lichun.qu/calibration
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

调整雷达到RTK标定分支为独立根目录结构

Browse Source
This commit is contained in:
lichun.qu
2026-07-24 08:42:16 +08:00
parent d2aae6177e
commit 6d87b6ba9c
132 changed files with 214 additions and 197832 deletions
Download Patch File Download Diff File Expand all files Collapse all files
results/reference_data4/open3d_gicp/B_quality.csv
+97
View File
@@ -0,0 +1,97 @@
i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
0,1,1.6721594124489447,24.171297449440814,0.8061657032755298,0.10961296014103396,6,2.7038608113687213,0.004225163540003575,0.1530449067720668,1.0,True,
0,2,2.0412175279332088,80.09074797031303,0.7489394523717702,0.116305716193008,6,3.0720058333957327,0.02073003109723684,0.12418344306819311,1.0,True,
0,3,6.30529961936688,79.9158388329924,0.6310283235519265,0.12470979645173097,6,5.235632990817998,0.02154775870989652,0.25399044979598373,1.0,True,
1,2,1.2843386040405174,55.9194505208722,0.7867383512544803,0.11079021393934946,6,3.282529873989144,0.00768232673944143,0.0508043300468843,1.0,True,
1,3,5.433888607887495,55.744541383551606,0.6794562317367552,0.11907169138096609,6,4.183386002322132,0.024832409186708038,0.29364088503444125,1.0,True,
1,4,1.5299424710613851,106.08652205569952,0.6786112833230006,0.1125501582315264,6,3.2941312581877567,0.0077657602443488094,0.07274574571529673,1.0,True,
2,3,4.340252832276203,0.1749091373206093,0.7586776859504132,0.11541610277862546,6,3.730803369806122,0.007879904085790266,0.11659483159927261,1.0,True,
2,4,0.2520257253555564,50.1670715348273,0.7854572527608884,0.1098649389241602,6,2.641287751481567,0.017042953274276868,0.09383247792992644,1.0,True,
2,5,5.8286926576588955,8.735318060700322,0.7074574574574575,0.11912871456224486,6,3.8527093190832513,0.016640250279170064,0.24773491621516538,1.0,True,
3,4,4.1070657333447205,50.34198067214791,0.6974624291697462,0.11727630888949149,6,3.5010457716923216,0.0121487212194689,0.20793086843827258,1.0,True,
3,5,2.2886212019715484,8.910227198020936,0.7962985964476462,0.10646082199215787,6,3.037745853837991,0.011008298723512349,0.0821707761041294,1.0,True,
3,6,2.618668779147775,47.63555775102663,0.8376509054325956,0.10956583416752531,6,3.1930663579156175,0.001222821038315667,0.092075215117626,1.0,True,
4,5,5.5767898078953735,41.431753474126985,0.6652516676773802,0.12322094568315027,6,4.985227704290953,0.005399786589871835,0.13893507775898076,0.0,False,multistart_instability
4,6,6.68811709459501,97.97753842317455,0.04910385465259023,0.15664415071522125,6,4.835889397197473,2.574198069897065,12.647326063758534,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
4,7,6.153247042777442,123.28910472998353,0.020756115641215715,0.16997351387143192,6,17.054474046975617,5.52282870653845,6.186988956437115,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
5,6,2.0562758992403367,56.545784949047565,0.7526921648718901,0.10924852668609375,6,3.289802074469562,0.012374747586500019,0.14461856068328793,1.0,True,
5,7,0.5812996709001959,81.85735125585653,0.7833561729164071,0.11683079277948678,6,2.8807765869032624,0.013689874812447942,0.20006562776472953,1.0,True,
5,8,2.6887856969568644,172.47951556359513,0.3979730564825114,0.13180114830799514,6,4.4867592164383865,2.902311115345869,2.1073169352638135,1.0,False,forward_reverse_translation;forward_reverse_rotation
6,7,1.9723544820714844,25.311566306808967,0.8497729566094854,0.10415909908074775,6,3.3759361297847534,0.008986805974950147,0.13099479506412062,1.0,True,
6,8,0.7288530799256238,115.93373061454484,0.7678928928928929,0.1116672507978127,6,3.260920573387359,0.010085391730567652,0.1175283699615622,1.0,True,
6,9,7.898758206937296,103.90638727582184,0.6071384156199477,0.12594282886521943,6,6.882498483502542,2.7065494720876333,9.167174886516003,1.0,False,forward_reverse_translation;forward_reverse_rotation
7,8,2.6747845281541447,90.62216430773587,0.8299748110831234,0.10748525688830211,6,3.0071179226782405,0.00710646197885058,0.1069872847368705,1.0,True,
7,9,8.06955581661561,78.59482096901287,0.6188509200150206,0.12713205078393502,6,6.716979637303372,6.104542218165768,6.596313811797356,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
7,10,8.088675434881791,134.6003195530505,0.04729478766868887,0.16509079956796627,6,8.903210909129099,5.698690438550839,24.43813017288333,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
8,9,7.73033999229505,12.027343338722995,0.6326834719980131,0.12084265385763364,6,5.53968988049318,2.4349995045990127,17.158034002952295,1.0,False,forward_reverse_translation;forward_reverse_rotation
8,10,8.378411682322204,43.97815524531458,0.6163861933423412,0.1293602846396598,6,4.789005902863083,0.011327540721531722,0.17059480981566605,0.0,False,multistart_instability
8,11,11.214115106391473,22.60670813095403,0.035782503501846426,0.17440177580299876,6,9.744579276034784,1.861364410474017,5.099464012971126,1.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
9,10,1.9264207261313253,56.00549858403757,0.6543345543345543,0.10729272360686744,6,3.3788563349731624,1.6360232143180424,5.55466982065639,1.0,False,forward_reverse_translation;forward_reverse_rotation
9,11,4.747620352849464,34.63405146967702,0.5818780055682106,0.1171768781510077,6,3.555986532172078,0.00981302583568424,0.06035460198954135,1.0,True,
9,12,7.208566899019793,16.356227217122623,0.5379123584441162,0.12645695585785705,6,4.882558096197047,0.008862930161051686,0.11566409877698092,1.0,True,
10,11,3.0731501091601263,21.371447114360553,0.7118898623279099,0.1192865608074921,6,3.220203471557625,0.0029529340190141227,0.004176908093440082,1.0,True,
10,12,6.011368280631378,39.649271366914945,0.6120311738918656,0.12525652128126136,6,4.691686416856208,0.005686910809247203,0.10204044727299268,1.0,True,
10,13,9.76425648692991,72.41150002956132,0.516551290119572,0.1354903305714048,6,7.346543684414896,0.013565042721589003,0.32552304340992394,1.0,True,
11,12,3.3258193587172027,18.277824252554396,0.650555275113579,0.12104882943540898,6,4.612247786063477,0.003583199374507776,0.03300207707174117,1.0,True,
11,13,7.195203402213438,51.04005291520078,0.5698054068172914,0.1285866274322162,6,7.539783468898048,0.016001435752898144,0.11059625579950419,1.0,True,
11,14,3.634158560526847,20.548768889074672,0.6420881321982974,0.12414062948335593,6,4.952265047266808,0.012369101516230316,0.01870506040605898,1.0,True,
12,13,3.8697507070400543,32.762228662646386,0.6972966112450819,0.1168089621311632,6,4.28224799374136,0.01141023876783206,0.04779713993428384,1.0,True,
12,14,0.9871080784265185,2.2709446365202766,0.8749086479902558,0.09521299965540625,6,3.309695139564422,0.006159472215773367,0.014929948455569534,1.0,True,
12,15,4.171948395051693,25.86371030092923,0.7022030893897189,0.11797995277580106,6,4.277232786772136,0.008495008365046321,0.10278299144703042,1.0,True,
13,14,3.7992314627329202,30.491284026126113,0.6955810147299509,0.11455956122705321,6,3.350289886810734,0.01022866463344607,0.03515966054944392,1.0,True,
13,15,0.9105848166450461,6.898518361717151,0.868300353819945,0.1045421356808481,6,3.2437357133954023,0.002375025382773949,0.01072504764419793,1.0,True,
13,16,3.4957081323467,18.94489979461447,0.7265456392027422,0.1096252966406241,6,3.5227514244456217,0.008958927594996346,0.03041438512426757,1.0,True,
14,15,3.8816793634199405,23.592765664408958,0.7120070334086913,0.11868441290330703,6,4.62059246950246,0.002571958018980028,0.055069197511519646,1.0,True,
14,16,7.29101265002769,49.43618382074057,0.5918615984405458,0.12229328437386515,6,7.149509813179227,0.014273957859025563,0.25325650727957555,1.0,True,
14,17,5.915950814087913,0.8461207481731609,0.6694009445687298,0.12443900216431925,6,5.1577414296960065,0.0178952010004604,0.10920228290609924,1.0,True,
15,16,3.579287497246505,25.843418156331627,0.702887537993921,0.11495230769293859,6,3.5402899763525375,0.013545291843396808,0.03346625178333291,1.0,True,
15,17,2.2400625117908257,24.438886412582114,0.7429531936901991,0.11679524427533863,6,3.5266643942801554,0.009894110027911674,0.07786907370565768,1.0,True,
