0.862223327530465,
|
|
"inlier_rmse_m": 0.10307116830776755,
|
|
"median_m": 0.08939175565884207,
|
|
"p90_m": 0.3514120568530705,
|
|
"p95_m": 0.7088981381611085
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
102715.79092682658,
|
|
307631.7472744465,
|
|
574725.5516161988,
|
|
712149.1897057669,
|
|
831554.8125380467,
|
|
1142661.736879501
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 11.124499228103288,
|
|
"weakest_scaled_direction": [
|
|
-0.060378503544198714,
|
|
0.025478424004135802,
|
|
0.012984605396990187,
|
|
-0.6274958356377294,
|
|
-0.7743238586147251,
|
|
-0.04699174906325607
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0026785916987678697,
|
|
"rotation_deg": 0.01879221122979615
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.3452156777087964e-06,
|
|
"rotation_deg": 5.457411412584476e-06
|
|
},
|
|
{
|
|
"translation_m": 2.5383669873575945e-15,
|
|
"rotation_deg": 1.6919296846028982e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 21,
|
|
"j": 24,
|
|
"lidar_time_i": 1784785506.389296,
|
|
"lidar_time_j": 1784785815.4779446,
|
|
"frame_counter_i": 17193,
|
|
"frame_counter_j": 20284,
|
|
"rtk_translation_m": 2.3128500583741403,
|
|
"rtk_rotation_deg": 54.59467208208593,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.5864769751762654,
|
|
0.8099460332920043,
|
|
-0.005672807298438478,
|
|
-2.4096154798797964
|
|
],
|
|
[
|
|
-0.8099295559471344,
|
|
0.5865026229977585,
|
|
0.00536540958615149,
|
|
0.2727395222292259
|
|
],
|
|
[
|
|
0.00767280857158529,
|
|
0.0014478851115300648,
|
|
0.9999695153540072,
|
|
-0.022944430739222105
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 7,
|
|
"backend_num_inliers": 8464,
|
|
"backend_objective": 1162.7767389441092,
|
|
"backend_elapsed_sec": 0.27223569998750463,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4148,
|
|
"objective": 828.1952790032508
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6865,
|
|
"objective": 856.3185305879489
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 8464,
|
|
"objective": 1162.7767389441092
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7942,
|
|
"inliers": 6191,
|
|
"inlier_ratio": 0.7795265676152102,
|
|
"inlier_rmse_m": 0.11182158240581822,
|
|
"median_m": 0.10716354058076344,
|
|
"p90_m": 0.5589406319578444,
|
|
"p95_m": 0.9607006134986359
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
56693.42014747004,
|
|
124209.97002507027,
|
|
247427.18293520404,
|
|
438330.3972872241,
|
|
546318.6584470777,
|
|
903353.7178038924
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 15.934013426145448,
|
|
"weakest_scaled_direction": [
|
|
0.05656715636850258,
|
|
0.023812998671804544,
|
|
-0.0002796892755809372,
|
|
0.09536096170819146,
|
|
0.9923286670814698,
|
|
0.04922522888670723
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.003491995501356654,
|
|
"rotation_deg": 0.0374256510953578
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.0132990584074992e-15,
|
|
"rotation_deg": 1.693025760075907e-14
|
|
},
|
|
{
|
|
"translation_m": 9.332106938114179e-16,
|
|
"rotation_deg": 8.987715771713424e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 21,
|
|
"j": 25,
|
|
"lidar_time_i": 1784785506.389296,
|
|
"lidar_time_j": 1784785891.9768085,
|
|
"frame_counter_i": 17193,
|
|
"frame_counter_j": 21049,
|
|
"rtk_translation_m": 3.793272903723766,
|
|
"rtk_rotation_deg": 17.968447456957346,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.951465406759142,
|
|
0.30462790245371113,
|
|
-0.0437655205305701,
|
|
3.246246284934705
|
|
],
|
|
[
|
|
-0.3028280168284787,
|
|
0.952061916961844,
|
|
0.043281618438653205,
|
|
-2.2236041536135907
|
|
],
|
|
[
|
|
0.054852274012936325,
|
|
-0.02792753690518858,
|
|
0.9981038426526663,
|
|
0.23152263166160567
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 8544,
|
|
"backend_objective": 1186.7914632066486,
|
|
"backend_elapsed_sec": 0.3494078000076115,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4390,
|
|
"objective": 755.102608609444
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6990,
|
|
"objective": 722.0196792328461
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 8544,
|
|
"objective": 1186.7914632066486
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8202,
|
|
"inliers": 6021,
|
|
"inlier_ratio": 0.7340892465252378,
|
|
"inlier_rmse_m": 0.12002239056891174,
|
|
"median_m": 0.13187868486785037,
|
|
"p90_m": 0.8441743066590516,
|
|
"p95_m": 1.5635195490658773
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
45161.41165401633,
|
|
88495.6665623439,
|
|
230087.91200777455,
|
|
375657.3807349393,
|
|
498970.7377792786,
|
|
748422.2743395879
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 16.57216298005221,
|
|
"weakest_scaled_direction": [
|
|
-0.05711903308571431,
|
|
0.09722996092931892,
|
|
-0.0006718660563098488,
|
|
-0.6676512451049326,
|
|
-0.7327792842646098,
|
|
-0.06752506805267046
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.037735058311297705,
|
|
"rotation_deg": 0.2878144229712423
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.4124810357301033e-15,
|
|
"rotation_deg": 1.5421625325312505e-14
|
|
},
|
|
{
|
|
"translation_m": 1.3666101008105044e-15,
|
|
"rotation_deg": 4.390810401501978e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 21,
|
|
"j": 26,
|
|
"lidar_time_i": 1784785506.389296,
|
|
"lidar_time_j": 1784785967.8726046,
|
|
"frame_counter_i": 17193,
|
|
"frame_counter_j": 21808,
|
|
"rtk_translation_m": 4.631707245574304,
|
|
"rtk_rotation_deg": 60.912845043424184,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.48806176319002476,
|
|
0.8716863242937033,
|
|
-0.044256833948862984,
|
|
3.8161629787833466
|
|
],
|
|
[
|
|
-0.8709224865092036,
|
|
0.4897124551924127,
|
|
0.04093572671940675,
|
|
-2.3729744624638465
|
|
],
|
|
[
|
|
0.05735623596847181,
|
|
0.018565108907630003,
|
|
0.9981811453472647,
|
|
0.26506900488783713
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 8240,
|
|
"backend_objective": 1120.634646080745,
|
|
"backend_elapsed_sec": 0.27241249999497086,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 3989,
|
|
"objective": 831.3073148022323
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6491,
|
|
"objective": 641.9008184249741
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 8240,
|
|
"objective": 1120.634646080745
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8252,
|
|
"inliers": 5898,
|
|
"inlier_ratio": 0.7147358216190014,
|
|
"inlier_rmse_m": 0.11997311573294966,
|
|
"median_m": 0.13518689601537945,
|
|
"p90_m": 0.8557175690024953,
|
|
"p95_m": 1.67161649650294
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
41965.89761056792,
|
|
47466.75249187217,
|
|
201336.8816755612,
|
|
390732.0326679377,
|
|
517025.81420962076,
|
|
729044.8199640175
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 17.372315653280065,
|
|
"weakest_scaled_direction": [
|
|
0.07669344992623661,
|
|
-0.37363991694573523,
|
|
0.0056503294265457605,
|
|
0.03227063945328418,
|
|
0.8000863050351066,
|
|
0.46184403352767633
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.012351932089198563,
|
|
"rotation_deg": 0.10379217190868555
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.341259198934301e-13,
|
|
"rotation_deg": 2.913456283126336e-13
|
|
},
|
|
{
|
|
"translation_m": 2.610684629078812e-15,
|
|
"rotation_deg": 3.4668416835300865e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 22,
|
|
"j": 23,
|
|
"lidar_time_i": 1784785587.5863533,
|
|
"lidar_time_j": 1784785681.9825997,
|
|
"frame_counter_i": 18005,
|
|
"frame_counter_j": 18949,
|
|
"rtk_translation_m": 3.7194009250537223,
|
|
"rtk_rotation_deg": 14.605373867684753,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9680180899465552,
|
|
0.25084012572879505,
|
|
0.004495426630019777,
|
|
-3.74300761383286
|
|
],
|
|
[
|
|
-0.25086900490704056,
|
|
0.9679895115926125,
|
|
0.007813310671311182,
|
|
-0.20412154694927875
|
|
],
|
|
[
|
|
-0.002391633996843435,
|
|
-0.008691189277507354,
|
|
0.9999593708325196,
|
|
-0.09262483651087947
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 8546,
|
|
"backend_objective": 1321.8517754886582,
|
|
"backend_elapsed_sec": 0.2790126999898348,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4420,
|
|
"objective": 890.1276923712095
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7052,
|
|
"objective": 954.3336913888552
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 8546,
|
|
"objective": 1321.8517754886582
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8155,
|
|
"inliers": 6042,
|
|
"inlier_ratio": 0.7408951563458002,
|
|
"inlier_rmse_m": 0.11726725109752717,
|
|
"median_m": 0.12207350159014241,
|
|
"p90_m": 0.6851390412082611,
|
|
"p95_m": 1.131610394473617
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
68439.22404216403,
|
|
162544.12904499072,
|
|
218614.58984913744,
|
|
442226.72856045084,
|
|
481438.1708275909,
|
|
863033.2148717172
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 12.610213323576254,
|
|
"weakest_scaled_direction": [
|
|
0.06875318882715073,
|
|
-0.021343991953650457,
|
|
0.016940565304647288,
|
|
0.6313478605987582,
|
|
0.7719555035339748,
|
|
0.0038768236634954827
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.009206244303295173,
|
|
"rotation_deg": 0.09601986001481369
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 8.934752161915345e-16,
|
|
"rotation_deg": 6.411728736501268e-15
|
|
},
|
|
{
|
|
"translation_m": 9.884453757227279e-16,
|
|
"rotation_deg": 2.291306414268005e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 22,
|
|
"j": 24,
|
|
"lidar_time_i": 1784785587.5863533,
|
|
"lidar_time_j": 1784785815.4779446,
|
|
"frame_counter_i": 18005,
|
|
"frame_counter_j": 20284,
|
|
"rtk_translation_m": 4.786117710081478,
|
|
"rtk_rotation_deg": 49.01812843917083,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.6643152165229396,
|
|
0.7473343175313717,
|
|
-0.013293266566204139,
|
|
-5.200984531085628
|
|
],
|
|
[
|
|
-0.7472249118018555,
|
|
0.6644467550042417,
|
|
0.012862384967113366,
|
|
-0.6124991489851265
|
|
],
|
|
[
|
|
0.01844516952454416,
|
|
0.0013883818830611348,
|
|
0.9998289094224855,
|
|
-0.15699990301925867
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 7534,
|
|
"backend_objective": 618.9411290844438,
|
|
"backend_elapsed_sec": 0.25701590001699515,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 3998,
|
|
"objective": 996.4306885899134
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6380,
|
|
"objective": 682.3145767044045
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 7534,
|
|
"objective": 618.9411290844438
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8055,
|
|
"inliers": 5587,
|
|
"inlier_ratio": 0.6936064556176288,
|
|
"inlier_rmse_m": 0.11914624513148218,
|
|
"median_m": 0.13621627379182125,
|
|
"p90_m": 0.8600601835813493,
|
|
"p95_m": 1.4045143272867981
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
56117.95752548433,
|
|
62076.38713793777,
|
|
102296.54126853116,
|
|
288394.2705411583,
|
|
377278.4721379689,
|
|
740947.1453684517
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 13.20338761495324,
|
|
"weakest_scaled_direction": [
|
|
0.051016174699036056,
|
|
0.2576350362613466,
|
|
-0.006718040289728429,
|
|
0.06708912698257481,
|
|
0.9359724157154417,
|
|
0.22456867992859963
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.006090737153726605,
|
|
"rotation_deg": 0.027557138417491776
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.6300346472626374e-15,
|
|
"rotation_deg": 5.074464279426559e-15
|
|
},
|
|
{
|
|
"translation_m": 1.6014269617894046e-15,
|
|
"rotation_deg": 1.39393558216266e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 22,
|
|
"j": 25,
|
|
"lidar_time_i": 1784785587.5863533,
|
|
"lidar_time_j": 1784785891.9768085,
|
|
"frame_counter_i": 18005,
|
|
"frame_counter_j": 21049,
|
|
"rtk_translation_m": 2.3747421598149763,
|
|
"rtk_rotation_deg": 12.391903814042255,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9771017898243449,
|
|
0.20760605418763642,
|
|
-0.046602774452827594,
|
|
0.6836770732221749
|
|
],
|
|
[
|
|
-0.2055983985569553,
|
|
0.9776271779696655,
|
|
0.044434214361043896,
|
|
-2.5190907519197667
|
|
],
|
|
[
|
|
0.05478495078829861,
|
|
-0.033835294585802284,
|
|
0.9979247376467901,
|
|
0.10890575315662965
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 9018,
|
|
"backend_objective": 1603.7263974893467,
|
|
"backend_elapsed_sec": 0.26418170001124963,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4428,
|
|
"objective": 998.9648775940758
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7152,
|
|
"objective": 717.1052366493561
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 9018,
|
|
"objective": 1603.7263974893467
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8315,
|
|
"inliers": 6117,
|
|
"inlier_ratio": 0.7356584485868911,
|
|
"inlier_rmse_m": 0.11474070552638106,
|
|
"median_m": 0.12015080430215148,
|
|
"p90_m": 0.9353497010889523,
|
|
"p95_m": 1.5992612501748902
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
54421.15021016208,
|
|
105983.75421454485,
|
|
323054.79131014243,
|
|
540615.0260132273,
|
|
618302.5566564435,
|
|
907398.3370898641
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 16.673633938013044,
