{ "schema_version": 2, "backend": "open3d", "transform_convention": "B_ij=T_Li_Lj maps station j points into station i", "raw_point_field": "points_raw", "measured_extrinsic_used_as_initial": false, "stations": 38, "candidate_pairs": 108, "accepted_pairs": 108, "parameters": { "command": "pairs", "backend": "open3d", "frames": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\outputs\\calibration_data1_20260720\\prepared\\frames_all", "body": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\outputs\\calibration_data1_20260720\\prepared\\body_poses_rear_gga_raw_rear_to_front.csv", "output": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\rigorous_build\\results\\open3d_gicp\\B_batch2_estimation.npz", "quality_json": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\rigorous_build\\results\\open3d_gicp\\B_batch2_quality.json", "quality_csv": "C:\\Users\\admin\\Documents\\Codex\\2026-07-15\\wo\\rigorous_build\\results\\open3d_gicp\\B_batch2_quality.csv", "time_offset": 0.0, "min_stations": 30, "min_pairs": 25, "min_gap": 1, "max_gap": 3, "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": 40, "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": 1, "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": 106, "translation_rms_m": 0.020350848901853437, "translation_p95_m": 0.04464367942375473, "rotation_rms_deg": 0.2674546762953808, "rotation_p95_deg": 0.5761692075739222 }, "pairs": [ { "i": 0, "j": 1, "lidar_time_i": 1784279335.9505181, "lidar_time_j": 1784279429.4466305, "frame_counter_i": 190, "frame_counter_j": 1125, "rtk_translation_m": 0.503306788400079, "rtk_rotation_deg": 13.198324485965863, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9734962336098426, 0.22869150395714602, 0.002297643417305223, -0.5126455200449422 ], [ -0.22863457813529, 0.9734014906396613, -0.014689033371339515, -0.4285040283413536 ], [ -0.00559578666073166, 0.013774397928947382, 0.9998894704582818, -0.015177554516289335 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8280, "backend_objective": 96.77878203533326, "backend_elapsed_sec": 0.47972870000376133, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8872773536895674, "inlier_rmse_m": 0.2953605277253344, "target_points": 4045, "source_points": 3930 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8423465947403911, "inlier_rmse_m": 0.16827360596674099, "target_points": 7608, "source_points": 7415 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7554055286926376, "inlier_rmse_m": 0.10811225046182082, "target_points": 11238, "source_points": 10961 } ], "heldout_symmetric": { "evaluated": 8264, "inliers": 6568, "inlier_ratio": 0.7947725072604066, "inlier_rmse_m": 0.09714510386272111, "median_m": 0.08145908176917516, "p90_m": 0.7506513799235621, "p95_m": 1.956758597620319 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2985.067950597765, 5263.101798271144, 7386.6848181000605, 8280.0, 8651.599254402347, 9446.414670877506 ], "effective_rank": 6, "scaled_condition_number": 3.1645559924308744, "weakest_scaled_direction": [ 0.9461732481841705, 0.2759432206381766, 0.034330039135898854, -0.034559702916226495, 0.10294116553337077, 0.12506684288950312 ] }, "forward_reverse": { "translation_m": 0.00040681040655899406, "rotation_deg": 0.015836974306118006 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.6013727233123345e-15, "rotation_deg": 1.0449449530345768e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 0, "j": 2, "lidar_time_i": 1784279335.9505181, "lidar_time_j": 1784279517.5427606, "frame_counter_i": 190, "frame_counter_j": 2006, "rtk_translation_m": 1.1601020961002007, "rtk_rotation_deg": 26.306295080591493, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8991348333910094, 0.4376461210422506, 0.0047354112381163965, -1.2994237130614943 ], [ -0.43751132087840516, 0.8990455786347796, -0.017346228422605983, -0.4866528814266956 ], [ -0.01184886012051233, 0.013524802177031465, 0.9998383290512105, -0.03740759870603205 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8207, "backend_objective": 101.92156378870224, "backend_elapsed_sec": 0.2527652999997372, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9102756892230577, "inlier_rmse_m": 0.2796579862971408, "target_points": 4045, "source_points": 3990 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8805656678801456, "inlier_rmse_m": 0.16808583343073918, "target_points": 7608, "source_points": 7142 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7961777260380287, "inlier_rmse_m": 0.11143992792026089, "target_points": 11238, "source_points": 10308 } ], "heldout_symmetric": { "evaluated": 7897, "inliers": 6473, "inlier_ratio": 0.8196783588704571, "inlier_rmse_m": 0.10111548255452249, "median_m": 0.08313635348535349, "p90_m": 0.45326843027951885, "p95_m": 0.8192231529545402 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3668.5485083999256, 5532.67188962687, 7052.484678933464, 8206.999999999996, 9438.18372865436, 11554.58924805422 ], "effective_rank": 6, "scaled_condition_number": 3.1496351272437915, "weakest_scaled_direction": [ 0.9427796721346611, 0.02567160613382652, 0.022269037588016505, -0.01053835518424508, 0.11841540089403894, 0.3096421875555542 ] }, "forward_reverse": { "translation_m": 0.0024786662018318395, "rotation_deg": 0.04305117802148083 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6322927535567607e-15, "rotation_deg": 1.5565004702156658e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 0, "j": 3, "lidar_time_i": 1784279335.9505181, "lidar_time_j": 1784279605.2394407, "frame_counter_i": 190, "frame_counter_j": 2883, "rtk_translation_m": 1.1328421148283978, "rtk_rotation_deg": 41.74134818989305, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7509148099579614, 0.6603844337985864, 0.004398611408123703, -1.4657157076298504 ], [ -0.6601117273045074, 0.7507678840633041, -0.02449676987215658, -0.6527089949188399 ], [ -0.01947962168161213, 0.01549141231877653, 0.9996902322637302, -0.014970046264633597 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8540, "backend_objective": 102.84130662063083, "backend_elapsed_sec": 0.23046449999674223, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9042253521126761, "inlier_rmse_m": 0.28902394369727824, "target_points": 4045, "source_points": 4260 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8676160337552743, "inlier_rmse_m": 0.17102777302572325, "target_points": 7608, "source_points": 7584 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.782624633431085, "inlier_rmse_m": 0.10973744833382358, "target_points": 11238, "source_points": 10912 } ], "heldout_symmetric": { "evaluated": 8061, "inliers": 6586, "inlier_ratio": 0.8170202208162759, "inlier_rmse_m": 0.10132889132333661, "median_m": 0.0817875224062471, "p90_m": 0.47761583340701086, "p95_m": 0.8644647381721635 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4102.544001659771, 5421.08824979732, 7180.413066405343, 8540.000000000002, 9818.178660555453, 12158.647282068503 ], "effective_rank": 6, "scaled_condition_number": 2.9636847958606816, "weakest_scaled_direction": [ 0.8354962777877182, 0.3089723902457714, 0.029385707777420247, -0.0556806116605193, 0.10904164051517179, 0.43660978249000904 ] }, "forward_reverse": { "translation_m": 0.001763337668740155, "rotation_deg": 0.0152261810177797 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.93821660055105e-15, "rotation_deg": 5.321698208332165e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 1, "j": 2, "lidar_time_i": 1784279429.4466305, "lidar_time_j": 1784279517.5427606, "frame_counter_i": 1125, "frame_counter_j": 2006, "rtk_translation_m": 0.6927979865343085, "rtk_rotation_deg": 13.107970594625625, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9753323672199924, 0.220730194350412, 0.00222592791355059, -0.7523440660629745 ], [ -0.22072961648645714, 0.9753349072499967, -0.0005050795799996437, -0.24429662614698391 ], [ -0.002282511508963788, 1.2922477110098485e-06, 0.9999973950663779, -0.017125174982776763 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8029, "backend_objective": 66.02047784180355, "backend_elapsed_sec": 0.2346343999961391, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8734335839598998, "inlier_rmse_m": 0.2849691740907654, "target_points": 3930, "source_points": 3990 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.821758611033324, "inlier_rmse_m": 0.13971739366640104, "target_points": 7415, "source_points": 7142 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7789095847885138, "inlier_rmse_m": 0.09067939266066577, "target_points": 10961, "source_points": 10308 } ], "heldout_symmetric": { "evaluated": 7815, "inliers": 6133, "inlier_ratio": 0.7847728726807421, "inlier_rmse_m": 0.08513837010948266, "median_m": 0.07176116932610245, "p90_m": 0.7934975939266661, "p95_m": 1.8733235788181273 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4454.579710464271, 6514.396396128072, 7936.413625386025, 8029.000000000001, 8811.11036668333, 11789.078896334182 ], "effective_rank": 6, "scaled_condition_number": 2.6465075635845983, "weakest_scaled_direction": [ 0.803186636965093, 0.5652514835415363, 0.009453881440457978, -0.10521957525475914, 0.148744565067408, 0.04578761870442415 ] }, "forward_reverse": { "translation_m": 0.003621881376895638, "rotation_deg": 0.011153493139183525 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.8427467049240674e-15, "rotation_deg": 1.22623021401735e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 1, "j": 3, "lidar_time_i": 1784279429.4466305, "lidar_time_j": 1784279605.2394407, "frame_counter_i": 1125, "frame_counter_j": 2883, "rtk_translation_m": 0.7002295454253883, "rtk_rotation_deg": 28.543023703927183, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8817207453388964, 0.4717607355947109, 0.0032149012673336782, -0.8767105267694579 ], [ -0.4717474983613738, 0.8817240705464141, -0.0041183988208593845, -0.4475837976236766 ], [ -0.004777554689039288, 0.0021146560475875, 0.9999863515073562, 0.004469798445236706 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8310, "backend_objective": 95.57678011327398, "backend_elapsed_sec": 0.23759460000292165, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8654929577464788, "inlier_rmse_m": 0.30523681013160797, "target_points": 3930, "source_points": 4260 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8276635021097046, "inlier_rmse_m": 0.16575412985699545, "target_points": 7415, "source_points": 7584 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7615469208211144, "inlier_rmse_m": 0.10724466225796409, "target_points": 10961, "source_points": 10912 } ], "heldout_symmetric": { "evaluated": 7979, "inliers": 6292, "inlier_ratio": 0.7885699962401304, "inlier_rmse_m": 0.09713251502799032, "median_m": 0.08331516886230406, "p90_m": 0.7943970586055543, "p95_m": 1.911669141071708 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4210.440191682877, 6298.636120734743, 8165.126542058915, 8309.999999999998, 8732.598790002006, 11091.042496215396 ], "effective_rank": 6, "scaled_condition_number": 2.6341764735488145, "weakest_scaled_direction": [ 0.7782074202815449, 0.5900604955646428, 0.016932536793300243, -0.09411488105790934, 0.11979839961495721, 0.15075093500089948 ] }, "forward_reverse": { "translation_m": 0.0014094469663425105, "rotation_deg": 0.02902143941632062 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.280246046433299e-15, "rotation_deg": 1.5260657578101825e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 1, "j": 4, "lidar_time_i": 1784279429.4466305, "lidar_time_j": 1784279701.2360666, "frame_counter_i": 1125, "frame_counter_j": 3843, "rtk_translation_m": 0.8045641659338967, "rtk_rotation_deg": 57.731023816949346, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.5322059747452068, 0.8465748126254197, 0.00823936124586185, -1.0698432000519769 ], [ -0.8463836723676353, 0.5322628617473846, -0.018191348327154598, -0.44568743503695185 ], [ -0.019785843297157574, 0.002707883439146769, 0.9998005740007858, 0.016034215999013033 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7562, "backend_objective": 90.55475380106924, "backend_elapsed_sec": 0.2318271999974968, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8591583556312333, "inlier_rmse_m": 0.31944530774041013, "target_points": 3930, "source_points": 4111 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8139820114472608, "inlier_rmse_m": 0.1768639281630117, "target_points": 7415, "source_points": 7338 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.709247795910711, "inlier_rmse_m": 0.10943022459368498, "target_points": 10961, "source_points": 10662 } ], "heldout_symmetric": { "evaluated": 8068, "inliers": 5941, "inlier_ratio": 0.7363658899355479, "inlier_rmse_m": 0.09863727794945644, "median_m": 0.09079531166458762, "p90_m": 1.0943193500739292, "p95_m": 1.8044928330277628 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3165.7867948401, 4824.453586982898, 7081.286182445055, 7562.0, 7797.8124455109055, 8667.189844161938 ], "effective_rank": 6, "scaled_condition_number": 2.7377680197189993, "weakest_scaled_direction": [ 0.8445095253947827, 0.5059218990415713, 0.02986592888208024, -0.06245666780347373, 0.09662292769496192, 0.12929769669332902 ] }, "forward_reverse": { "translation_m": 0.011592408190980286, "rotation_deg": 0.17084480097436408 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2235741413300504e-15, "rotation_deg": 9.671263678862271e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 3, "lidar_time_i": 1784279517.5427606, "lidar_time_j": 1784279605.2394407, "frame_counter_i": 2006, "frame_counter_j": 2883, "rtk_translation_m": 0.13949776780243606, "rtk_rotation_deg": 15.435053109301553, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9641174087850943, 0.2654755172258279, 0.0006097796284123591, -0.07264947156529913 ], [ -0.2654749494574412, 0.9641173596970266, -0.0008763226597170813, -0.2272094605618682 ], [ -0.0008205413366870627, 0.0006829967159131456, 0.9999994301135383, 0.009647210341142905 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9525, "backend_objective": 62.52233709329205, "backend_elapsed_sec": 0.35214080000150716, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9633802816901409, "inlier_rmse_m": 0.24811040993747058, "target_points": 3990, "source_points": 4260 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9227320675105485, "inlier_rmse_m": 0.13502045327082282, "target_points": 7142, "source_points": 7584 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.872892228739003, "inlier_rmse_m": 0.08101867001922584, "target_points": 10308, "source_points": 10912 } ], "heldout_symmetric": { "evaluated": 7612, "inliers": 6990, "inlier_ratio": 0.918286915396742, "inlier_rmse_m": 0.07288259780013887, "median_m": 0.043270270588385056, "p90_m": 0.20479077644127688, "p95_m": 0.4025860849813979 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 6236.745564937643, 6519.940433830745, 8533.455070765704, 9524.999999999995, 12164.552905748438, 16454.643661298323 ], "effective_rank": 6, "scaled_condition_number": 2.6383381348446657, "weakest_scaled_direction": [ 0.012782244327359757, 0.7530559012345741, 0.004004442775762601, -0.18379043440210505, -0.0002390877436315356, 0.6316236279170773 ] }, "forward_reverse": { "translation_m": 0.002273707715582919, "rotation_deg": 0.0026923349652342365 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.674299346818312e-15, "rotation_deg": 9.508398397529715e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 4, "lidar_time_i": 1784279517.5427606, "lidar_time_j": 1784279701.2360666, "frame_counter_i": 2006, "frame_counter_j": 3843, "rtk_translation_m": 0.6701726006967371, "rtk_rotation_deg": 44.62305322232371, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7053875306561629, 0.7088083922122733, 0.004369751051537653, -0.2590149971858612 ], [ -0.7087789967320047, 0.7053992670216874, -0.006648900423411234, -0.2758845415559492 ], [ -0.007795215607919538, 0.0015928636849712992, 0.9999683481985355, 0.02506259326210177 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8556, "backend_objective": 96.56748761383848, "backend_elapsed_sec": 0.4856711999964318, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9523230357577231, "inlier_rmse_m": 0.29670279817145423, "target_points": 3990, "source_points": 4111 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8950667756881984, "inlier_rmse_m": 0.17561550774090562, "target_points": 7142, "source_points": 7338 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8024760832864378, "inlier_rmse_m": 0.10623804699359538, "target_points": 10308, "source_points": 10662 } ], "heldout_symmetric": { "evaluated": 7701, "inliers": 6446, "inlier_ratio": 0.8370341514089079, "inlier_rmse_m": 0.09441127521663696, "median_m": 0.07519476782224029, "p90_m": 0.4375204875590022, "p95_m": 0.9619335509475425 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4348.718984491616, 5957.440650219433, 7541.329065985047, 8555.999999999996, 10766.112499610623, 13454.818239991662 ], "effective_rank": 6, "scaled_condition_number": 3.0939727970407334, "weakest_scaled_direction": [ 0.9143470396587114, 0.3543801438349223, 0.004058714460435803, -0.061953438119635086, 0.15874165721575098, 0.09659497569424896 ] }, "forward_reverse": { "translation_m": 0.0041401597740440875, "rotation_deg": 0.03075174550917053 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.340849125339144e-15, "rotation_deg": 1.2205469358568742e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 2, "j": 5, "lidar_time_i": 1784279517.5427606, "lidar_time_j": 1784279817.2306573, "frame_counter_i": 2006, "frame_counter_j": 5003, "rtk_translation_m": 0.8004226998626774, "rtk_rotation_deg": 62.96656300910673, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.44864814681739656, 0.8936691378587216, 0.008385248724087831, -0.43633091492314235 ], [ -0.8934896789380539, 0.44872616770594337, -0.017917032318757607, -0.42061051265639693 ], [ -0.019774579350512054, 0.0005463101559770343, 0.9998043146319798, 0.061983912110967036 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8123, "backend_objective": 114.54931703978332, "backend_elapsed_sec": 0.30735360000107903, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9417989417989417, "inlier_rmse_m": 0.31520432672845644, "target_points": 3990, "source_points": 3969 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8752928207248174, "inlier_rmse_m": 0.1814792338341028, "target_points": 7142, "source_points": 7257 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7627230046948357, "inlier_rmse_m": 0.11875120507227022, "target_points": 10308, "source_points": 10650 } ], "heldout_symmetric": { "evaluated": 7622, "inliers": 6277, "inlier_ratio": 0.8235371293623721, "inlier_rmse_m": 0.10626795357026747, "median_m": 0.08340097833970556, "p90_m": 0.41328524814315476, "p95_m": 0.795307310893657 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4430.479285882621, 4938.132379232599, 6823.848575206934, 8123.0, 9884.084695523647, 12417.688164542673 ], "effective_rank": 6, "scaled_condition_number": 2.8027866429960917, "weakest_scaled_direction": [ 0.37654854568911345, 0.7944747909618561, 0.01893049157238591, -0.14074943383849767, 0.05595473115260973, 0.45135496085690613 ] }, "forward_reverse": { "translation_m": 0.009148796674106823, "rotation_deg": 0.05256412309062332 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2834515500923294e-15, "rotation_deg": 8.549660797673141e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 4, "lidar_time_i": 1784279605.2394407, "lidar_time_j": 1784279701.2360666, "frame_counter_i": 2883, "frame_counter_j": 3843, "rtk_translation_m": 0.5366157827594368, "rtk_rotation_deg": 29.188000113022152, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8680968831625852, 0.49638601189275633, 0.002954427289545695, -0.16312938210256805 ], [ -0.4963803727666502, 0.8681016538400713, -0.0024584816805362283, -0.09905606447305561 ], [ -0.0037850991329176323, 0.0006676805648891588, 0.9999926135863291, 0.004850072972114567 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9375, "backend_objective": 68.30412568253172, "backend_elapsed_sec": 0.28457479999633506, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.981269764047677, "inlier_rmse_m": 0.24871846504079037, "target_points": 4260, "source_points": 4111 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9408558190242573, "inlier_rmse_m": 0.13535263757404573, "target_points": 7584, "source_points": 7338 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8792909397861565, "inlier_rmse_m": 0.08535674200751055, "target_points": 10912, "source_points": 10662 } ], "heldout_symmetric": { "evaluated": 7865, "inliers": 6961, "inlier_ratio": 0.8850603941513032, "inlier_rmse_m": 0.07613142655207121, "median_m": 0.0477767064513168, "p90_m": 0.3007898932823837, "p95_m": 0.6658825849745881 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 5979.5955287178795, 6412.400669531902, 8488.463036160134, 9375.000000000002, 11865.673662697329, 15796.650455035477 ], "effective_rank": 6, "scaled_condition_number": 2.6417590251999084, "weakest_scaled_direction": [ 0.7936862749537651, 0.5483428884713639, -0.02794737489825144, -0.14838273767549365, 0.21543799618192488, 0.013044186836951136 ] }, "forward_reverse": { "translation_m": 0.0013904645484531576, "rotation_deg": 0.0259404694028417 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.248045562514738e-16, "rotation_deg": 6.010330560071098e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 5, "lidar_time_i": 1784279605.2394407, "lidar_time_j": 1784279817.2306573, "frame_counter_i": 2883, "frame_counter_j": 5003, "rtk_translation_m": 0.6760093701980526, "rtk_rotation_deg": 47.53150989980517, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.6689776613447939, 0.7432785496925377, 0.0024261468643807776, -0.2851494780381888 ], [ -0.7432691273647086, 0.6689816400664577, -0.0038170093655771143, -0.2946162601761757 ], [ -0.004460148893784541, 0.0007502139359680303, 0.9999897720731427, 0.010661175020236252 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9054, "backend_objective": 92.7816490645597, "backend_elapsed_sec": 0.26467740000225604, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9800957420005039, "inlier_rmse_m": 0.2760494931702256, "target_points": 4260, "source_points": 3969 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.931652197877911, "inlier_rmse_m": 0.1626866712600423, "target_points": 7584, "source_points": 7257 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8501408450704225, "inlier_rmse_m": 0.10123036401540922, "target_points": 10912, "source_points": 10650 } ], "heldout_symmetric": { "evaluated": 7786, "inliers": 6805, "inlier_ratio": 0.8740046236835346, "inlier_rmse_m": 0.09072202522560696, "median_m": 0.06676282809021862, "p90_m": 0.3089743415638364, "p95_m": 0.5536193240344602 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 5395.8455499875645, 6073.19999695844, 8117.807242647549, 9053.999999999998, 11157.867608649776, 14494.09121408684 ], "effective_rank": 6, "scaled_condition_number": 2.686157540984516, "weakest_scaled_direction": [ 0.837664687905716, 0.4925680752500768, -0.012860784566948974, -0.10984581027201963, 0.18909649035212897, 0.08778141832282683 ] }, "forward_reverse": { "translation_m": 0.006509933107990933, "rotation_deg": 0.02545212192512678 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.957057868755777e-15, "rotation_deg": 1.7136527022911156e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 3, "j": 6, "lidar_time_i": 1784279605.2394407, "lidar_time_j": 1784280797.6884267, "frame_counter_i": 2883, "frame_counter_j": 1175, "rtk_translation_m": 1.4361364806393455, "rtk_rotation_deg": 80.09091141471853, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.1634619921547601, 0.986526892591935, 0.006698306777962724, 0.4198084175988475 ], [ -0.9853702190701629, 0.1635947093280042, -0.047773449210932385, -1.3027649994610806 ], [ -0.0482255999487905, 0.00120883116292296, 0.9988357373646573, -0.03464786023816554 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6370, "backend_objective": 80.17633603760608, "backend_elapsed_sec": 0.49402589999954216, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8705440900562852, "inlier_rmse_m": 0.35201704657559363, "target_points": 4260, "source_points": 3731 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.752935793808144, "inlier_rmse_m": 0.1773896773624573, "target_points": 7584, "source_points": 6557 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6589427950760318, "inlier_rmse_m": 0.11218980331664288, "target_points": 10912, "source_points": 9667 } ], "heldout_symmetric": { "evaluated": 7762, "inliers": 5275, "inlier_ratio": 0.6795928884308168, "inlier_rmse_m": 0.10271649349323747, "median_m": 0.11575636045512414, "p90_m": 1.3405674404020338, "p95_m": 1.706308962691853 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3040.0536294021013, 4794.234467447171, 5819.184598807475, 6370.000000000002, 6991.894648874017, 9144.988673798447 ], "effective_rank": 6, "scaled_condition_number": 3.008166890660092, "weakest_scaled_direction": [ 0.30622005750836484, -0.8649846712721722, -0.03521657708202808, 0.13032280799450552, 0.06115469293374783, -0.3688721415219341 ] }, "forward_reverse": { "translation_m": 0.00828154435242913, "rotation_deg": 0.026486510290724834 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 7.687154578819224e-16, "rotation_deg": 9.212597328204569e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 4, "j": 5, "lidar_time_i": 1784279701.2360666, "lidar_time_j": 1784279817.2306573, "frame_counter_i": 3843, "frame_counter_j": 5003, "rtk_translation_m": 0.17861948949299924, "rtk_rotation_deg": 18.343509786783002, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.949706558221048, 0.31314061954854255, 0.0006369149754132204, -0.012048304052610256 ], [ -0.31314007001873106, 0.949706587126091, -0.0008336174048488439, -0.22820420895727614 ], [ -0.0008659218182100035, 0.0005922483164352834, 0.9999994497105168, 0.012326464623992516 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9148, "backend_objective": 69.89503379433593, "backend_elapsed_sec": 0.24209659999905853, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9687578735197783, "inlier_rmse_m": 0.24303407470384839, "target_points": 4111, "source_points": 3969 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9330301777594047, "inlier_rmse_m": 0.14446570672800857, "target_points": 7338, "source_points": 7257 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8589671361502348, "inlier_rmse_m": 0.0874097909619125, "target_points": 10662, "source_points": 10650 } ], "heldout_symmetric": { "evaluated": 7875, "inliers": 6839, "inlier_ratio": 0.8684444444444445, "inlier_rmse_m": 0.0784387700526441, "median_m": 0.048576299554205206, "p90_m": 0.33383419506997325, "p95_m": 0.6930052937899469 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 5782.773173082075, 6095.44391866886, 8077.2384249200395, 9148.000000000002, 11663.051470606772, 15533.658952402866 ], "effective_rank": 6, "scaled_condition_number": 2.6861954442048104, "weakest_scaled_direction": [ 0.7624156516745856, -0.1325436216767047, -0.015183310152936112, 0.020301518967376128, 0.18607007661184558, -0.6048882578166963 ] }, "forward_reverse": { "translation_m": 