15,18,4.6956742726068,3.452521908779405,0.7209645010046886,0.11716134583909138,6,4.125231895423439,0.01165472931184747,0.13683586564190106,1.0,True,
16,17,2.956793995513645,50.28230456891372,0.618922305764411,0.11254196340940027,6,4.068632188828398,0.031047860213503222,0.10375098145236057,1.0,True,
16,18,3.369822545690391,22.390896247552213,0.6890156918687589,0.11084024896736888,6,4.421167108842175,0.01556225520373068,0.02495881796885156,1.0,True,
16,19,2.313038703742191,30.035090485266096,0.8685060899826,0.10135543575024479,6,2.9200722330018793,0.0029522513838272538,0.02753369989558306,1.0,True,
17,18,2.517968959880004,27.89140832136152,0.7697708305735859,0.10648049893472189,6,3.792822356453168,0.010582276181446961,0.03959905194910384,1.0,True,
17,19,3.518310045065406,80.31739505417983,0.6293759512937596,0.10954497717502036,6,3.648306929393189,0.012240937390578075,0.06030618467886912,1.0,True,
17,20,3.4199679241812992,152.98392843416642,0.6014520938674964,0.12300562605352787,6,4.719447385686111,0.03231013197809958,0.12856862709639913,0.0,False,multistart_instability
18,19,2.0416624616211574,52.42598673281832,0.6827314510833881,0.10834806615100022,6,3.5073857685652805,0.012418496053909043,0.11905018881087433,1.0,True,
18,20,5.836864764777489,125.0925201128049,0.5756313809779688,0.1265759478434111,6,5.389095141151799,0.012917057356044254,0.2404237301134517,0.0,False,multistart_instability
18,21,10.84206419743439,175.70238585457497,0.2352252017703723,0.15182541744787395,6,9.65894418804011,0.2039286327273425,0.13690658217533308,0.0,False,heldout_inlier_ratio;forward_reverse_translation;multistart_instability
19,20,6.120105723142265,72.6665333799865,0.6234734541714874,0.1277530580405749,6,5.958603794025071,0.009237066767190974,0.22540488888103255,1.0,True,
19,21,11.201089261967727,123.27639912174082,0.3788200074840963,0.1468780339612994,6,10.170069582593085,4.607025297377655,2.696881779819613,1.0,False,forward_reverse_translation;forward_reverse_rotation
19,22,13.962230939038237,128.85294276465584,0.17798277982779828,0.15985830060250797,6,11.806596815871064,2.332292389085354,2.4044448240559984,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
20,21,5.091648376409225,50.60986574175432,0.6596992097884272,0.12147955429086157,6,4.082032735955382,0.014725537493639118,0.19884224722867958,1.0,True,
20,22,7.842914217245693,56.186409384669375,0.5739414499308958,0.13255415786946775,6,5.3284863413522086,0.006040617548523686,0.19706632354686843,1.0,True,
20,23,4.953146569484805,70.79178325235414,0.6456945156330087,0.12075756038041646,6,3.9642702950866346,0.02294901101348451,0.19112109479244785,1.0,True,
21,22,2.836151129858731,5.576543642915048,0.7716237647919971,0.1163227135854156,6,2.7962015303291894,0.009963578798274064,0.1533289219532281,1.0,True,
21,23,1.4635995041292513,20.181917510599828,0.8576224819696593,0.09865676260631218,6,3.036795069384516,0.00392257332509571,0.00898487649366286,1.0,True,
21,24,2.7001854883863183,54.59467208208592,0.7715940569126165,0.11361504553552869,6,2.7681582493333527,0.007475673605592584,0.04227769001294981,1.0,True,
22,23,3.806551883906871,14.605373867684776,0.7396689147762109,0.11702962848624102,6,3.414804725088913,0.018140159434305195,0.1184732181610567,1.0,True,
22,24,4.999470711928798,49.01812843917085,0.6983240223463687,0.11898873157361631,6,3.633465593686572,1.9214516862996405,12.118772315210817,1.0,False,forward_reverse_translation;forward_reverse_rotation
22,25,2.281002791409386,12.391903814042275,0.736861094407697,0.1158639471011007,6,2.383007054117406,0.01855955252477569,0.06452602797902846,1.0,True,
23,24,1.2663665558774873,34.41275457148608,0.7853164556962026,0.11287254423109305,6,2.4099218288471635,0.002195759849349955,0.03211295915781923,1.0,True,
23,25,5.050865141821003,2.213470053642503,0.6881127450980392,0.12303206700403985,6,2.936372721803798,0.004939188019097873,0.12964064637099942,1.0,True,
23,26,5.595299803053147,40.730927532824325,0.6852618757612667,0.12040544972155913,6,3.059006509397719,0.006032445250251169,0.14039335223022864,1.0,True,
24,25,6.316196707646632,36.626224625128586,0.677667493796526,0.1234631580581415,6,3.6286524357748364,0.023479226891170584,0.16273859629355136,1.0,True,
24,26,6.840027061556236,6.318172961338242,0.6530209617755857,0.12710147612984235,6,3.5331859775372023,0.013311199903813952,0.18193579850150715,1.0,True,
24,27,7.477875812552711,31.60254826458195,0.6649014778325123,0.12481159614427853,6,4.10006355979974,0.01787282120544869,0.1680556511623414,1.0,True,
25,26,1.433673687807028,42.944397586466835,0.9127837514934289,0.09581429165893823,6,2.9017658682436958,0.0035341488401767693,0.018440169300164816,1.0,True,
25,27,1.973107678535245,68.22877288971054,0.8510739856801909,0.10418150333394123,6,2.3682534170899983,0.006103232696003387,0.13366555345654282,1.0,True,
25,28,2.578633669986193,88.09106909546726,0.8853518429870751,0.10761251229651997,6,2.6372860976794636,0.0034832316659127254,0.03697744201993421,1.0,True,
26,27,0.6711664435459649,25.284375303243706,0.9183867141162515,0.09074909570650827,6,2.8142315359282533,0.00040199505815399084,0.011554314408123986,1.0,True,
26,28,1.202247282991071,45.146671509000434,0.8853200095170116,0.1060418493965508,6,2.65640202778952,0.007320240476184076,0.12930335868606002,1.0,True,
26,29,0.8313560685788559,87.41573662125148,0.7880466815984911,0.10871274240898261,6,3.111957466886598,0.006395243061058376,0.039517035902872893,1.0,True,
27,28,0.6147316450225401,19.862296205756735,0.9289448669201521,0.08505095515326752,6,2.9632528684698194,0.005157655135593023,0.02266680787731125,1.0,True,
27,29,0.7540837235696874,62.13136131800778,0.7872365477452019,0.1045551346483567,6,2.9621627623005304,0.011650639607012715,0.16247191340775555,1.0,True,
27,30,5.07252652550922,152.0939255621477,0.03871268656716418,0.16956979514477974,6,145.85449900829832,4.5477385995336626,37.97511303619642,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
28,29,1.3242039147826599,42.26906511225104,0.8000944621560987,0.10865475473581254,6,3.146622410005858,0.001139416496730335,0.02119627748722763,1.0,True,
28,30,5.091487440029177,132.23162935639098,0.7721000935453695,0.10815845248211022,6,2.292141242686861,0.004462522533166182,0.03583195432667579,1.0,True,
28,31,6.538757407908195,158.84212980112872,0.7465330381074466,0.10669666534392452,6,2.40259836682247,0.0063576490595817345,0.04001661521442668,1.0,True,
29,30,4.767831371266539,89.96256424413991,0.7248812145092132,0.10870831469083345,6,2.947122380473709,0.004656385377159087,0.12465763189228557,0.0,False,multistart_instability
29,31,5.715598450796842,116.57306468887764,0.7243012243012243,0.11138751941762652,6,2.7645021322697088,0.0042639063218924715,0.04663739608639213,0.0,False,multistart_instability
29,32,5.281749147864957,159.39493219688646,0.32491640724086246,0.14745892800230104,6,2.8081088899077167,4.8118414680497805,1.8382424276135385,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
30,31,2.604154101624297,26.610500444737717,0.8185562292643862,0.09615795732951272,6,2.899558208444641,0.0049991634555749285,0.021384795873435915,1.0,True,
30,32,1.69105635082049,69.43236795274656,0.8041343079031521,0.09953343153684206,6,2.614616874224757,0.0031713764951448154,0.023767377748422268,1.0,True,
30,33,3.2411277385703925,160.7145717128097,0.05469213429825602,0.15997514255683,6,6.323554164510002,5.32763716297551,13.705863888332022,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
31,32,0.9137201114724802,42.82186750800884,0.8157085941946499,0.09925944770258255,6,3.048541140076824,0.004719596234885736,0.06146741991683861,1.0,True,
31,33,1.4965271484681508,134.10407126807198,0.760345235280208,0.09698073659477859,6,2.550150787416455,0.0019366659831763946,0.026538404789073603,1.0,True,
32,33,1.9169426499676907,91.28220376006315,0.7569928006609229,0.10008740880870787,6,3.6611044282667184,2.9881933505092046,2.6964434945984053,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