|
|
"weakest_scaled_direction": [
|
|
-0.07770890679458517,
|
|
0.08356725539232165,
|
|
-0.02570066281607597,
|
|
-0.6620003139006165,
|
|
-0.7396449243682165,
|
|
-0.0315956613100559
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0019617091597581428,
|
|
"rotation_deg": 0.011643770804738128
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.265271247595879e-15,
|
|
"rotation_deg": 2.1839510489416722e-14
|
|
},
|
|
{
|
|
"translation_m": 2.125986957094651e-15,
|
|
"rotation_deg": 3.950350296474579e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 22,
|
|
"j": 26,
|
|
"lidar_time_i": 1784785587.5863533,
|
|
"lidar_time_j": 1784785967.8726046,
|
|
"frame_counter_i": 18005,
|
|
"frame_counter_j": 21808,
|
|
"rtk_translation_m": 2.381693697571969,
|
|
"rtk_rotation_deg": 55.336301400509086,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.5729894523948887,
|
|
0.8181138146333831,
|
|
-0.048712151976887726,
|
|
1.2636919366293835
|
|
],
|
|
[
|
|
-0.8170731700272349,
|
|
0.5748682225294421,
|
|
0.04379453787272056,
|
|
-2.6134549480717517
|
|
],
|
|
[
|
|
0.06383198466169512,
|
|
0.014707584161026707,
|
|
0.9978522759919404,
|
|
0.1600384835630653
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 8745,
|
|
"backend_objective": 1826.9341443186427,
|
|
"backend_elapsed_sec": 0.2684796999965329,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4056,
|
|
"objective": 829.8679409775192
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6785,
|
|
"objective": 714.5244543941843
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 8745,
|
|
"objective": 1826.9341443186427
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8365,
|
|
"inliers": 6209,
|
|
"inlier_ratio": 0.7422594142259414,
|
|
"inlier_rmse_m": 0.11765221626900083,
|
|
"median_m": 0.12426046302590078,
|
|
"p90_m": 0.8632155686173443,
|
|
"p95_m": 1.6150154051765333
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
48759.960513395155,
|
|
96351.33626100888,
|
|
270164.12934271694,
|
|
535278.7746145609,
|
|
648762.17835789,
|
|
920608.5530097359
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 18.880420396501957,
|
|
"weakest_scaled_direction": [
|
|
0.11387940859658063,
|
|
-0.014809023085159412,
|
|
0.008417701523074536,
|
|
-0.020948786288663663,
|
|
0.9921603932721736,
|
|
0.04382028992443755
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.007814937371704293,
|
|
"rotation_deg": 0.039342553564881436
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.029911119502192e-15,
|
|
"rotation_deg": 2.2738102941910025e-14
|
|
},
|
|
{
|
|
"translation_m": 2.1719098162331255e-15,
|
|
"rotation_deg": 1.8576185042140407e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 22,
|
|
"j": 27,
|
|
"lidar_time_i": 1784785587.5863533,
|
|
"lidar_time_j": 1784786031.5701303,
|
|
"frame_counter_i": 18005,
|
|
"frame_counter_j": 22445,
|
|
"rtk_translation_m": 2.9603952927690247,
|
|
"rtk_rotation_deg": 80.62067670375279,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.166012302825228,
|
|
0.9847987229204278,
|
|
-0.05110176753263577,
|
|
1.3366643458092826
|
|
],
|
|
[
|
|
-0.9849490568659734,
|
|
0.16812033224592798,
|
|
0.04013613414802536,
|
|
-3.010834914800446
|
|
],
|
|
[
|
|
0.04811725978787924,
|
|
0.04366954567903789,
|
|
0.9978866168511793,
|
|
0.1758600044300586
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 7,
|
|
"backend_num_inliers": 8761,
|
|
"backend_objective": 1810.797605209733,
|
|
"backend_elapsed_sec": 0.3246029000147246,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 4206,
|
|
"objective": 777.5638769913432
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6933,
|
|
"objective": 617.3102988788305
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 8761,
|
|
"objective": 1810.797605209733
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8375,
|
|
"inliers": 6076,
|
|
"inlier_ratio": 0.7254925373134329,
|
|
"inlier_rmse_m": 0.11870181965154768,
|
|
"median_m": 0.1292959264142726,
|
|
"p90_m": 0.9590407195444435,
|
|
"p95_m": 1.745903598461009
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
46053.05169249938,
|
|
72111.06913739193,
|
|
211058.3910644258,
|
|
471445.30077424535,
|
|
650959.6040704789,
|
|
981362.4092437666
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 21.309389349405485,
|
|
"weakest_scaled_direction": [
|
|
-0.11948805473642278,
|
|
-0.01662055490082298,
|
|
-0.008890942173840347,
|
|
0.441601531324688,
|
|
-0.8876742358497826,
|
|
-0.04888610863579474
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.018241823604788005,
|
|
"rotation_deg": 0.08279236858582419
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.0165297388272475e-05,
|
|
"rotation_deg": 0.00012138995368309731
|
|
},
|
|
{
|
|
"translation_m": 1.0165297388157148e-05,
|
|
"rotation_deg": 0.00012138995368611443
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 23,
|
|
"j": 24,
|
|
"lidar_time_i": 1784785681.9825997,
|
|
"lidar_time_j": 1784785815.4779446,
|
|
"frame_counter_i": 18949,
|
|
"frame_counter_j": 20284,
|
|
"rtk_translation_m": 1.0880644725336985,
|
|
"rtk_rotation_deg": 34.41275457148609,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8303653571829605,
|
|
0.5568321890913183,
|
|
-0.020767445249372744,
|
|
-1.2980342252265529
|
|
],
|
|
[
|
|
-0.5567965397742828,
|
|
0.8306104219770264,
|
|
0.007996261534747364,
|
|
-0.7542815474137368
|
|
],
|
|
[
|
|
0.021702232276906368,
|
|
0.004923423089373753,
|
|
0.9997523558458277,
|
|
-0.03658754448586632
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 13,
|
|
"backend_num_inliers": 8752,
|
|
"backend_objective": 1203.4446402887475,
|
|
"backend_elapsed_sec": 0.31242710002698004,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4329,
|
|
"objective": 1028.7337646496203
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 7143,
|
|
"objective": 962.5315953290091
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 13,
|
|
"num_inliers": 8752,
|
|
"objective": 1203.4446402887475
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 7900,
|
|
"inliers": 6229,
|
|
"inlier_ratio": 0.7884810126582279,
|
|
"inlier_rmse_m": 0.10662565692629543,
|
|
"median_m": 0.1000611786088326,
|
|
"p90_m": 0.49960811562268803,
|
|
"p95_m": 0.75562531444527
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
88273.0773263409,
|
|
146323.25466768251,
|
|
301214.910506251,
|
|
509707.2676784679,
|
|
581465.7340907096,
|
|
936683.2499807811
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 10.611199681165669,
|
|
"weakest_scaled_direction": [
|
|
0.10439883076038171,
|
|
0.06970668489684709,
|
|
-0.02623880712496699,
|
|
0.08206972040851741,
|
|
0.9844977668795604,
|
|
0.087075227352228
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.001882338148224756,
|
|
"rotation_deg": 0.020239211377623818
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.545131356005381e-15,
|
|
"rotation_deg": 2.0474535646795735e-14
|
|
},
|
|
{
|
|
"translation_m": 1.6667795129466248e-15,
|
|
"rotation_deg": 7.782331236869249e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 23,
|
|
"j": 25,
|
|
"lidar_time_i": 1784785681.9825997,
|
|
"lidar_time_j": 1784785891.9768085,
|
|
"frame_counter_i": 18949,
|
|
"frame_counter_j": 21049,
|
|
"rtk_translation_m": 5.033935954106079,
|
|
"rtk_rotation_deg": 2.213470053642494,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.997169096259311,
|
|
-0.04382697823854911,
|
|
-0.06109819509500086,
|
|
4.877568649812088
|
|
],
|
|
[
|
|
0.045471268891624554,
|
|
0.9986327846324579,
|
|
0.025786142840836017,
|
|
-1.1221910117378027
|
|
],
|
|
[
|
|
0.05988453198259647,
|
|
-0.02849135721056768,
|
|
0.9977986196590599,
|
|
0.24009968082344962
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 7951,
|
|
"backend_objective": 1006.816765698991,
|
|
"backend_elapsed_sec": 0.20475340000120923,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4289,
|
|
"objective": 794.1021285457281
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6627,
|
|
"objective": 631.1319767631088
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 7951,
|
|
"objective": 1006.816765698991
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8160,
|
|
"inliers": 5584,
|
|
"inlier_ratio": 0.6843137254901961,
|
|
"inlier_rmse_m": 0.12171091934898426,
|
|
"median_m": 0.1421381414415025,
|
|
"p90_m": 1.0090705835968712,
|
|
"p95_m": 1.809914444995154
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
47597.81661202595,
|
|
62200.586561324024,
|
|
160526.5811565719,
|
|
249100.31357856502,
|
|
444442.7526783774,
|
|
721145.4313586202
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 15.150809064137142,
|
|
"weakest_scaled_direction": [
|
|
-0.07037591046685365,
|
|
0.1140198174964063,
|
|
-0.019874373237302987,
|
|
-0.663823642849381,
|
|
-0.730267830000611,
|
|
-0.08774274552832399
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.014639828785635214,
|
|
"rotation_deg": 0.2046006298281892
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.554447978966673e-16,
|
|
"rotation_deg": 3.745587311483929e-15
|
|
},
|
|
{
|
|
"translation_m": 1.4980298966309074e-15,
|
|
"rotation_deg": 1.855039326368436e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 23,
|
|
"j": 26,
|
|
"lidar_time_i": 1784785681.9825997,
|
|
"lidar_time_j": 1784785967.8726046,
|
|
"frame_counter_i": 18949,
|
|
"frame_counter_j": 21808,
|
|
"rtk_translation_m": 5.765534437288107,
|
|
"rtk_rotation_deg": 40.730927532824346,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.758987705420829,
|
|
0.6479688173745616,
|
|
-0.06382847899046681,
|
|
5.465829429150644
|
|
],
|
|
[
|
|
-0.6479656640797263,
|
|
0.7613050131592317,
|
|
0.02356215423811409,
|
|
-1.063367937083716
|
|
],
|
|
[
|
|
0.06386048225423888,
|
|
0.023475277396298837,
|
|
0.9976826901161628,
|
|
0.32681663990174287
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 7675,
|
|
"backend_objective": 941.0360150849585,
|
|
"backend_elapsed_sec": 0.20812529997783713,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 3909,
|
|
"objective": 814.1334582930003
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6239,
|
|
"objective": 773.7425694523753
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 7675,
|
|
"objective": 941.0360150849585
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8210,
|
|
"inliers": 5560,
|
|
"inlier_ratio": 0.6772228989037758,
|
|
"inlier_rmse_m": 0.12237954766026346,
|
|
"median_m": 0.14526492257361953,
|
|
"p90_m": 1.0306268199294264,
|
|
"p95_m": 2.005669170226921
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
42800.662748925846,
|
|
50922.16795289156,
|
|
123953.48099214467,
|
|
229550.53710970332,
|
|
436690.36093104834,
|
|
701174.7556803013
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 16.382334072569904,
|
|
"weakest_scaled_direction": [
|
|
-0.11074299337222478,
|
|
0.11658102555223537,
|
|
-0.02291305551563881,
|
|
0.005584858487071339,
|
|
-0.9700013384338984,
|
|
-0.18079286097412775
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.04518647006837157,
|
|
"rotation_deg": 0.20367965681897066
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.897961898453677e-15,
|
|
"rotation_deg": 5.0009294443592034e-15
|
|
},
|
|
{
|
|
"translation_m": 1.9868029630580076e-15,
|
|
"rotation_deg": 1.241119903764046e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 23,
|
|
"j": 27,
|
|
"lidar_time_i": 1784785681.9825997,
|
|
"lidar_time_j": 1784786031.5701303,
|
|
"frame_counter_i": 18949,
|
|
"frame_counter_j": 22445,
|
|
"rtk_translation_m": 6.392376191887118,
|
|
"rtk_rotation_deg": 66.01530283606805,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.4078233430078444,
|
|
0.9105921303916975,
|
|
-0.06709763756358932,
|
|
5.632662344665416
|
|
],
|
|
[
|
|
-0.9125328661541443,
|
|
0.40898422649271754,
|
|
0.0039586195391688415,
|
|
-1.421559241441168
|
|
],
|
|
[
|
|
0.03104656319801524,
|
|
0.059614382063914104,
|
|
0.9977385611294818,
|
|
0.3729145284645733
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 9,
|
|
"backend_num_inliers": 7658,
|
|
"backend_objective": 917.1304259230158,
|
|
"backend_elapsed_sec": 0.29475150001235306,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 10,
|
|
"num_inliers": 4032,
|
|
"objective": 864.9119736691032
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 6245,
|
|
"objective": 634.8644050424682
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 7658,
|
|
"objective": 917.1304259230158
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8220,
|
|
"inliers": 5456,
|
|
"inlier_ratio": 0.6637469586374696,
|
|
"inlier_rmse_m": 0.12340951265232122,
|
|
"median_m": 0.1525519977909689,
|
|
"p90_m": 1.1085815159634709,
|
|
"p95_m": 1.9974762679862905
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
36105.88521990672,
|
|
48551.60355914683,
|
|
88084.75813595018,
|
|
196396.53562698688,
|
|
424563.6450545413,
|
|
745364.1125572154
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 20.64383986204732,
|
|
"weakest_scaled_direction": [
|
|
-0.16486183891091427,
|
|
-0.024234837848935986,
|
|
-0.015867627903740262,
|
|
0.43326911405518564,
|
|
-0.8776033093223075,
|
|
-0.11862449731157747
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.010626193556947957,
|
|