0.0025072579888539386, "rotation_deg": 0.021042298559759365 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.0508593164539734e-15, "rotation_deg": 1.242174586889897e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 4, "j": 6, "lidar_time_i": 1784279701.2360666, "lidar_time_j": 1784280797.6884267, "frame_counter_i": 3843, "frame_counter_j": 1175, "rtk_translation_m": 1.5807073315069207, "rtk_rotation_deg": 50.90291130169636, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.6310708689423248, 0.7753848392744062, 0.02297627898034666, 1.1071578347309774 ], [ -0.7745988471714546, 0.6314736381569497, -0.03518053827728588, -0.7606464119615669 ], [ -0.041787370496748986, 0.004404013650039271, 0.999116820162056, -0.014330949660854431 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6330, "backend_objective": 84.60861420454904, "backend_elapsed_sec": 0.3179699999964214, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8721522380058966, "inlier_rmse_m": 0.3517348855265171, "target_points": 4111, "source_points": 3731 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7689492145798383, "inlier_rmse_m": 0.191555406582433, "target_points": 7338, "source_points": 6557 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6548050067239061, "inlier_rmse_m": 0.11561267129407496, "target_points": 10662, "source_points": 9667 } ], "heldout_symmetric": { "evaluated": 7851, "inliers": 5324, "inlier_ratio": 0.6781301745000636, "inlier_rmse_m": 0.10313081772493418, "median_m": 0.11355750805894088, "p90_m": 1.4200387372496468, "p95_m": 1.7765788920212762 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2918.632955798317, 3642.50433618894, 5267.529292714469, 6330.0, 7040.843580221419, 8305.033481044022 ], "effective_rank": 6, "scaled_condition_number": 2.8455217243212387, "weakest_scaled_direction": [ -0.4673094978306648, 0.8017043801229458, 0.050636239846211954, -0.09929010129825448, -0.07976497253778664, 0.34656444751791776 ] }, "forward_reverse": { "translation_m": 0.003271195715147848, "rotation_deg": 0.14716032493381534 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0259243220665082e-15, "rotation_deg": 1.025554006517916e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 4, "j": 7, "lidar_time_i": 1784279701.2360666, "lidar_time_j": 1784280931.5831878, "frame_counter_i": 3843, "frame_counter_j": 2514, "rtk_translation_m": 1.7804201387535592, "rtk_rotation_deg": 75.18775779751417, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.25106887840242054, 0.9679610447993253, -0.003979202023916303, -0.16822332264444564 ], [ -0.9675096394352387, 0.2508208893743169, -0.03184303775350098, 0.33974884457438315 ], [ -0.029824753102824474, 0.011844712089096661, 0.9994849608162588, -0.006084050885040562 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8073, "backend_objective": 98.60875078457671, "backend_elapsed_sec": 0.46654860000126064, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9622966978807295, "inlier_rmse_m": 0.3001429019128497, "target_points": 4111, "source_points": 4058 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9024561403508772, "inlier_rmse_m": 0.17950468078269297, "target_points": 7338, "source_points": 7125 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7830261881668283, "inlier_rmse_m": 0.11051984120939964, "target_points": 10662, "source_points": 10310 } ], "heldout_symmetric": { "evaluated": 7750, "inliers": 6102, "inlier_ratio": 0.7873548387096774, "inlier_rmse_m": 0.09891997778736471, "median_m": 0.08756369878847638, "p90_m": 0.5673251872335188, "p95_m": 1.38675199859047 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3593.1765060647745, 4754.325161349418, 6544.36581683475, 8073.0, 9706.304534159462, 11427.35705381323 ], "effective_rank": 6, "scaled_condition_number": 3.1802938248442474, "weakest_scaled_direction": [ 0.42887121488253205, 0.8824676778541745, 0.035240972547791335, -0.11922374385257438, 0.06327853918352325, -0.1336408538670091 ] }, "forward_reverse": { "translation_m": 0.004633577062239209, "rotation_deg": 0.04472721629193465 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.6737555667138715e-15, "rotation_deg": 7.614791096714616e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 5, "j": 6, "lidar_time_i": 1784279817.2306573, "lidar_time_j": 1784280797.6884267, "frame_counter_i": 5003, "frame_counter_j": 1175, "rtk_translation_m": 1.5316987521992935, "rtk_rotation_deg": 32.55940151491337, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8417211829883782, 0.5394384072505995, 0.022619789821787806, 1.2363423732781946 ], [ -0.5391654063944628, 0.8420216782853102, -0.01732506407156325, -0.16287166582709678 ], [ -0.02839215835648143, 0.0023870652538441244, 0.9995940112182219, -0.0024878194533908896 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6463, "backend_objective": 80.2215294204414, "backend_elapsed_sec": 0.19403109999984736, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8809970517287591, "inlier_rmse_m": 0.34488451358521954, "target_points": 3969, "source_points": 3731 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7732194601189568, "inlier_rmse_m": 0.18295855586051168, "target_points": 7257, "source_points": 6557 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6685631529947244, "inlier_rmse_m": 0.11141108168744586, "target_points": 10650, "source_points": 9667 } ], "heldout_symmetric": { "evaluated": 7772, "inliers": 5372, "inlier_ratio": 0.6911991765311374, "inlier_rmse_m": 0.10152400788085783, "median_m": 0.11024327995267678, "p90_m": 1.2342728417674012, "p95_m": 1.63291336818886 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2921.48226284872, 4818.849260508063, 5708.222427321079, 6463.0, 7280.005629157428, 9463.707527181998 ], "effective_rank": 6, "scaled_condition_number": 3.2393513551418907, "weakest_scaled_direction": [ 0.8510755811736224, -0.30231412056328827, -0.018335673274537063, 0.03810581530709391, 0.13191858180370522, -0.40630747635045633 ] }, "forward_reverse": { "translation_m": 0.005288907067525738, "rotation_deg": 0.05494235971756111 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.290993805754059e-15, "rotation_deg": 6.276046403252319e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 5, "j": 7, "lidar_time_i": 1784279817.2306573, "lidar_time_j": 1784280931.5831878, "frame_counter_i": 5003, "frame_counter_j": 2514, "rtk_translation_m": 1.6091514152462776, "rtk_rotation_deg": 56.844248010731185, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.5413139449153095, 0.8408098437260507, 0.004244965677160483, -0.3288763589658891 ], [ -0.8404491581411917, 0.5412179843018403, -0.0269871459775858, 0.48799435500520466 ], [ -0.02498850975924932, 0.01104084062142452, 0.9996267674579268, -0.008601448865444642 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7838, "backend_objective": 80.25504133601885, "backend_elapsed_sec": 0.21071910000318894, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9445539674716609, "inlier_rmse_m": 0.2964934889695369, "target_points": 3969, "source_points": 4058 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8920701754385965, "inlier_rmse_m": 0.17234479852647022, "target_points": 7257, "source_points": 7125 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7602327837051407, "inlier_rmse_m": 0.10118905307574161, "target_points": 10650, "source_points": 10310 } ], "heldout_symmetric": { "evaluated": 7671, "inliers": 5943, "inlier_ratio": 0.7747360187719984, "inlier_rmse_m": 0.09121609616459708, "median_m": 0.06998852034462234, "p90_m": 0.5998562021948411, "p95_m": 1.2370805355678165 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3518.022046808358, 4519.620179137036, 6306.3027382639575, 7838.000000000001, 9311.542946856624, 10988.447934058491 ], "effective_rank": 6, "scaled_condition_number": 3.123473300580222, "weakest_scaled_direction": [ 0.06510738287407536, 0.9704291898810823, 0.012309010692294823, -0.11972948075968146, 0.01055149513931549, -0.19857044534661794 ] }, "forward_reverse": { "translation_m": 0.00421464356720393, "rotation_deg": 0.015634168997181876 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5899723589751917e-15, "rotation_deg": 2.2330749729216292e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 5, "j": 8, "lidar_time_i": 1784279817.2306573, "lidar_time_j": 1784281027.8795433, "frame_counter_i": 5003, "frame_counter_j": 3477, "rtk_translation_m": 1.1872485760158462, "rtk_rotation_deg": 85.67585439000777, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.077541240991801, 0.9969866621088175, 0.00222520169157605, -0.23030793726593274 ], [ -0.9960998941902651, 0.07756613240698304, -0.04205348853026462, -0.6182989134565668 ], [ -0.04209936744886125, 0.0010443565191403078, 0.9991128828014729, -0.01829668246214328 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7574, "backend_objective": 107.70536259104422, "backend_elapsed_sec": 0.6492373000000953, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9491127348643006, "inlier_rmse_m": 0.3368936559349473, "target_points": 3969, "source_points": 3832 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8740815444460452, "inlier_rmse_m": 0.1878489468812608, "target_points": 7257, "source_points": 6941 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7401544024235317, "inlier_rmse_m": 0.11924934799168091, "target_points": 10650, "source_points": 10233 } ], "heldout_symmetric": { "evaluated": 7694, "inliers": 6024, "inlier_ratio": 0.7829477514946712, "inlier_rmse_m": 0.10577559680144696, "median_m": 0.09491903023691711, "p90_m": 0.6212436337359116, "p95_m": 1.1308432324840463 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3230.2216195359238, 4195.560838858811, 6054.034625939664, 7574.000000000002, 8749.638099656688, 10043.466485785315 ], "effective_rank": 6, "scaled_condition_number": 3.109219016133088, "weakest_scaled_direction": [ -0.14711880792976245, -0.9748814038816518, -0.045629640745335154, 0.11795211201066712, -0.0127144604912043, -0.10865487734638983 ] }, "forward_reverse": { "translation_m": 0.0033105282814613057, "rotation_deg": 0.030813019102438145 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2779673821747284e-15, "rotation_deg": 4.478265346061272e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 6, "j": 7, "lidar_time_i": 1784280797.6884267, "lidar_time_j": 1784280931.5831878, "frame_counter_i": 1175, "frame_counter_j": 2514, "rtk_translation_m": 1.5692385974903325, "rtk_rotation_deg": 24.284846495817817, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.909369465730767, 0.4157953631172824, -0.012703968148111136, -1.6688450562613089 ], [ -0.4159714654227905, 0.9091896575161049, -0.01849071712411497, -0.2991620300634269 ], [ 0.003861962008756328, 0.022099381799389407, 0.9997483196152558, -0.03905801206833269 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7197, "backend_objective": 95.43863470511116, "backend_elapsed_sec": 0.26640210000186926, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9011828486939379, "inlier_rmse_m": 0.35761433205769144, "target_points": 3731, "source_points": 4058 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8074385964912281, "inlier_rmse_m": 0.18947528638945144, "target_points": 6557, "source_points": 7125 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6980601357904946, "inlier_rmse_m": 0.11515594340997576, "target_points": 9667, "source_points": 10310 } ], "heldout_symmetric": { "evaluated": 7647, "inliers": 5619, "inlier_ratio": 0.7347979599843075, "inlier_rmse_m": 0.10196810239533251, "median_m": 0.09824742059772812, "p90_m": 1.3455643432128441, "p95_m": 2.318787521923948 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3251.574266542989, 4238.931371546178, 5384.124535984673, 7197.0000000000055, 9178.80794470799, 11246.695435548118 ], "effective_rank": 6, "scaled_condition_number": 3.458846242963224, "weakest_scaled_direction": [ -0.6065859745986313, -0.5688415559005977, -0.02747904575983982, 0.06815227277987493, -0.09883630524207224, 0.5415757511428834 ] }, "forward_reverse": { "translation_m": 0.004020707752206965, "rotation_deg": 0.039850323489805044 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.213913156460973e-16, "rotation_deg": 1.0199075357150473e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 6, "j": 8, "lidar_time_i": 1784280797.6884267, "lidar_time_j": 1784281027.8795433, "frame_counter_i": 1175, "frame_counter_j": 3477, "rtk_translation_m": 0.5035712140385419, "rtk_rotation_deg": 53.11645287509441, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.603320141105853, 0.7974345064513491, -0.010149643181272861, -0.9839803639525855 ], [ -0.7973199926722587, 0.6028660853049281, -0.028867152166795196, -1.1754783611865822 ], [ -0.016900787588848498, 0.02550864774551353, 0.9995317264944983, -0.04441253768043292 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6727, "backend_objective": 93.88305085893276, "backend_elapsed_sec": 0.34034799999790266, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9055323590814196, "inlier_rmse_m": 0.376344670124916, "target_points": 3731, "source_points": 3832 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7775536666186429, "inlier_rmse_m": 0.198149386571553, "target_points": 6557, "source_points": 6941 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6573829766441903, "inlier_rmse_m": 0.11813616902218058, "target_points": 9667, "source_points": 10233 } ], "heldout_symmetric": { "evaluated": 7670, "inliers": 5488, "inlier_ratio": 0.7155149934810952, "inlier_rmse_m": 0.10460245111398395, "median_m": 0.10882433268402252, "p90_m": 1.2706661262326489, "p95_m": 1.9658154477318748 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3308.836306007914, 3998.0319785308093, 5377.28180493756, 6727.000000000002, 8094.539745555698, 9986.28998196076 ], "effective_rank": 6, "scaled_condition_number": 3.0180670962260874, "weakest_scaled_direction": [ 0.585545880393189, 0.61277352528694, 0.028502821910625264, -0.07428393987644276, 0.0949863123090485, -0.5160346059669577 ] }, "forward_reverse": { "translation_m": 0.0072368624874882504, "rotation_deg": 0.0055907688631446776 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.646888702276032e-15, "rotation_deg": 8.08430617473953e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 6, "j": 9, "lidar_time_i": 1784280797.6884267, "lidar_time_j": 1784281119.375541, "frame_counter_i": 1175, "frame_counter_j": 4392, "rtk_translation_m": 0.8508108569116883, "rtk_rotation_deg": 66.44324365209327, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.4032044291376529, 0.9150040283449594, -0.013921797164056374, -1.6132163617553361 ], [ -0.9145782039071841, 0.4024049705142674, -0.0402112999456726, -1.0616599707023038 ], [ -0.031191301057970158, 0.02894594648494065, 0.9990942072299299, -0.055968465976034255 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6272, "backend_objective": 91.82643911195646, "backend_elapsed_sec": 0.30341279999993276, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.899055330634278, "inlier_rmse_m": 0.3863021879172859, "target_points": 3731, "source_points": 3705 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7695254936634247, "inlier_rmse_m": 0.2052788848051741, "target_points": 6557, "source_points": 6786 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6343683624962071, "inlier_rmse_m": 0.12099873971026578, "target_points": 9667, "source_points": 9887 } ], "heldout_symmetric": { "evaluated": 7642, "inliers": 5216, "inlier_ratio": 0.6825438366919655, "inlier_rmse_m": 0.10495957402394829, "median_m": 0.11843508016182444, "p90_m": 1.2878255492029502, "p95_m": 1.8594187846882724 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2729.799324406446, 3020.935973325237, 4554.176694565421, 6272.0, 7428.556993774606, 8573.252310711958 ], "effective_rank": 6, "scaled_condition_number": 3.140616320789838, "weakest_scaled_direction": [ -0.3170959766115519, -0.8108442883951542, -0.05633760131497364, 0.08511439228796283, -0.0664003321101151, 0.47660706288609955 ] }, "forward_reverse": { "translation_m": 0.00430894236478819, "rotation_deg": 0.13911475434755866 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 5.926969055564841e-16, "rotation_deg": 1.7528594472389536e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 7, "j": 8, "lidar_time_i": 1784280931.5831878, "lidar_time_j": 1784281027.8795433, "frame_counter_i": 2514, "frame_counter_j": 3477, "rtk_translation_m": 1.1230406357307108, "rtk_rotation_deg": 28.831606379276582, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8800877605578602, 0.4746551470122815, 0.012166557894531606, 0.9810812979438829 ], [ -0.47453870165309886, 0.8801619022483836, -0.011315761746213324, -0.5164994243484108 ], [ -0.016079625295470867, 0.004185360827372889, 0.9998619546742948, 0.011646083370361354 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7570, "backend_objective": 90.0531605764691, "backend_elapsed_sec": 0.3074345999993966, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9000521920668059, "inlier_rmse_m": 0.3093044312517381, "target_points": 4058, "source_points": 3832 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8335974643423137, "inlier_rmse_m": 0.17926121221652866, "target_points": 7125, "source_points": 6941 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.739763510212059, "inlier_rmse_m": 0.10906905244076419, "target_points": 10310, "source_points": 10233 } ], "heldout_symmetric": { "evaluated": 7569, "inliers": 6152, "inlier_ratio": 0.8127890077949531, "inlier_rmse_m": 0.09942756972076687, "median_m": 0.08292479266625323, "p90_m": 0.5438800420107537, "p95_m": 1.0693714439099489 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3611.958847568364, 4464.037782097441, 6291.300772107081, 7570.000000000002, 8915.869491924625, 10632.365965781804 ], "effective_rank": 6, "scaled_condition_number": 2.9436564519387325, "weakest_scaled_direction": [ 0.8318537166016228, -0.5307085292795825, -0.04336312128148241, 0.0642754166233904, 0.10833391080573856, -0.09284355349791724 ] }, "forward_reverse": { "translation_m": 0.008316114154115147, "rotation_deg": 0.01814737917470093 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 7.6326453036832e-16, "rotation_deg": 1.7817544835002188e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 7, "j": 9, "lidar_time_i": 1784280931.5831878, "lidar_time_j": 1784281119.375541, "frame_counter_i": 2514, "frame_counter_j": 4392, "rtk_translation_m": 0.7186795671679719, "rtk_rotation_deg": 42.158397156275456, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7469675475884987, 0.6647892382172473, 0.009734043361034577, 0.36695337930346716 ], [ -0.6645378964349082, 0.7469811134968042, -0.02021386358272229, -0.6729184052142203 ], [ -0.020709105521237097, 0.008630459408726462, 0.999748292381089, -0.0033328149186441463 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7711, "backend_objective": 82.61339869017243, "backend_elapsed_sec": 0.45465060000424273, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9284750337381916, "inlier_rmse_m": 0.2979007381533848, "target_points": 4058, "source_points": 3705 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8676687297376953, "inlier_rmse_m": 0.1693049931162617, "target_points": 7125, "source_points": 6786 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7799130170931526, "inlier_rmse_m": 0.10350704092209248, "target_points": 10310, "source_points": 9887 } ], "heldout_symmetric": { "evaluated": 7541, "inliers": 6179, "inlier_ratio": 0.8193873491579367, "inlier_rmse_m": 0.09507291602212191, "median_m": 0.07159689625711312, "p90_m": 0.4468090141409177, "p95_m": 0.8321786618915491 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3085.2667211895887, 4739.387554479704, 6261.145737318091, 7711.0, 9334.792140158746, 10802.242301701917 ], "effective_rank": 6, "scaled_condition_number": 3.5012345051117295, "weakest_scaled_direction": [ 0.6672083263411354, -0.7344958205270795, -0.03643397944693248, 0.08756955686690325, 0.07966863166499305, -0.002446603714453496 ] }, "forward_reverse": { "translation_m": 0.006751593996528964, "rotation_deg": 0.029293578235221863 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.4559610222309504e-15, "rotation_deg": 4.231900556856135e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 7, "j": 10, "lidar_time_i": 1784280931.5831878, "lidar_time_j": 1784281219.2718523, "frame_counter_i": 2514, "frame_counter_j": 5391, "rtk_translation_m": 0.39293571356254015, "rtk_rotation_deg": 58.25702665650087, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.5309622849668493, 0.8473750748694553, -0.0058766004431752925, -0.4309471628172717 ], [ -0.8468954583434329, 0.5303980442912556, -0.03802627051498011, -0.7720668274376397 ], [ -0.029105576442496117, 0.025167381707225503, 0.9992594599592006, -0.009317979257839589 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7746, "backend_objective": 105.72490584221745, "backend_elapsed_sec": 0.2596763000037754, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9368503118503119, "inlier_rmse_m": 0.3073016998277781, "target_points": 4058, "source_points": 3848 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8696083995459705, "inlier_rmse_m": 0.17858312492414546, "target_points": 7125, "source_points": 7048 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7579998042861337, "inlier_rmse_m": 0.11682879766181706, "target_points": 10310, "source_points": 10219 } ], "heldout_symmetric": { "evaluated": 7661, "inliers": 6083, "inlier_ratio": 0.7940216681895313, "inlier_rmse_m": 0.10356080767641777, "median_m": 0.08579604241842641, "p90_m": 0.5448347819600656, "p95_m": 1.070402778792556 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3763.511904408025, 4076.4403707480983, 6199.560707021418, 7745.999999999998, 9025.97885237103, 10604.978136061101 ], "effective_rank": 6, "scaled_condition_number": 2.817840996766873, "weakest_scaled_direction": [ 0.7759717636092632, -0.6150818284939161, -0.031877792033043084, 0.08008446058072365, 0.10303699628457473, -0.03867595225661579 ] }, "forward_reverse": { "translation_m": 0.006883567504360684, "rotation_deg": 0.016492683422577963 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.6696712345245835e-15, "rotation_deg": 9.371333185040777e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 8, "j": 9, "lidar_time_i": 1784281027.8795433, "lidar_time_j": 1784281119.375541, "frame_counter_i": 3477, "frame_counter_j": 4392, "rtk_translation_m": 0.4407680716864947, "rtk_rotation_deg": 13.326790776998866, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9730604985860675, 0.23053383564009525, 0.0027233649222573866, -0.4682011153242637 ], [ -0.23052110744615814, 0.9730577551858872, -0.004315564203887813, -0.43425053078551284 ], [ -0.003644874926677113, 0.003571511958056465, 0.9999869795097845, -0.021741367073510348 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8444, "backend_objective": 93.31820898328445, "backend_elapsed_sec": 0.276112399995327, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9624831309041836, "inlier_rmse_m": 0.2740022022297965, "target_points": 3832, "source_points": 3705 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9230769230769231, "inlier_rmse_m": 0.1621872689645733, "target_points": 6941, "source_points": 6786 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8540507737432993, "inlier_rmse_m": 0.10512574466463366, "target_points": 10233, "source_points": 9887 } ], "heldout_symmetric": { "evaluated": 7564, "inliers": 6491, "inlier_ratio": 0.8581438392384981, "inlier_rmse_m": 0.09484304022144129, "median_m": 0.06673900660251131, "p90_m": 0.3359341949379208, "p95_m": 0.516663855677286 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4248.4365285936965, 4704.923279532026, 6453.367195170267, 8444.000000000002, 11270.266379787867, 13679.222467684725 ], "effective_rank": 6, "scaled_condition_number": 3.219825075793889, "weakest_scaled_direction": [ 0.9078451461773153, 0.19827489855400202, -0.0036392632358747934, -0.03270695064273237, 0.143536506447075, -0.3388488418534317 ] }, "forward_reverse": { "translation_m": 0.007253035671159373, "rotation_deg": 0.024252719250072975 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.014061021199955e-15, "rotation_deg": 2.2438997897867956e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 8, "j": 10, "lidar_time_i": 1784281027.8795433, "lidar_time_j": 1784281219.2718523, "frame_counter_i": 3477, "frame_counter_j": 5391, "rtk_translation_m": 0.968166048306331, "rtk_rotation_deg": 29.425420277224287, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8696311519038741, 0.49370143247118076, -0.0007451269987522027, -1.125141910763932 ], [ -0.4935194857213101, 0.869267646750724, -0.028500447818112076, -0.9046799302642914 ], [ -0.01342299712113632, 0.025152611959062307, 0.9995935020096537, -0.052807082965451696 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7870, "backend_objective": 106.03258565015472, "backend_elapsed_sec": 0.25978860000032, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9168399168399168, "inlier_rmse_m": 0.33593604946932026, "target_points": 3832, "source_points": 3848 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8453461975028377, "inlier_rmse_m": 0.17274609668040683, "target_points": 6941, "source_points": 7048 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7701340639984343, "inlier_rmse_m": 0.11607329413983222, "target_points": 10233, "source_points": 10219 } ], "heldout_symmetric": { "evaluated": 7684, "inliers": 6159, "inlier_ratio": 0.8015356585111921, "inlier_rmse_m": 0.10152298131640612, "median_m": 0.0866828058521082, "p90_m": 0.6017817089753135, "p95_m": 1.1789766676796014 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3190.852532643731, 3890.1063795472433, 5376.4042209433965, 7869.999999999996, 10333.718997815293, 11948.653078546733 ], "effective_rank": 6, "scaled_condition_number": 3.7446585062478155, "weakest_scaled_direction": [ 0.905584080437285, 0.24698602216590823, -0.015610160932019144, -0.032935731970230676, 0.10003001172048051, -0.32799532817355853 ] }, "forward_reverse": { "translation_m": 0.0017523919908150464, "rotation_deg": 0.05042176209078739 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.759257508228718e-15, "rotation_deg": 1.1456473981826159e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 8, "j": 11, "lidar_time_i": 1784281027.8795433, "lidar_time_j": 1784281326.268232, "frame_counter_i": 3477, "frame_counter_j": 6461, "rtk_translation_m": 3.0540124804140354, "rtk_rotation_deg": 66.34511043540417, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.4035241098199923, 0.9146365323826074, -0.024663868818617995, -3.727865599603048 ], [ -0.9148396176718507, 0.40286710864968495, -0.027686941078161494, -0.444624628370727 ], [ -0.015387226260939451, 0.03373583257253685, 0.9993123269872298, -0.09383466019917015 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7200, "backend_objective": 99.43755427161317, "backend_elapsed_sec": 0.29565310000180034, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8347069597069597, "inlier_rmse_m": 0.41003669043593227, "target_points": 3832, "source_points": 4368 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7227811027632752, "inlier_rmse_m": 0.1902878747401114, "target_points": 6941, "source_points": 7853 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6342494714587738, "inlier_rmse_m": 