1 i j rtk_translation_m rtk_rotation_deg heldout_inlier_ratio heldout_inlier_rmse_m hessian_rank hessian_condition reverse_translation_m reverse_rotation_deg multistart_success_rate accepted rejection_reasons
2 0 1 1.6721594124489447 24.171297449440814 0.8061657032755298 0.10961296014103396 6 2.7038608113687213 0.004225163540003575 0.1530449067720668 1.0 True
3 0 2 2.0412175279332088 80.09074797031303 0.7489394523717702 0.116305716193008 6 3.0720058333957327 0.02073003109723684 0.12418344306819311 1.0 True
4 0 3 6.30529961936688 79.9158388329924 0.6310283235519265 0.12470979645173097 6 5.235632990817998 0.02154775870989652 0.25399044979598373 1.0 True
5 1 2 1.2843386040405174 55.9194505208722 0.7867383512544803 0.11079021393934946 6 3.282529873989144 0.00768232673944143 0.0508043300468843 1.0 True
6 1 3 5.433888607887495 55.744541383551606 0.6794562317367552 0.11907169138096609 6 4.183386002322132 0.024832409186708038 0.29364088503444125 1.0 True
7 1 4 1.5299424710613851 106.08652205569952 0.6786112833230006 0.1125501582315264 6 3.2941312581877567 0.0077657602443488094 0.07274574571529673 1.0 True
8 2 3 4.340252832276203 0.1749091373206093 0.7586776859504132 0.11541610277862546 6 3.730803369806122 0.007879904085790266 0.11659483159927261 1.0 True
9 2 4 0.2520257253555564 50.1670715348273 0.7854572527608884 0.1098649389241602 6 2.641287751481567 0.017042953274276868 0.09383247792992644 1.0 True
10 2 5 5.8286926576588955 8.735318060700322 0.7074574574574575 0.11912871456224486 6 3.8527093190832513 0.016640250279170064 0.24773491621516538 1.0 True
11 3 4 4.1070657333447205 50.34198067214791 0.6974624291697462 0.11727630888949149 6 3.5010457716923216 0.0121487212194689 0.20793086843827258 1.0 True
12 3 5 2.2886212019715484 8.910227198020936 0.7962985964476462 0.10646082199215787 6 3.037745853837991 0.011008298723512349 0.0821707761041294 1.0 True
13 3 6 2.618668779147775 47.63555775102663 0.8376509054325956 0.10956583416752531 6 3.1930663579156175 0.001222821038315667 0.092075215117626 1.0 True
14 4 5 5.5767898078953735 41.431753474126985 0.6652516676773802 0.12322094568315027 6 4.985227704290953 0.005399786589871835 0.13893507775898076 0.0 False multistart_instability
15 4 6 6.68811709459501 97.97753842317455 0.04910385465259023 0.15664415071522125 6 4.835889397197473 2.574198069897065 12.647326063758534 0.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
16 4 7 6.153247042777442 123.28910472998353 0.020756115641215715 0.16997351387143192 6 17.054474046975617 5.52282870653845 6.186988956437115 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
17 5 6 2.0562758992403367 56.545784949047565 0.7526921648718901 0.10924852668609375 6 3.289802074469562 0.012374747586500019 0.14461856068328793 1.0 True
18 5 7 0.5812996709001959 81.85735125585653 0.7833561729164071 0.11683079277948678 6 2.8807765869032624 0.013689874812447942 0.20006562776472953 1.0 True
19 5 8 2.6887856969568644 172.47951556359513 0.3979730564825114 0.13180114830799514 6 4.4867592164383865 2.902311115345869 2.1073169352638135 1.0 False forward_reverse_translation;forward_reverse_rotation
20 6 7 1.9723544820714844 25.311566306808967 0.8497729566094854 0.10415909908074775 6 3.3759361297847534 0.008986805974950147 0.13099479506412062 1.0 True
21 6 8 0.7288530799256238 115.93373061454484 0.7678928928928929 0.1116672507978127 6 3.260920573387359 0.010085391730567652 0.1175283699615622 1.0 True
22 6 9 7.898758206937296 103.90638727582184 0.6071384156199477 0.12594282886521943 6 6.882498483502542 2.7065494720876333 9.167174886516003 1.0 False forward_reverse_translation;forward_reverse_rotation
23 7 8 2.6747845281541447 90.62216430773587 0.8299748110831234 0.10748525688830211 6 3.0071179226782405 0.00710646197885058 0.1069872847368705 1.0 True
24 7 9 8.06955581661561 78.59482096901287 0.6188509200150206 0.12713205078393502 6 6.716979637303372 6.104542218165768 6.596313811797356 0.0 False forward_reverse_translation;forward_reverse_rotation;multistart_instability
25 7 10 8.088675434881791 134.6003195530505 0.04729478766868887 0.16509079956796627 6 8.903210909129099 5.698690438550839 24.43813017288333 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
26 8 9 7.73033999229505 12.027343338722995 0.6326834719980131 0.12084265385763364 6 5.53968988049318 2.4349995045990127 17.158034002952295 1.0 False forward_reverse_translation;forward_reverse_rotation
27 8 10 8.378411682322204 43.97815524531458 0.6163861933423412 0.1293602846396598 6 4.789005902863083 0.011327540721531722 0.17059480981566605 0.0 False multistart_instability
28 8 11 11.214115106391473 22.60670813095403 0.035782503501846426 0.17440177580299876 6 9.744579276034784 1.861364410474017 5.099464012971126 1.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
29 9 10 1.9264207261313253 56.00549858403757 0.6543345543345543 0.10729272360686744 6 3.3788563349731624 1.6360232143180424 5.55466982065639 1.0 False forward_reverse_translation;forward_reverse_rotation
30 9 11 4.747620352849464 34.63405146967702 0.5818780055682106 0.1171768781510077 6 3.555986532172078 0.00981302583568424 0.06035460198954135 1.0 True
31 9 12 7.208566899019793 16.356227217122623 0.5379123584441162 0.12645695585785705 6 4.882558096197047 0.008862930161051686 0.11566409877698092 1.0 True
32 10 11 3.0731501091601263 21.371447114360553 0.7118898623279099 0.1192865608074921 6 3.220203471557625 0.0029529340190141227 0.004176908093440082 1.0 True
33 10 12 6.011368280631378 39.649271366914945 0.6120311738918656 0.12525652128126136 6 4.691686416856208 0.005686910809247203 0.10204044727299268 1.0 True
34 10 13 9.76425648692991 72.41150002956132 0.516551290119572 0.1354903305714048 6 7.346543684414896 0.013565042721589003 0.32552304340992394 1.0 True
35 11 12 3.3258193587172027 18.277824252554396 0.650555275113579 0.12104882943540898 6 4.612247786063477 0.003583199374507776 0.03300207707174117 1.0 True
36 11 13 7.195203402213438 51.04005291520078 0.5698054068172914 0.1285866274322162 6 7.539783468898048 0.016001435752898144 0.11059625579950419 1.0 True
37 11 14 3.634158560526847 20.548768889074672 0.6420881321982974 0.12414062948335593 6 4.952265047266808 0.012369101516230316 0.01870506040605898 1.0 True
38 12 13 3.8697507070400543 32.762228662646386 0.6972966112450819 0.1168089621311632 6 4.28224799374136 0.01141023876783206 0.04779713993428384 1.0 True
39 12 14 0.9871080784265185 2.2709446365202766 0.8749086479902558 0.09521299965540625 6 3.309695139564422 0.006159472215773367 0.014929948455569534 1.0 True
40 12 15 4.171948395051693 25.86371030092923 0.7022030893897189 0.11797995277580106 6 4.277232786772136 0.008495008365046321 0.10278299144703042 1.0 True
41 13 14 3.7992314627329202 30.491284026126113 0.6955810147299509 0.11455956122705321 6 3.350289886810734 0.01022866463344607 0.03515966054944392 1.0 True
42 13 15 0.9105848166450461 6.898518361717151 0.868300353819945 0.1045421356808481 6 3.2437357133954023 0.002375025382773949 0.01072504764419793 1.0 True
43 13 16 3.4957081323467 18.94489979461447 0.7265456392027422 0.1096252966406241 6 3.5227514244456217 0.008958927594996346 0.03041438512426757 1.0 True
44 14 15 3.8816793634199405 23.592765664408958 0.7120070334086913 0.11868441290330703 6 4.62059246950246 0.002571958018980028 0.055069197511519646 1.0 True
45 14 16 7.29101265002769 49.43618382074057 0.5918615984405458 0.12229328437386515 6 7.149509813179227 0.014273957859025563 0.25325650727957555 1.0 True
46 14 17 5.915950814087913 0.8461207481731609 0.6694009445687298 0.12443900216431925 6 5.1577414296960065 0.0178952010004604 0.10920228290609924 1.0 True
47 15 16 3.579287497246505 25.843418156331627 0.702887537993921 0.11495230769293859 6 3.5402899763525375 0.013545291843396808 0.03346625178333291 1.0 True
48 15 17 2.2400625117908257 24.438886412582114 0.7429531936901991 0.11679524427533863 6 3.5266643942801554 0.009894110027911674 0.07786907370565768 1.0 True
49 15 18 4.6956742726068 3.452521908779405 0.7209645010046886 0.11716134583909138 6 4.125231895423439 0.01165472931184747 0.13683586564190106 1.0 True
