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= t_camera + saved_offset + injected_shift. R_candidate = R_camera_axis(injected_angle) @ R_saved; fixed IMU-frame gyro bias. Interval means use linear interpolation of sampled trapezoidal cumulative gyro integrals. The same camera intervals are used at every shift; no extrapolation.","limitations":"Displayed development window only. Zero injection is the saved estimate, not clock truth. Camera tracking noise, timing, rotation and bias can all contribute to residuals. No optimizer, independent accuracy score or new calibration verdict.","provenance":{"docs/assets/camera_imu_lock/series.npz":"0baf2586cbfca8796b8b78299a1849bfcbf1c0baffcb396156de59909b4f00c8","docs/assets/camera_imu_lock/series.provenance.json":"662ec8702fcf0224741eaa9d1177546e68d487520d6b47f8564b42e79503c23f","tools/build_camera_imu_timing_demo.py":"25274bbb75fd6fd9b99b48759d84649e5658a00ccc6fc4d4b9ed256c46810e19","tools/generate_camera_imu_lock_gif.py":"3ee8dfa391b845f8f1f48c0841a0099b38410ec1b8d55ed03f3f1f9afc192163"},"motion_windows":[{"id":"all","indices":[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58],"camera_rms_dps":27.678050654475786,"start_s":1.0499684810638428,"end_s":6.949789762496948},{"id":"higher","indices":[39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58],"camera_rms_dps":34.15024298599024,"start_s":4.949848890304565,"end_s":6.949789762496948},{"id":"lower","indices":[14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33],"camera_rms_dps":14.413042902869273,"start_s":2.4499266147613525,"end_s":4.44986367225647}],"window_selection":"Two disjoint contiguous 20-observation windows maximizing the difference in measured camera angular-rate RMS; ties follow ascending candidate start order. No gyro residual, saved calibration or heatmap minimum enters selection. RMS amplitude is not a test of observability or calibration accuracy.","window_references":[{"window":"all","axis":0,"degrees":-2.5,"shift_ms":-25,"rmse_dps":8.845034522788522},{"window":"all","axis":0,"degrees":0,"shift_ms":0,"rmse_dps":6.1570057795960755},{"window":"all","axis":0,"degrees":2.5,"shift_ms":25,"rmse_dps":8.344978877388712},{"window":"all","axis":2,"degrees":-2.5,"shift_ms":-25,"rmse_dps":8.930379802929128},{"window":"all","axis":2,"degrees":0,"shift_ms":0,"rmse_dps":6.1570057795960755},{"window":"all","axis":2,"degrees":2.5,"shift_ms":25,"rmse_dps":8.261487673014502},{"window":"higher","axis":0,"degrees":-2.5,"shift_ms":-25,"rmse_dps":11.738008650440628},{"window":"higher","axis":0,"degrees":0,"shift_ms":0,"rmse_dps":7.842685286556406},{"window":"higher","axis":0,"degrees":2.5,"shift_ms":25,"rmse_dps":9.823814667992703},{"window":"higher","axis":2,"degrees":-2.5,"shift_ms":-25,"rmse_dps":12.010087196132444},{"window":"higher","axis":2,"degrees":0,"shift_ms":0,"rmse_dps":7.842685286556406},{"window":"higher","axis":2,"degrees":2.5,"shift_ms":25,"rmse_dps":9.788753570255015},{"window":"lower","axis":0,"degrees":-2.5,"shift_ms":-25,"rmse_dps":5.522387380263643},{"window":"lower","axis":0,"degrees":0,"shift_ms":0,"rmse_dps":3.8338602574958363},{"window":"lower","axis":0,"degrees":2.5,"shift_ms":25,"rmse_dps":5.7366813865136335},{"window":"lower","axis":2,"degrees":-2.5,"shift_ms":-25,"rmse_dps":5.4341146469894595},{"window":"lower","axis":2,"degrees":0,"shift_ms":0,"rmse_dps":3.8338602574958363},{"window":"lower","axis":2,"degrees":2.5,"shift_ms":25,"rmse_dps":5.681853609392321}]}