0.11751923853826206, "target_points": 10233, "source_points": 11352 } ], "heldout_symmetric": { "evaluated": 7947, "inliers": 5473, "inlier_ratio": 0.688687555052221, "inlier_rmse_m": 0.10536230082368817, "median_m": 0.11701173340841095, "p90_m": 1.0591026494670361, "p95_m": 1.8243284491175211 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2648.6631767787794, 3076.4164931936048, 4174.083064036209, 7200.000000000002, 10965.66864702295, 12439.77879284685 ], "effective_rank": 6, "scaled_condition_number": 4.696625415382456, "weakest_scaled_direction": [ 0.8802022118193044, 0.24903962274698477, 0.012416251565839795, -0.024663163959264073, 0.10654968682177843, -0.38872620427390425 ] }, "forward_reverse": { "translation_m": 0.0036281146181207165, "rotation_deg": 0.013078005975049522 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.030446228992703e-15, "rotation_deg": 1.4293329642724027e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 9, "j": 10, "lidar_time_i": 1784281119.375541, "lidar_time_j": 1784281219.2718523, "frame_counter_i": 4392, "frame_counter_j": 5391, "rtk_translation_m": 0.5276649044820116, "rtk_rotation_deg": 16.098629500225417, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9600023180007806, 0.27999201931788914, -0.0001362035909035107, -0.5291257928278472 ], [ -0.2799225385967586, 0.959753024790732, -0.022748709646630515, -0.6074080080749522 ], [ -0.006238735342479411, 0.02187694044722371, 0.9997412053416601, -0.025019763697622 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8405, "backend_objective": 100.40100529702568, "backend_elapsed_sec": 0.19360790000064299, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9501039501039501, "inlier_rmse_m": 0.29783568399650034, "target_points": 3705, "source_points": 3848 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8944381384790011, "inlier_rmse_m": 0.1622495982632625, "target_points": 6786, "source_points": 7048 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8224875232410216, "inlier_rmse_m": 0.10929496913967085, "target_points": 9887, "source_points": 10219 } ], "heldout_symmetric": { "evaluated": 7656, "inliers": 6554, "inlier_ratio": 0.8560606060606061, "inlier_rmse_m": 0.09594368034796862, "median_m": 0.06940604350531016, "p90_m": 0.37363815678921475, "p95_m": 0.89067960984158 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4033.592165499548, 5373.246291222717, 6661.3629752034385, 8404.999999999998, 10469.443329777254, 13221.529805182006 ], "effective_rank": 6, "scaled_condition_number": 3.2778548903058375, "weakest_scaled_direction": [ 0.0024819709189638686, 0.8247888365979241, 0.0074303415314328145, -0.12243647949871828, 0.005340785568130159, -0.5519445528003706 ] }, "forward_reverse": { "translation_m": 0.010491037599418197, "rotation_deg": 0.0599937188173442 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.0202093692731435e-15, "rotation_deg": 1.89095036815622e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 9, "j": 11, "lidar_time_i": 1784281119.375541, "lidar_time_j": 1784281326.268232, "frame_counter_i": 4392, "frame_counter_j": 6461, "rtk_translation_m": 2.680593454060616, "rtk_rotation_deg": 53.0183196584053, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.6039343770048785, 0.7966332721858269, -0.025272473528158465, -3.163848905956909 ], [ -0.7970288549385006, 0.60351234654568, -0.02275636092061062, -0.7748139015776284 ], [ -0.00287622446123521, 0.03388623929309886, 0.9994215577619987, -0.08887968329879485 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7169, "backend_objective": 99.77412369235653, "backend_elapsed_sec": 0.2565921999994316, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8358516483516484, "inlier_rmse_m": 0.41868349333356286, "target_points": 3705, "source_points": 4368 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7263466191264485, "inlier_rmse_m": 0.19100416977562598, "target_points": 6786, "source_points": 7853 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6315186751233263, "inlier_rmse_m": 0.1179721979468144, "target_points": 9887, "source_points": 11352 } ], "heldout_symmetric": { "evaluated": 7919, "inliers": 5517, "inlier_ratio": 0.6966788735951509, "inlier_rmse_m": 0.10384409271666459, "median_m": 0.11404176107763334, "p90_m": 1.003691866164878, "p95_m": 1.529023960020839 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2853.037055947242, 3567.2207708899523, 4525.03414256231, 7169.000000000004, 10533.325461331211, 12387.617436587334 ], "effective_rank": 6, "scaled_condition_number": 4.3419055531595605, "weakest_scaled_direction": [ 0.4963978610572622, 0.6176137994296373, 0.008006960688888705, -0.07055181798166565, 0.06451526015309628, -0.6024437476306389 ] }, "forward_reverse": { "translation_m": 0.009543265092514783, "rotation_deg": 0.09977883713501384 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.039807479139485e-15, "rotation_deg": 1.8765465625211147e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 9, "j": 12, "lidar_time_i": 1784281119.375541, "lidar_time_j": 1784281406.9641902, "frame_counter_i": 4392, "frame_counter_j": 7268, "rtk_translation_m": 3.2944321799753977, "rtk_rotation_deg": 73.22024906015783, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.28811800111906577, 0.9573605141815017, -0.02118639462684303, -4.167434653726929 ], [ -0.9574541432973267, 0.2876257838624052, -0.023515355415528193, -0.7449050685604787 ], [ -0.01641891939000686, 0.027060198514929468, 0.999498956849079, -0.13379229435368376 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6845, "backend_objective": 98.07744733103019, "backend_elapsed_sec": 0.24914900000294438, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.7950475348220207, "inlier_rmse_m": 0.4219209753936847, "target_points": 3705, "source_points": 4523 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.6810534016093636, "inlier_rmse_m": 0.19706779683947095, "target_points": 6786, "source_points": 8202 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5782226727487751, "inlier_rmse_m": 0.1197010198822539, "target_points": 9887, "source_points": 11838 } ], "heldout_symmetric": { "evaluated": 8007, "inliers": 5268, "inlier_ratio": 0.6579243162233046, "inlier_rmse_m": 0.10621203405076814, "median_m": 0.12584707374511558, "p90_m": 1.2063764231347756, "p95_m": 1.8466320754067809 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2798.526889071021, 3251.0108433306837, 4265.537694894901, 6845.000000000002, 10286.55878887731, 12016.55330643548 ], "effective_rank": 6, "scaled_condition_number": 4.293885241325807, "weakest_scaled_direction": [ 0.5133187614364098, 0.60385736687642, 0.010215450507325263, -0.06598681364889988, 0.06628567121819078, -0.6025012235780262 ] }, "forward_reverse": { "translation_m": 0.0028782078295197843, "rotation_deg": 0.0743495992598884 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 7.29285671876726e-16, "rotation_deg": 1.339182143333734e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 10, "j": 11, "lidar_time_i": 1784281219.2718523, "lidar_time_j": 1784281326.268232, "frame_counter_i": 5391, "frame_counter_j": 6461, "rtk_translation_m": 2.249454986440387, "rtk_rotation_deg": 36.91969015817989, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.802712856951025, 0.5958816843809461, -0.02402264566730904, -2.482954005313319 ], [ -0.59616742851518, 0.8028333385595076, -0.0065595483833477165, -0.8991253862331925 ], [ 0.015377466082670268, 0.019586952716716493, 0.9996898943273107, -0.06209388985348901 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7450, "backend_objective": 114.24124929326598, "backend_elapsed_sec": 0.5492942000055336, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.862408424908425, "inlier_rmse_m": 0.37341451021933614, "target_points": 3848, "source_points": 4368 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7723163122373615, "inlier_rmse_m": 0.1940923603503706, "target_points": 7048, "source_points": 7853 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6562720225510923, "inlier_rmse_m": 0.12383212781136702, "target_points": 10219, "source_points": 11352 } ], "heldout_symmetric": { "evaluated": 8039, "inliers": 5862, "inlier_ratio": 0.729195173529046, "inlier_rmse_m": 0.10869447817964137, "median_m": 0.11288663205582093, "p90_m": 0.8551764208111066, "p95_m": 1.4379578644737843 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2945.4301764789543, 4497.287226498696, 5157.907793702524, 7449.999999999999, 10359.624448102222, 12731.274666553983 ], "effective_rank": 6, "scaled_condition_number": 4.322382098282597, "weakest_scaled_direction": [ 0.31452643113840917, 0.7270653153013035, -0.003981665513626549, -0.08548678659790035, 0.0336773708641118, -0.6033167839118476 ] }, "forward_reverse": { "translation_m": 0.0028206125960216254, "rotation_deg": 0.014140069566934874 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.738317519180803e-15, "rotation_deg": 3.181982304998891e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 10, "j": 12, "lidar_time_i": 1784281219.2718523, "lidar_time_j": 1784281406.9641902, "frame_counter_i": 5391, "frame_counter_j": 7268, "rtk_translation_m": 2.8783779741216167, "rtk_rotation_deg": 57.12161955993242, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.5445166366166764, 0.8384908273650975, -0.020851016096519855, -3.4538865183935354 ], [ -0.8387292843693261, 0.5445097777539537, -0.006503035572538104, -1.1484295272772398 ], [ 0.005900846463058012, 0.02102936886676444, 0.9997614443736491, -0.10025857848425088 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7263, "backend_objective": 105.35073437786957, "backend_elapsed_sec": 0.27849219999916386, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.83882378952023, "inlier_rmse_m": 0.4069905972230612, "target_points": 3848, "source_points": 4523 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7231163130943672, "inlier_rmse_m": 0.1951378475995885, "target_points": 7048, "source_points": 8202 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6135326913329955, "inlier_rmse_m": 0.12043723088714241, "target_points": 10219, "source_points": 11838 } ], "heldout_symmetric": { "evaluated": 8127, "inliers": 5645, "inlier_ratio": 0.6945982527377876, "inlier_rmse_m": 0.10596349826421764, "median_m": 0.11679942446690253, "p90_m": 1.0453516193281576, "p95_m": 1.6940689752490985 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2935.262045719982, 4440.47801701173, 5009.964206511484, 7262.999999999999, 10665.800422154674, 13188.678979664546 ], "effective_rank": 6, "scaled_condition_number": 4.493186221276381, "weakest_scaled_direction": [ -0.25364960310734164, -0.7219005896133442, 0.005788190767641299, 0.08718115259507365, -0.0255218882012589, 0.6373664520994711 ] }, "forward_reverse": { "translation_m": 0.005660464094292755, "rotation_deg": 0.08952914345108036 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.836725210897304e-15, "rotation_deg": 1.9366491697468578e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 10, "j": 13, "lidar_time_i": 1784281219.2718523, "lidar_time_j": 1784281474.3615055, "frame_counter_i": 5391, "frame_counter_j": 7942, "rtk_translation_m": 3.84803303865234, "rtk_rotation_deg": 78.07081297783375, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.20910073391805267, 0.9776308404731116, -0.022689707595504507, -4.6244216859981915 ], [ -0.9778903254304855, 0.20897911139425338, -0.007631672839370832, 0.0980744714625282 ], [ -0.002719283801065955, 0.023783833936225365, 0.9997134263072109, -0.16759066261829367 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6997, "backend_objective": 109.62974325544948, "backend_elapsed_sec": 0.2657357999996748, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.7911515940143136, "inlier_rmse_m": 0.41720673768867156, "target_points": 3848, "source_points": 4611 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.6849759615384615, "inlier_rmse_m": 0.20307457756463013, "target_points": 7048, "source_points": 8320 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5763591433278419, "inlier_rmse_m": 0.1251723084254199, "target_points": 10219, "source_points": 12140 } ], "heldout_symmetric": { "evaluated": 8108, "inliers": 5295, "inlier_ratio": 0.6530587074494326, "inlier_rmse_m": 0.1098871098886565, "median_m": 0.1337673185195989, "p90_m": 1.3169940403399378, "p95_m": 2.1080831523883883 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2609.8760413582168, 4025.5537444992633, 4469.8111195734355, 6997.0000000000055, 10726.730137939563, 13041.827142763399 ], "effective_rank": 6, "scaled_condition_number": 4.997105968288151, "weakest_scaled_direction": [ 0.14816305558064374, 0.727833486873062, -0.005814114690409175, -0.07379123193356954, 0.00970624232678126, -0.6653818177311389 ] }, "forward_reverse": { "translation_m": 0.009441275754405344, "rotation_deg": 0.06902225135435515 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1144649932300827e-15, "rotation_deg": 5.251983818378857e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 11, "j": 12, "lidar_time_i": 1784281326.268232, "lidar_time_j": 1784281406.9641902, "frame_counter_i": 6461, "frame_counter_j": 7268, "rtk_translation_m": 0.636223282239137, "rtk_rotation_deg": 20.20192940175253, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9373127480597525, 0.3484890803886343, 0.0004161424754952402, -0.6224418732276717 ], [ -0.34848903352139726, 0.9373097308066428, 0.0024211671774105018, -0.7832134384917555 ], [ 0.00045369593143927803, -0.0024144119496632486, 0.9999969823829161, -0.01579188455114878 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9845, "backend_objective": 104.76914976161348, "backend_elapsed_sec": 0.20694899999944028, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9513597170019898, "inlier_rmse_m": 0.29495001480100685, "target_points": 4368, "source_points": 4523 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8902706656912948, "inlier_rmse_m": 0.1509295727812818, "target_points": 7853, "source_points": 8202 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8316438587599256, "inlier_rmse_m": 0.10315940997352435, "target_points": 11352, "source_points": 11838 } ], "heldout_symmetric": { "evaluated": 8390, "inliers": 7264, "inlier_ratio": 0.865792610250298, "inlier_rmse_m": 0.09248705530398661, "median_m": 0.06895405476090398, "p90_m": 0.3564288698726344, "p95_m": 0.6137563575529236 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4942.290761603409, 7280.5141978124475, 8556.086044118074, 9844.999999999996, 12629.35147026834, 16991.840804609954 ], "effective_rank": 6, "scaled_condition_number": 3.4380496057859116, "weakest_scaled_direction": [ -0.3606698084540075, 0.7168869269316482, -0.01839824498711643, -0.14092904550428814, -0.08561067974613533, -0.5731158203123483 ] }, "forward_reverse": { "translation_m": 0.007654923324833218, "rotation_deg": 0.03083951917063289 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.633607144361455e-15, "rotation_deg": 2.174323529658602e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 11, "j": 13, "lidar_time_i": 1784281326.268232, "lidar_time_j": 1784281474.3615055, "frame_counter_i": 6461, "frame_counter_j": 7942, "rtk_translation_m": 2.0145868546459504, "rtk_rotation_deg": 41.151122819653864, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7509822192442668, 0.6603224040204736, 0.0001706680308637707, -2.309316386632143 ], [ -0.6603219689659727, 0.7509813701720836, 0.0013707499276706225, -0.4835308116636222 ], [ 0.0007769683758877146, -0.0011421046728905214, 0.9999990459580762, -0.05619783464273758 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9190, "backend_objective": 128.5202722291167, "backend_elapsed_sec": 0.5530448999998043, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9084797224029495, "inlier_rmse_m": 0.353514794960377, "target_points": 4368, "source_points": 4611 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8219951923076924, "inlier_rmse_m": 0.17198770762270238, "target_points": 7853, "source_points": 8320 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.757001647446458, "inlier_rmse_m": 0.11825732819734243, "target_points": 11352, "source_points": 12140 } ], "heldout_symmetric": { "evaluated": 8371, "inliers": 6879, "inlier_ratio": 0.8217656194003106, "inlier_rmse_m": 0.10443913508460159, "median_m": 0.09087887067006485, "p90_m": 0.5036314075723249, "p95_m": 0.947682374018084 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4059.7210524972647, 6430.640511848307, 7352.636833269932, 9190.0, 12316.198564753844, 16068.250094697694 ], "effective_rank": 6, "scaled_condition_number": 3.957969004992005, "weakest_scaled_direction": [ -0.34556905260299997, 0.7085021373971045, -0.01652556765595689, -0.11080231983454517, -0.06806581871827784, -0.6011851187795166 ] }, "forward_reverse": { "translation_m": 0.0019958122994113434, "rotation_deg": 0.04243931133970266 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.3619265071463753e-15, "rotation_deg": 3.0605656536254846e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 11, "j": 14, "lidar_time_i": 1784281326.268232, "lidar_time_j": 1784281630.3553114, "frame_counter_i": 6461, "frame_counter_j": 9502, "rtk_translation_m": 1.2405786051647103, "rtk_rotation_deg": 116.67752660647822, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.458880224173864, 0.8884290049750687, -0.011083455289421396, -3.093595317869866 ], [ -0.8884649249994544, -0.45893522543057813, -0.0029216270636623853, -1.4173660948404052 ], [ -0.007682246276878148, 0.008506584390524763, 0.9999343083993812, -0.05040229559820074 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8169, "backend_objective": 115.43977125075969, "backend_elapsed_sec": 0.31595219999871915, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8828386520865878, "inlier_rmse_m": 0.37009840842201963, "target_points": 4368, "source_points": 4481 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7939977769544275, "inlier_rmse_m": 0.18433556569506937, "target_points": 7853, "source_points": 8097 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6939937133633506, "inlier_rmse_m": 0.11887575294550026, "target_points": 11352, "source_points": 11771 } ], "heldout_symmetric": { "evaluated": 8360, "inliers": 6239, "inlier_ratio": 0.7462918660287081, "inlier_rmse_m": 0.10754571546972236, "median_m": 0.10735114034100943, "p90_m": 0.8206764972717392, "p95_m": 1.2796931866173804 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3146.8279566697283, 5385.186438730696, 6027.667011195876, 8169.0, 11432.979740271745, 14537.89753733038 ], "effective_rank": 6, "scaled_condition_number": 4.619857754383166, "weakest_scaled_direction": [ -0.34292317741156864, 0.7015571241943603, -0.0135414262495399, -0.08839485889971761, -0.0550934880374563, -0.6157832265961672 ] }, "forward_reverse": { "translation_m": 0.0030226348073827927, "rotation_deg": 0.05528144266002643 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.418114913644557e-15, "rotation_deg": 2.6366828714606765e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 13, "lidar_time_i": 1784281406.9641902, "lidar_time_j": 1784281474.3615055, "frame_counter_i": 7268, "frame_counter_j": 7942, "rtk_translation_m": 1.5928240921286525, "rtk_rotation_deg": 20.949193417901323, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9340297276134362, 0.35719357609479835, 0.0011032365929339013, -1.6829969733127592 ], [ -0.35719157177502375, 0.9340296497011563, -0.0016716853839309996, -0.3066187850277303 ], [ -0.0016275709688272678, 0.0011673370311386525, 0.9999979941664866, -0.03939267554028703 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9685, "backend_objective": 133.3239274436062, "backend_elapsed_sec": 0.2836020999966422, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.949685534591195, "inlier_rmse_m": 0.29837619714207914, "target_points": 4523, "source_points": 4611 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8955528846153846, "inlier_rmse_m": 0.17218258497774752, "target_points": 8202, "source_points": 8320 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7977759472817133, "inlier_rmse_m": 0.11732869406750238, "target_points": 11838, "source_points": 12140 } ], "heldout_symmetric": { "evaluated": 8459, "inliers": 7061, "inlier_ratio": 0.8347322378531742, "inlier_rmse_m": 0.10791137431619166, "median_m": 0.09148392996526837, "p90_m": 0.38685125593567476, "p95_m": 0.6731389754358754 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 5113.861718444385, 7884.866547987189, 9271.860927320415, 9685.0, 12118.48140466193, 17175.04818965349 ], "effective_rank": 6, "scaled_condition_number": 3.358528082155117, "weakest_scaled_direction": [ 0.7139554360251116, -0.42724516535563883, 0.031505837134431634, 0.07528327919489947, 0.16440637812162637, 0.5234878766346703 ] }, "forward_reverse": { "translation_m": 0.0033753816186126483, "rotation_deg": 0.015427430722607398 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.7433125689005187e-15, "rotation_deg": 1.0000502644324813e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 14, "lidar_time_i": 1784281406.9641902, "lidar_time_j": 1784281630.3553114, "frame_counter_i": 7268, "frame_counter_j": 9502, "rtk_translation_m": 0.6774809171975742, "rtk_rotation_deg": 96.47559720472566, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.1207662602513995, 0.9926492425077496, -0.007936733186902726, -2.0978392180475858 ], [ -0.992629423793888, -0.12083760723771174, -0.009224949629762268, -1.4548412247304416 ], [ -0.010116195109745133, 0.006764172222327199, 0.9999259515437389, -0.03717216588287199 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8605, "backend_objective": 115.73862011435307, "backend_elapsed_sec": 0.48427100000117207, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9265788886409284, "inlier_rmse_m": 0.3363154043547717, "target_points": 4523, "source_points": 4481 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8490799061380758, "inlier_rmse_m": 0.18230142641617547, "target_points": 8202, "source_points": 8097 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7310338968651772, "inlier_rmse_m": 0.11597482150471675, "target_points": 11838, "source_points": 11771 } ], "heldout_symmetric": { "evaluated": 8448, "inliers": 6443, "inlier_ratio": 0.7626657196969697, "inlier_rmse_m": 0.10926443071446633, "median_m": 0.10335986776444447, "p90_m": 0.5961494538884637, "p95_m": 1.035547032049845 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3813.668566854895, 6252.637625654872, 7185.358464866101, 8605.000000000002, 11082.727606484385, 14674.820435422302 ], "effective_rank": 6, "scaled_condition_number": 3.847953795189004, "weakest_scaled_direction": [ 0.6224550626133072, -0.5208809656584741, 0.019731415102434067, 0.07660128076715056, 0.11304096330431214, 0.5676243214485092 ] }, "forward_reverse": { "translation_m": 0.0011083901763643633, "rotation_deg": 0.03408686226954418 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.4657376607108497e-15, "rotation_deg": 4.4714489034690276e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 12, "j": 15, "lidar_time_i": 1784281406.9641902, "lidar_time_j": 1784281794.7491786, "frame_counter_i": 7268, "frame_counter_j": 11146, "rtk_translation_m": 1.8892292086221258, "rtk_rotation_deg": 131.14857460490867, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.6532553338013135, 0.7565130954543562, -0.030747443246613652, -2.00491438136075 ], [ -0.7554314971909387, -0.6539703390613547, -0.040571525480732416, 0.8974991479336777 ], [ -0.05080080621399182, -0.0032759783341615913, 0.9987034324833185, -0.03616284863059511 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8556, "backend_objective": 111.17055352391041, "backend_elapsed_sec": 0.22226249999948777, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9087230215827338, "inlier_rmse_m": 0.3305872290481048, "target_points": 4523, "source_points": 4448 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8381094157052474, "inlier_rmse_m": 0.1845852389590935, "target_points": 8202, "source_points": 8061 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7271800101988781, "inlier_rmse_m": 0.11398809510474757, "target_points": 11838, "source_points": 11766 } ], "heldout_symmetric": { "evaluated": 8574, "inliers": 6349, "inlier_ratio": 0.7404945183111733, "inlier_rmse_m": 0.10470183850479874, "median_m": 0.09914573180886588, "p90_m": 0.706464323309998, "p95_m": 1.3526291416213234 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4099.735199984528, 6059.909200643516, 7486.7291422000735, 8556.0, 10064.258052358984, 13040.026242301723 ], "effective_rank": 6, "scaled_condition_number": 3.1806996321008576, "weakest_scaled_direction": [ -0.5763329117170823, 0.6534641722890843, -0.04094079637797516, -0.10244723109540384, -0.11936523558626101, -0.4630392067336312 ] }, "forward_reverse": { "translation_m": 0.008442575945215317, "rotation_deg": 0.02844707164454242 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.703764294054371e-15, "rotation_deg": 1.1963758672594231e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 13, "j": 14, "lidar_time_i": 1784281474.3615055, "lidar_time_j": 1784281630.3553114, "frame_counter_i": 7942, "frame_counter_j": 9502, "rtk_translation_m": 0.9721300146850552, "rtk_rotation_deg": 75.52640378682433, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.2415179174812429, 0.9703839471437721, -0.004908223833257635, 0.020498848198364703 ], [ -0.9703783652378221, 0.24147954693950607, -0.0073114080903765, -1.225652776694927 ], [ -0.005909637374385715, 0.006528670275381103, 0.9999612255735413, 0.0026512822941567047 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9350, "backend_objective": 136.72064084614465, "backend_elapsed_sec": 0.2710284999993746, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9680874804731087, "inlier_rmse_m": 0.2751909320638482, "target_points": 4611, "source_points": 4481 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9234284302828208, "inlier_rmse_m": 0.17767531971028666, "target_points": 8320, "source_points": 8097 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7943250361056835, "inlier_rmse_m": 0.1209236471197538, "target_points": 12140, "source_points": 11771 } ], "heldout_symmetric": { "evaluated": 8429, "inliers": 6860, "inlier_ratio": 0.8138569225293629, "inlier_rmse_m": 0.1125369920515294, "median_m": 0.10236046441900606, "p90_m": 0.38330216813289814, "p95_m": 0.5316616791386761 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4580.586807970391, 7191.904902661821, 8507.506899453714, 9350.0, 11161.652574664104, 14725.549002584721 ], "effective_rank": 6, "scaled_condition_number": 3.2147734820704015, "weakest_scaled_direction": [ 0.8678621360320791, -0.26985193683460496, 0.017872912110054373, 0.039782854776910286, 0.15347085763129872, 0.3854086459394344 ] }, "forward_reverse": { "translation_m": 0.005457899756974233, "rotation_deg": 0.04250371025579654 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.4118446352516448e-15, "rotation_deg": 8.916948353013796e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 13, "j": 15, "lidar_time_i": 1784281474.3615055, "lidar_time_j": 1784281794.7491786, "frame_counter_i": 7942, "frame_counter_j": 11146, "rtk_translation_m": 2.426469315960194, "rtk_rotation_deg": 