50 16 17 2.956793995513645 50.28230456891372 0.618922305764411 0.11254196340940027 6 4.068632188828398 0.031047860213503222 0.10375098145236057 1.0 True
51 16 18 3.369822545690391 22.390896247552213 0.6890156918687589 0.11084024896736888 6 4.421167108842175 0.01556225520373068 0.02495881796885156 1.0 True
52 16 19 2.313038703742191 30.035090485266096 0.8685060899826 0.10135543575024479 6 2.9200722330018793 0.0029522513838272538 0.02753369989558306 1.0 True
53 17 18 2.517968959880004 27.89140832136152 0.7697708305735859 0.10648049893472189 6 3.792822356453168 0.010582276181446961 0.03959905194910384 1.0 True
54 17 19 3.518310045065406 80.31739505417983 0.6293759512937596 0.10954497717502036 6 3.648306929393189 0.012240937390578075 0.06030618467886912 1.0 True
55 17 20 3.4199679241812992 152.98392843416642 0.6014520938674964 0.12300562605352787 6 4.719447385686111 0.03231013197809958 0.12856862709639913 0.0 False multistart_instability
56 18 19 2.0416624616211574 52.42598673281832 0.6827314510833881 0.10834806615100022 6 3.5073857685652805 0.012418496053909043 0.11905018881087433 1.0 True
57 18 20 5.836864764777489 125.0925201128049 0.5756313809779688 0.1265759478434111 6 5.389095141151799 0.012917057356044254 0.2404237301134517 0.0 False multistart_instability
58 18 21 10.84206419743439 175.70238585457497 0.2352252017703723 0.15182541744787395 6 9.65894418804011 0.2039286327273425 0.13690658217533308 0.0 False heldout_inlier_ratio;forward_reverse_translation;multistart_instability
59 19 20 6.120105723142265 72.6665333799865 0.6234734541714874 0.1277530580405749 6 5.958603794025071 0.009237066767190974 0.22540488888103255 1.0 True
60 19 21 11.201089261967727 123.27639912174082 0.3788200074840963 0.1468780339612994 6 10.170069582593085 4.607025297377655 2.696881779819613 1.0 False forward_reverse_translation;forward_reverse_rotation
61 19 22 13.962230939038237 128.85294276465584 0.17798277982779828 0.15985830060250797 6 11.806596815871064 2.332292389085354 2.4044448240559984 0.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
62 20 21 5.091648376409225 50.60986574175432 0.6596992097884272 0.12147955429086157 6 4.082032735955382 0.014725537493639118 0.19884224722867958 1.0 True
63 20 22 7.842914217245693 56.186409384669375 0.5739414499308958 0.13255415786946775 6 5.3284863413522086 0.006040617548523686 0.19706632354686843 1.0 True
64 20 23 4.953146569484805 70.79178325235414 0.6456945156330087 0.12075756038041646 6 3.9642702950866346 0.02294901101348451 0.19112109479244785 1.0 True
65 21 22 2.836151129858731 5.576543642915048 0.7716237647919971 0.1163227135854156 6 2.7962015303291894 0.009963578798274064 0.1533289219532281 1.0 True
66 21 23 1.4635995041292513 20.181917510599828 0.8576224819696593 0.09865676260631218 6 3.036795069384516 0.00392257332509571 0.00898487649366286 1.0 True
67 21 24 2.7001854883863183 54.59467208208592 0.7715940569126165 0.11361504553552869 6 2.7681582493333527 0.007475673605592584 0.04227769001294981 1.0 True
68 22 23 3.806551883906871 14.605373867684776 0.7396689147762109 0.11702962848624102 6 3.414804725088913 0.018140159434305195 0.1184732181610567 1.0 True
69 22 24 4.999470711928798 49.01812843917085 0.6983240223463687 0.11898873157361631 6 3.633465593686572 1.9214516862996405 12.118772315210817 1.0 False forward_reverse_translation;forward_reverse_rotation
70 22 25 2.281002791409386 12.391903814042275 0.736861094407697 0.1158639471011007 6 2.383007054117406 0.01855955252477569 0.06452602797902846 1.0 True
71 23 24 1.2663665558774873 34.41275457148608 0.7853164556962026 0.11287254423109305 6 2.4099218288471635 0.002195759849349955 0.03211295915781923 1.0 True
72 23 25 5.050865141821003 2.213470053642503 0.6881127450980392 0.12303206700403985 6 2.936372721803798 0.004939188019097873 0.12964064637099942 1.0 True
73 23 26 5.595299803053147 40.730927532824325 0.6852618757612667 0.12040544972155913 6 3.059006509397719 0.006032445250251169 0.14039335223022864 1.0 True
74 24 25 6.316196707646632 36.626224625128586 0.677667493796526 0.1234631580581415 6 3.6286524357748364 0.023479226891170584 0.16273859629355136 1.0 True
75 24 26 6.840027061556236 6.318172961338242 0.6530209617755857 0.12710147612984235 6 3.5331859775372023 0.013311199903813952 0.18193579850150715 1.0 True
76 24 27 7.477875812552711 31.60254826458195 0.6649014778325123 0.12481159614427853 6 4.10006355979974 0.01787282120544869 0.1680556511623414 1.0 True
77 25 26 1.433673687807028 42.944397586466835 0.9127837514934289 0.09581429165893823 6 2.9017658682436958 0.0035341488401767693 0.018440169300164816 1.0 True
78 25 27 1.973107678535245 68.22877288971054 0.8510739856801909 0.10418150333394123 6 2.3682534170899983 0.006103232696003387 0.13366555345654282 1.0 True
79 25 28 2.578633669986193 88.09106909546726 0.8853518429870751 0.10761251229651997 6 2.6372860976794636 0.0034832316659127254 0.03697744201993421 1.0 True
80 26 27 0.6711664435459649 25.284375303243706 0.9183867141162515 0.09074909570650827 6 2.8142315359282533 0.00040199505815399084 0.011554314408123986 1.0 True
81 26 28 1.202247282991071 45.146671509000434 0.8853200095170116 0.1060418493965508 6 2.65640202778952 0.007320240476184076 0.12930335868606002 1.0 True
82 26 29 0.8313560685788559 87.41573662125148 0.7880466815984911 0.10871274240898261 6 3.111957466886598 0.006395243061058376 0.039517035902872893 1.0 True
83 27 28 0.6147316450225401 19.862296205756735 0.9289448669201521 0.08505095515326752 6 2.9632528684698194 0.005157655135593023 0.02266680787731125 1.0 True
84 27 29 0.7540837235696874 62.13136131800778 0.7872365477452019 0.1045551346483567 6 2.9621627623005304 0.011650639607012715 0.16247191340775555 1.0 True
85 27 30 5.07252652550922 152.0939255621477 0.03871268656716418 0.16956979514477974 6 145.85449900829832 4.5477385995336626 37.97511303619642 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
86 28 29 1.3242039147826599 42.26906511225104 0.8000944621560987 0.10865475473581254 6 3.146622410005858 0.001139416496730335 0.02119627748722763 1.0 True
87 28 30 5.091487440029177 132.23162935639098 0.7721000935453695 0.10815845248211022 6 2.292141242686861 0.004462522533166182 0.03583195432667579 1.0 True
88 28 31 6.538757407908195 158.84212980112872 0.7465330381074466 0.10669666534392452 6 2.40259836682247 0.0063576490595817345 0.04001661521442668 1.0 True
89 29 30 4.767831371266539 89.96256424413991 0.7248812145092132 0.10870831469083345 6 2.947122380473709 0.004656385377159087 0.12465763189228557 0.0 False multistart_instability
90 29 31 5.715598450796842 116.57306468887764 0.7243012243012243 0.11138751941762652 6 2.7645021322697088 0.0042639063218924715 0.04663739608639213 0.0 False multistart_instability
91 29 32 5.281749147864957 159.39493219688646 0.32491640724086246 0.14745892800230104 6 2.8081088899077167 4.8118414680497805 1.8382424276135385 1.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
92 30 31 2.604154101624297 26.610500444737717 0.8185562292643862 0.09615795732951272 6 2.899558208444641 0.0049991634555749285 0.021384795873435915 1.0 True
93 30 32 1.69105635082049 69.43236795274656 0.8041343079031521 0.09953343153684206 6 2.614616874224757 0.0031713764951448154 0.023767377748422268 1.0 True
94 30 33 3.2411277385703925 160.7145717128097 0.05469213429825602 0.15997514255683 6 6.323554164510002 5.32763716297551 13.705863888332022 0.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
95 31 32 0.9137201114724802 42.82186750800884 0.8157085941946499 0.09925944770258255 6 3.048541140076824 0.004719596234885736 0.06146741991683861 1.0 True
96 31 33 1.4965271484681508 134.10407126807198 0.760345235280208 0.09698073659477859 6 2.550150787416455 0.0019366659831763946 0.026538404789073603 1.0 True
97 32 33 1.9169426499676907 91.28220376006315 0.7569928006609229 0.10008740880870787 6 3.6611044282667184 2.9881933505092046 2.6964434945984053 0.0 False forward_reverse_translation;forward_reverse_rotation;multistart_instability
results/reference_data4/open3d_gicp/B_refined.npz
BIN
View File
Binary file not shown.