"rotation_deg": 1.1817079481882757
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.2334947784230958e-15,
|
|
"rotation_deg": 1.682681774252422e-14
|
|
},
|
|
{
|
|
"translation_m": 1.3355895042104052e-15,
|
|
"rotation_deg": 1.0551690582431039e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 23,
|
|
"j": 28,
|
|
"lidar_time_i": 1784785681.9825997,
|
|
"lidar_time_j": 1784786087.9670725,
|
|
"frame_counter_i": 18949,
|
|
"frame_counter_j": 23009,
|
|
"rtk_translation_m": 6.631292861991925,
|
|
"rtk_rotation_deg": 85.8775990418248,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.07341209989437938,
|
|
0.9950252891905618,
|
|
-0.06734491413861542,
|
|
5.455047042241046
|
|
],
|
|
[
|
|
-0.9972948325711798,
|
|
0.0734944681127941,
|
|
-0.0012570137790975325,
|
|
-1.15646420109295
|
|
],
|
|
[
|
|
0.0036987181456562828,
|
|
0.0672550148915107,
|
|
0.9977289624221707,
|
|
0.35030091842333066
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 7810,
|
|
"backend_objective": 1093.1406190591376,
|
|
"backend_elapsed_sec": 0.20620700001018122,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 10,
|
|
"num_inliers": 4109,
|
|
"objective": 821.4602934406256
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6413,
|
|
"objective": 727.5235818224951
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 7810,
|
|
"objective": 1093.1406190591376
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8196,
|
|
"inliers": 5508,
|
|
"inlier_ratio": 0.6720351390922401,
|
|
"inlier_rmse_m": 0.12122778564083748,
|
|
"median_m": 0.14439614877545376,
|
|
"p90_m": 1.1594785140716684,
|
|
"p95_m": 2.1256666818127967
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
38197.772408036675,
|
|
67929.00079207728,
|
|
124599.25696091478,
|
|
217050.83145009523,
|
|
455685.1258229141,
|
|
733648.2155369003
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 19.20657067904157,
|
|
"weakest_scaled_direction": [
|
|
-0.09092733851373148,
|
|
-0.09802132467259564,
|
|
-0.0170459577706576,
|
|
0.7193665897423116,
|
|
-0.6791246999693235,
|
|
-0.055989515072139596
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.043540468687755365,
|
|
"rotation_deg": 0.26051478047218213
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.036560719766055e-16,
|
|
"rotation_deg": 1.6436786224923144e-14
|
|
},
|
|
{
|
|
"translation_m": 1.0310738718936457e-15,
|
|
"rotation_deg": 1.8968023343932963e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 24,
|
|
"j": 25,
|
|
"lidar_time_i": 1784785815.4779446,
|
|
"lidar_time_j": 1784785891.9768085,
|
|
"frame_counter_i": 20284,
|
|
"frame_counter_j": 21049,
|
|
"rtk_translation_m": 6.097212810998921,
|
|
"rtk_rotation_deg": 36.62622462512857,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8037124558199666,
|
|
-0.5924638785865632,
|
|
-0.05507123505065437,
|
|
5.345160572627923
|
|
],
|
|
[
|
|
0.5936485267807685,
|
|
0.8046965329251224,
|
|
0.0067019809989590584,
|
|
3.127250227813652
|
|
],
|
|
[
|
|
0.04034495025230932,
|
|
-0.038079423163350556,
|
|
0.9984599353607962,
|
|
0.14626802878837603
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7546,
|
|
"backend_objective": 744.3471485297614,
|
|
"backend_elapsed_sec": 0.1916874999878928,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 4184,
|
|
"objective": 974.9759764826157
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6381,
|
|
"objective": 678.7033236838013
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7546,
|
|
"objective": 744.3471485297614
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8060,
|
|
"inliers": 5452,
|
|
"inlier_ratio": 0.6764267990074442,
|
|
"inlier_rmse_m": 0.12367636388755719,
|
|
"median_m": 0.14535752910830638,
|
|
"p90_m": 1.048725272468773,
|
|
"p95_m": 1.8248716260513014
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
33258.99560449283,
|
|
45622.66683737021,
|
|
99853.21573369135,
|
|
160709.2102426493,
|
|
437514.98672329,
|
|
715127.2315482453
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 21.50176872604179,
|
|
"weakest_scaled_direction": [
|
|
0.02843675660529166,
|
|
-0.07973190361574795,
|
|
0.010765985098256993,
|
|
0.665961301970352,
|
|
0.7346630855210788,
|
|
0.09738564080523619
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.035816405766439664,
|
|
"rotation_deg": 0.2046504337319023
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.1487589816380692e-15,
|
|
"rotation_deg": 5.0505687259519916e-15
|
|
},
|
|
{
|
|
"translation_m": 2.7982245767451807e-15,
|
|
"rotation_deg": 1.4399710112546548e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 24,
|
|
"j": 26,
|
|
"lidar_time_i": 1784785815.4779446,
|
|
"lidar_time_j": 1784785967.8726046,
|
|
"frame_counter_i": 20284,
|
|
"frame_counter_j": 21808,
|
|
"rtk_translation_m": 6.852918693116795,
|
|
"rtk_rotation_deg": 6.318172961338249,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9922333814200585,
|
|
0.1145048283550542,
|
|
-0.04859589570217054,
|
|
5.7958564074555134
|
|
],
|
|
[
|
|
-0.11540687172177772,
|
|
0.9931866524713916,
|
|
-0.01617180608542132,
|
|
3.501191269655094
|
|
],
|
|
[
|
|
0.04641304509628526,
|
|
0.021654506137312367,
|
|
0.9986875946004533,
|
|
0.2429726836024844
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 9,
|
|
"backend_num_inliers": 7180,
|
|
"backend_objective": 634.0063034620212,
|
|
"backend_elapsed_sec": 0.2115021999925375,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3830,
|
|
"objective": 931.0323149935704
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5986,
|
|
"objective": 657.0876311994764
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 7180,
|
|
"objective": 634.0063034620212
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8110,
|
|
"inliers": 5291,
|
|
"inlier_ratio": 0.6524044389642417,
|
|
"inlier_rmse_m": 0.12740232296321938,
|
|
"median_m": 0.15791696390449692,
|
|
"p90_m": 1.1066659206443412,
|
|
"p95_m": 2.08872769310626
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
31584.723366238362,
|
|
33646.81946362579,
|
|
73798.39401154751,
|
|
132207.01992072415,
|
|
409364.83410575794,
|
|
687064.1707586381
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 21.753053297058692,
|
|
"weakest_scaled_direction": [
|
|
-0.046195805414765076,
|
|
-0.5601719258781283,
|
|
0.004586770107849211,
|
|
0.0501183307260803,
|
|
0.5698624200757814,
|
|
0.5973251189014677
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.062038641373543625,
|
|
"rotation_deg": 0.12012273822228971
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.078422011876594e-05,
|
|
"rotation_deg": 3.1647042461211275e-05
|
|
},
|
|
{
|
|
"translation_m": 1.2573000033218179e-15,
|
|
"rotation_deg": 2.549416660096853e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 24,
|
|
"j": 27,
|
|
"lidar_time_i": 1784785815.4779446,
|
|
"lidar_time_j": 1784786031.5701303,
|
|
"frame_counter_i": 20284,
|
|
"frame_counter_j": 22445,
|
|
"rtk_translation_m": 7.47982907414204,
|
|
"rtk_rotation_deg": 31.60254826458195,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8469031354259337,
|
|
0.5296003181474226,
|
|
-0.047734497209786515,
|
|
6.140728351631223
|
|
],
|
|
[
|
|
-0.5307811203783928,
|
|
0.8473601697476236,
|
|
-0.015879073497414676,
|
|
3.293700223912932
|
|
],
|
|
[
|
|
0.03203874928238506,
|
|
0.038784607042329104,
|
|
0.9987338348133569,
|
|
0.2654960125568915
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 7516,
|
|
"backend_objective": 667.5930873704444,
|
|
"backend_elapsed_sec": 0.16507250000722706,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 3944,
|
|
"objective": 840.9891240548365
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6154,
|
|
"objective": 637.1289635887817
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 7516,
|
|
"objective": 667.5930873704444
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8120,
|
|
"inliers": 5316,
|
|
"inlier_ratio": 0.6546798029556651,
|
|
"inlier_rmse_m": 0.12425657449629145,
|
|
"median_m": 0.15393896893285075,
|
|
"p90_m": 1.1516355610045623,
|
|
"p95_m": 1.999530546617408
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
29335.1476785254,
|
|
32313.826658165886,
|
|
107029.28681584133,
|
|
158666.61917858713,
|
|
445316.62183766696,
|
|
771368.2715564844
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 26.295019203914197,
|
|
"weakest_scaled_direction": [
|
|
-0.1901538352460994,
|
|
0.34454765285068956,
|
|
-0.005218285199444599,
|
|
0.32011626871378823,
|
|
-0.736610180760505,
|
|
-0.4472496165013398
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.05403266260962086,
|
|
"rotation_deg": 0.2126374478532415
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.996003610813204e-16,
|
|
"rotation_deg": 4.605446524171273e-15
|
|
},
|
|
{
|
|
"translation_m": 2.288783399261119e-15,
|
|
"rotation_deg": 2.1217215993856023e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 24,
|
|
"j": 28,
|
|
"lidar_time_i": 1784785815.4779446,
|
|
"lidar_time_j": 1784786087.9670725,
|
|
"frame_counter_i": 20284,
|
|
"frame_counter_j": 23009,
|
|
"rtk_translation_m": 7.71913193400284,
|
|
"rtk_rotation_deg": 51.4648444703387,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.6160692063343178,
|
|
0.786448366038456,
|
|
-0.0442459101166126,
|
|
5.842808758980054
|
|
],
|
|
[
|
|
-0.7875915532957185,
|
|
0.6159152148196876,
|
|
-0.018654579353494398,
|
|
3.4060790395905705
|
|
],
|
|
[
|
|
0.012580865782675654,
|
|
0.04634021697253352,
|
|
0.9988464877583022,
|
|
0.21870910666448412
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7575,
|
|
"backend_objective": 785.6163933136946,
|
|
"backend_elapsed_sec": 0.16993790000560693,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 4061,
|
|
"objective": 816.6265355431033
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6273,
|
|
"objective": 547.7619565695693
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7575,
|
|
"objective": 785.6163933136946
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8096,
|
|
"inliers": 5355,
|
|
"inlier_ratio": 0.6614377470355731,
|
|
"inlier_rmse_m": 0.12010155595807545,
|
|
"median_m": 0.14361824572049778,
|
|
"p90_m": 1.1692406179640422,
|
|
"p95_m": 2.1281260879298185
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
37137.90476536972,
|
|
47898.0641443855,
|
|
116057.48949173345,
|
|
161765.73249143673,
|
|
477967.2992459121,
|
|
779338.9669653369
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 20.98500095492876,
|
|
"weakest_scaled_direction": [
|
|
0.08737133007053412,
|
|
0.08176300898116942,
|
|
0.014245908396279698,
|
|
-0.7212728222428114,
|
|
0.6786058362121803,
|
|
0.06883131620616627
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.049490676797893776,
|
|
"rotation_deg": 0.25138526875505346
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.8041124150158794e-15,
|
|
"rotation_deg": 9.286521108177563e-15
|
|
},
|
|
{
|
|
"translation_m": 2.91961742936603e-15,
|
|
"rotation_deg": 6.625374322159671e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 24,
|
|
"j": 29,
|
|
"lidar_time_i": 1784785815.4779446,
|
|
"lidar_time_j": 1784786160.8647907,
|
|
"frame_counter_i": 20284,
|
|
"frame_counter_j": 23738,
|
|
"rtk_translation_m": 7.213852273638132,
|
|
"rtk_rotation_deg": 93.73390958258973,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.07789535196048554,
|
|
0.9954838120410153,
|
|
-0.05426135003150237,
|
|
5.245345294378622
|
|
],
|
|
[
|
|
-0.9955590617614847,
|
|
-0.080556389943159,
|
|
-0.04871162678374779,
|
|
1.5374951999314395
|
|
],
|
|
[
|
|
-0.05286273439338441,
|
|
0.050225969414386146,
|
|
0.9973378982615873,
|
|
0.17208678595173332
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 7,
|
|
"backend_num_inliers": 7308,
|
|
"backend_objective": 704.6527652797474,
|
|
"backend_elapsed_sec": 0.2701965000014752,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 15,
|
|
"num_inliers": 3948,
|
|
"objective": 1315.4963899215252
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 6066,
|
|
"objective": 755.7922256528994
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 7308,
|
|
"objective": 704.6527652797474
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8173,
|
|
"inliers": 5411,
|
|
"inlier_ratio": 0.6620579958399608,
|
|
"inlier_rmse_m": 0.12331341986261203,
|
|
"median_m": 0.14922147684147558,
|
|
"p90_m": 1.1213653254212603,
|
|
"p95_m": 1.8946227473200987
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
28034.235731331548,
|
|
32178.146071506486,
|
|
83111.13785098991,
|
|
176754.419581952,
|
|
421217.2354252491,
|
|
786244.8722705822
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 28.045882177977884,
|
|
"weakest_scaled_direction": [
|
|
-0.05549317768166532,
|
|
-0.08738833604062834,
|
|
-0.001446016949543417,
|
|
0.9906377650154883,
|
|
-0.024978391280038405,
|
|
-0.0854083923511201
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.08010108996241684,
|
|
"rotation_deg": 0.7934458070763889
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.6243534171511178e-15,
|
|
"rotation_deg": 8.198719303197444e-15
|
|
},
|
|
{
|
|
"translation_m": 2.1875901640420228e-15,
|
|
"rotation_deg": 5.0148127531719366e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 25,
|
|
"j": 26,
|
|
"lidar_time_i": 1784785891.9768085,
|
|