110.19938118700728, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.3404260196786546, 0.9401380119751092, -0.015831726540047147, -0.7269059808792052 ], [ -0.9389386284463233, -0.3407914648537047, -0.047491362311526016, 1.0089514786661058 ], [ -0.050043752228293624, -0.0013022758373805142, 0.9987461774347658, 0.009481819320967859 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9294, "backend_objective": 117.34596955670727, "backend_elapsed_sec": 0.24556960000336403, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9330035971223022, "inlier_rmse_m": 0.2912616271447972, "target_points": 4611, "source_points": 4448 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8809080759211017, "inlier_rmse_m": 0.16713702397816743, "target_points": 8320, "source_points": 8061 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7899031106578276, "inlier_rmse_m": 0.1123654394828643, "target_points": 12140, "source_points": 11766 } ], "heldout_symmetric": { "evaluated": 8555, "inliers": 6719, "inlier_ratio": 0.7853886616014026, "inlier_rmse_m": 0.10710393317615087, "median_m": 0.09355700750444025, "p90_m": 0.5559721579783525, "p95_m": 1.0551643746608248 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 5544.194827946377, 7265.277874182963, 9294.0, 9508.28942563899, 9808.989454649887, 13508.849914679671 ], "effective_rank": 6, "scaled_condition_number": 2.4365756135744383, "weakest_scaled_direction": [ 0.9187134964310054, -0.22546025120457336, 0.02698427829942303, 0.051965766983725056, 0.23725743578593753, 0.2131044428279749 ] }, "forward_reverse": { "translation_m": 0.0023363953219779758, "rotation_deg": 0.003679886698275418 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.3904303745331937e-15, "rotation_deg": 6.259932200132295e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 13, "j": 16, "lidar_time_i": 1784281474.3615055, "lidar_time_j": 1784281908.3446162, "frame_counter_i": 7942, "frame_counter_j": 12282, "rtk_translation_m": 4.157137927296689, "rtk_rotation_deg": 135.66277163100625, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.7117515166188437, 0.7019231467752881, -0.026714689065263572, -0.4022448950960343 ], [ -0.7011967341437416, -0.7122403945021629, -0.032198764969394104, 2.8427492399827408 ], [ -0.041628339108440944, -0.004185267073991601, 0.9991243991228485, 0.04387212281117938 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8343, "backend_objective": 108.46115155470756, "backend_elapsed_sec": 0.35595720000128495, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9145739910313901, "inlier_rmse_m": 0.35270672713425366, "target_points": 4611, "source_points": 4460 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8236099017290708, "inlier_rmse_m": 0.184136684643014, "target_points": 8320, "source_points": 8039 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7187903851124322, "inlier_rmse_m": 0.11401867341543448, "target_points": 12140, "source_points": 11607 } ], "heldout_symmetric": { "evaluated": 8346, "inliers": 6227, "inlier_ratio": 0.7461059190031153, "inlier_rmse_m": 0.10791684095774041, "median_m": 0.10472960901227793, "p90_m": 0.7588830952578203, "p95_m": 1.4935071672275044 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4249.46027216821, 5037.0318898785745, 8343.0, 8357.222918235066, 8490.768640683313, 9408.873248652648 ], "effective_rank": 6, "scaled_condition_number": 2.2141337125272007, "weakest_scaled_direction": [ -0.2890077262047696, 0.940298371614473, -0.028073806176326925, -0.15426990725741266, -0.04958294328539899, -0.07257889080055409 ] }, "forward_reverse": { "translation_m": 0.0023169831632091926, "rotation_deg": 0.02473862097872449 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.637546502361832e-15, "rotation_deg": 1.7808666157514636e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 14, "j": 15, "lidar_time_i": 1784281630.3553114, "lidar_time_j": 1784281794.7491786, "frame_counter_i": 9502, "frame_counter_j": 11146, "rtk_translation_m": 2.176233486689304, "rtk_rotation_deg": 34.672977400182965, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8291991809676471, 0.5579111770760357, 0.03411505204767933, -2.3458514739683816 ], [ -0.5576981074239024, 0.8298826879679007, -0.016356808581430828, -0.19010931608135373 ], [ -0.03743713742236647, -0.0054628476826916635, 0.9992840527281591, -0.019294057118897926 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8732, "backend_objective": 116.59003912163222, "backend_elapsed_sec": 0.2578651000003447, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8878147482014388, "inlier_rmse_m": 0.3238703569154529, "target_points": 4481, "source_points": 4448 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8286813050490014, "inlier_rmse_m": 0.172736329778459, "target_points": 8097, "source_points": 8061 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7421383647798742, "inlier_rmse_m": 0.11555104049474128, "target_points": 11771, "source_points": 11766 } ], "heldout_symmetric": { "evaluated": 8544, "inliers": 6371, "inlier_ratio": 0.7456694756554307, "inlier_rmse_m": 0.11049010248131722, "median_m": 0.11069962047347812, "p90_m": 0.6695354690865016, "p95_m": 1.3578550495482498 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4702.974857872415, 6165.056546880924, 8732.0, 8864.023281637703, 9006.681887776105, 10993.756179507674 ], "effective_rank": 6, "scaled_condition_number": 2.3376174680383377, "weakest_scaled_direction": [ 0.6365067039413284, 0.7450292947953677, 0.03245928228166052, -0.14959211604482625, 0.12723231857301953, 0.013080392042572985 ] }, "forward_reverse": { "translation_m": 0.0027632919724097076, "rotation_deg": 0.05272762900968177 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.938893903907228e-16, "rotation_deg": 1.158567366708465e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 14, "j": 16, "lidar_time_i": 1784281630.3553114, "lidar_time_j": 1784281908.3446162, "frame_counter_i": 9502, "frame_counter_j": 12282, "rtk_translation_m": 3.79947855245853, "rtk_rotation_deg": 60.13636784418198, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.5085815349217666, 0.8608550964669754, 0.016532550421946398, -4.046756328064073 ], [ -0.8604679133365938, 0.5088490213663148, -0.02583879975367702, 0.5665001579851712 ], [ -0.0306560345574392, -0.001084592724443027, 0.9995294048720307, -0.003921780951718637 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8088, "backend_objective": 109.54475310750554, "backend_elapsed_sec": 0.282886499997403, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8816143497757848, "inlier_rmse_m": 0.3675810265029174, "target_points": 4481, "source_points": 4460 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7889040925488244, "inlier_rmse_m": 0.18354333071366277, "target_points": 8097, "source_points": 8039 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6968208839493409, "inlier_rmse_m": 0.11637916024828983, "target_points": 11771, "source_points": 11607 } ], "heldout_symmetric": { "evaluated": 8335, "inliers": 5930, "inlier_ratio": 0.7114577084583084, "inlier_rmse_m": 0.11170286188791147, "median_m": 0.11910145697414173, "p90_m": 0.8518784828615422, "p95_m": 1.6513531211180523 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3756.238153057955, 4624.24016321459, 7441.4536391115835, 8088.0, 8423.273880722954, 9315.375858789726 ], "effective_rank": 6, "scaled_condition_number": 2.479974772421199, "weakest_scaled_direction": [ 0.987763704050321, 0.017063407020755594, 0.04722204920797074, 0.00016908141957713518, 0.1377007415282551, -0.053294093146200705 ] }, "forward_reverse": { "translation_m": 0.0043726035924820505, "rotation_deg": 0.11525585711885118 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.589839758910881e-15, "rotation_deg": 9.455694758109072e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 14, "j": 17, "lidar_time_i": 1784281630.3553114, "lidar_time_j": 1784282032.5400162, "frame_counter_i": 9502, "frame_counter_j": 13524, "rtk_translation_m": 6.190474035537447, "rtk_rotation_deg": 15.261944565117341, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9656064172081428, 0.25593808071112034, -0.04582516653938418, 6.084903974973151 ], [ -0.25617535241637546, 0.9666300605967315, 0.0007174713257949189, -1.070302913400166 ], [ 0.04447961174290946, 0.011046483271415419, 0.9989492176014426, 0.4868366225916526 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6626, "backend_objective": 99.5549449658476, "backend_elapsed_sec": 0.2878296999988379, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8292230177671706, "inlier_rmse_m": 0.4201930330840916, "target_points": 4481, "source_points": 3771 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7202303815694744, "inlier_rmse_m": 0.19529171388923153, "target_points": 8097, "source_points": 6945 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.636381098732232, "inlier_rmse_m": 0.12257607268880656, "target_points": 11771, "source_points": 10412 } ], "heldout_symmetric": { "evaluated": 8527, "inliers": 5262, "inlier_ratio": 0.6170986278878855, "inlier_rmse_m": 0.11803645680912848, "median_m": 0.15845714324045926, "p90_m": 1.5940128982969806, "p95_m": 2.6020814777408723 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2114.7074725744465, 2896.903334994711, 3653.2418817271696, 6626.0, 9634.655448844787, 11010.069054072055 ], "effective_rank": 6, "scaled_condition_number": 5.206426513766648, "weakest_scaled_direction": [ -0.1900381400124806, -0.7674730911608907, -0.007987721013430354, 0.10707770013389169, -0.02024402168947157, -0.6024377990443732 ] }, "forward_reverse": { "translation_m": 0.02802927019183766, "rotation_deg": 0.10048860643286558 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.3414875847488985e-15, "rotation_deg": 2.3440754889511216e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 15, "j": 16, "lidar_time_i": 1784281794.7491786, "lidar_time_j": 1784281908.3446162, "frame_counter_i": 11146, "frame_counter_j": 12282, "rtk_translation_m": 1.7328875589135755, "rtk_rotation_deg": 25.463390443999018, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9027998487886799, 0.4299130501430412, -0.011278401652936153, -1.8337981024793115 ], [ -0.4300514858998464, 0.9026435650195853, -0.01703860334851563, -0.31904740605758236 ], [ 0.0028552587399912803, 0.020232741916030663, 0.9997912200315059, -0.05233688999403972 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8660, "backend_objective": 101.62993488457431, "backend_elapsed_sec": 0.2127452999993693, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9372197309417041, "inlier_rmse_m": 0.3429992332321203, "target_points": 4448, "source_points": 4460 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8476178629182735, "inlier_rmse_m": 0.17756658425465105, "target_points": 8061, "source_points": 8039 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7461014904798828, "inlier_rmse_m": 0.10833078187089373, "target_points": 11766, "source_points": 11607 } ], "heldout_symmetric": { "evaluated": 8461, "inliers": 6504, "inlier_ratio": 0.7687034629476421, "inlier_rmse_m": 0.09834033850996364, "median_m": 0.08327272725905262, "p90_m": 0.5528239752181396, "p95_m": 0.9852507812495924 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4409.00210388048, 5165.217616845061, 8115.8232556388675, 8660.000000000002, 9047.009599993982, 10462.371266167567 ], "effective_rank": 6, "scaled_condition_number": 2.3729567416081196, "weakest_scaled_direction": [ 0.9124230514045486, 0.33143736830035647, 0.04618378686757995, -0.04431528461521425, 0.1469059517756101, -0.17876045668069665 ] }, "forward_reverse": { "translation_m": 0.004926598691892943, "rotation_deg": 0.10049788043616295 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.08995101411847e-16, "rotation_deg": 1.033329895657601e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 15, "j": 17, "lidar_time_i": 1784281794.7491786, "lidar_time_j": 1784282032.5400162, "frame_counter_i": 11146, "frame_counter_j": 13524, "rtk_translation_m": 8.352264787019024, "rtk_rotation_deg": 19.411032835065622, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9420716305722148, -0.32687364175136246, -0.07519750793217365, 7.461193745446546 ], [ 0.32570593186725577, 0.9450667730495927, -0.0276485157669705, 3.9684321950400054 ], [ 0.08010423720059975, 0.0015546079363475214, 0.9967852799759204, 0.8211267142081754 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 5660, "backend_objective": 101.28357208687935, "backend_elapsed_sec": 0.39066060000186553, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.809334394059931, "inlier_rmse_m": 0.4700524019954877, "target_points": 4448, "source_points": 3771 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.6558675305975522, "inlier_rmse_m": 0.21489836750401572, "target_points": 8061, "source_points": 6945 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5436035343834038, "inlier_rmse_m": 0.1337707892015976, "target_points": 11766, "source_points": 10412 } ], "heldout_symmetric": { "evaluated": 8653, "inliers": 4843, "inlier_ratio": 0.5596902808274586, "inlier_rmse_m": 0.12817180913542037, "median_m": 0.19755896000719822, "p90_m": 1.866779382860181, "p95_m": 2.8054030176357956 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 1410.5236990655822, 2284.883691109894, 2528.0009694356504, 5660.0, 10528.684594919043, 11908.398734725986 ], "effective_rank": 6, "scaled_condition_number": 8.442537153126064, "weakest_scaled_direction": [ 0.2683126923459586, -0.6411343839679067, 0.0006836776415267775, 0.10605865530816341, 0.0436283189660922, -0.7097905781450302 ] }, "forward_reverse": { "translation_m": 0.04660873899639204, "rotation_deg": 0.08128930035257874 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 7.021666937153402e-16, "rotation_deg": 5.227573732801378e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 15, "j": 18, "lidar_time_i": 1784281794.7491786, "lidar_time_j": 1784282152.7353525, "frame_counter_i": 11146, "frame_counter_j": 14726, "rtk_translation_m": 6.346037230040679, "rtk_rotation_deg": 25.592965647994788, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8969380966924445, 0.4341517018303386, -0.08375171938268235, 5.813421974152195 ], [ -0.4389147786432966, 0.8971378741324569, -0.04997451235981982, 1.693344712812893 ], [ 0.05344031989276062, 0.08158391137299532, 0.9952327354015442, 0.5474025437268137 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6456, "backend_objective": 102.49901592947957, "backend_elapsed_sec": 0.4368594999978086, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8345441762362316, "inlier_rmse_m": 0.4313797716288856, "target_points": 4448, "source_points": 4267 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7095288233745722, "inlier_rmse_m": 0.2079419833574955, "target_points": 8061, "source_points": 7598 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5938189845474614, "inlier_rmse_m": 0.1260021881322215, "target_points": 11766, "source_points": 10872 } ], "heldout_symmetric": { "evaluated": 8271, "inliers": 5074, "inlier_ratio": 0.6134687462217386, "inlier_rmse_m": 0.11861991782546771, "median_m": 0.16267504186000523, "p90_m": 1.733266640994018, "p95_m": 2.6894083395718313 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2000.1487662906395, 2798.6309750626697, 3336.863004059452, 6455.999999999999, 10405.595608276246, 11868.167076555905 ], "effective_rank": 6, "scaled_condition_number": 5.933642175309751, "weakest_scaled_direction": [ 0.12976693073539752, -0.7510266721829234, -0.031247683518592795, 0.11135813975446635, 0.04567546060876612, -0.6353394216013053 ] }, "forward_reverse": { "translation_m": 0.006137337753783083, "rotation_deg": 0.040498570689394164 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5341311739065124e-15, "rotation_deg": 1.9397991388099636e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 16, "j": 17, "lidar_time_i": 1784281908.3446162, "lidar_time_j": 1784282032.5400162, "frame_counter_i": 12282, "frame_counter_j": 13524, "rtk_translation_m": 9.849975560032544, "rtk_rotation_deg": 44.87442327906463, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7103688222709044, -0.7015541133662828, -0.05655052930164605, 6.548956783220116 ], [ 0.7005783317338852, 0.7125152212952316, -0.03888522248329848, 7.891325087902238 ], [ 0.06757320068204592, -0.011995225777612552, 0.9976422089647822, 0.6917959574001291 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 5815, "backend_objective": 102.06921084199112, "backend_elapsed_sec": 0.5862409000037587, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.7756563245823389, "inlier_rmse_m": 0.4625756935269843, "target_points": 4460, "source_points": 3771 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.6581713462922966, "inlier_rmse_m": 0.21359761502312047, "target_points": 8039, "source_points": 6945 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5584902036112178, "inlier_rmse_m": 0.13248677205956727, "target_points": 11607, "source_points": 10412 } ], "heldout_symmetric": { "evaluated": 8444, "inliers": 4979, "inlier_ratio": 0.589649455234486, "inlier_rmse_m": 0.12715782204597983, "median_m": 0.18024684717370038, "p90_m": 1.7404430345105053, "p95_m": 2.6940079016130523 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 1341.672354825345, 2071.4501538935588, 2249.4252882995493, 5815.000000000001, 12378.765159388387, 13740.018810426953 ], "effective_rank": 6, "scaled_condition_number": 10.240964391202342, "weakest_scaled_direction": [ -0.47002463658505594, 0.43694106044433056, -0.006370753349259413, -0.06432506792778911, -0.058085653073818855, 0.7619757914433405 ] }, "forward_reverse": { "translation_m": 0.016491489842564398, "rotation_deg": 0.29283865924681673 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.49419213904715e-15, "rotation_deg": 7.867744205466391e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 16, "j": 18, "lidar_time_i": 1784281908.3446162, "lidar_time_j": 1784282152.7353525, "frame_counter_i": 12282, "frame_counter_j": 14726, "rtk_translation_m": 7.9099649541476005, "rtk_rotation_deg": 0.12957520399577063, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9987825221074151, 0.0060042368911197574, -0.04896348304713356, 6.036532021851093 ], [ -0.009062589742234917, 0.9980049936870143, -0.0624812135201224, 5.124926486072822 ], [ 0.04849064858212929, 0.06284887998316677, 0.9968443586061694, 0.4812780500745405 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6719, "backend_objective": 106.89294019739114, "backend_elapsed_sec": 0.24119380000047386, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.7745488633700492, "inlier_rmse_m": 0.4176670187608849, "target_points": 4460, "source_points": 4267 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7012371676757041, "inlier_rmse_m": 0.1948839316868815, "target_points": 8039, "source_points": 7598 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.618009565857248, "inlier_rmse_m": 0.12613110222409377, "target_points": 11607, "source_points": 10872 } ], "heldout_symmetric": { "evaluated": 8062, "inliers": 5193, "inlier_ratio": 0.6441329694864798, "inlier_rmse_m": 0.11977657776801591, "median_m": 0.15184086648949194, "p90_m": 1.7064248770368182, "p95_m": 2.8167921292749765 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 1721.025287689701, 2511.484173988603, 2841.885668662257, 6718.999999999998, 12347.453815221807, 13722.802817630902 ], "effective_rank": 6, "scaled_condition_number": 7.973620675877663, "weakest_scaled_direction": [ 0.26037859160420485, -0.6962928792340143, -0.035857571073403795, 0.06270637637148625, 0.057564074633910584, -0.6624558382509981 ] }, "forward_reverse": { "translation_m": 0.01581702082704062, "rotation_deg": 0.07681086634765077 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.0474634163828865e-15, "rotation_deg": 5.498612512743909e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 16, "j": 19, "lidar_time_i": 1784281908.3446162, "lidar_time_j": 1784282248.831164, "frame_counter_i": 12282, "frame_counter_j": 15687, "rtk_translation_m": 6.609737623005951, "rtk_rotation_deg": 34.172763646089344, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8322826826929584, 0.5523245189283951, -0.047362029938864694, 2.47384620010309 ], [ -0.5542014769093111, 0.8270279163107381, -0.09426318811846424, 5.309067290829172 ], [ -0.012894149097601445, 0.1047017260279683, 0.9944200769724095, 0.24456615357094227 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7100, "backend_objective": 117.28165405961984, "backend_elapsed_sec": 0.2966292999990401, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.7888816785637032, "inlier_rmse_m": 0.40260719111358834, "target_points": 4460, "source_points": 4623 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7019137596899225, "inlier_rmse_m": 0.19609454482575353, "target_points": 8039, "source_points": 8256 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6079287610240602, "inlier_rmse_m": 0.12852448336911754, "target_points": 11607, "source_points": 11679 } ], "heldout_symmetric": { "evaluated": 8018, "inliers": 5148, "inlier_ratio": 0.642055375405338, "inlier_rmse_m": 0.11922626532224312, "median_m": 0.1513914055445305, "p90_m": 1.6460751941527245, "p95_m": 2.6292669064173246 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2503.530347157266, 3446.311334048123, 3944.6148492901766, 7099.999999999997, 12233.177071313363, 14246.899483833455 ], "effective_rank": 6, "scaled_condition_number": 5.690723701436521, "weakest_scaled_direction": [ -0.4299826280275845, 0.5799440489767264, 0.01172048206969977, -0.09137928908997309, -0.08151162869840498, 0.6809171387646008 ] }, "forward_reverse": { "translation_m": 0.01936736899083179, "rotation_deg": 0.22155509936605944 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.323103535694436e-15, "rotation_deg": 3.5326322199007284e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 18, "lidar_time_i": 1784282032.5400162, "lidar_time_j": 1784282152.7353525, "frame_counter_i": 13524, "frame_counter_j": 14726, "rtk_translation_m": 2.081596655954183, "rtk_rotation_deg": 45.003998483060414, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7060147105471561, 0.7081274813076114, -0.009934722339114506, -2.325812612507912 ], [ -0.7081728441328697, 0.7058047271156785, -0.01819093218957285, -1.6158370009592502 ], [ -0.005869525004511017, 0.019878566298965287, 0.9997851725636459, -0.050118670501694496 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7273, "backend_objective": 94.9445063590489, "backend_elapsed_sec": 0.21070999999938067, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8769627372861495, "inlier_rmse_m": 0.33594866152049524, "target_points": 3771, "source_points": 4267 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7958673335088181, "inlier_rmse_m": 0.18784987936925085, "target_points": 6945, "source_points": 7598 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6689661515820456, "inlier_rmse_m": 0.11425576609132701, "target_points": 10412, "source_points": 10872 } ], "heldout_symmetric": { "evaluated": 8254, "inliers": 6283, "inlier_ratio": 0.761206687666586, "inlier_rmse_m": 0.10248796635270672, "median_m": 0.09623494656283642, "p90_m": 0.736437473230707, "p95_m": 1.6077341006930361 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2422.1868451385817, 5573.55885044467, 6315.220040789463, 7273.000000000002, 8812.484305976748, 11574.472847176667 ], "effective_rank": 6, "scaled_condition_number": 4.778521884225018, "weakest_scaled_direction": [ 0.3032949699263246, 0.8312394083206524, 0.01688631871835394, -0.08671387109850442, 0.04089481368772959, -0.45560550730299826 ] }, "forward_reverse": { "translation_m": 0.003602819302929225, "rotation_deg": 0.04280787772842571 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.2614235166153577e-15, "rotation_deg": 3.362074287560205e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 19, "lidar_time_i": 1784282032.5400162, "lidar_time_j": 1784282248.831164, "frame_counter_i": 13524, "frame_counter_j": 15687, "rtk_translation_m": 4.34928579963815, "rtk_rotation_deg": 79.047186925154, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.2020701296104395, 0.9787359077510795, -0.035265926868446325, -4.731461974243498 ], [ -0.9788940502964261, 0.2007170083106466, -0.03845934046608828, 1.018697798314426 ], [ -0.03056306616624813, 0.04229308990242541, 0.9986376687933549, -0.14584576686881853 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6396, "backend_objective": 86.7352248292678, "backend_elapsed_sec": 0.6253508000008878, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.7890979883192732, "inlier_rmse_m": 0.43390619653359513, "target_points": 3771, "source_points": 4623 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.6626695736434108, "inlier_rmse_m": 0.20176353537149613, "target_points": 6945, "source_points": 8256 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5476496275366042, "inlier_rmse_m": 0.11645108163336905, "target_points": 10412, "source_points": 11679 } ], "heldout_symmetric": { "evaluated": 8210, "inliers": 5463, "inlier_ratio": 0.6654080389768575, "inlier_rmse_m": 0.10560001932239894, "median_m": 0.12126712377558782, "p90_m": 1.255904615890748, "p95_m": 2.0886942293209505 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2245.8944674453774, 4007.7268570429655, 4507.580176259234, 6395.999999999999, 8438.207997568927, 10437.831638352885 ], "effective_rank": 6, "scaled_condition_number": 4.647516519431804, "weakest_scaled_direction": [ 0.46801389486608974, 0.6711695203141902, 0.0276295679678338, -0.058803899016418776, 0.06436915030929925, -0.5675647893732748 ] }, "forward_reverse": { "translation_m": 0.015683211248127868, "rotation_deg": 0.18051709633786264 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.9026812296057035e-15, "rotation_deg": 1.1812569766049972e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 17, "j": 20, "lidar_time_i": 1784282032.5400162, "lidar_time_j": 1784282392.325837, "frame_counter_i": 13524, "frame_counter_j": 17122, "rtk_translation_m": 4.4206846692505035, "rtk_rotation_deg": 169.37257900760153, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9817409515215186, 0.17513334924547225, -0.07424967399043934, -3.936058984907175 ], [ -0.17374336051370867, -0.9844777877686548, -0.024834050566483815, 3.949898122046015 ], [ -0.0774464252436913, -0.011480216557127127, 0.9969304167517268, -0.05477427646441862 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6349, "backend_objective": 98.11787874591228, "backend_elapsed_sec": 0.5364952000018093, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.785908425674263, "inlier_rmse_m": 0.43784258641758095, "target_points": 3771, "source_points": 4783 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.6573839662447257, "inlier_rmse_m": 0.20730899335988143, "target_points": 6945, "source_points": 8295 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5414463585195293, "inlier_rmse_m": 0.12431439240770303, "target_points": 10412, "source_points": 11726 } ], "heldout_symmetric": { "evaluated": 8274, "inliers": 5277, "inlier_ratio": 0.6377810007251632, "inlier_rmse_m": 0.11215519048187066, "median_m": 0.14335790589373204, "p90_m": 1.2433212241938114, "p95_m": 1.9449252988559254 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2257.7633730357566, 3877.5798061110263, 4391.68219364514, 6349.0, 