results/reference_data4/open3d_gicp/B_refined.refinement.json
+889
View File
@@ -0,0 +1,889 @@
{
"selection_is_X_independent": true,
"criteria": {
"min_inlier_ratio": 0.7,
"max_inlier_rmse_m": 0.13,
"max_rotation_invariant_error_deg": 0.75,
"reverse_translation_tolerance_m": 0.05,
"reverse_rotation_tolerance_deg": 0.5
},
"input_pairs": 73,
"accepted_pairs": 41,
"pairs": [
{
"i": 0,
"j": 1,
"heldout_inlier_ratio": 0.8061657032755298,
"heldout_inlier_rmse_m": 0.10961296014103396,
"rotation_invariant_error_deg": 0.021953694767642418,
"reverse_translation_m": 0.004225163540003575,
"reverse_rotation_deg": 0.1530449067720668,
"accepted": true,
"rejection_reasons": []
},
{
"i": 0,
"j": 2,
"heldout_inlier_ratio": 0.7489394523717702,
"heldout_inlier_rmse_m": 0.116305716193008,
"rotation_invariant_error_deg": 0.672251363597141,
"reverse_translation_m": 0.02073003109723684,
"reverse_rotation_deg": 0.12418344306819311,
"accepted": true,
"rejection_reasons": []
},
{
"i": 0,
"j": 3,
"heldout_inlier_ratio": 0.6310283235519265,
"heldout_inlier_rmse_m": 0.12470979645173097,
"rotation_invariant_error_deg": 0.3195502906704917,
"reverse_translation_m": 0.02154775870989652,
"reverse_rotation_deg": 0.25399044979598373,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 1,
"j": 2,
"heldout_inlier_ratio": 0.7867383512544803,
"heldout_inlier_rmse_m": 0.11079021393934946,
"rotation_invariant_error_deg": 0.6532823847336218,
"reverse_translation_m": 0.00768232673944143,
"reverse_rotation_deg": 0.0508043300468843,
"accepted": true,
"rejection_reasons": []
},
{
"i": 1,
"j": 3,
"heldout_inlier_ratio": 0.6794562317367552,
"heldout_inlier_rmse_m": 0.11907169138096609,
"rotation_invariant_error_deg": 0.28968149037613955,
"reverse_translation_m": 0.024832409186708038,
"reverse_rotation_deg": 0.29364088503444125,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 1,
"j": 4,
"heldout_inlier_ratio": 0.6786112833230006,
"heldout_inlier_rmse_m": 0.1125501582315264,
"rotation_invariant_error_deg": 0.23509206217087808,
"reverse_translation_m": 0.0077657602443488094,
"reverse_rotation_deg": 0.07274574571529673,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 2,
"j": 3,
"heldout_inlier_ratio": 0.7586776859504132,
"heldout_inlier_rmse_m": 0.11541610277862546,
"rotation_invariant_error_deg": 0.06385020919199427,
"reverse_translation_m": 0.007879904085790266,
"reverse_rotation_deg": 0.11659483159927261,
"accepted": true,
"rejection_reasons": []
},
{
"i": 2,
"j": 4,
"heldout_inlier_ratio": 0.7854572527608884,
"heldout_inlier_rmse_m": 0.1098649389241602,
"rotation_invariant_error_deg": 0.8714733340459802,
"reverse_translation_m": 0.017042953274276868,
"reverse_rotation_deg": 0.09383247792992644,
"accepted": false,
"rejection_reasons": [
"rotation_conjugacy_invariant"
]
},
{
"i": 2,
"j": 5,
"heldout_inlier_ratio": 0.7074574574574575,
"heldout_inlier_rmse_m": 0.11912871456224486,
"rotation_invariant_error_deg": 0.18237928888532906,
"reverse_translation_m": 0.016640250279170064,
"reverse_rotation_deg": 0.24773491621516538,
"accepted": true,
"rejection_reasons": []
},
{
"i": 3,
"j": 4,
"heldout_inlier_ratio": 0.6974624291697462,
"heldout_inlier_rmse_m": 0.11727630888949149,
"rotation_invariant_error_deg": 0.4902436735823201,
"reverse_translation_m": 0.0121487212194689,
"reverse_rotation_deg": 0.20793086843827258,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 3,
"j": 5,
"heldout_inlier_ratio": 0.7962985964476462,
"heldout_inlier_rmse_m": 0.10646082199215787,
"rotation_invariant_error_deg": 0.5522737825084345,
"reverse_translation_m": 0.011008298723512349,
"reverse_rotation_deg": 0.0821707761041294,
"accepted": true,
"rejection_reasons": []
},
{
"i": 3,
"j": 6,
"heldout_inlier_ratio": 0.8376509054325956,
"heldout_inlier_rmse_m": 0.10956583416752531,
"rotation_invariant_error_deg": 0.24026261153986894,
"reverse_translation_m": 0.001222821038315667,
"reverse_rotation_deg": 0.092075215117626,
"accepted": true,
"rejection_reasons": []
},
{
"i": 5,
"j": 6,
"heldout_inlier_ratio": 0.7526921648718901,
"heldout_inlier_rmse_m": 0.10924852668609375,
"rotation_invariant_error_deg": 0.8049600839827491,
"reverse_translation_m": 0.012374747586500019,
"reverse_rotation_deg": 0.14461856068328793,
"accepted": false,
"rejection_reasons": [
"rotation_conjugacy_invariant"
]
},
{
"i": 5,
"j": 7,
"heldout_inlier_ratio": 0.7833561729164071,
"heldout_inlier_rmse_m": 0.11683079277948678,
"rotation_invariant_error_deg": 0.7937418989476015,
"reverse_translation_m": 0.013689874812447942,
"reverse_rotation_deg": 0.20006562776472953,
"accepted": false,
"rejection_reasons": [
"rotation_conjugacy_invariant"
]
},
{
"i": 6,
"j": 7,
"heldout_inlier_ratio": 0.8497729566094854,
"heldout_inlier_rmse_m": 0.10415909908074775,
"rotation_invariant_error_deg": 0.026617733421641532,
"reverse_translation_m": 0.008986805974950147,
"reverse_rotation_deg": 0.13099479506412062,
"accepted": true,
"rejection_reasons": []
},
{
"i": 6,
"j": 8,
"heldout_inlier_ratio": 0.7678928928928929,
"heldout_inlier_rmse_m": 0.1116672507978127,
"rotation_invariant_error_deg": 0.32815442351946444,
"reverse_translation_m": 0.010085391730567652,
"reverse_rotation_deg": 0.1175283699615622,
"accepted": true,
"rejection_reasons": []
},
{
"i": 7,
"j": 8,
"heldout_inlier_ratio": 0.8299748110831234,
"heldout_inlier_rmse_m": 0.10748525688830211,
"rotation_invariant_error_deg": 0.29848794137558343,
"reverse_translation_m": 0.00710646197885058,
"reverse_rotation_deg": 0.1069872847368705,
"accepted": true,
"rejection_reasons": []
},
{
"i": 9,
"j": 11,
"heldout_inlier_ratio": 0.5818780055682106,
"heldout_inlier_rmse_m": 0.1171768781510077,
"rotation_invariant_error_deg": 0.2635280280577561,
"reverse_translation_m": 0.00981302583568424,
"reverse_rotation_deg": 0.06035460198954135,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 9,
"j": 12,
"heldout_inlier_ratio": 0.5379123584441162,
"heldout_inlier_rmse_m": 0.12645695585785705,
"rotation_invariant_error_deg": 0.5448949372769505,
"reverse_translation_m": 0.008862930161051686,
"reverse_rotation_deg": 0.11566409877698092,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 10,
"j": 11,
"heldout_inlier_ratio": 0.7118898623279099,
"heldout_inlier_rmse_m": 0.1192865608074921,
"rotation_invariant_error_deg": 0.037876295004018345,
"reverse_translation_m": 0.0029529340190141227,
"reverse_rotation_deg": 0.004176908093440082,
"accepted": true,
"rejection_reasons": []
},
{
"i": 10,
"j": 12,
"heldout_inlier_ratio": 0.6120311738918656,
"heldout_inlier_rmse_m": 0.12525652128126136,
"rotation_invariant_error_deg": 0.22694248875488654,
"reverse_translation_m": 0.005686910809247203,
"reverse_rotation_deg": 0.10204044727299268,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 10,
"j": 13,
"heldout_inlier_ratio": 0.516551290119572,
"heldout_inlier_rmse_m": 0.1354903305714048,
"rotation_invariant_error_deg": 0.7336960316225287,
"reverse_translation_m": 0.013565042721589003,
"reverse_rotation_deg": 0.32552304340992394,
"accepted": false,
"rejection_reasons": [
"overlap_ratio",
"heldout_rmse"
]
},
{
"i": 11,
"j": 12,
"heldout_inlier_ratio": 0.650555275113579,
"heldout_inlier_rmse_m": 0.12104882943540898,
"rotation_invariant_error_deg": 0.16828520325654495,
