79 lines
2.6 KiB
JSON
79 lines
2.6 KiB
JSON
{
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"recommended_backend": "open3d_gicp",
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"selection_reason": "The two X estimates agree closely; Open3D has lower second-batch AX residual, better B loop closure, and lower first-batch auxiliary residual.",
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"coordinate_convention": "T_body_lidar maps raw LiDAR points into rear-axle body frame",
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"measured_extrinsic_used_as_initial": false,
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"second_batch_role": "estimation (dense RTK)",
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"first_batch_role": "auxiliary check only (sparse RTK)",
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"backend_difference": {
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"translation_m": 0.00181035475331947,
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"rotation_deg": 0.06312194455789993
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},
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"open3d_gicp": {
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"translation_m": [
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1.2978831677200011,
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-0.0030997734098957433,
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0.7217892226151688
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],
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"rotation_rpy_deg_xyz": [
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-0.7572070226288585,
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1.1460424368859559,
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-0.8797812288284186
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],
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"estimation_pairs": 66,
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"estimation_translation_rms_m": 0.10017183831403174,
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"estimation_rotation_rms_deg": 1.011529772202344,
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"bootstrap_std": [
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0.0020832827985508263,
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0.002063603632322515,
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0.001427746471392659,
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0.07576290622767821,
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0.06304875844333606,
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0.07843172452171372
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],
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"initial_B_loop_closure": {
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"count": 106,
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"translation_rms_m": 0.020350848901853437,
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"translation_p95_m": 0.04464367942375473,
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"rotation_rms_deg": 0.2674546762953808,
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"rotation_p95_deg": 0.5761692075739222
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},
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"batch1_auxiliary_pairs": 41,
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"batch1_auxiliary_translation_rms_m": 0.06627076507951374,
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"batch1_auxiliary_rotation_rms_deg": 1.0783402768758907
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},
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"small_gicp": {
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"translation_m": [
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1.2996301155160686,
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-0.0035647011612625953,
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0.7218861757826791
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],
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"rotation_rpy_deg_xyz": [
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-0.7871563544979889,
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1.1414557494228486,
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-0.9357571721886107
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],
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"estimation_pairs": 80,
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"estimation_translation_rms_m": 0.11870623426762615,
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"estimation_rotation_rms_deg": 1.135091439337232,
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"bootstrap_std": [
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0.0017068433472663032,
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0.0019214288447692426,
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0.0013180801706094514,
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0.06849719260762097,
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0.05792635838163369,
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0.062093058432709465
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],
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"initial_B_loop_closure": {
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"count": 252,
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"translation_rms_m": 0.06356464456110195,
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"translation_p95_m": 0.12253135158224471,
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"rotation_rms_deg": 0.7286536542725655,
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"rotation_p95_deg": 1.4911215410143956
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},
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"batch1_auxiliary_pairs": 36,
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"batch1_auxiliary_translation_rms_m": 0.07402020402512643,
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"batch1_auxiliary_rotation_rms_deg": 1.1492603033421918
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},
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"important_limit": "Backend agreement is strong, but AX rotation RMS remains about one degree. This is not a centimetre-grade absolute certification."
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} |