9558.841272386477, 11692.350679853662 ], "effective_rank": 6, "scaled_condition_number": 5.178731668470772, "weakest_scaled_direction": [ 0.38471937585826815, 0.7052113598018347, 0.014800878033908312, -0.07624360260028426, 0.053934315501207086, -0.5879854390450872 ] }, "forward_reverse": { "translation_m": 0.016926609942259613, "rotation_deg": 0.20634229894075337 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.2541902238434278e-15, "rotation_deg": 3.2252243794605045e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 18, "j": 19, "lidar_time_i": 1784282152.7353525, "lidar_time_j": 1784282248.831164, "frame_counter_i": 14726, "frame_counter_j": 15687, "rtk_translation_m": 3.459222336215112, "rtk_rotation_deg": 34.04318844209358, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8358588849290913, 0.5489387879824537, -0.0024761933387511125, -3.5668618446006626 ], [ -0.5487921047895475, 0.8355122916571305, -0.027320984801243703, 0.14490977115291656 ], [ -0.012928658312235702, 0.024195403245371297, 0.9996236453065923, -0.10948842042294622 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8127, "backend_objective": 116.82640290971389, "backend_elapsed_sec": 0.2666767999980948, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.891196192948302, "inlier_rmse_m": 0.36962508913561826, "target_points": 4267, "source_points": 4623 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7995397286821705, "inlier_rmse_m": 0.18805849538401315, "target_points": 7598, "source_points": 8256 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6958643719496532, "inlier_rmse_m": 0.11989618725869633, "target_points": 10872, "source_points": 11679 } ], "heldout_symmetric": { "evaluated": 7828, "inliers": 5915, "inlier_ratio": 0.7556208482370976, "inlier_rmse_m": 0.10994458141969204, "median_m": 0.10848448716821275, "p90_m": 0.8008052138441898, "p95_m": 1.314934954690247 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3588.4204092955097, 5250.912767234175, 6416.747471268891, 8127.0, 10457.03791067897, 12899.862501631891 ], "effective_rank": 6, "scaled_condition_number": 3.594858191146124, "weakest_scaled_direction": [ -0.1945534550909183, 0.8706791161748509, 0.015343533177179796, -0.1128312806217235, -0.017514683226276046, -0.43679943194051 ] }, "forward_reverse": { "translation_m": 0.004654350735545165, "rotation_deg": 0.12873243616635754 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.6867411532482615e-15, "rotation_deg": 3.534145710076262e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 18, "j": 20, "lidar_time_i": 1784282152.7353525, "lidar_time_j": 1784282392.325837, "frame_counter_i": 14726, "frame_counter_j": 17122, "rtk_translation_m": 4.94806857498194, "rtk_rotation_deg": 124.36858052454107, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.5698071844380652, 0.8209585252502001, -0.036699759969049915, -5.077717975951281 ], [ -0.8196624208806595, -0.5709757069502303, -0.04626292110046518, 2.7771895749875872 ], [ -0.05893461087363614, 0.003720469285834117, 0.9982549122090342, -0.08134583595368532 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7037, "backend_objective": 108.959379678046, "backend_elapsed_sec": 0.3699161999975331, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8538574116663182, "inlier_rmse_m": 0.42264552235239145, "target_points": 4267, "source_points": 4783 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7164556962025317, "inlier_rmse_m": 0.2020545585821816, "target_points": 7598, "source_points": 8295 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6001193928023196, "inlier_rmse_m": 0.12443384915795004, "target_points": 10872, "source_points": 11726 } ], "heldout_symmetric": { "evaluated": 7892, "inliers": 5277, "inlier_ratio": 0.6686517992904207, "inlier_rmse_m": 0.11525187440612464, "median_m": 0.13632670236298036, "p90_m": 1.0579608239239868, "p95_m": 1.6629576737082192 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3110.115504889201, 3974.6107691216394, 4926.956485038147, 7036.999999999999, 11859.49357205418, 14026.9548179312 ], "effective_rank": 6, "scaled_condition_number": 4.510107356424666, "weakest_scaled_direction": [ -0.35520951346828616, 0.8534848766154005, -0.022790515989744534, -0.15127653285284917, -0.07208493837866063, -0.34174483401846034 ] }, "forward_reverse": { "translation_m": 0.022993775653731053, "rotation_deg": 0.1013964892640344 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.1488564258645068e-14, "rotation_deg": 1.6457442165288727e-13 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 18, "j": 21, "lidar_time_i": 1784282152.7353525, "lidar_time_j": 1784282521.1221898, "frame_counter_i": 14726, "frame_counter_j": 18410, "rtk_translation_m": 6.5847443121227816, "rtk_rotation_deg": 175.25342056617163, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9946170176581965, 0.0870741147636196, -0.05617015865071424, -7.650140128715779 ], [ -0.08488389423489073, -0.995576725870179, -0.04027042842007307, 4.004785063736034 ], [ -0.05942821454691611, -0.03528571160892669, 0.9976087438831004, -0.1480429963762943 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6432, "backend_objective": 108.45254269627576, "backend_elapsed_sec": 0.2512247000049683, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.840440726382371, "inlier_rmse_m": 0.45350730309436404, "target_points": 4267, "source_points": 4901 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.6687859884836852, "inlier_rmse_m": 0.21250648936562072, "target_points": 7598, "source_points": 8336 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5459175012731285, "inlier_rmse_m": 0.12985146430587982, "target_points": 10872, "source_points": 11782 } ], "heldout_symmetric": { "evaluated": 8067, "inliers": 4764, "inlier_ratio": 0.5905541093343251, "inlier_rmse_m": 0.1262853354637165, "median_m": 0.18226712442594717, "p90_m": 1.192859395505926, "p95_m": 1.7488011804587917 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2545.410393238745, 3006.3779292933446, 3656.0178559255132, 6431.999999999999, 13167.402351670014, 15125.709076059407 ], "effective_rank": 6, "scaled_condition_number": 5.942345924349615, "weakest_scaled_direction": [ -0.011524334799442999, -0.7418526626064202, 0.014442118600833187, 0.12227750406226973, 0.01092907313920897, 0.658970416075057 ] }, "forward_reverse": { "translation_m": 0.021857815102479028, "rotation_deg": 0.4259066161744867 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.440978833827409e-15, "rotation_deg": 2.858741689266454e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 19, "j": 20, "lidar_time_i": 1784282248.831164, "lidar_time_j": 1784282392.325837, "frame_counter_i": 15687, "frame_counter_j": 17122, "rtk_translation_m": 3.031758915138065, "rtk_rotation_deg": 90.32539208244746, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.02552123298389634, 0.9994637197107187, -0.02051681381199783, -2.711272681052241 ], [ -0.9989725014621895, -0.026266829517276755, -0.03693230279154512, 1.3689085482587278 ], [ -0.03745140837615766, 0.019553174911630652, 0.99910713407598, -0.05611145271569374 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8307, "backend_objective": 131.5288903547163, "backend_elapsed_sec": 0.3732363000017358, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9408321137361488, "inlier_rmse_m": 0.3564238086875577, "target_points": 4623, "source_points": 4783 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8397830018083182, "inlier_rmse_m": 0.1960112906682506, "target_points": 8256, "source_points": 8295 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7084257206208425, "inlier_rmse_m": 0.12583123898616394, "target_points": 11679, "source_points": 11726 } ], "heldout_symmetric": { "evaluated": 7848, "inliers": 5824, "inlier_ratio": 0.7420998980632009, "inlier_rmse_m": 0.12052023632629244, "median_m": 0.12539304654097416, "p90_m": 0.6275395805325512, "p95_m": 0.978716288292877 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3930.6125740785747, 5795.986316020251, 7189.828483939545, 8306.999999999998, 10593.747781863674, 13153.38953958267 ], "effective_rank": 6, "scaled_condition_number": 3.3463968507926847, "weakest_scaled_direction": [ 0.8578906429920294, -0.4163925608804803, 0.027723628342245645, 0.08449215377916815, 0.15807926003335063, -0.24030044494075473 ] }, "forward_reverse": { "translation_m": 0.012566250876576632, "rotation_deg": 0.08500209892702067 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.094776105826226e-15, "rotation_deg": 1.441614523455194e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 19, "j": 21, "lidar_time_i": 1784282248.831164, "lidar_time_j": 1784282521.1221898, "frame_counter_i": 15687, "frame_counter_j": 18410, "rtk_translation_m": 3.732423384308353, "rtk_rotation_deg": 141.21023212407198, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.7841989034181629, 0.6193740553435693, -0.03752145313035003, -5.543795029368623 ], [ -0.6181172031655323, -0.7850507320801231, -0.04032953274317449, 0.9785965705254549 ], [ -0.05443531049394258, -0.008433719684925763, 0.9984816820271191, -0.14048860846216044 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7506, "backend_objective": 117.79892545691015, "backend_elapsed_sec": 0.36653290000685956, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9169557233217711, "inlier_rmse_m": 0.40780082782245736, "target_points": 4623, "source_points": 4901 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7661948176583493, "inlier_rmse_m": 0.20486875425393536, "target_points": 8256, "source_points": 8336 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6370735019521304, "inlier_rmse_m": 0.1252755691253444, "target_points": 11679, "source_points": 11782 } ], "heldout_symmetric": { "evaluated": 8023, "inliers": 5227, "inlier_ratio": 0.6515019319456562, "inlier_rmse_m": 0.12055764747498063, "median_m": 0.1507390784505213, "p90_m": 0.8755175883470401, "p95_m": 1.3075487655410336 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3467.81429802038, 4116.865111949869, 5318.512388516674, 7505.999999999998, 11842.62614108797, 14135.747877242573 ], "effective_rank": 6, "scaled_condition_number": 4.076270140910382, "weakest_scaled_direction": [ 0.8836866591739116, -0.1533606645417574, 0.06694899395775084, 0.063046323826182, 0.19463918084785048, -0.38631202092128636 ] }, "forward_reverse": { "translation_m": 0.007120603737667027, "rotation_deg": 0.05561876226347328 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.2585033749746193e-15, "rotation_deg": 5.103036803136361e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 19, "j": 22, "lidar_time_i": 1784282248.831164, "lidar_time_j": 1784282614.418045, "frame_counter_i": 15687, "frame_counter_j": 19343, "rtk_translation_m": 6.37255124464243, "rtk_rotation_deg": 175.13200822775684, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9941597736637707, -0.09596423934396753, -0.04936809897024889, -8.352146372105251 ], [ 0.09732069799029686, -0.9949174931067514, -0.025843058117475035, 2.761628424625656 ], [ -0.04663717585236047, -0.030496666659087297, 0.9984462565161938, -0.18499023719890995 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6597, "backend_objective": 109.11671547828271, "backend_elapsed_sec": 0.5843276999949012, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8372774869109948, "inlier_rmse_m": 0.4319267161351091, "target_points": 4623, "source_points": 4775 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.694017094017094, "inlier_rmse_m": 0.2094465833188939, "target_points": 8256, "source_points": 8190 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5678257875710105, "inlier_rmse_m": 0.12860930767741743, "target_points": 11679, "source_points": 11618 } ], "heldout_symmetric": { "evaluated": 7852, "inliers": 4637, "inlier_ratio": 0.5905501782985226, "inlier_rmse_m": 0.12548545004843537, "median_m": 0.17676374938650719, "p90_m": 1.2330082967254523, "p95_m": 1.8035096656973177 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2675.244993486525, 3281.362935372427, 3963.7389454044273, 6597.000000000002, 13101.948378850768, 15264.352279213419 ], "effective_rank": 6, "scaled_condition_number": 5.705777346141328, "weakest_scaled_direction": [ 0.70364065893424, 0.16844236964950618, 0.06251728432607732, 0.02054186845373641, 0.16203604775799293, -0.6677806011178669 ] }, "forward_reverse": { "translation_m": 0.005772061596466365, "rotation_deg": 0.10356450735473072 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.294643908265779e-15, "rotation_deg": 1.6403288741271842e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 20, "j": 21, "lidar_time_i": 1784282392.325837, "lidar_time_j": 1784282521.1221898, "frame_counter_i": 17122, "frame_counter_j": 18410, "rtk_translation_m": 2.057726146362386, "rtk_rotation_deg": 50.884840041624386, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.6397648873440721, 0.7685602493711459, 0.004003999024517255, 0.4654588025445307 ], [ -0.7683639445208199, 0.6397049461514258, -0.019860277687075465, -2.8247328072936235 ], [ -0.0178251979521281, 0.009629379832758233, 0.9997947476167313, -0.031694469283866836 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9170, "backend_objective": 124.98136886478335, "backend_elapsed_sec": 0.2334673000004841, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9618445215262191, "inlier_rmse_m": 0.3320141405250623, "target_points": 4783, "source_points": 4901 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8714011516314779, "inlier_rmse_m": 0.17736646691694752, "target_points": 8295, "source_points": 8336 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7783058903411985, "inlier_rmse_m": 0.1167449142897337, "target_points": 11726, "source_points": 11782 } ], "heldout_symmetric": { "evaluated": 8087, "inliers": 6301, "inlier_ratio": 0.7791517249907258, "inlier_rmse_m": 0.1109933103332085, "median_m": 0.10955629234884867, "p90_m": 0.5502534415299767, "p95_m": 0.8708556274371234 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4626.09247976527, 7369.50758806164, 8464.722417201974, 9170.000000000002, 12722.007439122684, 16309.5402904017 ], "effective_rank": 6, "scaled_condition_number": 3.525554312141476, "weakest_scaled_direction": [ 0.16366545916520722, 0.9481472611568502, 0.02818926809706545, -0.192825561826524, 0.03882675679861773, -0.1864042367113552 ] }, "forward_reverse": { "translation_m": 0.004882992437392809, "rotation_deg": 0.09954673132586826 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.869926854192466e-15, "rotation_deg": 1.3836251688145198e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 20, "j": 22, "lidar_time_i": 1784282392.325837, "lidar_time_j": 1784282614.418045, "frame_counter_i": 17122, "frame_counter_j": 19343, "rtk_translation_m": 4.388457127616061, "rtk_rotation_deg": 94.54259968980386, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.07007192250787582, 0.9975096326762966, -0.008028598510670336, -1.2440583683201683 ], [ -0.9970233816219525, -0.07029270645028254, -0.03167509935295931, -5.682645076243836 ], [ -0.03216056863887345, 0.005785165329503689, 0.9994659722506479, -0.07624572632481183 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7431, "backend_objective": 119.47136637315, "backend_elapsed_sec": 0.5638886000015191, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8846073298429319, "inlier_rmse_m": 0.4113310986413628, "target_points": 4783, "source_points": 4775 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7542124542124542, "inlier_rmse_m": 0.19621149549955796, "target_points": 8295, "source_points": 8190 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6396109485281459, "inlier_rmse_m": 0.1267967974858376, "target_points": 11726, "source_points": 11618 } ], "heldout_symmetric": { "evaluated": 7916, "inliers": 5205, "inlier_ratio": 0.6575290550783224, "inlier_rmse_m": 0.11893104898070972, "median_m": 0.14887948027997924, "p90_m": 1.073593945303037, "p95_m": 1.5373072246703674 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3345.381686108289, 4416.5943869102375, 5473.167451555595, 7430.999999999997, 11711.416784157449, 14062.89609151034 ], "effective_rank": 6, "scaled_condition_number": 4.203674621017558, "weakest_scaled_direction": [ 0.04537147228981541, 0.906445436869757, 0.05360739896228813, -0.1801955966618329, 0.031146530091477324, -0.37414407233537006 ] }, "forward_reverse": { "translation_m": 0.005511015274661758, "rotation_deg": 0.13108161960065734 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.00385052691195e-14, "rotation_deg": 2.6282359899141385e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 20, "j": 23, "lidar_time_i": 1784282392.325837, "lidar_time_j": 1784282682.8141525, "frame_counter_i": 17122, "frame_counter_j": 20027, "rtk_translation_m": 8.256548639868363, "rtk_rotation_deg": 126.4903843444735, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.5880718266851332, 0.807260870105611, -0.05001414055588199, -3.2052811503460634 ], [ -0.8068310457168465, -0.5898328929166088, -0.03347868129250111, -9.230993264046077 ], [ -0.0565260146009866, 0.02066509206264106, 0.9981872387700471, -0.1786699423963931 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6341, "backend_objective": 106.15043237310859, "backend_elapsed_sec": 0.348938499999349, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8541533205210335, "inlier_rmse_m": 0.4414708968019263, "target_points": 4783, "source_points": 4683 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.6876971608832808, "inlier_rmse_m": 0.21135596057167774, "target_points": 8295, "source_points": 8242 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5538958770090846, "inlier_rmse_m": 0.12938442709714962, "target_points": 11726, "source_points": 11448 } ], "heldout_symmetric": { "evaluated": 7870, "inliers": 4564, "inlier_ratio": 0.5799237611181702, "inlier_rmse_m": 0.12732395079162134, "median_m": 0.18766252894170404, "p90_m": 1.5493795923954046, "p95_m": 2.291725386492558 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2448.9712862000465, 3263.08581395559, 3819.9570895743514, 6341.000000000004, 12844.049792197304, 14988.151163172935 ], "effective_rank": 6, "scaled_condition_number": 6.120182481367245, "weakest_scaled_direction": [ -0.2874948865744778, 0.6786235472229305, 0.028984170787127374, -0.11536332060823055, -0.020469918508537906, -0.6650180267379031 ] }, "forward_reverse": { "translation_m": 0.02421237470645105, "rotation_deg": 0.2728497258921342 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5176617391872307e-15, "rotation_deg": 4.316920030323288e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 22, "lidar_time_i": 1784282521.1221898, "lidar_time_j": 1784282614.418045, "frame_counter_i": 18410, "frame_counter_j": 19343, "rtk_translation_m": 2.665930009787955, "rtk_rotation_deg": 43.65775964817948, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7218837689860917, 0.6920135231904527, 0.0010525188696827207, 1.1030580250198543 ], [ -0.6918812720716989, 0.72177396342792, -0.018510836663963106, -3.1399413804876604 ], [ -0.013569430013185713, 0.012634454443632087, 0.999828105791205, 0.007164760168910194 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8208, "backend_objective": 124.60701246142617, "backend_elapsed_sec": 0.3604310999944573, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9229319371727749, "inlier_rmse_m": 0.3648313686822454, "target_points": 4901, "source_points": 4775 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8148962148962149, "inlier_rmse_m": 0.18757406237506444, "target_points": 8336, "source_points": 8190 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7064899294198658, "inlier_rmse_m": 0.12321187538364096, "target_points": 11782, "source_points": 11618 } ], "heldout_symmetric": { "evaluated": 8091, "inliers": 5971, "inlier_ratio": 0.7379804721295267, "inlier_rmse_m": 0.11301282071283571, "median_m": 0.12094748496043199, "p90_m": 0.6989811812116792, "p95_m": 1.0604702812460438 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3456.8486722495745, 6347.3101316107, 7203.245443672249, 8207.999999999998, 11420.611711958716, 14698.765594200446 ], "effective_rank": 6, "scaled_condition_number": 4.252070885311591, "weakest_scaled_direction": [ 0.602374859704518, -0.6542614935037286, -0.021602611559935588, 0.11464362051927753, 0.0912678577038742, 0.43260463718319087 ] }, "forward_reverse": { "translation_m": 0.005342970038949662, "rotation_deg": 0.023692959917636515 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.7465400791133423e-15, "rotation_deg": 6.493012588035186e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 23, "lidar_time_i": 1784282521.1221898, "lidar_time_j": 1784282682.8141525, "frame_counter_i": 18410, "frame_counter_j": 20027, "rtk_translation_m": 6.670349114267683, "rtk_rotation_deg": 75.60554430284907, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.24457581929286412, 0.9692777653481278, -0.026139667537426, 2.588451055494132 ], [ -0.9685762788227793, 0.24296462884392891, -0.05318064716180277, -6.927554406315808 ], [ -0.045195804219425, 0.03832496226318731, 0.9982427242652382, -0.028209520252748085 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6853, "backend_objective": 108.91506975903441, "backend_elapsed_sec": 0.5781289000005927, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8716634635917148, "inlier_rmse_m": 0.411445528640454, "target_points": 4901, "source_points": 4683 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7257947100218394, "inlier_rmse_m": 0.20368395020899233, "target_points": 8336, "source_points": 8242 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5986198462613557, "inlier_rmse_m": 0.1260676394800326, "target_points": 11782, "source_points": 11448 } ], "heldout_symmetric": { "evaluated": 8045, "inliers": 4951, "inlier_ratio": 0.6154133001864512, "inlier_rmse_m": 0.11796945645750438, "median_m": 0.16018460237772153, "p90_m": 1.201615169279335, "p95_m": 1.8208920958249983 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2642.5792919139344, 4224.56472333384, 4883.469842879197, 6853.0, 11965.613217941751, 14543.590417283354 ], "effective_rank": 6, "scaled_condition_number": 5.503558762374886, "weakest_scaled_direction": [ 0.6993597164859718, -0.3713044557041284, -0.017202179658215824, 0.06563948281261295, 0.09586549112144288, 0.5993616095931289 ] }, "forward_reverse": { "translation_m": 0.021862964848253088, "rotation_deg": 0.18671115674675795 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.004705658634741e-15, "rotation_deg": 6.408975182712225e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 21, "j": 24, "lidar_time_i": 1784282521.1221898, "lidar_time_j": 1784282765.6112185, "frame_counter_i": 18410, "frame_counter_j": 20855, "rtk_translation_m": 4.0761181240750135, "rtk_rotation_deg": 118.87493116884215, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.481845965247317, 0.8755472440209778, -0.03523477347950109, 0.5064175499789162 ], [ -0.8745611020363899, -0.48302477196651467, -0.04277789699822342, -4.433847356863259 ], [ -0.0544733382470356, 0.010202605253875771, 0.9984631001024816, -0.04100425329865263 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7372, "backend_objective": 110.44428550356376, "backend_elapsed_sec": 0.32562390000384767, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8863244176013805, "inlier_rmse_m": 0.38230714654387626, "target_points": 4901, "source_points": 4636 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7657525898842169, "inlier_rmse_m": 0.19362136359029944, "target_points": 8336, "source_points": 8205 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6513518289450433, "inlier_rmse_m": 0.12239930778313243, "target_points": 11782, "source_points": 11318 } ], "heldout_symmetric": { "evaluated": 8054, "inliers": 5387, "inlier_ratio": 0.6688601936925751, "inlier_rmse_m": 0.11271893154362743, "median_m": 0.13054800821370974, "p90_m": 1.0691481647051413, "p95_m": 1.4959046853471523 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2951.526817144999, 5514.390024523047, 6271.642674432268, 7372.0, 10626.69030764082, 13598.399537100719 ], "effective_rank": 6, "scaled_condition_number": 4.6072424136923145, "weakest_scaled_direction": [ 0.6457422836239417, -0.5806335605732496, -0.011712569621317224, 0.08419374433280695, 0.08392669932306666, 0.48126095805185715 ] }, "forward_reverse": { "translation_m": 0.017882487871653564, "rotation_deg": 0.11231417140662198 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.851943855780944e-15, "rotation_deg": 2.3154812155221307e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 23, "lidar_time_i": 1784282614.418045, "lidar_time_j": 1784282682.8141525, "frame_counter_i": 19343, "frame_counter_j": 20027, "rtk_translation_m": 4.005228418650323, "rtk_rotation_deg": 31.947784654669576, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8472147598319634, 0.5312069888054477, 0.006803364396951107, 3.683275626994861 ], [ -0.5304792049934242, 0.846605127150956, -0.04302989369331214, -1.7095999126172408 ], [ -0.02861754343777794, 0.03284651771439917, 0.9990506205801706, 0.07429265803325268 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8100, "backend_objective": 129.0080715685997, "backend_elapsed_sec": 0.2264188000044669, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9250480461242793, "inlier_rmse_m": 0.35279332830932375, "target_points": 4775, "source_points": 4683 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8224945401601553, "inlier_rmse_m": 0.18948617364890966, "target_points": 8190, "source_points": 8242 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7075471698113207, "inlier_rmse_m": 0.1262019113004098, "target_points": 11618, "source_points": 11448 } ], "heldout_symmetric": { "evaluated": 7874, "inliers": 5724, "inlier_ratio": 0.7269494538989077, "inlier_rmse_m": 0.11696827793053062, "median_m": 0.12613736015050295, "p90_m": 0.8079919635632702, "p95_m": 1.3211086339592264 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3533.911775918429, 5813.483503549238, 6771.047337223096, 8100.000000000002, 11205.749490461723, 13907.477954038526 ], "effective_rank": 6, "scaled_condition_number": 3.9354343956207307, "weakest_scaled_direction": [ 0.9260752616107812, 0.07179850952889327, -0.014948891256505179, -0.005256328091559137, 0.13919800841853822, 0.3429320632129062 ] }, "forward_reverse": { "translation_m": 0.036708381465019306, "rotation_deg": 0.17149160359500737 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.159339953157541e-16, "rotation_deg": 1.0263836241945281e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 24, "lidar_time_i": 1784282614.418045, "lidar_time_j": 1784282765.6112185, "frame_counter_i": 19343, "frame_counter_j": 20855, "rtk_translation_m": 1.4231800329066895, "rtk_rotation_deg": 75.21717152066267, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.25788577739616375, 0.9661541695392966, -0.00640675413990137, 0.46568710391669416 ], [ -0.9654848162370055, 0.2574451115716673, -0.039510557369503076, -1.3520723587269754 ], [ -0.0365239022090078, 0.016374834646028374, 0.9991986135687648, 0.007121057403838179 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8511, "backend_objective": 127.38629440814285, "backend_elapsed_sec": 0.4906935999970301, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9588006902502157, "inlier_rmse_m": 