{
  "scope": "single-frame, stereo-assisted OXTS-aligned development execution; no comparative audit",
  "frame_id": "2011_09_26_drive_0005_sync/0000000001",
  "reference_used_in_frontend": false,
  "fresh_evaluation_payloads_read": 0,
  "diagnostics": {
    "initial": {
      "rotation_reference_disagreement_deg": 1.502893399187307,
      "translation_reference_disagreement_m": 0.12247448713915891,
      "scoped_recovery_event": false,
      "T_camera_lidar": [
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    },
    "stereo_d2d": {
      "rotation_reference_disagreement_deg": 1.1097322606936515,
      "translation_reference_disagreement_m": 0.2738612787525831,
      "scoped_recovery_event": false,
      "T_camera_lidar": [
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    },
    "koide": {
      "rotation_reference_disagreement_deg": 1.3735259786415057,
      "translation_reference_disagreement_m": 0.19471377847833102,
      "scoped_recovery_event": false,
      "T_camera_lidar": [
        [
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        ],
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  },
  "limitations": [
    "D2D has a right image and stereo baseline; this is not equal-information monocular comparison.",
    "Both arms use OXTS trajectory and IMU-to-LiDAR calibration for shared motion compensation.",
    "Azimuth point times, linear pose interpolation and SLERP remain models, not measured per-point truth.",
    "One frame, one common seed, no holdout; no success-rate or runtime superiority claim.",
    "D2D uses existing solver defaults, not the exact integrated-r5 release configuration.",
    "Shared custom frontend bypasses official Koide preprocessing; official optimizer source is unchanged.",
    "No parameter tuning followed this result; all strict recovery events fail."
  ],
  "artifact_sha256": {
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  "source_sha256": {
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}