"lidar_time_j": 1784785967.8726046,
|
|
"frame_counter_i": 21049,
|
|
"frame_counter_j": 21808,
|
|
"rtk_translation_m": 1.2882746074869595,
|
|
"rtk_rotation_deg": 42.944397586466835,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.7313716875711438,
|
|
0.6819525925861949,
|
|
-0.006009665906183032,
|
|
0.5850745481396085
|
|
],
|
|
[
|
|
-0.6819585651711088,
|
|
0.7313896360104043,
|
|
0.0013098573700309794,
|
|
0.012785643189212282
|
|
],
|
|
[
|
|
0.00528866798907811,
|
|
0.003140350543341257,
|
|
0.9999810839157742,
|
|
0.008412225013799873
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 10717,
|
|
"backend_objective": 896.0272190115661,
|
|
"backend_elapsed_sec": 0.21494720000191592,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4457,
|
|
"objective": 798.8759223413687
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7848,
|
|
"objective": 786.9690367435785
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 10717,
|
|
"objective": 896.0272190115661
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8370,
|
|
"inliers": 7648,
|
|
"inlier_ratio": 0.9137395459976105,
|
|
"inlier_rmse_m": 0.08148336624555251,
|
|
"median_m": 0.05743421568317374,
|
|
"p90_m": 0.2163420042617511,
|
|
"p95_m": 0.37440027658349145
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
88848.88528183637,
|
|
185562.9121226117,
|
|
676123.7167049383,
|
|
1086866.5454814287,
|
|
1338905.0165305706,
|
|
1471598.2724376265
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 16.56293455758718,
|
|
"weakest_scaled_direction": [
|
|
-0.09767941896623245,
|
|
0.03742658747895111,
|
|
-4.4651086247527834e-05,
|
|
0.02349769517463645,
|
|
-0.9921603066308485,
|
|
-0.06421653941190857
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0032405549728505064,
|
|
"rotation_deg": 0.006669174585592186
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.085676725552168e-15,
|
|
"rotation_deg": 8.066687809837768e-15
|
|
},
|
|
{
|
|
"translation_m": 9.882520346876628e-16,
|
|
"rotation_deg": 1.217548544597636e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 25,
|
|
"j": 27,
|
|
"lidar_time_i": 1784785891.9768085,
|
|
"lidar_time_j": 1784786031.5701303,
|
|
"frame_counter_i": 21049,
|
|
"frame_counter_j": 22445,
|
|
"rtk_translation_m": 1.7666235781584831,
|
|
"rtk_rotation_deg": 68.22877288971053,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.36702706331897667,
|
|
0.9302025039038019,
|
|
-0.003799542412717431,
|
|
0.7533153977236753
|
|
],
|
|
[
|
|
-0.9300302048074911,
|
|
0.36687259357372154,
|
|
-0.02117352663652828,
|
|
-0.3313800739769612
|
|
],
|
|
[
|
|
-0.018301719514425444,
|
|
0.01130494650978545,
|
|
0.999768595849673,
|
|
0.12219054211233012
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 10102,
|
|
"backend_objective": 1901.4627168987183,
|
|
"backend_elapsed_sec": 0.2560974000080023,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4498,
|
|
"objective": 744.956145408769
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 7839,
|
|
"objective": 1484.6798496111398
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 10102,
|
|
"objective": 1901.4627168987183
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8380,
|
|
"inliers": 7204,
|
|
"inlier_ratio": 0.8596658711217183,
|
|
"inlier_rmse_m": 0.1096145882030974,
|
|
"median_m": 0.09658349576477937,
|
|
"p90_m": 0.3010394894270168,
|
|
"p95_m": 0.5190085385386899
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
58508.399852741386,
|
|
112772.73207991506,
|
|
407285.1416356718,
|
|
950524.5007495433,
|
|
1117838.8726784028,
|
|
1298193.3499779669
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 22.188153380460985,
|
|
"weakest_scaled_direction": [
|
|
0.11582136965640447,
|
|
0.006775672884857004,
|
|
-0.0031695562618341616,
|
|
-0.444176497896815,
|
|
0.8858491014024351,
|
|
0.06714210870678693
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.010624789877375215,
|
|
"rotation_deg": 0.04475651255674721
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.1157603309187458e-15,
|
|
"rotation_deg": 1.2964800201870834e-14
|
|
},
|
|
{
|
|
"translation_m": 1.1270951119217139e-15,
|
|
"rotation_deg": 8.828731538409577e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 25,
|
|
"j": 28,
|
|
"lidar_time_i": 1784785891.9768085,
|
|
"lidar_time_j": 1784786087.9670725,
|
|
"frame_counter_i": 21049,
|
|
"frame_counter_j": 23009,
|
|
"rtk_translation_m": 2.1807182972588706,
|
|
"rtk_rotation_deg": 88.09106909546726,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.02794331794125587,
|
|
0.9996064287993573,
|
|
-0.002481629591481865,
|
|
0.5681087878779979
|
|
],
|
|
[
|
|
-0.9991739702289111,
|
|
0.027857778875472358,
|
|
-0.029585830613996573,
|
|
-0.06670213050185261
|
|
],
|
|
[
|
|
-0.029505053794709486,
|
|
0.003306305962961535,
|
|
0.9995591629020518,
|
|
0.0500650443896828
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 10552,
|
|
"backend_objective": 2861.084834640379,
|
|
"backend_elapsed_sec": 0.24945939998724498,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 4687,
|
|
"objective": 643.3150383452406
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 8027,
|
|
"objective": 1242.5097169540672
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 10552,
|
|
"objective": 2861.084834640379
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8356,
|
|
"inliers": 7386,
|
|
"inlier_ratio": 0.8839157491622786,
|
|
"inlier_rmse_m": 0.10490699814192792,
|
|
"median_m": 0.08733797867234977,
|
|
"p90_m": 0.27613606960126924,
|
|
"p95_m": 0.45402360858994406
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
82682.27780212459,
|
|
168903.71160245605,
|
|
579325.9813725054,
|
|
998001.6970349033,
|
|
1092190.697411184,
|
|
1337152.6367189726
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 16.17217948348072,
|
|
"weakest_scaled_direction": [
|
|
0.11472414333302709,
|
|
0.03951060954025923,
|
|
0.0001699842521189172,
|
|
-0.7186913158127679,
|
|
0.6809548722664951,
|
|
0.07113724964775964
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.00283419137499405,
|
|
"rotation_deg": 0.01585308444597649
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.486410087150353e-16,
|
|
"rotation_deg": 5.4383157099047935e-15
|
|
},
|
|
{
|
|
"translation_m": 2.5814177514652363e-16,
|
|
"rotation_deg": 3.123360171724331e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 25,
|
|
"j": 29,
|
|
"lidar_time_i": 1784785891.9768085,
|
|
"lidar_time_j": 1784786160.8647907,
|
|
"frame_counter_i": 21049,
|
|
"frame_counter_j": 23738,
|
|
"rtk_translation_m": 1.118287177357716,
|
|
"rtk_rotation_deg": 130.36013420771832,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.6554792015639561,
|
|
0.7549125044169012,
|
|
-0.02131025556114215,
|
|
-1.0138501579695602
|
|
],
|
|
[
|
|
-0.7545811072038546,
|
|
-0.6558240423309178,
|
|
-0.022409331800375746,
|
|
-1.2140408425635585
|
|
],
|
|
[
|
|
-0.030892862736944093,
|
|
0.0013914653200317241,
|
|
0.9995217330584555,
|
|
-0.002294027421849833
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 9,
|
|
"backend_num_inliers": 9034,
|
|
"backend_objective": 2403.9096357295875,
|
|
"backend_elapsed_sec": 0.4588002000236884,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 4353,
|
|
"objective": 952.0955781454228
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 7273,
|
|
"objective": 1439.2033568838797
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 9034,
|
|
"objective": 2403.9096357295875
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8433,
|
|
"inliers": 6626,
|
|
"inlier_ratio": 0.7857227558401518,
|
|
"inlier_rmse_m": 0.10954358768244267,
|
|
"median_m": 0.10404570310842254,
|
|
"p90_m": 0.5234137980728498,
|
|
"p95_m": 0.8807189068936676
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
51884.27121437365,
|
|
88957.88715316734,
|
|
350078.58413763496,
|
|
622505.5550395454,
|
|
712259.1771191398,
|
|
1044538.6717588378
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 20.132087187715307,
|
|
"weakest_scaled_direction": [
|
|
-0.05802820528677275,
|
|
-0.11681861725609159,
|
|
-0.001750376414787551,
|
|
0.9897821556355021,
|
|
-0.021841515083976522,
|
|
-0.053266376264503666
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.003247718742817276,
|
|
"rotation_deg": 0.01654235380830592
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.226122722799655e-15,
|
|
"rotation_deg": 8.065997532841954e-15
|
|
},
|
|
{
|
|
"translation_m": 1.8992045430510203e-15,
|
|
"rotation_deg": 5.700431053920051e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 25,
|
|
"j": 30,
|
|
"lidar_time_i": 1784785891.9768085,
|
|
"lidar_time_j": 1784786252.6621523,
|
|
"frame_counter_i": 21049,
|
|
"frame_counter_j": 24656,
|
|
"rtk_translation_m": 5.200639419572971,
|
|
"rtk_rotation_deg": 139.6773015481418,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.7415485874203189,
|
|
-0.6660735023609188,
|
|
-0.08032298517605073,
|
|
4.525145551100874
|
|
],
|
|
[
|
|
0.6654541280464478,
|
|
-0.7454621282082621,
|
|
0.03817091658780073,
|
|
-2.4433543515895604
|
|
],
|
|
[
|
|
-0.08530237957334219,
|
|
-0.02514567278619407,
|
|
0.9960377498766088,
|
|
0.17361152672414779
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 21,
|
|
"backend_num_inliers": 513,
|
|
"backend_objective": 31.346284680384496,
|
|
"backend_elapsed_sec": 1.0109276000002865,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": false,
|
|
"iterations": 59,
|
|
"num_inliers": 1567,
|
|
"objective": 1208.1949907460148
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 10,
|
|
"num_inliers": 864,
|
|
"objective": 177.5990880881666
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 21,
|
|
"num_inliers": 513,
|
|
"objective": 31.346284680384496
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8516,
|
|
"inliers": 431,
|
|
"inlier_ratio": 0.05061061531235322,
|
|
"inlier_rmse_m": 0.1582745227634446,
|
|
"median_m": 1.42219165658378,
|
|
"p90_m": 2.427038301987774,
|
|
"p95_m": 2.5902417498933428
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
490.56635159621055,
|
|
928.9750833523664,
|
|
2194.934872528774,
|
|
4278.563375388558,
|
|
10170.689040138004,
|
|
91502.51629630265
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 186.52424080569466,
|
|
"weakest_scaled_direction": [
|
|
-0.38213351048531646,
|
|
0.7052186120236066,
|
|
0.056981623225864926,
|
|
-0.06150354909882429,
|
|
-0.07327753384469574,
|
|
0.5867209733051143
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 2.4401001990983833,
|
|
"rotation_deg": 2.63047633237589
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.4421042140292295,
|
|
"rotation_deg": 2.6582641602075454
|
|
},
|
|
{
|
|
"translation_m": 2.442104214029229,
|
|
"rotation_deg": 2.658264160207536
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"heldout_inlier_ratio",
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation",
|
|
"multistart_instability"
|
|
]
|
|
},
|
|
{
|
|
"i": 26,
|
|
"j": 27,
|
|
"lidar_time_i": 1784785967.8726046,
|
|
"lidar_time_j": 1784786031.5701303,
|
|
"frame_counter_i": 21808,
|
|
"frame_counter_j": 22445,
|
|
"rtk_translation_m": 0.6269948654714946,
|
|
"rtk_rotation_deg": 25.284375303243706,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9031238228982453,
|
|
0.42936522833220914,
|
|
-0.0035862533219896066,
|
|
0.3711056724989209
|
|
],
|
|
[
|
|
-0.4293644705776282,
|
|
0.9031307300292244,
|
|
0.001017783116865379,
|
|
-0.16482795850516016
|
|
],
|
|
[
|
|
0.0036758562611237788,
|
|
0.0006206255795685741,
|
|
0.9999930514281776,
|
|
-0.00431354725569091
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 10938,
|
|
"backend_objective": 811.4525406525992,
|
|
"backend_elapsed_sec": 0.5273160000215285,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 4560,
|
|
"objective": 697.2650492601973
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7929,
|
|
"objective": 836.697144741172
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 10938,
|
|
"objective": 811.4525406525992
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8430,
|
|
"inliers": 7746,
|
|
"inlier_ratio": 0.9188612099644128,
|
|
"inlier_rmse_m": 0.07520973241900301,
|
|
"median_m": 0.05006018473217023,
|
|
"p90_m": 0.2065512482149949,
|
|
"p95_m": 0.3969314123730229
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
81174.14337404088,
|
|
182451.9623876915,
|
|
838767.3286421337,
|
|
1199884.464186407,
|
|
1351752.9872742943,
|
|
1688345.1910577079
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 20.799051531446562,
|
|
"weakest_scaled_direction": [
|
|
-0.1269279557441927,
|
|
0.02012257977112855,
|
|
-0.0017961179609769589,
|
|
0.4377816793914065,
|
|
-0.8836447183718741,
|
|
-0.10488261379730929
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0009920873307779914,
|
|
"rotation_deg": 0.005485007138529723
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.1748807752764097e-15,
|
|
"rotation_deg": 6.123065417021022e-15
|
|
},
|
|
{
|
|
"translation_m": 1.1639597030080818e-15,
|
|
"rotation_deg": 4.367736559971788e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 26,
|
|
"j": 28,
|
|
"lidar_time_i": 1784785967.8726046,
|
|
"lidar_time_j": 1784786087.9670725,
|
|
"frame_counter_i": 21808,
|
|
"frame_counter_j": 23009,
|
|