0.31306125145034036, "target_points": 4775, "source_points": 4636 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8864107251675808, "inlier_rmse_m": 0.19185633221975612, "target_points": 8190, "source_points": 8205 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7519879837427107, "inlier_rmse_m": 0.12234072700733671, "target_points": 11618, "source_points": 11318 } ], "heldout_symmetric": { "evaluated": 7883, "inliers": 6011, "inlier_ratio": 0.7625269567423569, "inlier_rmse_m": 0.11122908154278312, "median_m": 0.10739349223734442, "p90_m": 0.5924545986555685, "p95_m": 1.0801395373349565 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4208.546941654452, 7335.712282180123, 8472.15381671556, 8510.999999999998, 9231.479723556611, 12593.57249790488 ], "effective_rank": 6, "scaled_condition_number": 2.9923801902407035, "weakest_scaled_direction": [ 0.9662288126271698, -0.020217082766310124, 0.010758428849397612, 0.0005804603679080825, 0.14164350423125754, 0.21404249156897143 ] }, "forward_reverse": { "translation_m": 0.033708002403797385, "rotation_deg": 0.18898419347187523 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.8959313405828643e-15, "rotation_deg": 1.894477813879012e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 22, "j": 25, "lidar_time_i": 1784282614.418045, "lidar_time_j": 1784282827.209564, "frame_counter_i": 19343, "frame_counter_j": 21471, "rtk_translation_m": 0.9824487562406952, "rtk_rotation_deg": 165.63918634111403, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9667494598157498, 0.25275035671340645, -0.03889394717949374, -2.9860097193412005 ], [ -0.2506706136811903, -0.9667062247645501, -0.05141321268085337, -1.271662755815312 ], [ -0.05059372868894809, -0.03995412597863977, 0.9979198076171409, -0.059312706055856874 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7774, "backend_objective": 111.84536556220796, "backend_elapsed_sec": 0.38098400000308175, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9264705882352942, "inlier_rmse_m": 0.3766420977433844, "target_points": 4775, "source_points": 4624 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8016810817395541, "inlier_rmse_m": 0.19115242554787723, "target_points": 8190, "source_points": 8209 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6741241762053417, "inlier_rmse_m": 0.11994626485456243, "target_points": 11618, "source_points": 11532 } ], "heldout_symmetric": { "evaluated": 7947, "inliers": 5613, "inlier_ratio": 0.7063042657606644, "inlier_rmse_m": 0.1109686247290255, "median_m": 0.1201387273248326, "p90_m": 0.9245306903052825, "p95_m": 1.43327964829648 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3540.9787437909217, 6017.867188169421, 7221.6611793639595, 7774.000000000002, 9080.846624649874, 11546.64380092787 ], "effective_rank": 6, "scaled_condition_number": 3.260862218157852, "weakest_scaled_direction": [ 0.9590567108595855, -0.0007979045890801895, 0.036679572127256456, -0.009053182229993835, 0.14573433207041514, 0.23988276728335928 ] }, "forward_reverse": { "translation_m": 0.0237546710240931, "rotation_deg": 0.20388046327310663 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.5784725430154835e-15, "rotation_deg": 1.0709076794628853e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 24, "lidar_time_i": 1784282682.8141525, "lidar_time_j": 1784282765.6112185, "frame_counter_i": 20027, "frame_counter_j": 20855, "rtk_translation_m": 2.6253440212817054, "rtk_rotation_deg": 43.26938686599312, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7315979029790024, 0.6816787032232391, -0.008868705013074811, -2.924649525016458 ], [ -0.6817260465099083, 0.7315965617178541, -0.004008539956535947, -1.4134025244010597 ], [ 0.0037557777750654633, 0.00897866663243534, 0.9999526377178108, -0.05325831242355726 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8610, "backend_objective": 126.92802651782085, "backend_elapsed_sec": 0.3291746999966563, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9419758412424504, "inlier_rmse_m": 0.3261893736534163, "target_points": 4683, "source_points": 4636 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.872151127361365, "inlier_rmse_m": 0.1871746832111053, "target_points": 8242, "source_points": 8205 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7607351122106379, "inlier_rmse_m": 0.12141635421389804, "target_points": 11448, "source_points": 11318 } ], "heldout_symmetric": { "evaluated": 7837, "inliers": 6155, "inlier_ratio": 0.785377057547531, "inlier_rmse_m": 0.11259637754562075, "median_m": 0.10810704177880562, "p90_m": 0.542161957499401, "p95_m": 1.0012616459528307 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3932.0524081964154, 5474.816478826238, 7223.890208111019, 8610.000000000002, 10330.293590114152, 12460.58646019685 ], "effective_rank": 6, "scaled_condition_number": 3.1689777161216344, "weakest_scaled_direction": [ 0.6516665571458786, 0.7199091943932867, 0.027867960207590334, -0.08727664745254893, 0.08685350458569348, -0.20279073566152037 ] }, "forward_reverse": { "translation_m": 0.008388924730327863, "rotation_deg": 0.09824473511740778 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.6131920609444395e-15, "rotation_deg": 5.887297453606251e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 25, "lidar_time_i": 1784282682.8141525, "lidar_time_j": 1784282827.209564, "frame_counter_i": 20027, "frame_counter_j": 21471, "rtk_translation_m": 4.30404511575867, "rtk_rotation_deg": 133.69140168644446, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.6847606497059656, 0.7280107880921869, -0.033213627258352266, -5.884098724148151 ], [ -0.7274656553714964, -0.6855501314987452, -0.02854360623629836, -3.1809510766879487 ], [ -0.04354965980559433, 0.004616234769442908, 0.9990405985280926, -0.15107722772536858 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7278, "backend_objective": 110.71833404889564, "backend_elapsed_sec": 0.24744400000054156, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8682958477508651, "inlier_rmse_m": 0.39227302044702694, "target_points": 4683, "source_points": 4624 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7488122792057498, "inlier_rmse_m": 0.19495027577279175, "target_points": 8242, "source_points": 8209 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6311134235171696, "inlier_rmse_m": 0.12333994362733836, "target_points": 11448, "source_points": 11532 } ], "heldout_symmetric": { "evaluated": 7901, "inliers": 5392, "inlier_ratio": 0.682445260093659, "inlier_rmse_m": 0.11585305930039552, "median_m": 0.13298788151345559, "p90_m": 1.0603927302746128, "p95_m": 1.8580324981022545 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3163.0109429734594, 4004.988001182087, 5073.207748897091, 7277.999999999998, 12015.523061723188, 14106.413101397686 ], "effective_rank": 6, "scaled_condition_number": 4.459805342354154, "weakest_scaled_direction": [ 0.8081218693519261, 0.5508567469351144, 0.06089520017051001, -0.08496221686466411, 0.13755614053614224, -0.11682205756469173 ] }, "forward_reverse": { "translation_m": 0.03262070035564156, "rotation_deg": 0.26820774135203534 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0778315928076987e-15, "rotation_deg": 1.2401385664995157e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 23, "j": 26, "lidar_time_i": 1784282682.8141525, "lidar_time_j": 1784282910.2059953, "frame_counter_i": 20027, "frame_counter_j": 22301, "rtk_translation_m": 6.580252552934289, "rtk_rotation_deg": 159.52196102005493, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9375544695197546, -0.34364798157040144, -0.053830116534508685, -7.833373943547041 ], [ 0.34476101079678306, -0.9386048495859853, -0.01267997508087462, -3.4797035024430962 ], [ -0.04616776059016315, -0.030446692698218973, 0.9984695973267435, -0.2273979584181676 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6728, "backend_objective": 106.80666993133968, "backend_elapsed_sec": 0.4529060999993817, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.7898640296662547, "inlier_rmse_m": 0.4124565400107671, "target_points": 4683, "source_points": 4854 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.6766765578635014, "inlier_rmse_m": 0.19941539599501268, "target_points": 8242, "source_points": 8425 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5740124562750618, "inlier_rmse_m": 0.12599583699886022, "target_points": 11448, "source_points": 11721 } ], "heldout_symmetric": { "evaluated": 7886, "inliers": 4882, "inlier_ratio": 0.6190717727618564, "inlier_rmse_m": 0.1225437625254746, "median_m": 0.16285026037192588, "p90_m": 1.567164112976744, "p95_m": 2.3085569997293187 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2944.2379727379357, 3262.4481868625458, 4235.56733045849, 6728.0, 11923.433141178073, 13981.19906341104 ], "effective_rank": 6, "scaled_condition_number": 4.748664745468758, "weakest_scaled_direction": [ 0.28323210760640866, 0.7306368863211128, 0.06480780497377935, -0.12188074600419833, 0.10023391304794751, -0.5973671470803007 ] }, "forward_reverse": { "translation_m": 0.020450511219618477, "rotation_deg": 0.11876511292532045 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.395356834685837e-15, "rotation_deg": 4.6937859844999334e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 25, "lidar_time_i": 1784282765.6112185, "lidar_time_j": 1784282827.209564, "frame_counter_i": 20855, "frame_counter_j": 21471, "rtk_translation_m": 2.0155105379126432, "rtk_rotation_deg": 90.4220148204513, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.005363690155856088, 0.9999849183563546, 0.0011806302327514791, -0.9617512396691585 ], [ -0.9994709723876247, -0.005323052499366476, -0.03208489467997208, -3.312903023792918 ], [ -0.03207812623031286, -0.0013520990805049936, 0.9994844499268755, -0.0367702782503112 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8361, "backend_objective": 114.36437467794461, "backend_elapsed_sec": 0.33836219999648165, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.941825259515571, "inlier_rmse_m": 0.35853719846093035, "target_points": 4636, "source_points": 4624 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8406626872944329, "inlier_rmse_m": 0.18625179330985278, "target_points": 8205, "source_points": 8209 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7250260145681582, "inlier_rmse_m": 0.11695431998142888, "target_points": 11318, "source_points": 11532 } ], "heldout_symmetric": { "evaluated": 7910, "inliers": 6061, "inlier_ratio": 0.7662452591656131, "inlier_rmse_m": 0.10751986617832841, "median_m": 0.10116145904399934, "p90_m": 0.6443335547476615, "p95_m": 1.1104936567026016 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3669.8804555877064, 4999.851831425926, 6868.456269097223, 8361.0, 10017.110412921093, 11770.616577257417 ], "effective_rank": 6, "scaled_condition_number": 3.2073569479179214, "weakest_scaled_direction": [ 0.3324100365975593, 0.931784248497209, 0.03954614742761439, -0.1288241341485682, 0.044524675245431605, 0.033759143953819494 ] }, "forward_reverse": { "translation_m": 0.020801978066425954, "rotation_deg": 0.11499836231449187 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.3258857712255147e-15, "rotation_deg": 3.39796436837418e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 26, "lidar_time_i": 1784282765.6112185, "lidar_time_j": 1784282910.2059953, "frame_counter_i": 20855, "frame_counter_j": 22301, "rtk_translation_m": 4.344602404326578, "rtk_rotation_deg": 157.20865211395216, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.9211380419809985, 0.38839871558081185, -0.025517549854731952, -2.1841545043389186 ], [ -0.3875454391797973, -0.9212677492070149, -0.03277601015953865, -4.861572988036573 ], [ -0.03623865596777514, -0.020302019757062275, 0.999136921451426, -0.07340340775024909 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7664, "backend_objective": 112.70401986803651, "backend_elapsed_sec": 0.31347890000324696, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8498145859085291, "inlier_rmse_m": 0.387686531802429, "target_points": 4636, "source_points": 4854 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7541839762611275, "inlier_rmse_m": 0.1880243121959097, "target_points": 8205, "source_points": 8425 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.653869123794898, "inlier_rmse_m": 0.12126681052785941, "target_points": 11318, "source_points": 11721 } ], "heldout_symmetric": { "evaluated": 7895, "inliers": 5567, "inlier_ratio": 0.7051298290056998, "inlier_rmse_m": 0.11713046861462412, "median_m": 0.1301772967657091, "p90_m": 1.0895494240119423, "p95_m": 1.7020252334945716 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3408.6202101993836, 4966.592234366869, 6090.1291197882065, 7663.999999999998, 11506.227175234615, 13778.800543548294 ], "effective_rank": 6, "scaled_condition_number": 4.0423396253765445, "weakest_scaled_direction": [ 0.37364758000210885, 0.9097035751194301, 0.05050273867222714, -0.15483706013799015, 0.06076091341251229, 0.05108777710178346 ] }, "forward_reverse": { "translation_m": 0.02866879831073192, "rotation_deg": 0.14020373652670878 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.1868857395626282e-15, "rotation_deg": 2.9937034517109715e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 24, "j": 27, "lidar_time_i": 1784282765.6112185, "lidar_time_j": 1784282963.3037353, "frame_counter_i": 20855, "frame_counter_j": 22832, "rtk_translation_m": 4.194437499675352, "rtk_rotation_deg": 171.65485957819877, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.988553177774717, -0.14821714741539485, -0.028183185120709088, -1.6964712100693118 ], [ 0.14897417923373385, -0.9884730917029156, -0.0269748197568689, -3.927746033995513 ], [ -0.023860189293895356, -0.030864610662102963, 0.9992387438322916, -0.06316233111857894 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7891, "backend_objective": 113.90289549445808, "backend_elapsed_sec": 0.5935157999992953, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8870863075924724, "inlier_rmse_m": 0.38192903714442533, "target_points": 4636, "source_points": 4623 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7820107108081792, "inlier_rmse_m": 0.19258958402327248, "target_points": 8205, "source_points": 8216 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6803172687300629, "inlier_rmse_m": 0.12014379901318356, "target_points": 11318, "source_points": 11599 } ], "heldout_symmetric": { "evaluated": 7906, "inliers": 5717, "inlier_ratio": 0.7231216797369087, "inlier_rmse_m": 0.11332956637109663, "median_m": 0.1196667287779433, "p90_m": 0.8651839293190786, "p95_m": 1.4962213505958402 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3511.907423331816, 4918.057858463517, 6360.7828136427015, 7890.999999999998, 10503.398491020842, 12550.551873484046 ], "effective_rank": 6, "scaled_condition_number": 3.5737137574022637, "weakest_scaled_direction": [ 0.36135381633906977, 0.9170637677453837, 0.04851774566449471, -0.14790635519695247, 0.056622967555996606, 0.031321610733986635 ] }, "forward_reverse": { "translation_m": 0.0391123663878616, "rotation_deg": 0.31745415833557195 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.5188334428407404e-15, "rotation_deg": 8.075573290902457e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 26, "lidar_time_i": 1784282827.209564, "lidar_time_j": 1784282910.2059953, "frame_counter_i": 21471, "frame_counter_j": 22301, "rtk_translation_m": 2.340922525153354, "rtk_rotation_deg": 66.78663729350096, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.3932897621157184, 0.9194145654815569, -0.0001406958459414142, 1.5630561499147755 ], [ -0.9190433557123507, 0.39312661570169805, -0.028474099597912323, -1.2152009804602824 ], [ -0.02612419062753488, 0.011327877439710993, 0.9995945207216609, 0.008744935201204423 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8827, "backend_objective": 111.88478301759078, "backend_elapsed_sec": 0.2721100999988266, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9398434281005357, "inlier_rmse_m": 0.33776645013004153, "target_points": 4624, "source_points": 4854 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8554302670623145, "inlier_rmse_m": 0.18062532839370846, "target_points": 8209, "source_points": 8425 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7530927395273441, "inlier_rmse_m": 0.11258458950795346, "target_points": 11532, "source_points": 11721 } ], "heldout_symmetric": { "evaluated": 7959, "inliers": 6484, "inlier_ratio": 0.8146752104535746, "inlier_rmse_m": 0.1067005622933313, "median_m": 0.09593666478113926, "p90_m": 0.44717189860492046, "p95_m": 0.784338341549657 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4089.2452236432623, 6467.476022252066, 8421.108365851454, 8827.0, 9579.714287643548, 11676.91249398543 ], "effective_rank": 6, "scaled_condition_number": 2.8555177924942416, "weakest_scaled_direction": [ 0.8714385987222086, -0.46073467142396707, -0.008303791084562669, 0.06836139466737667, 0.12776464964998097, 0.08516039148275074 ] }, "forward_reverse": { "translation_m": 0.015155094735859666, "rotation_deg": 0.09937091691588736 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.446597313700017e-15, "rotation_deg": 1.785804185076351e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 27, "lidar_time_i": 1784282827.209564, "lidar_time_j": 1784282963.3037353, "frame_counter_i": 21471, "frame_counter_j": 22832, "rtk_translation_m": 2.187150933555911, "rtk_rotation_deg": 97.92312560134954, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.14286922462627166, 0.9897293554936732, -0.004918081817645965, 0.6164052084983502 ], [ -0.9893293165257449, -0.14295135807847528, -0.028149825687226054, -0.7341284052309955 ], [ -0.028563755309651058, 0.000843858753970683, 0.9995916165039672, 0.009486078584492744 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9320, "backend_objective": 109.31219743642447, "backend_elapsed_sec": 0.2587424000012106, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9612805537529743, "inlier_rmse_m": 0.28716179616053045, "target_points": 4624, "source_points": 4623 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9084712755598832, "inlier_rmse_m": 0.17347074375621, "target_points": 8209, "source_points": 8216 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8035175446159152, "inlier_rmse_m": 0.10829947621744337, "target_points": 11532, "source_points": 11599 } ], "heldout_symmetric": { "evaluated": 7970, "inliers": 6759, "inlier_ratio": 0.8480552070263488, "inlier_rmse_m": 0.10282262567757873, "median_m": 0.08697234076040439, "p90_m": 0.3517146451030987, "p95_m": 0.5688866395295826 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4572.403338635837, 7151.420707010712, 9035.963296048772, 9320.0, 10073.011606177983, 12806.610374477745 ], "effective_rank": 6, "scaled_condition_number": 2.8008487935140383, "weakest_scaled_direction": [ 0.9017970792717486, -0.369447123081301, 0.0015585469741023936, 0.058493789204651536, 0.14346333041965686, 0.16206533079164476 ] }, "forward_reverse": { "translation_m": 0.020178532297188766, "rotation_deg": 0.14259764688967286 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.4708138479614427e-15, "rotation_deg": 1.3898673429711823e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 25, "j": 28, "lidar_time_i": 1784282827.209564, "lidar_time_j": 1784283066.8004546, "frame_counter_i": 21471, "frame_counter_j": 23867, "rtk_translation_m": 6.688406442287195, "rtk_rotation_deg": 171.26720999836604, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.987676411459886, -0.14646470902791653, -0.05516697612777326, 2.7994573385486174 ], [ 0.1491267828317508, -0.9876677116169565, -0.04768326825606914, -3.8160527273321296 ], [ -0.04750272505831976, -0.0553225129463245, 0.9973379119803564, -0.01680389599882286 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7008, "backend_objective": 101.67006038206819, "backend_elapsed_sec": 0.6255956000022707, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8509240246406571, "inlier_rmse_m": 0.4171858670459701, "target_points": 4624, "source_points": 4870 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7164179104477612, "inlier_rmse_m": 0.19517747281322123, "target_points": 8209, "source_points": 8308 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6012354152367879, "inlier_rmse_m": 0.1204479725674731, "target_points": 11532, "source_points": 11656 } ], "heldout_symmetric": { "evaluated": 7957, "inliers": 5185, "inlier_ratio": 0.6516274978006786, "inlier_rmse_m": 0.11571138405667894, "median_m": 0.14148786304481872, "p90_m": 1.0524588223436435, "p95_m": 1.484755350031208 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3273.0939242301556, 4794.206357661502, 5970.750712474303, 7007.999999999998, 9405.535627177738, 11489.107265834351 ], "effective_rank": 6, "scaled_condition_number": 3.5101673009694134, "weakest_scaled_direction": [ 0.7699051397356107, -0.608094222389781, -0.020033858905888106, 0.10948909816309121, 0.135947842818848, 0.0812185841943252 ] }, "forward_reverse": { "translation_m": 0.012932261164889271, "rotation_deg": 0.1340627397278959 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5124929012273932e-15, "rotation_deg": 9.086683793082136e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 26, "j": 27, "lidar_time_i": 1784282910.2059953, "lidar_time_j": 1784282963.3037353, "frame_counter_i": 22301, "frame_counter_j": 22832, "rtk_translation_m": 0.6349061963265976, "rtk_rotation_deg": 31.136488307848563, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8538006100022718, 0.5205972917009308, -0.0017257558935776845, -0.8104695563319614 ], [ -0.5205997668211398, 0.8537993199533249, -0.001613701649559284, -0.6781561711621104 ], [ 0.0006333604999681808, 0.00227620756854214, 0.9999972088628959, -0.005846940636488176 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9709, "backend_objective": 136.12245459389771, "backend_elapsed_sec": 0.2870318999994197, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9772874756651525, "inlier_rmse_m": 0.27944485028786253, "target_points": 4854, "source_points": 4623 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9318403115871471, "inlier_rmse_m": 0.16940808043181338, "target_points": 8425, "source_points": 8216 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8370549185274593, "inlier_rmse_m": 0.11840707021477218, "target_points": 11721, "source_points": 11599 } ], "heldout_symmetric": { "evaluated": 7955, "inliers": 6895, "inlier_ratio": 0.8667504714016342, "inlier_rmse_m": 0.10966038141955464, "median_m": 0.0893188040469041, "p90_m": 0.2903569322194293, "p95_m": 0.46816151266292544 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4896.62337183985, 8672.178557718431, 9708.999999999998, 9756.308214180548, 10547.631233935701, 14345.771683833664 ], "effective_rank": 6, "scaled_condition_number": 2.9297274048756186, "weakest_scaled_direction": [ 0.7455267577431389, 0.6456810626509821, 0.013331627634141792, -0.10112350189563181, 0.11553339842759627, 0.05944878249098156 ] }, "forward_reverse": { "translation_m": 0.0016799531047772863, "rotation_deg": 0.021489450960699312 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.3226229184323991e-15, "rotation_deg": 1.6412429519641334e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 26, "j": 28, "lidar_time_i": 1784282910.2059953, "lidar_time_j": 1784283066.8004546, "frame_counter_i": 22301, "frame_counter_j": 23867, "rtk_translation_m": 5.008419104260455, "rtk_rotation_deg": 121.94615270813352, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.5242036597752764, 0.8515838106578241, -0.003941637186061626, 2.8839167523370666 ], [ -0.85010828078287, -0.5235573581789366, -0.056600385520646355, 0.12012842772886964 ], [ -0.0502636451384082, -0.026319310822901683, 0.9983891324805214, 0.03401953456073927 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7877, "backend_objective": 116.87654244348538, "backend_elapsed_sec": 0.34970289999910165, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9147843942505134, "inlier_rmse_m": 0.37946743900113283, "target_points": 4854, "source_points": 4870 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7977852672123255, "inlier_rmse_m": 0.19079194317110526, "target_points": 8425, "source_points": 8308 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6757892930679479, "inlier_rmse_m": 0.12181008744355659, "target_points": 11721, "source_points": 11656 } ], "heldout_symmetric": { "evaluated": 7942, "inliers": 5595, "inlier_ratio": 0.7044824981113069, "inlier_rmse_m": 0.11528623479803272, "median_m": 0.12474195810659136, "p90_m": 0.7515249892952646, "p95_m": 1.1633229319793972 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3971.952321625834, 5928.668800381965, 7382.245810171075, 7877.000000000002, 9372.969552315064, 11883.212813668999 ], "effective_rank": 6, "scaled_condition_number": 2.991781333569699, "weakest_scaled_direction": [ 0.876175692786285, 0.4405508944769608, -0.0015687817048271244, -0.08374043960762176, 0.16675245635467315, 0.05839315665376423 ] }, "forward_reverse": { "translation_m": 0.011526585390891731, "rotation_deg": 0.12425176309998268 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 6.330861382854123e-16, "rotation_deg": 2.366805904648165e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 26, "j": 29, "lidar_time_i": 1784282910.2059953, "lidar_time_j": 1784283133.8969557, "frame_counter_i": 22301, "frame_counter_j": 24538, "rtk_translation_m": 2.224643201350574, "rtk_rotation_deg": 145.73622267800252, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.8295394870970153, 0.5581902292580275, -0.016967831555502966, -1.871694340457159 ], [ -0.5566223920903675, -0.8289006633149197, -0.05563454843605863, -2.9298304691995414 ], [ -0.04511930817756259, -0.03670637978551166, 0.9983070117517056, -0.10255531185451625 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7924, "backend_objective": 110.23396356949974, "backend_elapsed_sec": 0.5270935000007739, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8935166187935987, "inlier_rmse_m": 0.38617977070415527, "target_points": 4854, "source_points": 4874 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7857909166766003, "inlier_rmse_m": 0.18875973553495173, "target_points": 8425, "source_points": 8389 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6781343602909713, "inlier_rmse_m": 0.1179466141189207, "target_points": 11721, "source_points": 11685 } ], "heldout_symmetric": { "evaluated": 7917, "inliers": 5650, "inlier_ratio": 0.713654161930024, "inlier_rmse_m": 0.11136018082941974, "median_m": 0.11711516561068201, "p90_m": 0.9612581391276749, "p95_m": 1.5297154618556155 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3697.433565465047, 4702.214814541274, 6404.145352882606, 7923.999999999998, 10071.767810174415, 12055.529027254397 ], "effective_rank": 6, "scaled_condition_number": 3.2605126809731075, "weakest_scaled_direction": [ 0.7735199038297194, 0.6068968785648327, 0.048447272216841225, -0.1062463457328997, 0.13149092421978464, 0.04917163662624739 ] }, "forward_reverse": { "translation_m": 0.0026952303885011083, "rotation_deg": 0.026655596724504224 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.3944312166872456e-15, "rotation_deg": 