"reverse_translation_m": 0.003583199374507776,
"reverse_rotation_deg": 0.03300207707174117,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 11,
"j": 13,
"heldout_inlier_ratio": 0.5698054068172914,
"heldout_inlier_rmse_m": 0.1285866274322162,
"rotation_invariant_error_deg": 0.7985328447719269,
"reverse_translation_m": 0.016001435752898144,
"reverse_rotation_deg": 0.11059625579950419,
"accepted": false,
"rejection_reasons": [
"overlap_ratio",
"rotation_conjugacy_invariant"
]
},
{
"i": 11,
"j": 14,
"heldout_inlier_ratio": 0.6420881321982974,
"heldout_inlier_rmse_m": 0.12414062948335593,
"rotation_invariant_error_deg": 0.9364144322988963,
"reverse_translation_m": 0.012369101516230316,
"reverse_rotation_deg": 0.01870506040605898,
"accepted": false,
"rejection_reasons": [
"overlap_ratio",
"rotation_conjugacy_invariant"
]
},
{
"i": 12,
"j": 13,
"heldout_inlier_ratio": 0.6972966112450819,
"heldout_inlier_rmse_m": 0.1168089621311632,
"rotation_invariant_error_deg": 0.9873386907551662,
"reverse_translation_m": 0.01141023876783206,
"reverse_rotation_deg": 0.04779713993428384,
"accepted": false,
"rejection_reasons": [
"overlap_ratio",
"rotation_conjugacy_invariant"
]
},
{
"i": 12,
"j": 14,
"heldout_inlier_ratio": 0.8749086479902558,
"heldout_inlier_rmse_m": 0.09521299965540625,
"rotation_invariant_error_deg": 0.7228372421049902,
"reverse_translation_m": 0.006159472215773367,
"reverse_rotation_deg": 0.014929948455569534,
"accepted": true,
"rejection_reasons": []
},
{
"i": 12,
"j": 15,
"heldout_inlier_ratio": 0.7022030893897189,
"heldout_inlier_rmse_m": 0.11797995277580106,
"rotation_invariant_error_deg": 0.34088274652411243,
"reverse_translation_m": 0.008495008365046321,
"reverse_rotation_deg": 0.10278299144703042,
"accepted": true,
"rejection_reasons": []
},
{
"i": 13,
"j": 14,
"heldout_inlier_ratio": 0.6955810147299509,
"heldout_inlier_rmse_m": 0.11455956122705321,
"rotation_invariant_error_deg": 1.7562842773469676,
"reverse_translation_m": 0.01022866463344607,
"reverse_rotation_deg": 0.03515966054944392,
"accepted": false,
"rejection_reasons": [
"overlap_ratio",
"rotation_conjugacy_invariant"
]
},
{
"i": 13,
"j": 15,
"heldout_inlier_ratio": 0.868300353819945,
"heldout_inlier_rmse_m": 0.1045421356808481,
"rotation_invariant_error_deg": 0.6514660625063202,
"reverse_translation_m": 0.002375025382773949,
"reverse_rotation_deg": 0.01072504764419793,
"accepted": true,
"rejection_reasons": []
},
{
"i": 13,
"j": 16,
"heldout_inlier_ratio": 0.7265456392027422,
"heldout_inlier_rmse_m": 0.1096252966406241,
"rotation_invariant_error_deg": 0.48470120712195097,
"reverse_translation_m": 0.008958927594996346,
"reverse_rotation_deg": 0.03041438512426757,
"accepted": true,
"rejection_reasons": []
},
{
"i": 14,
"j": 15,
"heldout_inlier_ratio": 0.7120070334086913,
"heldout_inlier_rmse_m": 0.11868441290330703,
"rotation_invariant_error_deg": 1.1046128571505562,
"reverse_translation_m": 0.002571958018980028,
"reverse_rotation_deg": 0.055069197511519646,
"accepted": false,
"rejection_reasons": [
"rotation_conjugacy_invariant"
]
},
{
"i": 14,
"j": 16,
"heldout_inlier_ratio": 0.5918615984405458,
"heldout_inlier_rmse_m": 0.12229328437386515,
"rotation_invariant_error_deg": 1.240484202449963,
"reverse_translation_m": 0.014273957859025563,
"reverse_rotation_deg": 0.25325650727957555,
"accepted": false,
"rejection_reasons": [
"overlap_ratio",
"rotation_conjugacy_invariant"
]
},
{
"i": 14,
"j": 17,
"heldout_inlier_ratio": 0.6694009445687298,
"heldout_inlier_rmse_m": 0.12443900216431925,
"rotation_invariant_error_deg": 0.4822313558358869,
"reverse_translation_m": 0.0178952010004604,
"reverse_rotation_deg": 0.10920228290609924,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 15,
"j": 16,
"heldout_inlier_ratio": 0.702887537993921,
"heldout_inlier_rmse_m": 0.11495230769293859,
"rotation_invariant_error_deg": 0.16340661916523302,
"reverse_translation_m": 0.013545291843396808,
"reverse_rotation_deg": 0.03346625178333291,
"accepted": true,
"rejection_reasons": []
},
{
"i": 15,
"j": 17,
"heldout_inlier_ratio": 0.7429531936901991,
"heldout_inlier_rmse_m": 0.11679524427533863,
"rotation_invariant_error_deg": 0.050851974711708436,
"reverse_translation_m": 0.009894110027911674,
"reverse_rotation_deg": 0.07786907370565768,
"accepted": true,
"rejection_reasons": []
},
{
"i": 15,
"j": 18,
"heldout_inlier_ratio": 0.7209645010046886,
"heldout_inlier_rmse_m": 0.11716134583909138,
"rotation_invariant_error_deg": 0.26477152026833295,
"reverse_translation_m": 0.01165472931184747,
"reverse_rotation_deg": 0.13683586564190106,
"accepted": true,
"rejection_reasons": []
},
{
"i": 16,
"j": 17,
"heldout_inlier_ratio": 0.618922305764411,
"heldout_inlier_rmse_m": 0.11254196340940027,
"rotation_invariant_error_deg": 0.05549924909794868,
"reverse_translation_m": 0.031047860213503222,
"reverse_rotation_deg": 0.10375098145236057,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 16,
"j": 18,
"heldout_inlier_ratio": 0.6890156918687589,
"heldout_inlier_rmse_m": 0.11084024896736888,
"rotation_invariant_error_deg": 0.06628387310017914,
"reverse_translation_m": 0.01556225520373068,
"reverse_rotation_deg": 0.02495881796885156,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 16,
"j": 19,
"heldout_inlier_ratio": 0.8685060899826,
"heldout_inlier_rmse_m": 0.10135543575024479,
"rotation_invariant_error_deg": 0.3152201090321931,
"reverse_translation_m": 0.0029522513838272538,
"reverse_rotation_deg": 0.02753369989558306,
"accepted": true,
"rejection_reasons": []
},
{
"i": 17,
"j": 18,
"heldout_inlier_ratio": 0.7697708305735859,
"heldout_inlier_rmse_m": 0.10648049893472189,
"rotation_invariant_error_deg": 0.2007356143443495,
"reverse_translation_m": 0.010582276181446961,
"reverse_rotation_deg": 0.03959905194910384,
"accepted": true,
"rejection_reasons": []
},
{
"i": 17,
"j": 19,
"heldout_inlier_ratio": 0.6293759512937596,
"heldout_inlier_rmse_m": 0.10954497717502036,
"rotation_invariant_error_deg": 0.25455213438726787,
"reverse_translation_m": 0.012240937390578075,
"reverse_rotation_deg": 0.06030618467886912,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 18,
"j": 19,
"heldout_inlier_ratio": 0.6827314510833881,
"heldout_inlier_rmse_m": 0.10834806615100022,
"rotation_invariant_error_deg": 0.4543752098998439,
"reverse_translation_m": 0.012418496053909043,
"reverse_rotation_deg": 0.11905018881087433,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 19,
"j": 20,
"heldout_inlier_ratio": 0.6234734541714874,
"heldout_inlier_rmse_m": 0.1277530580405749,
"rotation_invariant_error_deg": 0.038058886117710244,
"reverse_translation_m": 0.009237066767190974,
"reverse_rotation_deg": 0.22540488888103255,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 20,
"j": 21,
"heldout_inlier_ratio": 0.6596992097884272,
"heldout_inlier_rmse_m": 0.12147955429086157,
"rotation_invariant_error_deg": 0.33308699073501913,
"reverse_translation_m": 0.014725537493639118,
"reverse_rotation_deg": 0.19884224722867958,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 20,
"j": 22,
"heldout_inlier_ratio": 0.5739414499308958,
"heldout_inlier_rmse_m": 0.13255415786946775,
"rotation_invariant_error_deg": 0.49226728584466883,
"reverse_translation_m": 0.006040617548523686,
