Files
calibration/results/open3d_gicp/batch1_auxiliary_check.json
T

312 lines
7.2 KiB
JSON

{
"role": "auxiliary check only; first-batch RTK is sparse",
"blind_with_respect_to_X": true,
"note": "No AX residual was used to select these pairs",
"stations": 38,
"metrics": {
"pairs": 41,
"translation_m": {
"rms": 0.06627076507951374,
"median": 0.047988641017293804,
"p90": 0.09181504914902948,
"p95": 0.11277678323253028,
"max": 0.15600463105844264
},
"rotation_deg": {
"rms": 1.0783402768758907,
"median": 0.7259689138952466,
"p90": 1.6809461304799602,
"p95": 1.7792880941356781,
"max": 1.856511169904947
},
"per_pair": [
{
"pair_index": 0,
"translation_m": 0.023735072067512103,
"rotation_deg": 0.35856568622307705,
"i": 0,
"j": 1
},
{
"pair_index": 1,
"translation_m": 0.05526576799076716,
"rotation_deg": 0.688292682153714,
"i": 0,
"j": 3
},
{
"pair_index": 2,
"translation_m": 0.04806529792477384,
"rotation_deg": 1.7792880941356781,
"i": 1,
"j": 2
},
{
"pair_index": 3,
"translation_m": 0.02732889363320134,
"rotation_deg": 1.856511169904947,
"i": 2,
"j": 3
},
{
"pair_index": 4,
"translation_m": 0.03927257848059381,
"rotation_deg": 1.6809461304799602,
"i": 2,
"j": 5
},
{
"pair_index": 5,
"translation_m": 0.09000097958526627,
"rotation_deg": 0.6847419474141874,
"i": 3,
"j": 4
},
{
"pair_index": 6,
"translation_m": 0.03101397287067455,
"rotation_deg": 0.16914815750366516,
"i": 3,
"j": 5
},
{
"pair_index": 7,
"translation_m": 0.07754221345029244,
"rotation_deg": 0.7259689138952466,
"i": 4,
"j": 5
},
{
"pair_index": 8,
"translation_m": 0.03330333298983308,
"rotation_deg": 0.2953381460156314,
"i": 5,
"j": 6
},
{
"pair_index": 9,
"translation_m": 0.013926178859499422,
"rotation_deg": 1.0956547835384745,
"i": 6,
"j": 7
},
{
"pair_index": 10,
"translation_m": 0.040796788287758956,
"rotation_deg": 0.5732579539729787,
"i": 6,
"j": 9
},
{
"pair_index": 11,
"translation_m": 0.05468973725915344,
"rotation_deg": 1.0002199501064295,
"i": 11,
"j": 12
},
{
"pair_index": 12,
"translation_m": 0.06427358796963496,
"rotation_deg": 1.4794289625543822,
"i": 16,
"j": 17
},
{
"pair_index": 13,
"translation_m": 0.15600463105844264,
"rotation_deg": 1.480613890179137,
"i": 16,
"j": 18
},
{
"pair_index": 14,
"translation_m": 0.10022423249183152,
"rotation_deg": 0.4939634910387222,
"i": 17,
"j": 18
},
{
"pair_index": 15,
"translation_m": 0.11277678323253028,
"rotation_deg": 1.4534337020592556,
"i": 18,
"j": 19
},
{
"pair_index": 16,
"translation_m": 0.09181504914902948,
"rotation_deg": 0.5121047642461125,
"i": 18,
"j": 20
},
{
"pair_index": 17,
"translation_m": 0.07621294129483619,
"rotation_deg": 1.2114882514394736,
"i": 18,
"j": 21
},
{
"pair_index": 18,
"translation_m": 0.05057962673548217,
"rotation_deg": 1.7070235499578508,
"i": 19,
"j": 20
},
{
"pair_index": 19,
"translation_m": 0.028485843207444878,
"rotation_deg": 1.282910024621228,
"i": 20,
"j": 21
},
{
"pair_index": 20,
"translation_m": 0.047988641017293804,
"rotation_deg": 0.3479009355224502,
"i": 20,
"j": 22
},
{
"pair_index": 21,
"translation_m": 0.036673661370321194,
"rotation_deg": 0.7294078635231547,
"i": 20,
"j": 23
},
{
"pair_index": 22,
"translation_m": 0.053305241810354,
"rotation_deg": 1.5203537906970106,
"i": 21,
"j": 22
},
{
"pair_index": 23,
"translation_m": 0.06724337658756505,
"rotation_deg": 0.6388309960595039,
"i": 21,
"j": 24
},
{
"pair_index": 24,
"translation_m": 0.04395944502343888,
"rotation_deg": 0.532486384255132,
"i": 22,
"j": 23
},
{
"pair_index": 25,
"translation_m": 0.02014164497275169,
"rotation_deg": 1.454337113913715,
"i": 22,
"j": 24
},
{
"pair_index": 26,
"translation_m": 0.015070014725991494,
"rotation_deg": 1.3619366988381034,
"i": 23,
"j": 24
},
{
"pair_index": 27,
"translation_m": 0.04337448537472198,
"rotation_deg": 0.5946988587087709,
"i": 24,
"j": 25
},
{
"pair_index": 28,
"translation_m": 0.04609106556910267,
"rotation_deg": 0.8042445263370658,
"i": 24,
"j": 26
},
{
"pair_index": 29,
"translation_m": 0.08550650491731009,
"rotation_deg": 0.4123121681282486,
"i": 25,
"j": 26
},
{
"pair_index": 30,
"translation_m": 0.03526150890834157,
"rotation_deg": 1.4877458273245419,
"i": 27,
"j": 28
},
{
"pair_index": 31,
"translation_m": 0.04728048748001428,
"rotation_deg": 1.6462112767436325,
"i": 27,
"j": 29
},
{
"pair_index": 32,
"translation_m": 0.038221731232831464,
"rotation_deg": 0.32809158958487783,
"i": 28,
"j": 29
},
{
"pair_index": 33,
"translation_m": 0.08450868583143198,
"rotation_deg": 0.4200755376297717,
"i": 30,
"j": 31
},
{
"pair_index": 34,
"translation_m": 0.08626234893146881,
"rotation_deg": 0.4145763973148079,
"i": 30,
"j": 33
},
{
"pair_index": 35,
"translation_m": 0.031883992409525753,
"rotation_deg": 0.47209162292986384,
"i": 31,
"j": 33
},
{
"pair_index": 36,
"translation_m": 0.07512585318274038,
"rotation_deg": 0.4948719177387593,
"i": 33,
"j": 34
},
{
"pair_index": 37,
"translation_m": 0.1468426442855739,
"rotation_deg": 0.5255877510410011,
"i": 33,
"j": 35
},
{
"pair_index": 38,
"translation_m": 0.0854721649952596,
"rotation_deg": 0.7101299092541083,
"i": 34,
"j": 35
},
{
"pair_index": 39,
"translation_m": 0.03486824711848649,
"rotation_deg": 1.7800497000791062,
"i": 34,
"j": 37
},
{
"pair_index": 40,
"translation_m": 0.028519367999920175,
"rotation_deg": 1.540726633727796,
"i": 35,
"j": 36
}
]
}
}