3.140190742515031e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 27, "j": 28, "lidar_time_i": 1784282963.3037353, "lidar_time_j": 1784283066.8004546, "frame_counter_i": 22832, "frame_counter_j": 23867, "rtk_translation_m": 5.622863551235285, "rtk_rotation_deg": 90.80966440028486, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.004988939693641744, 0.999657085356811, 0.02570646176857698, 2.7386248716996597 ], [ -0.9989723389787761, -0.0038241587791274807, -0.045162393259278705, 2.594890346853918 ], [ -0.04504860082185606, -0.025905356696214913, 0.9986488552331266, 0.044227197646508905 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7766, "backend_objective": 108.70748712340516, "backend_elapsed_sec": 0.2266098999971291, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9030800821355236, "inlier_rmse_m": 0.38295384406441424, "target_points": 4623, "source_points": 4870 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7845450168512277, "inlier_rmse_m": 0.19049268501906316, "target_points": 8216, "source_points": 8308 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6662663006177076, "inlier_rmse_m": 0.11831261004658235, "target_points": 11599, "source_points": 11656 } ], "heldout_symmetric": { "evaluated": 7953, "inliers": 5614, "inlier_ratio": 0.7058971457311706, "inlier_rmse_m": 0.1123767383226778, "median_m": 0.1225085417380958, "p90_m": 0.778740155143676, "p95_m": 1.156343730408758 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3670.627434434386, 5537.529686485229, 6953.599558596386, 7765.999999999998, 9663.609267964628, 11884.04055277451 ], "effective_rank": 6, "scaled_condition_number": 3.2376046779603893, "weakest_scaled_direction": [ 0.5533462160170404, 0.8128560408026986, -0.010587439310321793, -0.14940295228081374, 0.10191243910023749, 0.015922967231396547 ] }, "forward_reverse": { "translation_m": 0.004853942846193662, "rotation_deg": 0.04151426276015074 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.390480750425384e-16, "rotation_deg": 2.541450194444837e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 27, "j": 29, "lidar_time_i": 1784282963.3037353, "lidar_time_j": 1784283133.8969557, "frame_counter_i": 22832, "frame_counter_j": 24538, "rtk_translation_m": 2.458639091699311, "rtk_rotation_deg": 114.59973437015381, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.41861393881588443, 0.9081040319979841, 0.010461228324386307, 0.27043057663194997 ], [ -0.9073035545966536, -0.4176880442091319, -0.04834208871189512, -2.4747399529576115 ], [ -0.03953011567563815, -0.02972818181043622, 0.9987760535580115, -0.04562196596502673 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8414, "backend_objective": 125.7611556421393, "backend_elapsed_sec": 0.2997555999972974, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9179318834632745, "inlier_rmse_m": 0.35850636925063306, "target_points": 4623, "source_points": 4874 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8253665514364048, "inlier_rmse_m": 0.18361573440482076, "target_points": 8216, "source_points": 8389 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7200684638425332, "inlier_rmse_m": 0.12225651334842466, "target_points": 11599, "source_points": 11685 } ], "heldout_symmetric": { "evaluated": 7928, "inliers": 5997, "inlier_ratio": 0.7564328960645812, "inlier_rmse_m": 0.11469589052522192, "median_m": 0.11479814096444782, "p90_m": 0.7577252702414484, "p95_m": 1.2191899836074707 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4189.086558889987, 6711.776735810124, 7923.244943403709, 8414.0, 10449.224582762705, 13426.571749619565 ], "effective_rank": 6, "scaled_condition_number": 3.205131133212321, "weakest_scaled_direction": [ 0.1974371586142207, 0.9627569210896274, 0.036259697170080527, -0.1697496004622338, 0.03277844459133126, 0.05397740607498236 ] }, "forward_reverse": { "translation_m": 0.012664149059349924, "rotation_deg": 0.06847473063899887 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.2039045623040506e-15, "rotation_deg": 3.042077816899448e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 27, "j": 30, "lidar_time_i": 1784282963.3037353, "lidar_time_j": 1784283183.2952216, "frame_counter_i": 22832, "frame_counter_j": 25032, "rtk_translation_m": 2.614522132166758, "rtk_rotation_deg": 143.98503586800658, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.8030547182750832, 0.5957957140278111, -0.01142744950626229, -0.9691053041441982 ], [ -0.5949245016668079, -0.8026853382554909, -0.04196528405918694, -3.011745774634933 ], [ -0.03417538255275485, -0.026901949664648497, 0.9990537164395189, -0.04291852837756955 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8334, "backend_objective": 113.83987312249604, "backend_elapsed_sec": 0.2999768000008771, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9272185571398169, "inlier_rmse_m": 0.3456597203393336, "target_points": 4623, "source_points": 4699 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8427798682972719, "inlier_rmse_m": 0.17707964849592986, "target_points": 8216, "source_points": 8504 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7355692850838482, "inlier_rmse_m": 0.1168746850234882, "target_points": 11599, "source_points": 11330 } ], "heldout_symmetric": { "evaluated": 7916, "inliers": 6091, "inlier_ratio": 0.7694542698332492, "inlier_rmse_m": 0.10812761282109745, "median_m": 0.10220407876302295, "p90_m": 0.683995129079065, "p95_m": 1.167410571768365 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3872.2254286701086, 6745.465226886375, 7741.83692965934, 8333.999999999996, 10955.762957814793, 13799.159423012303 ], "effective_rank": 6, "scaled_condition_number": 3.5636250205999853, "weakest_scaled_direction": [ -0.22637369226996668, -0.9605771216120338, -0.03794741785141644, 0.15124619321873006, -0.03643685049991743, 0.02008689434686909 ] }, "forward_reverse": { "translation_m": 0.029100131201629794, "rotation_deg": 0.2714584305620497 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.4449569726155179e-15, "rotation_deg": 5.787484066501096e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 28, "j": 29, "lidar_time_i": 1784283066.8004546, "lidar_time_j": 1784283133.8969557, "frame_counter_i": 23867, "frame_counter_j": 24538, "rtk_translation_m": 5.5254251571777075, "rtk_rotation_deg": 23.790069969868927, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9102669470477415, 0.41399019085540983, 0.005119276109588648, 5.082535151863682 ], [ -0.4139213669634026, 0.9102488639259306, -0.010775327962597517, -2.450941782249316 ], [ -0.009120695342641606, 0.0076894471228077755, 0.9999288401278423, 0.0728133546865607 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7664, "backend_objective": 114.00119031424686, "backend_elapsed_sec": 0.31752539999433793, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.913007796471071, "inlier_rmse_m": 0.3899266077247128, "target_points": 4870, "source_points": 4874 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7838836571701037, "inlier_rmse_m": 0.19773400674012226, "target_points": 8308, "source_points": 8389 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6558836114676936, "inlier_rmse_m": 0.1219626760614398, "target_points": 11656, "source_points": 11685 } ], "heldout_symmetric": { "evaluated": 7915, "inliers": 5344, "inlier_ratio": 0.6751737207833228, "inlier_rmse_m": 0.11779777341629802, "median_m": 0.13811527247949207, "p90_m": 0.8983474010732945, "p95_m": 1.294060740413257 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3080.419355297311, 4550.440172028404, 5458.852404979376, 7663.999999999998, 11862.338381978307, 14098.747717735216 ], "effective_rank": 6, "scaled_condition_number": 4.576892329120707, "weakest_scaled_direction": [ 0.8716847861036288, -0.20346051364257467, -0.03342156256278399, 0.04911862030784595, 0.14168922539984408, 0.4185259570973811 ] }, "forward_reverse": { "translation_m": 0.02178556321929983, "rotation_deg": 0.16690946122682282 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2782640434660324e-15, "rotation_deg": 1.3431514153653538e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 28, "j": 30, "lidar_time_i": 1784283066.8004546, "lidar_time_j": 1784283183.2952216, "frame_counter_i": 23867, "frame_counter_j": 25032, "rtk_translation_m": 6.682895390289165, "rtk_rotation_deg": 53.17537146772172, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.5998252993646357, 0.8001289338203266, -0.0018164541483733426, 5.6315435120729225 ], [ -0.7996471983932171, 0.5993821377326837, -0.03613047285708746, -3.6877598404710397 ], [ -0.027820286555020203, 0.023124494168444837, 0.999345430482098, 0.07990488251938149 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7256, "backend_objective": 117.91135637772743, "backend_elapsed_sec": 0.28771730000153184, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8965737390934241, "inlier_rmse_m": 0.4043533396772098, "target_points": 4870, "source_points": 4699 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7710489181561618, "inlier_rmse_m": 0.1996983112444392, "target_points": 8308, "source_points": 8504 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6404236540158871, "inlier_rmse_m": 0.12747622104487114, "target_points": 11656, "source_points": 11330 } ], "heldout_symmetric": { "evaluated": 7903, "inliers": 5130, "inlier_ratio": 0.6491205871188156, "inlier_rmse_m": 0.12153627244194264, "median_m": 0.15220954302102804, "p90_m": 1.166492156128578, "p95_m": 1.6464571932567522 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2799.6007087090325, 4111.654902815169, 4816.162509369737, 7256.000000000002, 12358.626538062888, 14605.695425644348 ], "effective_rank": 6, "scaled_condition_number": 5.217063769204219, "weakest_scaled_direction": [ 0.8402497943674436, -0.044924054888422715, -0.02325626534648812, 0.021244911968829428, 0.12581778329123822, 0.5245376989341185 ] }, "forward_reverse": { "translation_m": 0.03128065038149053, "rotation_deg": 0.11076032475862632 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 3.2121008542807775e-15, "rotation_deg": 1.6961176944430868e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 28, "j": 31, "lidar_time_i": 1784283066.8004546, "lidar_time_j": 1784283245.892713, "frame_counter_i": 23867, "frame_counter_j": 25658, "rtk_translation_m": 11.27338119162288, "rtk_rotation_deg": 23.882243944837096, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9103449697643552, 0.4138489116552778, -0.0010556261070418095, 10.307871150160208 ], [ -0.41341106519065984, 0.9092584382338553, -0.04837751211518877, -4.842233369866662 ], [ -0.01906114379201317, 0.044476632317131434, 0.9988285648573868, 0.14291257612359615 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6049, "backend_objective": 104.75708112565634, "backend_elapsed_sec": 0.2905689999970491, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8372349823321554, "inlier_rmse_m": 0.4468275550454744, "target_points": 4870, "source_points": 4528 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.6821208384710234, "inlier_rmse_m": 0.2158328200154427, "target_points": 8308, "source_points": 8110 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.5357838795394154, "inlier_rmse_m": 0.13159818582999966, "target_points": 11656, "source_points": 11290 } ], "heldout_symmetric": { "evaluated": 7921, "inliers": 4394, "inlier_ratio": 0.5547279383916173, "inlier_rmse_m": 0.13098667045941628, "median_m": 0.205878137409519, "p90_m": 1.615563886386715, "p95_m": 2.275502992502955 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 1844.1721812177354, 2695.4142054271897, 3106.568013045264, 6049.0, 13932.697986660478, 15746.423354481383 ], "effective_rank": 6, "scaled_condition_number": 8.538477868201968, "weakest_scaled_direction": [ 0.695420150474029, 0.15161542456836333, -0.022768806371885685, 0.0007817896544881731, 0.10075404380644053, 0.6947900188298762 ] }, "forward_reverse": { "translation_m": 0.007811024872033181, "rotation_deg": 0.25693805699014277 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 7.260934972139191e-15, "rotation_deg": 1.781926206974061e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 29, "j": 30, "lidar_time_i": 1784283133.8969557, "lidar_time_j": 1784283183.2952216, "frame_counter_i": 24538, "frame_counter_j": 25032, "rtk_translation_m": 1.1998189814142899, "rtk_rotation_deg": 29.3853014978528, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8773211442337403, 0.4798985861252502, 0.002226413121687831, 1.0188505456830872 ], [ -0.47968782850408115, 0.8770561277162716, -0.025925586210897026, -0.8961343743799698 ], [ -0.014394341438281983, 0.02167708168377922, 0.9996613962058514, 0.02465825556754161 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9060, "backend_objective": 138.04866029376646, "backend_elapsed_sec": 0.3623393000016222, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9663758246435412, "inlier_rmse_m": 0.29062356620214636, "target_points": 4874, "source_points": 4699 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9118062088428974, "inlier_rmse_m": 0.1800056919897175, "target_points": 8389, "source_points": 8504 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7996469549867609, "inlier_rmse_m": 0.12343888760363124, "target_points": 11685, "source_points": 11330 } ], "heldout_symmetric": { "evaluated": 7878, "inliers": 6376, "inlier_ratio": 0.8093424727088093, "inlier_rmse_m": 0.11457686827315132, "median_m": 0.1082418355287961, "p90_m": 0.44093055962133587, "p95_m": 0.6903270330844613 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4690.807493813861, 7698.907146240926, 9060.0, 9120.581092513577, 9538.149926414559, 12935.293731159942 ], "effective_rank": 6, "scaled_condition_number": 2.757583581977887, "weakest_scaled_direction": [ 0.9339210387739588, 0.294357820284625, 0.007920772730544378, -0.04666316990349926, 0.14443564207028253, 0.13432468948896828 ] }, "forward_reverse": { "translation_m": 0.011632920497220726, "rotation_deg": 0.07792616982135933 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.623746175455571e-15, "rotation_deg": 5.310944878659636e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 29, "j": 31, "lidar_time_i": 1784283133.8969557, "lidar_time_j": 1784283245.892713, "frame_counter_i": 24538, "frame_counter_j": 25658, "rtk_translation_m": 5.755712819539279, "rtk_rotation_deg": 0.09217397496817598, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9999671240878436, -5.4960898070024795e-05, 0.008108496949906546, 5.749261105631714 ], [ 0.00035730367033315216, 0.999304406533746, -0.037290419900093616, -0.013120088994288657 ], [ -0.008100807217439936, 0.03729209113924579, 0.9992715731275899, 0.1266788552341106 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7672, "backend_objective": 118.09526444844658, "backend_elapsed_sec": 0.4078603999951156, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9045936395759717, "inlier_rmse_m": 0.36885839518576286, "target_points": 4874, "source_points": 4528 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8053020961775585, "inlier_rmse_m": 0.19596991049230963, "target_points": 8389, "source_points": 8110 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6795394154118689, "inlier_rmse_m": 0.1240686179348452, "target_points": 11685, "source_points": 11290 } ], "heldout_symmetric": { "evaluated": 7896, "inliers": 5678, "inlier_ratio": 0.7190982776089159, "inlier_rmse_m": 0.1179079898277715, "median_m": 0.12952000596638963, "p90_m": 0.841600934371909, "p95_m": 1.4187308212361949 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3222.6637217791585, 4764.034943136824, 5737.612880105094, 7672.000000000003, 11212.188294558266, 13504.101389446518 ], "effective_rank": 6, "scaled_condition_number": 4.190353867263325, "weakest_scaled_direction": [ 0.8002954099437516, 0.4387628423676525, -0.008994642443459376, -0.05571805730204254, 0.10961618415675022, 0.389632277473434 ] }, "forward_reverse": { "translation_m": 0.010102013331328315, "rotation_deg": 0.05295397679545269 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0404639454301458e-15, "rotation_deg": 1.7837376786736782e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 29, "j": 32, "lidar_time_i": 1784283133.8969557, "lidar_time_j": 1784283298.8906527, "frame_counter_i": 24538, "frame_counter_j": 26188, "rtk_translation_m": 7.3497160995478215, "rtk_rotation_deg": 44.7412737155501, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7078710772350626, -0.706273733249871, -0.009795495666971648, 6.915868011183194 ], [ 0.7062307323125239, 0.7079376140697297, -0.007904892319175516, 1.5906518157804748 ], [ 0.01251761764030858, -0.0013222354368475956, 0.9999207773329165, 0.18510221626216425 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7227, "backend_objective": 116.42331822105132, "backend_elapsed_sec": 0.6779447000008076, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9096989966555183, "inlier_rmse_m": 0.4084799985221956, "target_points": 4874, "source_points": 4784 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7661074641380987, "inlier_rmse_m": 0.1994596794048517, "target_points": 8389, "source_points": 8226 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6339473684210526, "inlier_rmse_m": 0.1269231842625366, "target_points": 11685, "source_points": 11400 } ], "heldout_symmetric": { "evaluated": 7765, "inliers": 5307, "inlier_ratio": 0.683451384417257, "inlier_rmse_m": 0.12293657670032715, "median_m": 0.14252274870631063, "p90_m": 0.8379561088577904, "p95_m": 1.24439175723231 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3118.982070985261, 4258.928069899846, 5143.663826952046, 7227.000000000002, 11973.655515864084, 14296.06865659251 ], "effective_rank": 6, "scaled_condition_number": 4.583568719289398, "weakest_scaled_direction": [ 0.7562914932594483, 0.4643605949916133, -0.023495647432615736, -0.07616163300529713, 0.1457926495420846, 0.42986541916234255 ] }, "forward_reverse": { "translation_m": 0.015683401555203327, "rotation_deg": 0.1727804303986473 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.930136612989092e-16, "rotation_deg": 2.2855571068428072e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 30, "j": 31, "lidar_time_i": 1784283183.2952216, "lidar_time_j": 1784283245.892713, "frame_counter_i": 25032, "frame_counter_j": 25658, "rtk_translation_m": 4.592128513798009, "rtk_rotation_deg": 29.29312752288462, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8773104553294334, -0.4798399067832884, 0.008945883291650825, 3.7298198122149056 ], [ 0.4798965842179683, 0.8773058610576113, -0.005804705840135249, 3.048817511626616 ], [ -0.005062946334867728, 0.009385627958138295, 0.9999431366644013, 0.09811158480058907 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7955, "backend_objective": 115.14849658554162, "backend_elapsed_sec": 0.2556408000018564, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9213780918727915, "inlier_rmse_m": 0.3461652273570908, "target_points": 4699, "source_points": 4528 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8272503082614057, "inlier_rmse_m": 0.19358532211040902, "target_points": 8504, "source_points": 8110 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7046058458813109, "inlier_rmse_m": 0.1203120270687454, "target_points": 11330, "source_points": 11290 } ], "heldout_symmetric": { "evaluated": 7884, "inliers": 5954, "inlier_ratio": 0.7552004058853374, "inlier_rmse_m": 0.1130974670000902, "median_m": 0.11060659771178058, "p90_m": 0.603312360988425, "p95_m": 1.0608589766217982 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3588.7458036117723, 4633.635592609023, 6039.6441503975975, 7954.999999999998, 11083.209737797062, 13232.213062811776 ], "effective_rank": 6, "scaled_condition_number": 3.6871413543680527, "weakest_scaled_direction": [ 0.5018852120721368, 0.8342788804137046, -0.020000904330923993, -0.11886241255956789, 0.07578163126814247, 0.17837830212154449 ] }, "forward_reverse": { "translation_m": 0.010357085925134528, "rotation_deg": 0.12088315402655661 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0652501693184373e-15, "rotation_deg": 8.133001030989358e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 30, "j": 32, "lidar_time_i": 1784283183.2952216, "lidar_time_j": 1784283298.8906527, "frame_counter_i": 25032, "frame_counter_j": 26188, "rtk_translation_m": 6.2188831730504885, "rtk_rotation_deg": 74.12657521340287, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.28222015541942064, -0.9590948730818224, -0.022109009548160176, 3.973939641082816 ], [ 0.9593333827115965, 0.28200613359740423, 0.0123288859418886, 5.00711487905302 ], [ -0.005589694997331164, -0.024689371024907588, 0.9996795437880236, 0.14863670073742324 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7337, "backend_objective": 110.13676948105605, "backend_elapsed_sec": 0.2536848000017926, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9065635451505016, "inlier_rmse_m": 0.3985150580802805, "target_points": 4699, "source_points": 4784 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7791150012156577, "inlier_rmse_m": 0.20016493654726694, "target_points": 8504, "source_points": 8226 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6435964912280702, "inlier_rmse_m": 0.12251997719300589, "target_points": 11330, "source_points": 11400 } ], "heldout_symmetric": { "evaluated": 7753, "inliers": 5438, "inlier_ratio": 0.7014059073906874, "inlier_rmse_m": 0.11707558829895812, "median_m": 0.13172271936849078, "p90_m": 0.752963490610791, "p95_m": 1.1339668223325046 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3536.350778651348, 4175.750476775939, 5389.702022319376, 7336.999999999999, 11828.841952914003, 14180.4310141545 ], "effective_rank": 6, "scaled_condition_number": 4.009905097582674, "weakest_scaled_direction": [ -0.5628056417728142, -0.7914495866807364, 0.04906358095591066, 0.17248878870517434, -0.12828553732455347, -0.09077755801814681 ] }, "forward_reverse": { "translation_m": 0.044382968752358344, "rotation_deg": 0.22757601248033596 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.3877787807814457e-16, "rotation_deg": 3.3729941673279424e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 30, "j": 33, "lidar_time_i": 1784283183.2952216, "lidar_time_j": 1784283360.3892086, "frame_counter_i": 25032, "frame_counter_j": 26803, "rtk_translation_m": 7.344850966128434, "rtk_rotation_deg": 112.7430048900433, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.37355923140504227, -0.926128761202724, -0.05233563131540124, 2.820702783161437 ], [ 0.9268848171393191, -0.37489896328665073, 0.018311282948099545, 6.872780295113495 ], [ -0.036579179715852284, -0.0416687532775142, 0.9984616560547598, 0.11898603190092483 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6610, "backend_objective": 110.98737709683735, "backend_elapsed_sec": 0.31670499999745516, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8812301166489925, "inlier_rmse_m": 0.43185177084724813, "target_points": 4699, "source_points": 4715 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.716438020578148, "inlier_rmse_m": 0.2105344748584119, "target_points": 8504, "source_points": 8164 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.570565386275356, "inlier_rmse_m": 0.1295794297243624, "target_points": 11330, "source_points": 11585 } ], "heldout_symmetric": { "evaluated": 7940, "inliers": 4783, "inlier_ratio": 0.6023929471032745, "inlier_rmse_m": 0.12334051659083738, "median_m": 0.1739807353679444, "p90_m": 1.0351761889053719, "p95_m": 1.4062235346058323 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3124.6594396275436, 3638.730251737862, 4657.461178740038, 6610.000000000003, 11114.249918496074, 13311.254474877254 ], "effective_rank": 6, "scaled_condition_number": 4.260065691019417, "weakest_scaled_direction": [ 0.09310874259555786, 0.8674782362600459, -0.06236939096664882, -0.22084407133855447, 0.054475732882848474, 0.42799838950558133 ] }, "forward_reverse": { "translation_m": 0.002643716461244746, "rotation_deg": 0.05342399356841621 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.2689641549319539e-15, "rotation_deg": 1.8185132107167794e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 31, "j": 32, "lidar_time_i": 1784283245.892713, "lidar_time_j": 1784283298.8906527, "frame_counter_i": 25658, "frame_counter_j": 26188, "rtk_translation_m": 1.7043840283934533, "rtk_rotation_deg": 44.83344769051828, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7080080301486043, -0.7059822756667369, -0.017710327199345337, 1.1631730766523167 ], [ 0.706155924952523, 0.7074430142484318, 0.02946508519484701, 1.6057480848674226 ], [ -0.008272780641341522, -0.03336776941162999, 0.9994089018339555, 0.02373729417327008 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8406, "backend_objective": 119.03724549128287, "backend_elapsed_sec": 0.3090628999998444, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9483695652173914, "inlier_rmse_m": 0.3252104020372252, "target_points": 4528, "source_points": 4784 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8679795769511306, "inlier_rmse_m": 0.18556675474923878, "target_points": 8110, "source_points": 8226 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7373684210526316, "inlier_rmse_m": 0.11899993976454012, "target_points": 11290, "source_points": 11400 } ], "heldout_symmetric": { "evaluated": 7771, "inliers": 6103, "inlier_ratio": 0.785355810063055, "inlier_rmse_m": 0.11197405173054666, "median_m": 0.10598489034286397, "p90_m": 0.48942735402331855, "p95_m": 0.7958583592676478 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4190.189749573463, 6820.460635714948, 7885.190252161651, 8405.999999999998, 10383.634857947385, 13644.652993615124 ], "effective_rank": 6, "scaled_condition_number": 3.256332960817364, "weakest_scaled_direction": [ 0.8241811300628129, 0.4827843175939692, -0.00695103058379868, -0.08277239672247205, 0.13772562646375627, -0.24854945758041116 ] }, "forward_reverse": { "translation_m": 0.017947904056538493, "rotation_deg": 0.11867936940390052 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.047382306668854e-15, "rotation_deg": 3.7545272675846825e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 31, "j": 33, "lidar_time_i": 1784283245.892713, "lidar_time_j": 1784283360.3892086, "frame_counter_i": 25658, "frame_counter_j": 26803, "rtk_translation_m": 3.3472002644811774, "rtk_rotation_deg": 83.44987736715868, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.117714807364412, -0.992218810953208, -0.040559281524236886, 1.0390528511583408 ], [ 0.9919682517853713, 0.11558513754962654, 0.05137181549749753, 3.7894092849039267 ], [ -0.046284031555541595, -0.04628074295251588, 0.9978556414906558, -0.013713852775185479 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6998, "backend_objective": 104.19117477698144, "backend_elapsed_sec": 0.9813823000004049, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8780487804878049, "inlier_rmse_m": 0.4213394492649944, "target_points": 4528, "source_points": 4715 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7319941205291524, "inlier_rmse_m": 0.1962174623464652, "target_points": 8110, "source_points": 8164 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6040569702201122, "inlier_rmse_m": 0.12201929132716996, "target_points": 11290, "source_points": 11585 } ], "heldout_symmetric": { "evaluated": 