"rtk_translation_m": 0.9431372257108486,
|
|
"rtk_rotation_deg": 45.14667150900044,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.7028250963491841,
|
|
0.7113623889080027,
|
|
-0.0006599915605569055,
|
|
0.06176536518270879
|
|
],
|
|
[
|
|
-0.7113623873202674,
|
|
0.7028253528132222,
|
|
0.00027811684655332475,
|
|
-0.08328071175713206
|
|
],
|
|
[
|
|
0.0006617006657618818,
|
|
0.00027402567265381606,
|
|
0.9999997435310471,
|
|
-0.0005954271732827069
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 10801,
|
|
"backend_objective": 534.3181664847554,
|
|
"backend_elapsed_sec": 0.24122669998905621,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4748,
|
|
"objective": 949.241284802782
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 8171,
|
|
"objective": 2513.5391287730927
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 10801,
|
|
"objective": 534.3181664847554
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8406,
|
|
"inliers": 7719,
|
|
"inlier_ratio": 0.9182726623840114,
|
|
"inlier_rmse_m": 0.07611768518866212,
|
|
"median_m": 0.04059061585430375,
|
|
"p90_m": 0.2131478655757597,
|
|
"p95_m": 0.3964615713414412
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
70976.23343319376,
|
|
181819.20958525562,
|
|
701367.5341389945,
|
|
1143311.0848255146,
|
|
1289037.393578862,
|
|
1561152.034862002
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 21.99541958409829,
|
|
"weakest_scaled_direction": [
|
|
0.11100222475416983,
|
|
0.03730020252776459,
|
|
-0.005526869779433164,
|
|
-0.718387168296327,
|
|
0.6814336336374053,
|
|
0.07631994546879904
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.004984978187527545,
|
|
"rotation_deg": 0.01173507098896779
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.862885956556085e-15,
|
|
"rotation_deg": 1.1543706216566264e-14
|
|
},
|
|
{
|
|
"translation_m": 5.725780892750994e-16,
|
|
"rotation_deg": 9.415390911130637e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 26,
|
|
"j": 29,
|
|
"lidar_time_i": 1784785967.8726046,
|
|
"lidar_time_j": 1784786160.8647907,
|
|
"frame_counter_i": 21808,
|
|
"frame_counter_j": 23738,
|
|
"rtk_translation_m": 1.129925637779203,
|
|
"rtk_rotation_deg": 87.41573662125148,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.03470211380194069,
|
|
0.9993562264174981,
|
|
-0.009104725051107616,
|
|
-0.3199563418092457
|
|
],
|
|
[
|
|
-0.9979879755715075,
|
|
0.03416801226538895,
|
|
-0.05340924594596154,
|
|
-2.0200754492118658
|
|
],
|
|
[
|
|
-0.05306377212714095,
|
|
0.010939819852782688,
|
|
0.9985311995271997,
|
|
-0.09378114241650533
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 11,
|
|
"backend_num_inliers": 8873,
|
|
"backend_objective": 1718.246953239026,
|
|
"backend_elapsed_sec": 0.3087177000124939,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 4289,
|
|
"objective": 1236.2616643766012
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7010,
|
|
"objective": 806.1100880618494
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 8873,
|
|
"objective": 1718.246953239026
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8483,
|
|
"inliers": 6665,
|
|
"inlier_ratio": 0.7856890251090416,
|
|
"inlier_rmse_m": 0.10851393061782179,
|
|
"median_m": 0.10143193500378025,
|
|
"p90_m": 0.613143045155214,
|
|
"p95_m": 1.065452953971831
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
50718.15353182033,
|
|
66920.8825730492,
|
|
272296.88582538516,
|
|
504975.2009951135,
|
|
799466.7762627929,
|
|
1231467.3343045514
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 24.280602674778656,
|
|
"weakest_scaled_direction": [
|
|
-0.1343026045163772,
|
|
-0.12563575499113513,
|
|
-0.0014824618167600682,
|
|
0.9743919766035696,
|
|
-0.0292761146792842,
|
|
-0.126013708915979
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.002586732426991948,
|
|
"rotation_deg": 0.12205883610743135
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.1631705747361533e-15,
|
|
"rotation_deg": 1.4531212682559473e-15
|
|
},
|
|
{
|
|
"translation_m": 9.413396663333419e-16,
|
|
"rotation_deg": 5.8135293892927e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 26,
|
|
"j": 30,
|
|
"lidar_time_i": 1784785967.8726046,
|
|
"lidar_time_j": 1784786252.6621523,
|
|
"frame_counter_i": 21808,
|
|
"frame_counter_j": 24656,
|
|
"rtk_translation_m": 4.786676837961511,
|
|
"rtk_rotation_deg": 177.3783008654109,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9974292127156142,
|
|
0.03631759761098321,
|
|
-0.061773762434199055,
|
|
2.145004548824874
|
|
],
|
|
[
|
|
-0.0352676660442237,
|
|
-0.9992157338795015,
|
|
-0.018003024730385207,
|
|
0.733319309887677
|
|
],
|
|
[
|
|
-0.06237914197312488,
|
|
-0.0157781263595033,
|
|
0.9979277996805584,
|
|
0.026047788577808137
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 8333,
|
|
"backend_objective": 1334.6131690579562,
|
|
"backend_elapsed_sec": 0.22547109998413362,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 25,
|
|
"num_inliers": 3452,
|
|
"objective": 587.1121524439146
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6167,
|
|
"objective": 655.6197665540117
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 8333,
|
|
"objective": 1334.6131690579562
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8566,
|
|
"inliers": 6540,
|
|
"inlier_ratio": 0.7634835395750642,
|
|
"inlier_rmse_m": 0.10495724850674527,
|
|
"median_m": 0.09958217844133398,
|
|
"p90_m": 0.8079791151263384,
|
|
"p95_m": 1.9302179280166931
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
34608.15543152247,
|
|
43123.61476388403,
|
|
265715.63854269474,
|
|
534108.713761383,
|
|
872393.6286266362,
|
|
1204587.854791304
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 34.80647378548578,
|
|
"weakest_scaled_direction": [
|
|
0.25610437555097615,
|
|
-0.45385472793807113,
|
|
0.012603992969949959,
|
|
0.11723039710974674,
|
|
0.5237828482246814,
|
|
-0.6634577123014321
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.008489213184554775,
|
|
"rotation_deg": 0.021733210949123293
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.891945847262976e-15,
|
|
"rotation_deg": 5.087485327230505e-15
|
|
},
|
|
{
|
|
"translation_m": 4.910462595695867e-15,
|
|
"rotation_deg": 8.542034387957128e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 26,
|
|
"j": 31,
|
|
"lidar_time_i": 1784785967.8726046,
|
|
"lidar_time_j": 1784786319.6581354,
|
|
"frame_counter_i": 21808,
|
|
"frame_counter_j": 25326,
|
|
"rtk_translation_m": 5.900105669197046,
|
|
"rtk_rotation_deg": 156.01119868987135,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9122387381878188,
|
|
-0.4056624164439269,
|
|
-0.05708317120108187,
|
|
3.2956587640528574
|
|
],
|
|
[
|
|
0.4079638769679036,
|
|
-0.9122642474158343,
|
|
-0.036598059731900244,
|
|
-0.8535051567956543
|
|
],
|
|
[
|
|
-0.037228478867862326,
|
|
-0.056674039662766997,
|
|
0.9976983981091123,
|
|
0.03190686813244759
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 8035,
|
|
"backend_objective": 1360.6468693381212,
|
|
"backend_elapsed_sec": 0.4356205000076443,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 23,
|
|
"num_inliers": 3546,
|
|
"objective": 792.9137338629299
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5988,
|
|
"objective": 682.8940585433361
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 8035,
|
|
"objective": 1360.6468693381212
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8595,
|
|
"inliers": 6338,
|
|
"inlier_ratio": 0.7374054682955207,
|
|
"inlier_rmse_m": 0.1073752166304431,
|
|
"median_m": 0.10542758911588943,
|
|
"p90_m": 1.1270312775215576,
|
|
"p95_m": 2.1121570469362694
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
25562.79723986299,
|
|
47259.09442307519,
|
|
180655.21775123425,
|
|
520835.8011581698,
|
|
565827.6674258974,
|
|
979324.959882305
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 38.310555401782544,
|
|
"weakest_scaled_direction": [
|
|
0.5497644522988888,
|
|
-0.3449139678242669,
|
|
0.01788339127548114,
|
|
0.03787743567272247,
|
|
0.19409353179768077,
|
|
-0.7344158133413747
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 3.545322953478412,
|
|
"rotation_deg": 6.459518815762061
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.1335697856308468e-15,
|
|
"rotation_deg": 9.803592197741278e-15
|
|
},
|
|
{
|
|
"translation_m": 3.607797795906347e-15,
|
|
"rotation_deg": 1.9007776078639457e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 27,
|
|
"j": 28,
|
|
"lidar_time_i": 1784786031.5701303,
|
|
"lidar_time_j": 1784786087.9670725,
|
|
"frame_counter_i": 22445,
|
|
"frame_counter_j": 23009,
|
|
"rtk_translation_m": 0.44809323479571145,
|
|
"rtk_rotation_deg": 19.862296205756735,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.9401636714419392,
|
|
0.340710825668522,
|
|
0.0028989951859020122,
|
|
-0.30982350683162074
|
|
],
|
|
[
|
|
-0.3407145091518092,
|
|
0.940166399919804,
|
|
0.0008739080482501667,
|
|
-0.06844035829680675
|
|
],
|
|
[
|
|
-0.002427787934636656,
|
|
-0.0018093463209435973,
|
|
0.9999954160453112,
|
|
0.004464905912215504
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 2,
|
|
"backend_num_inliers": 10951,
|
|
"backend_objective": 606.427818622809,
|
|
"backend_elapsed_sec": 0.23274229999515228,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 4630,
|
|
"objective": 785.1952992467598
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 7968,
|
|
"objective": 665.954811389006
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 10951,
|
|
"objective": 606.427818622809
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8416,
|
|
"inliers": 7811,
|
|
"inlier_ratio": 0.9281131178707225,
|
|
"inlier_rmse_m": 0.07220943509634768,
|
|
"median_m": 0.04403731701321004,
|
|
"p90_m": 0.18811562604495502,
|
|
"p95_m": 0.35130106173559117
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
80494.2534737146,
|
|
175075.44312705335,
|
|
730889.9384384095,
|
|
1199289.3073850137,
|
|
1368295.5925724502,
|
|
1617387.850535562
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 20.093208902964978,
|
|
"weakest_scaled_direction": [
|
|
0.10736818645139508,
|
|
0.04302190485030222,
|
|
-0.009815833958952223,
|
|
-0.7190468066944476,
|
|
0.6821067206175224,
|
|
0.0650149914697148
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0023003913248606234,
|
|
"rotation_deg": 0.001591751329336308
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 5.163476238331114e-07,
|
|
"rotation_deg": 3.901481935045663e-06
|
|
},
|
|
{
|
|
"translation_m": 5.16347623981922e-07,
|
|
"rotation_deg": 3.901481943855486e-06
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 27,
|
|
"j": 29,
|
|
"lidar_time_i": 1784786031.5701303,
|
|
"lidar_time_j": 1784786160.8647907,
|
|
"frame_counter_i": 22445,
|
|
"frame_counter_j": 23738,
|
|
"rtk_translation_m": 1.160064136065596,
|
|
"rtk_rotation_deg": 62.13136131800778,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.4603406364378266,
|
|
0.8876594728866564,
|
|
0.012130896034518506,
|
|
0.17600019957694304
|
|
],
|
|
[
|
|
-0.8863148311795953,
|
|
0.46033210760629706,
|
|
-0.05040209060971998,
|
|
-1.9661618016540414
|
|
],
|
|
[
|
|
-0.05032413412173226,
|
|
0.012450337398184026,
|
|
0.9986553312447537,
|
|
-0.06846817441094133
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 8880,
|
|
"backend_objective": 1797.1522464890595,
|
|
"backend_elapsed_sec": 0.261398399976315,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4191,
|
|
"objective": 929.6927939889017
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 6954,
|
|
"objective": 972.9245680162205
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 8880,
|
|
"objective": 1797.1522464890595
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8493,
|
|
"inliers": 6685,
|
|
"inlier_ratio": 0.7871188037207112,
|
|
"inlier_rmse_m": 0.10966659884725236,
|
|
"median_m": 0.1013574723040456,
|
|
"p90_m": 0.6097610864767999,
|
|
"p95_m": 1.1171204843093478
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
48953.914449273216,
|
|
55627.427153821314,
|
|
200295.46744734797,
|
|
533135.2292310877,
|
|
736133.048259916,
|
|
1175366.3563208021
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 24.009650087098436,
|
|
"weakest_scaled_direction": [
|
|
0.6288058814174804,
|
|
0.06176772657280194,
|
|
0.011765505283860358,
|
|
-0.3584361755409766,
|
|
0.10035521707405917,
|
|
0.6797807167048837
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.005134403698947268,
|
|
"rotation_deg": 0.02434844099203523
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.1654319641736672e-06,
|
|
"rotation_deg": 1.3319221287504758e-06
|
|
},
|
|
{
|
|
"translation_m": 1.8875832159447663e-15,
|
|
"rotation_deg": 1.4289164825074108e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 27,
|
|
"j": 30,
|
|
"lidar_time_i": 1784786031.5701303,
|
|
"lidar_time_j": 1784786252.6621523,
|
|
"frame_counter_i": 22445,
|
|
"frame_counter_j": 24656,
|
|
"rtk_translation_m": 4.25412615059095,
|
|
"rtk_rotation_deg": 152.09392556214777,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.8858100038464864,
|
|
0.4617939319265986,
|
|
-0.045683711771922236,
|
|
1.2149879932777539
|
|
],
|
|
[
|
|
-0.4601979802113168,
|
|
-0.8868485055821013,
|
|
-0.04144330049860193,
|
|