"reverse_rotation_deg": 0.19706632354686843,
"accepted": false,
"rejection_reasons": [
"overlap_ratio",
"heldout_rmse"
]
},
{
"i": 20,
"j": 23,
"heldout_inlier_ratio": 0.6456945156330087,
"heldout_inlier_rmse_m": 0.12075756038041646,
"rotation_invariant_error_deg": 0.4097857444953803,
"reverse_translation_m": 0.02294901101348451,
"reverse_rotation_deg": 0.19112109479244785,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 21,
"j": 22,
"heldout_inlier_ratio": 0.7716237647919971,
"heldout_inlier_rmse_m": 0.1163227135854156,
"rotation_invariant_error_deg": 0.20299476740399935,
"reverse_translation_m": 0.009963578798274064,
"reverse_rotation_deg": 0.1533289219532281,
"accepted": true,
"rejection_reasons": []
},
{
"i": 21,
"j": 23,
"heldout_inlier_ratio": 0.8576224819696593,
"heldout_inlier_rmse_m": 0.09865676260631218,
"rotation_invariant_error_deg": 0.08196486868098773,
"reverse_translation_m": 0.00392257332509571,
"reverse_rotation_deg": 0.00898487649366286,
"accepted": true,
"rejection_reasons": []
},
{
"i": 21,
"j": 24,
"heldout_inlier_ratio": 0.7715940569126165,
"heldout_inlier_rmse_m": 0.11361504553552869,
"rotation_invariant_error_deg": 0.4941752812908575,
"reverse_translation_m": 0.007475673605592584,
"reverse_rotation_deg": 0.04227769001294981,
"accepted": true,
"rejection_reasons": []
},
{
"i": 22,
"j": 23,
"heldout_inlier_ratio": 0.7396689147762109,
"heldout_inlier_rmse_m": 0.11702962848624102,
"rotation_invariant_error_deg": 0.07221906147914936,
"reverse_translation_m": 0.018140159434305195,
"reverse_rotation_deg": 0.1184732181610567,
"accepted": true,
"rejection_reasons": []
},
{
"i": 22,
"j": 25,
"heldout_inlier_ratio": 0.736861094407697,
"heldout_inlier_rmse_m": 0.1158639471011007,
"rotation_invariant_error_deg": 0.19913456977445776,
"reverse_translation_m": 0.01855955252477569,
"reverse_rotation_deg": 0.06452602797902846,
"accepted": true,
"rejection_reasons": []
},
{
"i": 23,
"j": 24,
"heldout_inlier_ratio": 0.7853164556962026,
"heldout_inlier_rmse_m": 0.11287254423109305,
"rotation_invariant_error_deg": 0.5709657470221714,
"reverse_translation_m": 0.002195759849349955,
"reverse_rotation_deg": 0.03211295915781923,
"accepted": true,
"rejection_reasons": []
},
{
"i": 23,
"j": 25,
"heldout_inlier_ratio": 0.6881127450980392,
"heldout_inlier_rmse_m": 0.12303206700403985,
"rotation_invariant_error_deg": 2.3734594630006685,
"reverse_translation_m": 0.004939188019097873,
"reverse_rotation_deg": 0.12964064637099942,
"accepted": false,
"rejection_reasons": [
"overlap_ratio",
"rotation_conjugacy_invariant"
]
},
{
"i": 23,
"j": 26,
"heldout_inlier_ratio": 0.6852618757612667,
"heldout_inlier_rmse_m": 0.12040544972155913,
"rotation_invariant_error_deg": 0.15748268923838538,
"reverse_translation_m": 0.006032445250251169,
"reverse_rotation_deg": 0.14039335223022864,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 24,
"j": 25,
"heldout_inlier_ratio": 0.677667493796526,
"heldout_inlier_rmse_m": 0.1234631580581415,
"rotation_invariant_error_deg": 0.10001483417664048,
"reverse_translation_m": 0.023479226891170584,
"reverse_rotation_deg": 0.16273859629355136,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 24,
"j": 26,
"heldout_inlier_ratio": 0.6530209617755857,
"heldout_inlier_rmse_m": 0.12710147612984235,
"rotation_invariant_error_deg": 0.7149536911782421,
"reverse_translation_m": 0.013311199903813952,
"reverse_rotation_deg": 0.18193579850150715,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 24,
"j": 27,
"heldout_inlier_ratio": 0.6649014778325123,
"heldout_inlier_rmse_m": 0.12481159614427853,
"rotation_invariant_error_deg": 0.5126580224867077,
"reverse_translation_m": 0.01787282120544869,
"reverse_rotation_deg": 0.1680556511623414,
"accepted": false,
"rejection_reasons": [
"overlap_ratio"
]
},
{
"i": 25,
"j": 26,
"heldout_inlier_ratio": 0.9127837514934289,
"heldout_inlier_rmse_m": 0.09581429165893823,
"rotation_invariant_error_deg": 0.0540123863768045,
"reverse_translation_m": 0.0035341488401767693,
"reverse_rotation_deg": 0.018440169300164816,
"accepted": true,
"rejection_reasons": []
},
{
"i": 25,
"j": 27,
"heldout_inlier_ratio": 0.8510739856801909,
"heldout_inlier_rmse_m": 0.10418150333394123,
"rotation_invariant_error_deg": 0.24124343828050598,
"reverse_translation_m": 0.006103232696003387,
"reverse_rotation_deg": 0.13366555345654282,
"accepted": true,
"rejection_reasons": []
},
{
"i": 25,
"j": 28,
"heldout_inlier_ratio": 0.8853518429870751,
"heldout_inlier_rmse_m": 0.10761251229651997,
"rotation_invariant_error_deg": 0.31032271091986274,
"reverse_translation_m": 0.0034832316659127254,
"reverse_rotation_deg": 0.03697744201993421,
"accepted": true,
"rejection_reasons": []
},
{
"i": 26,
"j": 27,
"heldout_inlier_ratio": 0.9183867141162515,
"heldout_inlier_rmse_m": 0.09074909570650827,
"rotation_invariant_error_deg": 0.1549242409220426,
"reverse_translation_m": 0.00040199505815399084,
"reverse_rotation_deg": 0.011554314408123986,
"accepted": true,
"rejection_reasons": []
},
{
"i": 26,
"j": 28,
"heldout_inlier_ratio": 0.8853200095170116,
"heldout_inlier_rmse_m": 0.1060418493965508,
"rotation_invariant_error_deg": 0.2535175622408232,
"reverse_translation_m": 0.007320240476184076,
"reverse_rotation_deg": 0.12930335868606002,
"accepted": true,
"rejection_reasons": []
},
{
"i": 26,
"j": 29,
"heldout_inlier_ratio": 0.7880466815984911,
"heldout_inlier_rmse_m": 0.10871274240898261,
"rotation_invariant_error_deg": 0.6273264323501451,
"reverse_translation_m": 0.006395243061058376,
"reverse_rotation_deg": 0.039517035902872893,
"accepted": true,
"rejection_reasons": []
},
{
"i": 27,
"j": 28,
"heldout_inlier_ratio": 0.9289448669201521,
"heldout_inlier_rmse_m": 0.08505095515326752,
"rotation_invariant_error_deg": 0.06642597183531862,
"reverse_translation_m": 0.005157655135593023,
"reverse_rotation_deg": 0.02266680787731125,
"accepted": true,
"rejection_reasons": []
},
{
"i": 27,
"j": 29,
"heldout_inlier_ratio": 0.7872365477452019,
"heldout_inlier_rmse_m": 0.1045551346483567,
"rotation_invariant_error_deg": 0.46617350279205994,
"reverse_translation_m": 0.011650639607012715,
"reverse_rotation_deg": 0.16247191340775555,
"accepted": true,
"rejection_reasons": []
},
{
"i": 28,
"j": 29,
"heldout_inlier_ratio": 0.8000944621560987,
"heldout_inlier_rmse_m": 0.10865475473581254,
"rotation_invariant_error_deg": 0.3806425437120282,
"reverse_translation_m": 0.001139416496730335,
"reverse_rotation_deg": 0.02119627748722763,
"accepted": true,
"rejection_reasons": []
},
{
"i": 28,
"j": 30,
"heldout_inlier_ratio": 0.7721000935453695,
"heldout_inlier_rmse_m": 0.10815845248211022,
"rotation_invariant_error_deg": 0.37744105649966286,
"reverse_translation_m": 0.004462522533166182,
"reverse_rotation_deg": 0.03583195432667579,
"accepted": true,
"rejection_reasons": []
},
{
"i": 28,
"j": 31,
"heldout_inlier_ratio": 0.7465330381074466,
"heldout_inlier_rmse_m": 0.10669666534392452,
"rotation_invariant_error_deg": 0.22580828656680296,
"reverse_translation_m": 0.0063576490595817345,
"reverse_rotation_deg": 0.04001661521442668,
"accepted": true,
"rejection_reasons": []
},
{
"i": 30,
"j": 31,
"heldout_inlier_ratio": 0.8185562292643862,
"heldout_inlier_rmse_m": 0.09615795732951272,