7958, "inliers": 4982, "inlier_ratio": 0.6260366926363408, "inlier_rmse_m": 0.11401170513833872, "median_m": 0.15149379026930448, "p90_m": 1.1347620688725466, "p95_m": 1.5816313054479425 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3351.020794765765, 5046.246314714325, 6274.826022516395, 6997.999999999998, 8487.605310856306, 10737.03160219473 ], "effective_rank": 6, "scaled_condition_number": 3.204107721135536, "weakest_scaled_direction": [ 0.7429484867651776, 0.5784485873403655, -0.019250825775493568, -0.10634354648335934, 0.1268455816571021, -0.29266949287488586 ] }, "forward_reverse": { "translation_m": 0.005088227871807909, "rotation_deg": 0.05996016929359153 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 8.04605366142995e-15, "rotation_deg": 1.6365656506980108e-13 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 31, "j": 34, "lidar_time_i": 1784283245.892713, "lidar_time_j": 1784283421.0858324, "frame_counter_i": 25658, "frame_counter_j": 27410, "rtk_translation_m": 3.311630046755356, "rtk_rotation_deg": 133.49479301359594, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.6853625570040589, -0.726107633643495, -0.05518939953924817, -0.47426367112764917 ], [ 0.7253335614821652, -0.6874197502427513, 0.03667848911544535, 3.750338826893446 ], [ -0.06457081418455211, -0.014892660636657852, 0.9978019936914861, -0.060701199887776586 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7264, "backend_objective": 104.5257598627334, "backend_elapsed_sec": 0.30752449999999953, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8639951426836673, "inlier_rmse_m": 0.42119958201559016, "target_points": 4528, "source_points": 4941 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7188208616780045, "inlier_rmse_m": 0.19513897407480665, "target_points": 8110, "source_points": 8379 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.612220817530552, "inlier_rmse_m": 0.11995648983055816, "target_points": 11290, "source_points": 11865 } ], "heldout_symmetric": { "evaluated": 8019, "inliers": 5242, "inlier_ratio": 0.6536974685122833, "inlier_rmse_m": 0.11166700866683012, "median_m": 0.13558539488389162, "p90_m": 1.135706393438143, "p95_m": 1.5036145257498004 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3554.2244490763305, 5568.418100244199, 6606.04499662168, 7264.000000000001, 8885.315233997888, 11692.302488516212 ], "effective_rank": 6, "scaled_condition_number": 3.289691648920709, "weakest_scaled_direction": [ 0.6315269196603726, 0.6553550095690798, -0.0074713315087409325, -0.1115848395898299, 0.10313389220222419, -0.3854088273968455 ] }, "forward_reverse": { "translation_m": 0.01957685602042411, "rotation_deg": 0.06586346108113965 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.793364605007606e-16, "rotation_deg": 5.884914852775659e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 32, "j": 33, "lidar_time_i": 1784283298.8906527, "lidar_time_j": 1784283360.3892086, "frame_counter_i": 26188, "frame_counter_j": 26803, "rtk_translation_m": 1.9394369188755196, "rtk_rotation_deg": 38.61642967664041, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.7842360463150561, -0.6204599761239579, -0.0018004689340890753, 1.4634072225016337 ], [ 0.6202118866991975, 0.7838333878297417, 0.030699115954214918, 1.6291721242536898 ], [ -0.017636305087689635, -0.025192025555855695, 0.9995270494545146, 0.026211641396796843 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8494, "backend_objective": 122.68689374874172, "backend_elapsed_sec": 0.475337000003492, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9554612937433722, "inlier_rmse_m": 0.3430437887019972, "target_points": 4784, "source_points": 4715 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8462763351298384, "inlier_rmse_m": 0.18474551896414546, "target_points": 8226, "source_points": 8164 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7331894691411308, "inlier_rmse_m": 0.12018297688810804, "target_points": 11400, "source_points": 11585 } ], "heldout_symmetric": { "evaluated": 7827, "inliers": 5825, "inlier_ratio": 0.7442187300370512, "inlier_rmse_m": 0.11487243540634488, "median_m": 0.12112369712840347, "p90_m": 0.5954918962817873, "p95_m": 0.833054258992476 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4748.203660796733, 6800.828769929276, 8494.000000000004, 8611.637902030767, 8948.074444217165, 12189.012642412798 ], "effective_rank": 6, "scaled_condition_number": 2.5670787340169654, "weakest_scaled_direction": [ 0.9497899633455239, -0.14585875834416984, -0.0003164518984738977, 0.030125866924544706, 0.19658863299865412, -0.1925343852883587 ] }, "forward_reverse": { "translation_m": 0.00371510987119075, "rotation_deg": 0.04386474659625542 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 4.964156667291837e-15, "rotation_deg": 8.407570630250705e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 32, "j": 34, "lidar_time_i": 1784283298.8906527, "lidar_time_j": 1784283421.0858324, "frame_counter_i": 26188, "frame_counter_j": 27410, "rtk_translation_m": 2.1435446082722334, "rtk_rotation_deg": 88.6613453230776, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.02741113954305719, -0.9993625728642868, -0.022870885138618922, 0.3601423937759201 ], [ 0.9992054080640627, 0.026730236073388584, 0.029564285463893336, 2.67307124689061 ], [ -0.02893409622712804, -0.02366310287206159, 0.9993011936538383, 0.00045988829841672903 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8343, "backend_objective": 121.61108337065144, "backend_elapsed_sec": 0.3419969000024139, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9210686095931998, "inlier_rmse_m": 0.3655500875789656, "target_points": 4784, "source_points": 4941 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8222938298126268, "inlier_rmse_m": 0.1948988605421652, "target_points": 8226, "source_points": 8379 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7031605562579014, "inlier_rmse_m": 0.12073285118684787, "target_points": 11400, "source_points": 11865 } ], "heldout_symmetric": { "evaluated": 7888, "inliers": 5844, "inlier_ratio": 0.7408722109533469, "inlier_rmse_m": 0.1145103812359268, "median_m": 0.11946621665038355, "p90_m": 0.6685666000586441, "p95_m": 1.0930428959802048 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4152.969899579543, 6201.836370263259, 8081.835629682443, 8343.0, 8843.076749421074, 11377.841885920163 ], "effective_rank": 6, "scaled_condition_number": 2.7396880211128143, "weakest_scaled_direction": [ 0.9429784470737258, 0.0827454119321196, 0.010956582707696236, -0.01075991144229859, 0.15965445593065075, -0.27967745254349574 ] }, "forward_reverse": { "translation_m": 0.0033854042879271646, "rotation_deg": 0.04345206885157784 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.0956423386929533e-15, "rotation_deg": 6.38886608353287e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 32, "j": 35, "lidar_time_i": 1784283298.8906527, "lidar_time_j": 1784283483.1839027, "frame_counter_i": 26188, "frame_counter_j": 28031, "rtk_translation_m": 3.1027737257249126, "rtk_rotation_deg": 119.84526039487966, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.49512088042767693, -0.867553410038967, -0.046972273675904, 0.8643207053435912 ], [ 0.8682891298787244, -0.49598927873997994, 0.008283858366870466, -0.2171404880094779 ], [ -0.030484433715746863, -0.03668400339053286, 0.9988618438984812, 0.03409842386743957 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9182, "backend_objective": 118.85871695433772, "backend_elapsed_sec": 0.6091938000026857, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9649763644177052, "inlier_rmse_m": 0.28350982774221867, "target_points": 4784, "source_points": 4654 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9088998763906057, "inlier_rmse_m": 0.17050151566632543, "target_points": 8226, "source_points": 8090 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8079901443153819, "inlier_rmse_m": 0.11377500800032275, "target_points": 11400, "source_points": 11364 } ], "heldout_symmetric": { "evaluated": 7613, "inliers": 6280, "inlier_ratio": 0.8249047681597268, "inlier_rmse_m": 0.10651397196801952, "median_m": 0.09704437184242566, "p90_m": 0.4306864586320174, "p95_m": 0.7596537598039201 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4980.229544596134, 7693.400785370068, 9182.0, 9245.132329812528, 9949.21641449309, 13400.909669650147 ], "effective_rank": 6, "scaled_condition_number": 2.6908216879663684, "weakest_scaled_direction": [ 0.9436200244043977, -0.26109064465188675, 0.01883885727195007, 0.053637599659666885, 0.19081941898492055, -0.04205923817664461 ] }, "forward_reverse": { "translation_m": 0.014229552741777998, "rotation_deg": 0.06789311177543367 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 8.401625232059877e-15, "rotation_deg": 1.925814455723798e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 33, "j": 34, "lidar_time_i": 1784283360.3892086, "lidar_time_j": 1784283421.0858324, "frame_counter_i": 26803, "frame_counter_j": 27410, "rtk_translation_m": 0.5704890065278277, "rtk_rotation_deg": 50.0449156464372, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.6417641656809009, -0.766708945332621, -0.01720897425292823, -0.21633345575583637 ], [ 0.7669018231150269, 0.6415850848125311, 0.015171441887480859, 1.5001894403624116 ], [ -0.0005910590031239805, -0.02293408147360564, 0.9997368046422104, 0.022838119550085263 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 9533, "backend_objective": 121.38295776460491, "backend_elapsed_sec": 0.29351549999410054, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9601295284355393, "inlier_rmse_m": 0.29116908988435175, "target_points": 4715, "source_points": 4941 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8968850698174007, "inlier_rmse_m": 0.17274965928622152, "target_points": 8164, "source_points": 8379 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.8034555415086388, "inlier_rmse_m": 0.11284025564622101, "target_points": 11585, "source_points": 11865 } ], "heldout_symmetric": { "evaluated": 8075, "inliers": 6674, "inlier_ratio": 0.8265015479876161, "inlier_rmse_m": 0.1079360614731508, "median_m": 0.09849394154346897, "p90_m": 0.4105442964279613, "p95_m": 0.6328305124375297 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 5269.834430160783, 7989.373111274769, 9302.119361258596, 9533.000000000004, 11609.220784788966, 15839.056951852268 ], "effective_rank": 6, "scaled_condition_number": 3.0056080815747785, "weakest_scaled_direction": [ -0.5199732484382951, 0.7879530758211096, -0.027115449906525427, -0.17553937956349924, -0.12438947344136624, -0.24846671549402277 ] }, "forward_reverse": { "translation_m": 0.005517776656180037, "rotation_deg": 0.04447304678975396 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 9.892244460905494e-16, "rotation_deg": 8.529143499330578e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 33, "j": 35, "lidar_time_i": 1784283360.3892086, "lidar_time_j": 1784283483.1839027, "frame_counter_i": 26803, "frame_counter_j": 28031, "rtk_translation_m": 2.3843314966611664, "rtk_rotation_deg": 81.22883071823928, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.1502205242906489, -0.9873861645272817, -0.05002355627045966, -1.6129700611661384 ], [ 0.9886522941439911, 0.14999430702230676, 0.008267354154998663, -1.0738406418383954 ], [ -0.0006598224523138715, -0.05069782994369125, 0.9987138202074353, -0.05835531136198311 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7971, "backend_objective": 107.86426229259895, "backend_elapsed_sec": 0.5136595000003581, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9235066609368285, "inlier_rmse_m": 0.3520772952148177, "target_points": 4715, "source_points": 4654 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8217552533992584, "inlier_rmse_m": 0.18443187566632632, "target_points": 8164, "source_points": 8090 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7014255543822597, "inlier_rmse_m": 0.11632749718145614, "target_points": 11585, "source_points": 11364 } ], "heldout_symmetric": { "evaluated": 7800, "inliers": 5483, "inlier_ratio": 0.7029487179487179, "inlier_rmse_m": 0.11079043369762126, "median_m": 0.11956657147069366, "p90_m": 0.8835449349639606, "p95_m": 1.1685091093441604 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4096.324568682279, 5716.84665647535, 7375.981702772125, 7970.999999999998, 8817.34071536815, 11489.524771688255 ], "effective_rank": 6, "scaled_condition_number": 2.804837502264682, "weakest_scaled_direction": [ 0.39243271903796345, -0.8165011560407106, 0.01664628708987598, 0.13331742311449044, 0.07213012449807552, 0.3950557355269996 ] }, "forward_reverse": { "translation_m": 0.0045321280438173584, "rotation_deg": 0.02066446888667937 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.4920648961609072e-15, "rotation_deg": 2.1727532703221012e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 33, "j": 36, "lidar_time_i": 1784283360.3892086, "lidar_time_j": 1784283558.880709, "frame_counter_i": 26803, "frame_counter_j": 28788, "rtk_translation_m": 3.5605240220038255, "rtk_rotation_deg": 106.66041349586102, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ -0.2880090370085819, -0.9539307570505718, -0.08406488776124431, -2.1100165220217644 ], [ 0.9574205909797303, -0.288660710390434, -0.0045613862930040635, -2.3273378587759814 ], [ -0.019914983540367383, -0.08179917499468753, 0.9964498423908624, -0.09250331146873554 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6537, "backend_objective": 96.24084143924517, "backend_elapsed_sec": 0.33469119999790564, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8858823529411765, "inlier_rmse_m": 0.40723857522911705, "target_points": 4715, "source_points": 4250 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.732215380584305, "inlier_rmse_m": 0.19962353618892503, "target_points": 8164, "source_points": 7633 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6087725833488545, "inlier_rmse_m": 0.12133622056574328, "target_points": 11585, "source_points": 10738 } ], "heldout_symmetric": { "evaluated": 7810, "inliers": 4787, "inlier_ratio": 0.612932138284251, "inlier_rmse_m": 0.11677728789370431, "median_m": 0.1608740640667056, "p90_m": 1.3441642823662592, "p95_m": 2.007926693517435 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2989.25064698578, 4740.069869351344, 5817.131822494454, 6536.999999999998, 7469.629362173694, 9663.209414024888 ], "effective_rank": 6, "scaled_condition_number": 3.2326527799764184, "weakest_scaled_direction": [ -0.3806435368128638, 0.8129618439149003, -0.007291418117327762, -0.11310002202665084, -0.05674097524446054, -0.42206542169288985 ] }, "forward_reverse": { "translation_m": 0.011704878383874686, "rotation_deg": 0.04254924292122366 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.5548697241856944e-15, "rotation_deg": 3.2571813423526655e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 34, "j": 35, "lidar_time_i": 1784283421.0858324, "lidar_time_j": 1784283483.1839027, "frame_counter_i": 27410, "frame_counter_j": 28031, "rtk_translation_m": 2.9403442697824866, "rtk_rotation_deg": 31.183915071802076, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8547723808749823, -0.5185157795190388, -0.02248473444534805, -2.8737239973749733 ], [ 0.518937477745475, 0.8545506414714752, 0.021144629385619763, -0.5782969229097181 ], [ 0.008250520255062139, -0.029742016583511045, 0.9995235571836547, -0.06262744243569567 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8155, "backend_objective": 117.51196063795429, "backend_elapsed_sec": 0.3119414000029792, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9368285345938977, "inlier_rmse_m": 0.3529879436761389, "target_points": 4941, "source_points": 4654 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.8355995055624228, "inlier_rmse_m": 0.1885437235051724, "target_points": 8379, "source_points": 8090 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7176170362548399, "inlier_rmse_m": 0.12004084765536706, "target_points": 11865, "source_points": 11364 } ], "heldout_symmetric": { "evaluated": 7861, "inliers": 5659, "inlier_ratio": 0.7198829665436968, "inlier_rmse_m": 0.11381984857774002, "median_m": 0.1207537544795301, "p90_m": 0.7491290093571489, "p95_m": 1.1677691569784274 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3843.35570250274, 5856.703883820844, 7029.549982431027, 8155.0, 9722.914526477009, 12668.413207634192 ], "effective_rank": 6, "scaled_condition_number": 3.296185466097946, "weakest_scaled_direction": [ -0.25140472480410175, -0.8318291056688679, 0.00298802072780968, 0.1198115418094086, -0.03449068698941616, 0.47885557530500394 ] }, "forward_reverse": { "translation_m": 0.015242618456135898, "rotation_deg": 0.1219677981121258 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 5.582495395355895e-16, "rotation_deg": 1.8430387199773426e-14 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 34, "j": 36, "lidar_time_i": 1784283421.0858324, "lidar_time_j": 1784283558.880709, "frame_counter_i": 27410, "frame_counter_j": 28788, "rtk_translation_m": 4.102710388907318, "rtk_rotation_deg": 56.61549784942384, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.5493708899433927, -0.8339042594301863, -0.052870704430684465, -4.160401094888543 ], [ 0.835556888652739, 0.5477994765281058, 0.0419573514474718, -1.0122162144318074 ], [ -0.006025869875654907, -0.06722662879934659, 0.9977195343745237, -0.1250123699433948 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 6668, "backend_objective": 97.79711231622866, "backend_elapsed_sec": 0.336147300004086, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.892235294117647, "inlier_rmse_m": 0.4022957936334243, "target_points": 4941, "source_points": 4250 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7586794183152102, "inlier_rmse_m": 0.20101218391424935, "target_points": 8379, "source_points": 7633 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6209722480908921, "inlier_rmse_m": 0.12110587731704087, "target_points": 11865, "source_points": 10738 } ], "heldout_symmetric": { "evaluated": 7871, "inliers": 5077, "inlier_ratio": 0.6450260449752255, "inlier_rmse_m": 0.11677131628998773, "median_m": 0.1459951464395087, "p90_m": 1.2730700532651762, "p95_m": 1.7545867532251103 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 2938.0619253697428, 4941.269593302857, 5745.8893639130065, 6668.0, 8219.70206052786, 10828.09615487445 ], "effective_rank": 6, "scaled_condition_number": 3.6854553885932066, "weakest_scaled_direction": [ -0.20528002053135871, -0.8353743108184787, -0.0009174854889368931, 0.11053042610176081, -0.02770697198179012, 0.49701547342606817 ] }, "forward_reverse": { "translation_m": 0.0029445631740664846, "rotation_deg": 0.0910859237401823 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.3940692376154064e-15, "rotation_deg": 7.779974185313971e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 34, "j": 37, "lidar_time_i": 1784283421.0858324, "lidar_time_j": 1784283636.4777331, "frame_counter_i": 27410, "frame_counter_j": 29564, "rtk_translation_m": 3.6865711881345757, "rtk_rotation_deg": 30.12086856551724, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.86267894255448, -0.5056725371878031, -0.008962544679606615, 0.9708582265040203 ], [ 0.5057498657210949, 0.862488943902761, 0.018163011000253294, 4.166623308552961 ], [ -0.0014544401600728486, -0.02020165289153427, 0.9997948678725408, 0.07444878919283267 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8196, "backend_objective": 127.35848577221961, "backend_elapsed_sec": 0.3196146999980556, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9304401993355482, "inlier_rmse_m": 0.3615762672756092, "target_points": 4941, "source_points": 4816 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.813778256189451, "inlier_rmse_m": 0.1916416752411471, "target_points": 8379, "source_points": 8361 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.6962283384301733, "inlier_rmse_m": 0.12465593730444152, "target_points": 11865, "source_points": 11772 } ], "heldout_symmetric": { "evaluated": 8053, "inliers": 5533, "inlier_ratio": 0.6870731404445548, "inlier_rmse_m": 0.11846537329500156, "median_m": 0.13898488824061134, "p90_m": 0.8987859616257862, "p95_m": 1.3703492011543583 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3387.7602011967383, 5847.823313079612, 6668.854657603184, 8196.000000000002, 12291.509949255917, 15380.419272085172 ], "effective_rank": 6, "scaled_condition_number": 4.5399964456315365, "weakest_scaled_direction": [ 0.355603366868407, 0.79242844102367, -0.029980402345626166, -0.14586587166451664, 0.047665441818273695, -0.47027198507211054 ] }, "forward_reverse": { "translation_m": 0.013941395463696922, "rotation_deg": 0.12307688004234886 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.4177095929570765e-15, "rotation_deg": 8.774620364632645e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 35, "j": 36, "lidar_time_i": 1784283483.1839027, "lidar_time_j": 1784283558.880709, "frame_counter_i": 28031, "frame_counter_j": 28788, "rtk_translation_m": 1.2045561534352058, "rtk_rotation_deg": 25.431582777621774, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9033441981615404, -0.4286612501907939, -0.014791627116243279, -1.316150999764575 ], [ 0.4289140489173016, 0.902915625406467, 0.02785878745063317, 0.3095746482666318 ], [ 0.0014136085910540466, -0.03151041068784781, 0.9995024240736176, -0.03438418117411335 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 8590, "backend_objective": 123.57963004473682, "backend_elapsed_sec": 0.489260700000159, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.9738823529411764, "inlier_rmse_m": 0.29715024825346203, "target_points": 4654, "source_points": 4250 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.9225730381239355, "inlier_rmse_m": 0.18063402134975134, "target_points": 8090, "source_points": 7633 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.7999627491152915, "inlier_rmse_m": 0.1199435402902619, "target_points": 11364, "source_points": 10738 } ], "heldout_symmetric": { "evaluated": 7596, "inliers": 6162, "inlier_ratio": 0.811216429699842, "inlier_rmse_m": 0.11156358795429076, "median_m": 0.10047782134166522, "p90_m": 0.41697101218280397, "p95_m": 0.6792385579832404 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 4421.869938947818, 6862.600578483724, 8590.000000000004, 8703.998190858576, 8841.961086603344, 11417.762993164324 ], "effective_rank": 6, "scaled_condition_number": 2.5821119008039335, "weakest_scaled_direction": [ 0.817862961240245, 0.5511384186221566, 0.015991620890295155, -0.08733906729868997, 0.13099913002414598, -0.04797919828027951 ] }, "forward_reverse": { "translation_m": 0.003966448406861189, "rotation_deg": 0.11486278330291146 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 5.389157964038493e-16, "rotation_deg": 8.244899441638921e-15 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 35, "j": 37, "lidar_time_i": 1784283483.1839027, "lidar_time_j": 1784283636.4777331, "frame_counter_i": 28031, "frame_counter_j": 29564, "rtk_translation_m": 6.084062615492111, "rtk_rotation_deg": 1.063046506284832, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.9998382848880676, 0.014748133963318765, 0.010290608178732601, 5.744801065139025 ], [ -0.014616013744547044, 0.9998112722880186, -0.012798122832398296, 2.0579209365971916 ], [ -0.010477414485807348, 0.012645645511951817, 0.9998651466249225, 0.1567922174841059 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7834, "backend_objective": 129.0265119804988, "backend_elapsed_sec": 0.35935840000456665, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8995016611295681, "inlier_rmse_m": 0.382945710231371, "target_points": 4654, "source_points": 4816 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7841167324482717, "inlier_rmse_m": 0.19885069880025008, "target_points": 8090, "source_points": 8361 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.665477404009514, "inlier_rmse_m": 0.12833576238377523, "target_points": 11364, "source_points": 11772 } ], "heldout_symmetric": { "evaluated": 7778, "inliers": 5380, "inlier_ratio": 0.6916945230136282, "inlier_rmse_m": 0.12226449151266647, "median_m": 0.14175710510514608, "p90_m": 0.8173654162842785, "p95_m": 1.370508880986626 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3821.180615510412, 4228.732365344067, 5636.300260836557, 7834.000000000002, 12480.734990230208, 14926.32609783131 ], "effective_rank": 6, "scaled_condition_number": 3.9062079497745845, "weakest_scaled_direction": [ 0.7592201690730459, 0.6007320841246818, -0.06470991957668208, -0.14741860879864804, 0.1894995093012544, 0.02959753433559086 ] }, "forward_reverse": { "translation_m": 0.012490325532322776, "rotation_deg": 0.1588294259454204 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 2.5509306388191833e-13, "rotation_deg": 3.685371140695946e-12 } ] }, "accepted": true, "rejection_reasons": [] }, { "i": 36, "j": 37, "lidar_time_i": 1784283558.880709, "lidar_time_j": 1784283636.4777331, "frame_counter_i": 28788, "frame_counter_j": 29564, "rtk_translation_m": 7.2781244258509386, "rtk_rotation_deg": 26.494629283906598, "nearest_rtk_dt_i_s": 0.0, "nearest_rtk_dt_j_s": 0.0, "initial_B_source": "X0=identity; B0=A (no measured extrinsic)", "B_ij_4x4": [ [ 0.8969455376688386, 0.4421196607100144, 0.004348341019224733, 7.13862696111329 ], [ -0.4413098085617857, 0.8958187380263459, -0.05248277305978556, -1.4480720315939786 ], [ -0.02709899118266317, 0.04515522355770556, 0.9986123624621993, 0.12362123540971545 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "backend": "open3d", "backend_converged": null, "backend_iterations": null, "backend_num_inliers": 7125, "backend_objective": 120.22410634193291, "backend_elapsed_sec": 0.3152983999971184, "multiscale_stages": [ { "voxel_m": 0.3, "max_correspondence_m": 1.2, "fitness": 0.8544435215946844, "inlier_rmse_m": 0.39897502777899907, "target_points": 4250, "source_points": 4816 }, { "voxel_m": 0.15, "max_correspondence_m": 0.5, "fitness": 0.7359167563688555, "inlier_rmse_m": 0.2060089241880448, "target_points": 7633, "source_points": 8361 }, { "voxel_m": 0.08, "max_correspondence_m": 0.25, "fitness": 0.605249745158002, "inlier_rmse_m": 0.12989826320945438, "target_points": 10738, "source_points": 11772 } ], "heldout_symmetric": { "evaluated": 7788, "inliers": 4989, "inlier_ratio": 0.6406009244992296, "inlier_rmse_m": 0.123972843683949, "median_m": 0.15901204847718076, "p90_m": 1.1623965281742321, "p95_m": 1.7092054504127763 }, "hessian": { "native_order": [ "rx_rad", "ry_rad", "rz_rad", "tx_m", "ty_m", "tz_m" ], "scaled_eigenvalues": [ 3266.826792004189, 3702.5557865947503, 4721.811432612261, 7124.9999999999945, 12716.153465177696, 15020.541740019657 ], "effective_rank": 6, "scaled_condition_number": 4.59789964279208, "weakest_scaled_direction": [ 0.7483809968927112, 0.4228920528959654, -0.02961152122063967, -0.07369545670976635, 0.16384691091994946, 0.4774248865954063 ] }, "forward_reverse": { "translation_m": 0.011995188628592031, "rotation_deg": 0.19550165133048591 }, "multistart": { "runs": 1, "success_rate": 1.0, "deltas": [ { "translation_m": 1.3232745389513375e-15, "rotation_deg": 5.324073676075921e-15 } ] }, "accepted": true, "rejection_reasons": [] } ] }