1.5745421322554765
|
|
],
|
|
[
|
|
-0.05965279620363769,
|
|
-0.015687338288083108,
|
|
0.9980959128873953,
|
|
0.03012566588523843
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 8603,
|
|
"backend_objective": 932.2985470706495,
|
|
"backend_elapsed_sec": 0.32478230001288466,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 20,
|
|
"num_inliers": 3428,
|
|
"objective": 592.3834397069093
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 6246,
|
|
"objective": 563.2209285662157
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 8603,
|
|
"objective": 932.2985470706495
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8576,
|
|
"inliers": 6794,
|
|
"inlier_ratio": 0.7922108208955224,
|
|
"inlier_rmse_m": 0.10147035321534553,
|
|
"median_m": 0.09296588374800516,
|
|
"p90_m": 0.6966962167797762,
|
|
"p95_m": 1.8399922016318797
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
37244.06072129195,
|
|
48286.955476247414,
|
|
268579.3673766598,
|
|
590504.9734161941,
|
|
908007.6380703546,
|
|
1211186.5539530334
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 32.52026042532504,
|
|
"weakest_scaled_direction": [
|
|
0.24302748907356825,
|
|
-0.5283085195279866,
|
|
0.008403922224003341,
|
|
0.1320219287158497,
|
|
0.2866465022740477,
|
|
-0.7497740425702917
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 2.795897032209197,
|
|
"rotation_deg": 3.237329131939042
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.0412626584890197e-15,
|
|
"rotation_deg": 8.617247519670353e-15
|
|
},
|
|
{
|
|
"translation_m": 4.100410761679928e-15,
|
|
"rotation_deg": 1.4536384404548027e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 27,
|
|
"j": 31,
|
|
"lidar_time_i": 1784786031.5701303,
|
|
"lidar_time_j": 1784786319.6581354,
|
|
"frame_counter_i": 22445,
|
|
"frame_counter_j": 25326,
|
|
"rtk_translation_m": 5.542871649427442,
|
|
"rtk_rotation_deg": 178.70442600700352,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9979050969720873,
|
|
0.027048344939739035,
|
|
-0.05876907752508933,
|
|
2.9551238370121546
|
|
],
|
|
[
|
|
-0.02438447450158951,
|
|
-0.9986629634765509,
|
|
-0.0455816057584045,
|
|
0.6360386591134417
|
|
],
|
|
[
|
|
-0.05992340811744937,
|
|
-0.04405306364209158,
|
|
0.9972304210879925,
|
|
0.12763394698924757
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 18,
|
|
"backend_num_inliers": 8212,
|
|
"backend_objective": 1945.2520928958277,
|
|
"backend_elapsed_sec": 0.4023098000034224,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 17,
|
|
"num_inliers": 3541,
|
|
"objective": 848.0741224013657
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 6058,
|
|
"objective": 738.3764268966495
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 18,
|
|
"num_inliers": 8212,
|
|
"objective": 1945.2520928958277
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8605,
|
|
"inliers": 6533,
|
|
"inlier_ratio": 0.7592097617664149,
|
|
"inlier_rmse_m": 0.10539218018667602,
|
|
"median_m": 0.09975911295463522,
|
|
"p90_m": 0.934381824440062,
|
|
"p95_m": 1.947541804572434
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
21284.524566160035,
|
|
50498.56072291494,
|
|
196205.67657885855,
|
|
586911.4100698163,
|
|
707743.5279134141,
|
|
1036698.9438283719
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 48.70669958381899,
|
|
"weakest_scaled_direction": [
|
|
-0.5042087794991646,
|
|
0.35714258261121634,
|
|
-0.022252976236679236,
|
|
-0.07805772187664457,
|
|
-0.13395131148577685,
|
|
0.7705138062468655
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0020939062619997405,
|
|
"rotation_deg": 0.027400662783563425
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.973770779879594e-15,
|
|
"rotation_deg": 3.3489973535643038e-15
|
|
},
|
|
{
|
|
"translation_m": 6.802565439066017e-15,
|
|
"rotation_deg": 4.80949775543364e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 27,
|
|
"j": 32,
|
|
"lidar_time_i": 1784786031.5701303,
|
|
"lidar_time_j": 1784786396.7558627,
|
|
"frame_counter_i": 22445,
|
|
"frame_counter_j": 26097,
|
|
"rtk_translation_m": 4.8829350360277,
|
|
"rtk_rotation_deg": 138.47370648510565,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.7509458718206748,
|
|
-0.6582121815948044,
|
|
-0.05326369866704795,
|
|
2.363796238809033
|
|
],
|
|
[
|
|
0.6596818205039412,
|
|
-0.7513908553151719,
|
|
-0.015220980432944523,
|
|
2.4157428282491122
|
|
],
|
|
[
|
|
-0.03000322136190244,
|
|
-0.046567226124634424,
|
|
0.9984644711550658,
|
|
0.15847722034810396
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 7709,
|
|
"backend_objective": 1211.2523576835517,
|
|
"backend_elapsed_sec": 0.17869219998829067,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 15,
|
|
"num_inliers": 3336,
|
|
"objective": 667.1961574044783
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5716,
|
|
"objective": 705.92570708828
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 7709,
|
|
"objective": 1211.2523576835517
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8620,
|
|
"inliers": 6448,
|
|
"inlier_ratio": 0.7480278422273782,
|
|
"inlier_rmse_m": 0.10408734715846867,
|
|
"median_m": 0.0983782577351282,
|
|
"p90_m": 0.8872251371988249,
|
|
"p95_m": 1.815939689403135
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
24167.684967358422,
|
|
40654.13815137258,
|
|
215584.83416971556,
|
|
442620.2257086406,
|
|
573999.9884323122,
|
|
1020241.2859588515
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 42.21510199826003,
|
|
"weakest_scaled_direction": [
|
|
-0.5733559641826801,
|
|
-0.0929364770007991,
|
|
-0.02977883986877105,
|
|
0.0198099718342983,
|
|
-0.12686307680730688,
|
|
0.8032759768808019
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.004407463145306061,
|
|
"rotation_deg": 0.03490543724836902
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.3751912131156618e-15,
|
|
"rotation_deg": 3.7446554573462103e-14
|
|
},
|
|
{
|
|
"translation_m": 2.713491258038064e-15,
|
|
"rotation_deg": 2.785942364838836e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 28,
|
|
"j": 29,
|
|
"lidar_time_i": 1784786087.9670725,
|
|
"lidar_time_j": 1784786160.8647907,
|
|
"frame_counter_i": 23009,
|
|
"frame_counter_j": 23738,
|
|
"rtk_translation_m": 1.5995723610319212,
|
|
"rtk_rotation_deg": 42.26906511225104,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.7362093340643086,
|
|
0.6767167344736805,
|
|
0.007090678378428652,
|
|
1.071413985458336
|
|
],
|
|
[
|
|
-0.6766225434918797,
|
|
0.7362324645170495,
|
|
-0.011987152694923479,
|
|
-1.6090303957898822
|
|
],
|
|
[
|
|
-0.013332294444994276,
|
|
0.004027340863361518,
|
|
0.9999030105217218,
|
|
-0.13494438029632055
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 13,
|
|
"backend_num_inliers": 9029,
|
|
"backend_objective": 2843.675226565929,
|
|
"backend_elapsed_sec": 0.2490686000091955,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4341,
|
|
"objective": 967.4364779901053
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 7264,
|
|
"objective": 1279.8645767110825
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 13,
|
|
"num_inliers": 9029,
|
|
"objective": 2843.675226565929
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8469,
|
|
"inliers": 6672,
|
|
"inlier_ratio": 0.787814381863266,
|
|
"inlier_rmse_m": 0.10901449493832843,
|
|
"median_m": 0.10481026201629562,
|
|
"p90_m": 0.49592047017348523,
|
|
"p95_m": 0.9056696238048947
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
39538.16289007739,
|
|
73499.54792276234,
|
|
351689.45700439246,
|
|
613087.5863189875,
|
|
774062.685912839,
|
|
1024577.1429155618
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 25.913625419675043,
|
|
"weakest_scaled_direction": [
|
|
0.045933636579248004,
|
|
0.09429090142979553,
|
|
0.003066408361722544,
|
|
-0.993221521831769,
|
|
0.01689164427106617,
|
|
0.04707021353175564
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01570175790237609,
|
|
"rotation_deg": 0.03569660498137675
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.99936494731956e-15,
|
|
"rotation_deg": 7.502018180733867e-15
|
|
},
|
|
{
|
|
"translation_m": 2.4531909608143503e-15,
|
|
"rotation_deg": 6.622111658022343e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 28,
|
|
"j": 30,
|
|
"lidar_time_i": 1784786087.9670725,
|
|
"lidar_time_j": 1784786252.6621523,
|
|
"frame_counter_i": 23009,
|
|
"frame_counter_j": 24656,
|
|
"rtk_translation_m": 4.295353381127667,
|
|
"rtk_rotation_deg": 132.23162935639104,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.6760087824505582,
|
|
0.7362190438779801,
|
|
-0.03152214271124597,
|
|
0.8901568205649555
|
|
],
|
|
[
|
|
-0.7342642564077458,
|
|
-0.6765905457056717,
|
|
-0.05550887517940145,
|
|
2.0513879361745273
|
|
],
|
|
[
|
|
-0.06219427475013507,
|
|
-0.014378904446975304,
|
|
0.9979604798263357,
|
|
0.02732725021921613
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 3,
|
|
"backend_num_inliers": 8462,
|
|
"backend_objective": 1033.3872289347796,
|
|
"backend_elapsed_sec": 0.2416990000056103,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 19,
|
|
"num_inliers": 3483,
|
|
"objective": 568.8961922406211
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 6204,
|
|
"objective": 662.5935048543948
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 8462,
|
|
"objective": 1033.3872289347796
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8552,
|
|
"inliers": 6663,
|
|
"inlier_ratio": 0.7791159962581852,
|
|
"inlier_rmse_m": 0.10438560755009844,
|
|
"median_m": 0.09728337532058973,
|
|
"p90_m": 0.7630484928580537,
|
|
"p95_m": 1.8669807591970238
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
32498.535827997093,
|
|
48640.37423220076,
|
|
226554.466392085,
|
|
609517.9859190829,
|
|
795092.4034258014,
|
|
1186251.087853302
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 36.501677925790155,
|
|
"weakest_scaled_direction": [
|
|
0.26948518494585755,
|
|
-0.540064648301011,
|
|
0.010842450381565585,
|
|
0.13578550124464578,
|
|
0.203205014896343,
|
|
-0.7588546445747322
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.01170149615735483,
|
|
"rotation_deg": 0.047047156693309715
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.206618228699196e-15,
|
|
"rotation_deg": 1.9431428923939297e-14
|
|
},
|
|
{
|
|
"translation_m": 3.0473359533946916e-15,
|
|
"rotation_deg": 1.163749918839277e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 28,
|
|
"j": 31,
|
|
"lidar_time_i": 1784786087.9670725,
|
|
"lidar_time_j": 1784786319.6581354,
|
|
"frame_counter_i": 23009,
|
|
"frame_counter_j": 25326,
|
|
"rtk_translation_m": 5.754426930327516,
|
|
"rtk_rotation_deg": 158.8421298011293,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9303902474071115,
|
|
0.36508188963208027,
|
|
-0.033003051259009854,
|
|
2.8284182836168354
|
|
],
|
|
[
|
|
-0.363087190802378,
|
|
-0.9301888111610445,
|
|
-0.05400432821580924,
|
|
1.7633871918800694
|
|
],
|
|
[
|
|
-0.05041507120864407,
|
|
-0.038262115120220756,
|
|
0.9979951558707858,
|
|
0.15634937405808638
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 8121,
|
|
"backend_objective": 1740.6035833865592,
|
|
"backend_elapsed_sec": 0.2890383999911137,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 17,
|
|
"num_inliers": 3597,
|
|
"objective": 824.8767919640718
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 6094,
|
|
"objective": 736.988474503722
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 8121,
|
|
"objective": 1740.6035833865592
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8581,
|
|
"inliers": 6392,
|
|
"inlier_ratio": 0.7449015266285981,
|
|
"inlier_rmse_m": 0.10668967013687296,
|
|
"median_m": 0.10531341138130089,
|
|
"p90_m": 1.0053754405662703,
|
|
"p95_m": 1.9627586238932788
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
20995.693414343335,
|
|
46707.725316051285,
|
|
211564.8757680219,
|
|
621586.3891891531,
|
|
652107.4291910302,
|
|
1008766.8481560131
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 48.04636971250818,
|
|
"weakest_scaled_direction": [
|
|
0.5227914353597811,
|
|
-0.3659326834521487,
|
|
0.020922125281067794,
|
|
0.06950211817973835,
|
|
0.14035396052457247,
|
|
-0.7535349177730843
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.024421374377245158,
|
|
"rotation_deg": 0.6810283060803514
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.5,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.278870654723489,
|
|
"rotation_deg": 27.152572051918433
|
|
},
|
|
{
|
|
"translation_m": 4.279482949896486e-12,
|
|
"rotation_deg": 2.088674083980014e-12
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 28,
|
|
"j": 32,
|
|
"lidar_time_i": 1784786087.9670725,
|
|
"lidar_time_j": 1784786396.7558627,
|
|
"frame_counter_i": 23009,
|
|
"frame_counter_j": 26097,
|
|
"rtk_translation_m": 5.013331477001236,
|
|
"rtk_rotation_deg": 158.33600269086247,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.930669944618636,
|
|
-0.3630363556170548,
|
|
-0.04536583167796383,
|
|
1.6790276087030118
|
|
],
|
|
[
|
|
0.36443428954838386,
|
|
-0.9308247556134477,
|
|
-0.027439441294071252,
|
|
3.227669784651088
|
|
],
|
|
[
|
|
-0.03226612441727374,
|
|
-0.042069927946849925,
|
|
0.9985935200959575,
|
|
0.11020026838055202