"rotation_invariant_error_deg": 0.608920703223724,
"reverse_translation_m": 0.0049991634555749285,
"reverse_rotation_deg": 0.021384795873435915,
"accepted": true,
"rejection_reasons": []
},
{
"i": 30,
"j": 32,
"heldout_inlier_ratio": 0.8041343079031521,
"heldout_inlier_rmse_m": 0.09953343153684206,
"rotation_invariant_error_deg": 0.7410181887106262,
"reverse_translation_m": 0.0031713764951448154,
"reverse_rotation_deg": 0.023767377748422268,
"accepted": true,
"rejection_reasons": []
},
{
"i": 31,
"j": 32,
"heldout_inlier_ratio": 0.8157085941946499,
"heldout_inlier_rmse_m": 0.09925944770258255,
"rotation_invariant_error_deg": 0.1261576421594981,
"reverse_translation_m": 0.004719596234885736,
"reverse_rotation_deg": 0.06146741991683861,
"accepted": true,
"rejection_reasons": []
},
{
"i": 31,
"j": 33,
"heldout_inlier_ratio": 0.760345235280208,
"heldout_inlier_rmse_m": 0.09698073659477859,
"rotation_invariant_error_deg": 0.11718235773108177,
"reverse_translation_m": 0.0019366659831763946,
"reverse_rotation_deg": 0.026538404789073603,
"accepted": true,
"rejection_reasons": []
}
]
}
results/reference_data4/open3d_gicp/extrinsic_rtk_lidar.json
+346
View File
@@ -0,0 +1,346 @@
{
"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": "open3d_gicp",
"measured_lidar_extrinsic_used_as_initial": false,
"body_heading_offset_used": false,
"body_antenna_lever_xy_used": false,
"translation_m": [
1.6368478986289665,
-0.2424214446279586,
0.08408840390370595
],
"rotation_rpy_deg_xyz": [
-0.8529068506201997,
1.3285763243955087,
-22.150129507458946
],
"quaternion_xyzw": [
-0.005076802391609619,
0.012807178841486907,
-0.19199197181185435,
0.9812997936448346
],
"matrix_4x4": [
[
0.9259501178598366,
0.3766733256085306,
0.027084774511975725,
1.6368478986289665
],
[
-0.3769334036732196,
0.9262266176745453,
0.005045979240275979,
-0.2424214446279586
],
[
-0.023185953305318648,
-0.014881481316772506,
0.9996204044951974,
0.08408840390370595
],
[
0.0,
0.0,
0.0,
1.0
]
],
"quality": {
"stations": 34,
"pairs": 41,
"residuals": {
"pairs": 41,
"translation_m": {
"rms": 0.11160362192890017,
"median": 0.06165368731012592,
"p90": 0.12167778728549836,
"p95": 0.12315870952465978,
"max": 0.45797693508387505
},
"rotation_deg": {
"rms": 1.082945057501201,
"median": 0.744916302248719,
"p90": 1.523342607477641,
"p95": 1.864505235125524,
"max": 4.332008025818138
},
"per_pair": [
{
"pair_index": 0,
"translation_m": 0.03696060713715898,
"rotation_deg": 0.7820683861381595
},
{
"pair_index": 1,
"translation_m": 0.039028552931951836,
"rotation_deg": 0.6949685743890126
},
{
"pair_index": 2,
"translation_m": 0.01732676228513485,
"rotation_deg": 1.0438060827136844
},
{
"pair_index": 3,
"translation_m": 0.0574978038017053,
"rotation_deg": 0.394946532754576
},
{
"pair_index": 4,
"translation_m": 0.10801668349596734,
"rotation_deg": 0.29336064351197005
},
{
"pair_index": 5,
"translation_m": 0.06577881887454434,
"rotation_deg": 0.5542732613092561
},
{
"pair_index": 6,
"translation_m": 0.06363940755916121,
"rotation_deg": 0.5890545170693674
},
{
"pair_index": 7,
"translation_m": 0.0640679503495012,
"rotation_deg": 0.746120063911557
},
{
"pair_index": 8,
"translation_m": 0.021009631897429052,
"rotation_deg": 0.6663196620233134
},
{
"pair_index": 9,
"translation_m": 0.08609573827254784,
"rotation_deg": 0.3687772861174946
},
{
"pair_index": 10,
"translation_m": 0.02732304440983888,
"rotation_deg": 0.5222061823280917
},
{
"pair_index": 11,
"translation_m": 0.04489317903985948,
"rotation_deg": 0.8700136243621963
},
{
"pair_index": 12,
"translation_m": 0.07260882213085644,
"rotation_deg": 0.463182802330913
},
{
"pair_index": 13,
"translation_m": 0.08831772542234817,
"rotation_deg": 0.659009021415606
},
{
"pair_index": 14,
"translation_m": 0.053804778572191785,
"rotation_deg": 1.864505235125524
},
{
"pair_index": 15,
"translation_m": 0.12315870952465978,
"rotation_deg": 1.9856861904193648
},
{
"pair_index": 16,
"translation_m": 0.06880647181572622,
"rotation_deg": 0.27331219092746517
},
{
"pair_index": 17,
"translation_m": 0.059582300078982915,
"rotation_deg": 0.3410200031868246
},
{
"pair_index": 18,
"translation_m": 0.034895300030885576,
"rotation_deg": 0.5283410202190479
},
{
"pair_index": 19,
"translation_m": 0.002366788176226253,
"rotation_deg": 0.3852038090000981
},
{
"pair_index": 20,
"translation_m": 0.06233663305653708,
"rotation_deg": 0.6208000110952433
},
{
"pair_index": 21,
"translation_m": 0.012626372544105475,
"rotation_deg": 0.38292733656142575
},
{
"pair_index": 22,
"translation_m": 0.047494831014178666,
"rotation_deg": 1.7712490998072288
},
{
"pair_index": 23,
"translation_m": 0.06165368731012592,
"rotation_deg": 0.8670376638275039
},
{
"pair_index": 24,
"translation_m": 0.12172160687143056,
"rotation_deg": 4.332008025818138
},
{
"pair_index": 25,
"translation_m": 0.06185808030991236,
"rotation_deg": 1.523342607477641
},
{
"pair_index": 26,
"translation_m": 0.049450564075379046,
"rotation_deg": 0.9499016191505171
},
{
"pair_index": 27,
"translation_m": 0.016599648000378425,
"rotation_deg": 0.7685476074882036
},
{
"pair_index": 28,
"translation_m": 0.028501035078080036,
"rotation_deg": 0.9107236146504971
},
{
"pair_index": 29,
"translation_m": 0.05418062512497841,
"rotation_deg": 0.49604339332524483
},
{
"pair_index": 30,
"translation_m": 0.02534272431328254,
"rotation_deg": 0.2798196345939902
},
{
"pair_index": 31,
"translation_m": 0.1006162178003358,
"rotation_deg": 0.9066113005741254
},
{
"pair_index": 32,
"translation_m": 0.023348232889945957,
"rotation_deg": 0.29316028754024664
},
{
"pair_index": 33,
"translation_m": 0.06352851658442724,
"rotation_deg": 1.123276625138155
},
{
"pair_index": 34,
"translation_m": 0.06685972566531029,
"rotation_deg": 0.7607492800980359
},
{
"pair_index": 35,
"translation_m": 0.3534873096430149,
"rotation_deg": 0.744916302248719
},
{
"pair_index": 36,
"translation_m": 0.45797693508387505,
"rotation_deg": 0.7684054290628693
},
{
"pair_index": 37,
"translation_m": 0.10414608850682983,
"rotation_deg": 0.8325040370564112
},
{
"pair_index": 38,
"translation_m": 0.11058068261532474,
"rotation_deg": 0.8695456609442757
},
{
"pair_index": 39,
"translation_m": 0.03405996353456899,
"rotation_deg": 0.7913171839743647
},
{
"pair_index": 40,
"translation_m": 0.12167778728549836,
"rotation_deg": 0.16247416554150054
}
]
},
"weighted_jacobian_condition_number": 7.006062559882809,
"linearized_one_sigma": {
"translation_m": [
0.007129000573825617,
0.007213998960440989,
0.0046717381822970125
],
"rotation_deg": [
0.06695429523124989,
0.06503891988826449,
0.14115095959507304
],
"warning": "conditional local estimate; bootstrap is the primary stability check"
},
"bootstrap": {
"runs": 100,
"order": [
"x_m",
"y_m",
"z_m",
"roll_deg",
"pitch_deg",
"yaw_deg"
],
"std": [
0.002608526149658222,
0.0028276716521100863,
0.0023368456176917846,
0.0795227773764157,
0.07300189168975164,
0.10947642324382982
],
"p025": [
1.6327841703535608,
-0.24653273132861378,
0.07991981050403614,
-0.9872072161381827,
1.1864367848117605,
-22.364052444549895
],
"p975": [
1.6431149050874008,
-0.2355422823589496,
0.08894657837563841,
-0.6759368885907463,
1.4669998309298398,
-21.953029139092944
]
}
},
"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"
}