calibration/results/reference_data4/consensus/extrinsic_rtk_lidar.json

{
  "schema_version": 1,
  "success": true,
  "convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame",
  "equation": "A_RTK_ij X = X B_LiDAR_ij",
  "frames": {
    "RTK": {
      "origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration",
      "x_axis": "horizontal projection of the rawHeading baseline direction reported by the receiver",
      "y_axis": "left",
      "z_axis": "up",
      "yaw_enu_deg": "90 - rawHeadingDeg"
    },
    "LiDAR": "raw LiDAR sensor frame"
  },
  "backend": "consensus",
  "measured_lidar_extrinsic_used_as_initial": false,
  "body_heading_offset_used": false,
  "body_antenna_lever_xy_used": false,
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  "matrix_4x4": [
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  "quality": {
    "stations": 34,
    "pairs": 25,
    "residuals": {
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      "translation_m": {
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      "per_pair": [
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        {
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        {
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          "rotation_deg": 0.9367994244405716
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        {
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        {
          "pair_index": 21,
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        {
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          "translation_m": 0.35253378022021187,
          "rotation_deg": 0.7805430662091233
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        {
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          "translation_m": 0.11095170748867093,
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        {
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          "translation_m": 0.12163042992227363,
          "rotation_deg": 0.17586872890763125
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      ]
    },
    "weighted_jacobian_condition_number": 7.739413195936781,
    "linearized_one_sigma": {
      "translation_m": [
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      "rotation_deg": [
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      "warning": "conditional local estimate; bootstrap is the primary stability check"
    },
    "bootstrap": {
      "runs": 200,
      "order": [
        "x_m",
        "y_m",
        "z_m",
        "roll_deg",
        "pitch_deg",
        "yaw_deg"
      ],
      "std": [
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    }
  },
  "z_constraint": {
    "observable_from_planar_AX_XB": false,
    "method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground",
    "rtk_reference_height_above_ground_m": 0.8535,
    "warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion"
  },
  "important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification"
}