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 7569,
|
|
"backend_objective": 1075.938284372832,
|
|
"backend_elapsed_sec": 0.3297512999852188,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 14,
|
|
"num_inliers": 3395,
|
|
"objective": 826.2633861070965
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5667,
|
|
"objective": 605.0213239756274
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 7569,
|
|
"objective": 1075.938284372832
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8596,
|
|
"inliers": 6283,
|
|
"inlier_ratio": 0.7309213587715216,
|
|
"inlier_rmse_m": 0.1081318944415262,
|
|
"median_m": 0.10796326250295199,
|
|
"p90_m": 0.927995728766249,
|
|
"p95_m": 1.8889543501782344
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
18586.731567653023,
|
|
37160.3785405743,
|
|
169659.12510311973,
|
|
437141.69031035266,
|
|
531025.7996655877,
|
|
970929.9037441188
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 52.23779663520043,
|
|
"weakest_scaled_direction": [
|
|
-0.5713487278042236,
|
|
-0.07494505129605988,
|
|
-0.02146221614858828,
|
|
0.03239816051334563,
|
|
-0.13023859300458032,
|
|
0.8058979537685004
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.10324080390042788,
|
|
"rotation_deg": 0.9479198721286788
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.9429398559897372e-15,
|
|
"rotation_deg": 6.776927420547786e-15
|
|
},
|
|
{
|
|
"translation_m": 1.1123893155135927e-15,
|
|
"rotation_deg": 1.8791633839924055e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 28,
|
|
"j": 33,
|
|
"lidar_time_i": 1784786087.9670725,
|
|
"lidar_time_j": 1784786557.4492514,
|
|
"frame_counter_i": 23009,
|
|
"frame_counter_j": 27704,
|
|
"rtk_translation_m": 5.317102997899902,
|
|
"rtk_rotation_deg": 67.05379893079937,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.38788467389975195,
|
|
-0.9214830197874527,
|
|
-0.020359862403267318,
|
|
4.252162874860791
|
|
],
|
|
[
|
|
0.9216187963002136,
|
|
0.3880597018431465,
|
|
-0.005334989367779181,
|
|
2.841996708458498
|
|
],
|
|
[
|
|
0.012816944246934511,
|
|
-0.0166946712697575,
|
|
0.9997784824106623,
|
|
0.11143063248591845
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 6283,
|
|
"backend_objective": 1056.6324024222768,
|
|
"backend_elapsed_sec": 0.27772909999475814,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 3033,
|
|
"objective": 1220.7479350341719
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 4774,
|
|
"objective": 734.7842473071777
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 6283,
|
|
"objective": 1056.6324024222768
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8269,
|
|
"inliers": 5534,
|
|
"inlier_ratio": 0.6692465836255895,
|
|
"inlier_rmse_m": 0.10871806386783629,
|
|
"median_m": 0.1283207800220331,
|
|
"p90_m": 1.3608911810867883,
|
|
"p95_m": 2.616512527570886
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
15810.591547811695,
|
|
30211.336260541786,
|
|
81867.35983763795,
|
|
293456.19450604514,
|
|
695822.1083108579,
|
|
864424.5280670088
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 54.67376255043738,
|
|
"weakest_scaled_direction": [
|
|
-0.11114038125185813,
|
|
-0.527895538293014,
|
|
-0.00588732862552283,
|
|
0.0559357125845531,
|
|
-0.05816039858535397,
|
|
0.838109789801567
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.13259351588266985,
|
|
"rotation_deg": 0.659391929056215
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 6.78877776696119e-16,
|
|
"rotation_deg": 3.7452646711452355e-15
|
|
},
|
|
{
|
|
"translation_m": 8.920730087951354e-16,
|
|
"rotation_deg": 8.034144267400096e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 29,
|
|
"j": 30,
|
|
"lidar_time_i": 1784786160.8647907,
|
|
"lidar_time_j": 1784786252.6621523,
|
|
"frame_counter_i": 23738,
|
|
"frame_counter_j": 24656,
|
|
"rtk_translation_m": 4.099530130205247,
|
|
"rtk_rotation_deg": 89.96256424413995,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.0012310923998671594,
|
|
0.9998865761692972,
|
|
-0.015010636493604798,
|
|
-2.6507392467255673
|
|
],
|
|
[
|
|
-0.9991148525963036,
|
|
0.0005987037388502235,
|
|
-0.042061299020595536,
|
|
2.5514434876541814
|
|
],
|
|
[
|
|
-0.042047541342745014,
|
|
0.015049131213237437,
|
|
0.9990022662220331,
|
|
-0.04552237979568302
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 8030,
|
|
"backend_objective": 1713.3749243544414,
|
|
"backend_elapsed_sec": 0.23009660001844168,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 3414,
|
|
"objective": 805.3447701288949
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 3,
|
|
"num_inliers": 5991,
|
|
"objective": 736.3476657437233
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 8030,
|
|
"objective": 1713.3749243544414
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8629,
|
|
"inliers": 6317,
|
|
"inlier_ratio": 0.7320662880982732,
|
|
"inlier_rmse_m": 0.10929719051930432,
|
|
"median_m": 0.11164279747018017,
|
|
"p90_m": 0.9234305725909965,
|
|
"p95_m": 2.032984862051835
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
33224.82407489841,
|
|
39053.3839477185,
|
|
164344.4175094853,
|
|
626745.4953590671,
|
|
656812.6616835463,
|
|
1021509.0142151543
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 30.745355096911158,
|
|
"weakest_scaled_direction": [
|
|
-0.09413487569020736,
|
|
0.4337575868847141,
|
|
-0.005227092736285117,
|
|
-0.10771559349826082,
|
|
-0.6632402506699799,
|
|
0.5928535901120993
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.005463604154015333,
|
|
"rotation_deg": 0.018583483487870766
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.1868857395626282e-15,
|
|
"rotation_deg": 1.1175442615353005e-14
|
|
},
|
|
{
|
|
"translation_m": 1.850747526296523e-15,
|
|
"rotation_deg": 8.419547904429345e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 29,
|
|
"j": 31,
|
|
"lidar_time_i": 1784786160.8647907,
|
|
"lidar_time_j": 1784786319.6581354,
|
|
"frame_counter_i": 23738,
|
|
"frame_counter_j": 25326,
|
|
"rtk_translation_m": 4.890018768530818,
|
|
"rtk_rotation_deg": 116.57306468887772,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.43723742875106525,
|
|
0.8991826513046896,
|
|
-0.017146150933295943,
|
|
-1.0307989602890875
|
|
],
|
|
[
|
|
-0.8979979722858205,
|
|
-0.43754615711202294,
|
|
-0.04640045438415313,
|
|
3.6543370157340873
|
|
],
|
|
[
|
|
-0.04922471604501145,
|
|
-0.004890806597201827,
|
|
0.9987757542817691,
|
|
0.049133468528889244
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 7925,
|
|
"backend_objective": 1769.8076883626966,
|
|
"backend_elapsed_sec": 0.26582209998741746,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 16,
|
|
"num_inliers": 3617,
|
|
"objective": 960.0819434627389
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5985,
|
|
"objective": 876.4566638599943
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 7925,
|
|
"objective": 1769.8076883626966
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8658,
|
|
"inliers": 6281,
|
|
"inlier_ratio": 0.7254562254562255,
|
|
"inlier_rmse_m": 0.11323336570178015,
|
|
"median_m": 0.11723386613510434,
|
|
"p90_m": 1.064547564398538,
|
|
"p95_m": 1.9809746034725115
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
20136.7696123405,
|
|
42871.465324088065,
|
|
131612.35066134,
|
|
556857.0961299242,
|
|
689799.0153677568,
|
|
988650.7333495542
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 49.09678922599757,
|
|
"weakest_scaled_direction": [
|
|
0.4277393915199425,
|
|
-0.4105567476274941,
|
|
0.02892181270051879,
|
|
0.06063468721320484,
|
|
0.1660065808691613,
|
|
-0.785118429591668
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.0050777995851252426,
|
|
"rotation_deg": 0.07265894091769333
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.0681389886409907e-15,
|
|
"rotation_deg": 2.7113317337090846e-15
|
|
},
|
|
{
|
|
"translation_m": 1.6699540590904642e-15,
|
|
"rotation_deg": 5.663873124781354e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 29,
|
|
"j": 32,
|
|
"lidar_time_i": 1784786160.8647907,
|
|
"lidar_time_j": 1784786396.7558627,
|
|
"frame_counter_i": 23738,
|
|
"frame_counter_j": 26097,
|
|
"rtk_translation_m": 4.464737187763289,
|
|
"rtk_rotation_deg": 159.39493219688632,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9287022426398309,
|
|
0.36526535866124465,
|
|
-0.063979389476768,
|
|
-2.8821443153763675
|
|
],
|
|
[
|
|
-0.363403678551462,
|
|
-0.9308121962196632,
|
|
-0.03906944821716455,
|
|
3.95876649188571
|
|
],
|
|
[
|
|
-0.07382351204740314,
|
|
-0.013033538690647307,
|
|
0.9971861490906231,
|
|
-0.04150580210044566
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 9,
|
|
"backend_num_inliers": 7098,
|
|
"backend_objective": 847.1028890149273,
|
|
"backend_elapsed_sec": 0.208673799992539,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 15,
|
|
"num_inliers": 3252,
|
|
"objective": 928.1174362656283
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 5284,
|
|
"objective": 613.0189434739622
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 7098,
|
|
"objective": 847.1028890149273
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8673,
|
|
"inliers": 6035,
|
|
"inlier_ratio": 0.695837657096737,
|
|
"inlier_rmse_m": 0.10999820041072961,
|
|
"median_m": 0.11856484192304849,
|
|
"p90_m": 1.3695983452465426,
|
|
"p95_m": 2.318369261085353
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
12816.872775093498,
|
|
34624.611186322,
|
|
79864.7620104077,
|
|
306966.31397232565,
|
|
446538.5579148462,
|
|
926081.3919820852
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 72.25486343140591,
|
|
"weakest_scaled_direction": [
|
|
-0.5609358943007624,
|
|
-0.031757345479722976,
|
|
-0.04242343532856239,
|
|
-0.044892356341308934,
|
|
-0.10186183904800453,
|
|
0.8186278078076092
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.011220553177198233,
|
|
"rotation_deg": 0.14599088546526143
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 5.286180355332504e-15,
|
|
"rotation_deg": 4.1196618816307535e-14
|
|
},
|
|
{
|
|
"translation_m": 4.332083504579744e-15,
|
|
"rotation_deg": 3.9682054577800965e-14
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 29,
|
|
"j": 33,
|
|
"lidar_time_i": 1784786160.8647907,
|
|
"lidar_time_j": 1784786557.4492514,
|
|
"frame_counter_i": 23738,
|
|
"frame_counter_j": 27704,
|
|
"rtk_translation_m": 4.34670323578768,
|
|
"rtk_rotation_deg": 109.32286404305042,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.3386836842782954,
|
|
-0.9398351256887554,
|
|
-0.04475822299064756,
|
|
-0.7156186018327474
|
|
],
|
|
[
|
|
0.9408521283995702,
|
|
-0.3387642703034672,
|
|
-0.0060034699764541614,
|
|
5.422264417082001
|
|
],
|
|
[
|
|
-0.009520214791617123,
|
|
-0.04414414669421295,
|
|
0.9989798095171697,
|
|
0.10687802099727334
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 5,
|
|
"backend_num_inliers": 6193,
|
|
"backend_objective": 744.6490346717907,
|
|
"backend_elapsed_sec": 0.17971780002699234,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 2951,
|
|
"objective": 711.086820565191
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 4635,
|
|
"objective": 437.3265497556991
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 6193,
|
|
"objective": 744.6490346717907
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8346,
|
|
"inliers": 5327,
|
|
"inlier_ratio": 0.6382698298586149,
|
|
"inlier_rmse_m": 0.11215583949685817,
|
|
"median_m": 0.14520929531596044,
|
|
"p90_m": 1.5015977974792296,
|
|
"p95_m": 2.812255846305743
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
11286.92840920206,
|
|
33496.067983452005,
|
|
46351.05198108295,
|
|
286588.33751607593,
|
|
437386.25194414007,
|
|
820182.2073539195
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 72.66655529463955,
|
|
"weakest_scaled_direction": [
|
|
-0.0767098257039795,
|
|
-0.5433899373229041,
|
|
-0.018979886948973443,
|
|
0.06663396687063634,
|
|
-0.02082048815085103,
|
|
0.8328320144424819
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.018977478007060265,
|
|
"rotation_deg": 0.05615608666616428
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.318490179505439e-15,
|
|
"rotation_deg": 1.2660751159554717e-14
|
|
},
|
|
{
|
|
"translation_m": 1.6919522065759386e-15,
|
|
"rotation_deg": 7.834568279051473e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 30,
|
|
"j": 31,
|
|
"lidar_time_i": 1784786252.6621523,
|
|
"lidar_time_j": 1784786319.6581354,
|
|
"frame_counter_i": 24656,
|
|
"frame_counter_j": 25326,
|
|
"rtk_translation_m": 2.3862917603439455,
|
|
"rtk_rotation_deg": 26.61050044473775,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.8989475344036485,
|
|
0.43787368498375995,
|
|
0.012647781953582345,
|
|
-1.1119692098002136
|
|
],
|
|
[
|
|
-0.43784633789327093,
|
|
0.8990359023877583,
|
|
-0.0050030601916877535,
|
|
1.6142148563367478
|
|
],
|
|
[
|
|
-0.013561518464172369,
|
|
-0.0010402963870578753,
|
|
0.9999074972218043,
|
|
0.06670916408811281
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 4,
|
|
"backend_num_inliers": 9030,
|
|
"backend_objective": 2838.56174256091,
|
|
"backend_elapsed_sec": 0.21705209999345243,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 3832,
|
|
"objective": 649.4384598184905
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 6674,
|
|
"objective": 1247.530375303141
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 4,
|
|
"num_inliers": 9030,
|
|
"objective": 2838.56174256091
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8741,
|
|
"inliers": 7243,
|
|
"inlier_ratio": 0.8286237272623269,
|
|
"inlier_rmse_m": 0.0964659694513182,
|
|
"median_m": 0.0815457046710185,
|
|
"p90_m": 0.448596515484814,
|
|
"p95_m": 0.79004098341329
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
39614.968185220445,
|
|
56182.379478586656,
|
|
439112.9640769325,
|
|
708330.6129733466,
|
|
1136223.0809684258,
|
|
1625605.49026203
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 41.03513305025223,
|
|
"weakest_scaled_direction": [
|
|
-0.5038215917986367,
|
|
0.3795009264482512,
|
|
-0.02492737521847699,
|
|
-0.04265298956337161,
|
|
-0.21924065971527756,
|
|
0.7427218402848003
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.018905314487385798,
|
|
"rotation_deg": 0.08632503464137033
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 1.0077414646998453e-15,
|
|
"rotation_deg": 5.347190835862908e-15
|
|
},
|
|
{
|
|
"translation_m": 8.879886640496848e-16,
|
|
"rotation_deg": 8.906732277533139e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 30,
|
|
"j": 32,
|
|
"lidar_time_i": 1784786252.6621523,
|
|
"lidar_time_j": 1784786396.7558627,
|
|
"frame_counter_i": 24656,
|
|
"frame_counter_j": 26097,
|
|
"rtk_translation_m": 1.1507634071714652,
|
|
"rtk_rotation_deg": 69.43236795274659,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.3635790250163329,
|
|
0.9315010454563274,
|
|
-0.010774733497488831,
|
|
-1.4000417256838453
|
|
],
|
|
[
|
|
-0.9313244073617958,
|
|
0.3631994931620142,
|
|
-0.026851004060477888,
|
|
-0.22813528469719024
|
|
],
|
|
[
|
|
-0.0210983606086435,
|
|
0.019797234166048228,
|
|
0.9995813767267787,
|
|
-0.017082824030759496
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 8420,
|
|
"backend_objective": 1522.3805554597175,
|
|
"backend_elapsed_sec": 0.19040469999890774,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 3718,
|
|
"objective": 842.3184574635156
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 6364,
|
|
"objective": 996.5050498034586
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 8420,
|
|
"objective": 1522.3805554597175
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8756,
|
|
"inliers": 7062,
|
|
"inlier_ratio": 0.8065326633165829,
|
|
"inlier_rmse_m": 0.09815063400019142,
|
|
"median_m": 0.08081841340365783,
|
|
"p90_m": 0.4790676298185709,
|
|
"p95_m": 0.8509769492049389
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
33159.95234572108,
|
|
61064.351291159524,
|
|
300223.63441742276,
|
|
580862.1428546602,
|
|
1012404.3729176935,
|
|
1169099.16978869
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 35.25635856167173,
|
|
"weakest_scaled_direction": [
|
|
0.5881064317233109,
|
|
0.05070078092882424,
|
|
0.03823123726649609,
|
|
0.001175631167941189,
|
|
0.13265592976422702,
|
|
-0.7952984662789812
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.007341509941520892,
|
|
"rotation_deg": 0.023973741904832375
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 4.967007407645019e-16,
|
|
"rotation_deg": 1.129323802870724e-14
|
|
},
|
|
{
|
|
"translation_m": 1.0968776017955963e-15,
|
|
"rotation_deg": 9.356307217897543e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 30,
|
|
"j": 33,
|
|
"lidar_time_i": 1784786252.6621523,
|
|
"lidar_time_j": 1784786557.4492514,
|
|
"frame_counter_i": 24656,
|
|
"frame_counter_j": 27704,
|
|
"rtk_translation_m": 2.4361832484951105,
|
|
"rtk_rotation_deg": 160.7145717128102,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.9400013202324404,
|
|
0.3385127577275178,
|
|
-0.04250447996366474,
|
|
-2.856095359067646
|
|
],
|
|
[
|
|
-0.3379804420015197,
|
|
-0.9409539976099159,
|
|
-0.01935962826027831,
|
|
1.9422371207085336
|
|
],
|
|
[
|
|
-0.046548241489107356,
|
|
-0.003832393198706708,
|
|
0.9989086915112121,
|
|
-0.09300301217907853
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 8,
|
|
"backend_num_inliers": 6823,
|
|
"backend_objective": 1135.817399835205,
|
|
"backend_elapsed_sec": 0.3080756000126712,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 25,
|
|
"num_inliers": 3121,
|
|
"objective": 692.6900700881857
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 2,
|
|
"num_inliers": 5122,
|
|
"objective": 629.0793980265928
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 8,
|
|
"num_inliers": 6823,
|
|
"objective": 1135.817399835205
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8429,
|
|
"inliers": 5871,
|
|
"inlier_ratio": 0.6965239055641239,
|
|
"inlier_rmse_m": 0.10032655671840386,
|
|
"median_m": 0.10289132389486434,
|
|
"p90_m": 1.433755765502277,
|
|
"p95_m": 2.8449510457378637
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
21269.049129287097,
|
|
43220.49541138773,
|
|
143861.22694174797,
|
|
374188.2654787455,
|
|
858092.1463472905,
|
|
1001548.3325752582
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 47.08947384000088,
|
|
"weakest_scaled_direction": [
|
|
0.029213001468576423,
|
|
-0.5652672682847729,
|
|
-0.023650617681046388,
|
|
0.06413597024714679,
|
|
-0.056655594406544565,
|
|
0.8195955619555723
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 2.6257249086936962,
|
|
"rotation_deg": 3.1197630566421646
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 9.671732905683864e-16,
|
|
"rotation_deg": 6.176094161148719e-15
|
|
},
|
|
{
|
|
"translation_m": 1.7607443281164592e-15,
|
|
"rotation_deg": 7.464986187847517e-16
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation"
|
|
]
|
|
},
|
|
{
|
|
"i": 31,
|
|
"j": 32,
|
|
"lidar_time_i": 1784786319.6581354,
|
|
"lidar_time_j": 1784786396.7558627,
|
|
"frame_counter_i": 25326,
|
|
"frame_counter_j": 26097,
|
|
"rtk_translation_m": 1.2514382602180638,
|
|
"rtk_rotation_deg": 42.82186750800885,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
0.7353113602326208,
|
|
0.6777277042877701,
|
|
-0.0015369950169060941,
|
|
0.5530845769120833
|
|
],
|
|
[
|
|
-0.6774253813669432,
|
|
0.7349116437545313,
|
|
-0.031618484370138845,
|
|
-1.7917526299146316
|
|
],
|
|
[
|
|
-0.02029916729091594,
|
|
0.02429063018618735,
|
|
0.9994988289600204,
|
|
-0.10343719713454098
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 6,
|
|
"backend_num_inliers": 8422,
|
|
"backend_objective": 2055.9101310021338,
|
|
"backend_elapsed_sec": 0.2686489000043366,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 3699,
|
|
"objective": 762.3984311068843
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 7,
|
|
"num_inliers": 6339,
|
|
"objective": 1077.2456436698762
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 6,
|
|
"num_inliers": 8422,
|
|
"objective": 2055.9101310021338
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8785,
|
|
"inliers": 7157,
|
|
"inlier_ratio": 0.8146841206602162,
|
|
"inlier_rmse_m": 0.09914628416022417,
|
|
"median_m": 0.07863922529321844,
|
|
"p90_m": 0.48657998937736363,
|
|
"p95_m": 0.9652907911717594
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
29897.54623750982,
|
|
58540.09758264833,
|
|
335733.4103235305,
|
|
598662.87959459,
|
|
824114.362410073,
|
|
1026434.5393505907
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 34.33173181492779,
|
|
"weakest_scaled_direction": [
|
|
0.6139279563856824,
|
|
0.08135787148474027,
|
|
0.03614189759065114,
|
|
-0.024105337993162983,
|
|
0.13915399307834964,
|
|
-0.7715064635145351
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.06936877058296162,
|
|
"rotation_deg": 0.45703051311645637
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 3.67237313403358e-16,
|
|
"rotation_deg": 6.140570249398282e-15
|
|
},
|
|
{
|
|
"translation_m": 6.533255114602682e-16,
|
|
"rotation_deg": 5.631533653209629e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 31,
|
|
"j": 33,
|
|
"lidar_time_i": 1784786319.6581354,
|
|
"lidar_time_j": 1784786557.4492514,
|
|
"frame_counter_i": 25326,
|
|
"frame_counter_j": 27704,
|
|
"rtk_translation_m": 0.641507519046697,
|
|
"rtk_rotation_deg": 134.10407126807203,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.6960818822066489,
|
|
0.7173572674847195,
|
|
-0.029471410731518533,
|
|
-1.7220967320600726
|
|
],
|
|
[
|
|
-0.7158947868474338,
|
|
-0.6966053187872006,
|
|
-0.04728302022978844,
|
|
-0.48226454262285273
|
|
],
|
|
[
|
|
-0.05444875965820372,
|
|
-0.01181442441423255,
|
|
0.9984466695559878,
|
|
-0.06326391574421514
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 9,
|
|
"backend_num_inliers": 7550,
|
|
"backend_objective": 1621.057072695131,
|
|
"backend_elapsed_sec": 0.3225730999838561,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": true,
|
|
"iterations": 11,
|
|
"num_inliers": 3389,
|
|
"objective": 675.7652685443331
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": true,
|
|
"iterations": 5,
|
|
"num_inliers": 5781,
|
|
"objective": 1650.7089582896813
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 9,
|
|
"num_inliers": 7550,
|
|
"objective": 1621.057072695131
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8458,
|
|
"inliers": 6387,
|
|
"inlier_ratio": 0.7551430598250177,
|
|
"inlier_rmse_m": 0.1003246191461096,
|
|
"median_m": 0.08751950331668279,
|
|
"p90_m": 0.8156765153565828,
|
|
"p95_m": 2.0828499949927592
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
32757.33367444599,
|
|
67334.04675645688,
|
|
175860.31026392666,
|
|
428422.7141007091,
|
|
788425.2815674562,
|
|
934807.4930133051
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 28.537349904719164,
|
|
"weakest_scaled_direction": [
|
|
0.014200388727543551,
|
|
-0.5662779138973728,
|
|
-0.02580493319100964,
|
|
0.08471808496748096,
|
|
-0.00467411957355558,
|
|
0.8193062780796254
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.005559091155811048,
|
|
"rotation_deg": 0.0330053182501105
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 1.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 5.095246377785861e-16,
|
|
"rotation_deg": 7.369239496130195e-15
|
|
},
|
|
{
|
|
"translation_m": 1.7452973491944015e-15,
|
|
"rotation_deg": 6.13197128276296e-15
|
|
}
|
|
]
|
|
},
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 32,
|
|
"j": 33,
|
|
"lidar_time_i": 1784786396.7558627,
|
|
"lidar_time_j": 1784786557.4492514,
|
|
"frame_counter_i": 26097,
|
|
"frame_counter_j": 27704,
|
|
"rtk_translation_m": 1.4370687242949811,
|
|
"rtk_rotation_deg": 91.2822037600631,
|
|
"nearest_rtk_dt_i_s": 0.0,
|
|
"nearest_rtk_dt_j_s": 0.0,
|
|
"initial_B_source": "X0=identity; B0=A (no measured extrinsic)",
|
|
"B_ij_4x4": [
|
|
[
|
|
-0.03553714800116292,
|
|
0.9993149516431566,
|
|
-0.010331434284676484,
|
|
-1.3966905543976256
|
|
],
|
|
[
|
|
-0.9987095986600396,
|
|
-0.03588712491476379,
|
|
-0.03593399239793585,
|
|
1.6567592534208615
|
|
],
|
|
[
|
|
-0.0362801413482118,
|
|
0.009041110981913531,
|
|
0.9993007603599455,
|
|
0.18107882372357556
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"backend": "small_gicp",
|
|
"backend_converged": true,
|
|
"backend_iterations": 18,
|
|
"backend_num_inliers": 434,
|
|
"backend_objective": 19.5164628284166,
|
|
"backend_elapsed_sec": 0.6570993000059389,
|
|
"multiscale_stages": [
|
|
{
|
|
"voxel_m": 0.3,
|
|
"max_correspondence_m": 1.2,
|
|
"converged": false,
|
|
"iterations": 59,
|
|
"num_inliers": 1049,
|
|
"objective": 883.1483573831881
|
|
},
|
|
{
|
|
"voxel_m": 0.15,
|
|
"max_correspondence_m": 0.5,
|
|
"converged": false,
|
|
"iterations": 59,
|
|
"num_inliers": 845,
|
|
"objective": 182.6938800328335
|
|
},
|
|
{
|
|
"voxel_m": 0.08,
|
|
"max_correspondence_m": 0.25,
|
|
"converged": true,
|
|
"iterations": 18,
|
|
"num_inliers": 434,
|
|
"objective": 19.5164628284166
|
|
}
|
|
],
|
|
"heldout_symmetric": {
|
|
"evaluated": 8473,
|
|
"inliers": 368,
|
|
"inlier_ratio": 0.043432078366576185,
|
|
"inlier_rmse_m": 0.1661924920133195,
|
|
"median_m": 1.3116363900492476,
|
|
"p90_m": 2.516004269498909,
|
|
"p95_m": 2.6755523843181948
|
|
},
|
|
"hessian": {
|
|
"native_order": [
|
|
"rx_rad",
|
|
"ry_rad",
|
|
"rz_rad",
|
|
"tx_m",
|
|
"ty_m",
|
|
"tz_m"
|
|
],
|
|
"scaled_eigenvalues": [
|
|
642.7747431708625,
|
|
954.735320433794,
|
|
1133.575997940253,
|
|
1939.7523753118437,
|
|
14074.629767093451,
|
|
56882.75167846326
|
|
],
|
|
"effective_rank": 6,
|
|
"scaled_condition_number": 88.4956235178996,
|
|
"weakest_scaled_direction": [
|
|
0.12024798769106836,
|
|
-0.6749797371841314,
|
|
0.08183100517680016,
|
|
-0.05162316535972436,
|
|
-0.20059941130013623,
|
|
0.6930666543869539
|
|
]
|
|
},
|
|
"forward_reverse": {
|
|
"translation_m": 0.946171384319174,
|
|
"rotation_deg": 3.5092968853566924
|
|
},
|
|
"multistart": {
|
|
"runs": 2,
|
|
"success_rate": 0.0,
|
|
"deltas": [
|
|
{
|
|
"translation_m": 2.5266613224139265,
|
|
"rotation_deg": 1.139524458087656
|
|
},
|
|
{
|
|
"translation_m": 0.8870093669430473,
|
|
"rotation_deg": 5.456250095042409
|
|
}
|
|
]
|
|
},
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"heldout_inlier_ratio",
|
|
"heldout_inlier_rmse",
|
|
"forward_reverse_translation",
|
|
"forward_reverse_rotation",
|
|
"multistart_instability"
|
|
]
|
|
}
|
|
]
|
|
} |