{ "schema_version": "slac.benchmark/v0.1", "benchmark_id": "glim-complete-continuous-time-cuda", "title": "Public GLIM Livox complete continuous-time refinement", "protocol": { "protocol_id": "glim-cuda-fresh-subprocess-v5", "dataset_id": "glim_versatile", "dataset_doi": "10.5281/zenodo.6864654", "dataset_source_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "data_license": "CC-BY-4.0 (AIST Zenodo record 6864654)", "split_policy": "Latest capture frames held out; repeats share the same accuracy fixture", "splits": [ { "split_id": "repeat-01", "seed": 0, "fit_count": 38400, "holdout_count": 9600, "fit_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925", "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe" }, { "split_id": "repeat-02", "seed": 0, "fit_count": 38400, "holdout_count": 9600, "fit_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925", "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe" }, { "split_id": "repeat-03", "seed": 0, "fit_count": 38400, "holdout_count": 9600, "fit_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925", "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe" }, { "split_id": "repeat-04", "seed": 0, "fit_count": 38400, "holdout_count": 9600, "fit_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925", "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe" }, { "split_id": "repeat-05", "seed": 0, "fit_count": 38400, "holdout_count": 9600, "fit_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925", "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe" } ], "initial_estimate_policy": "Same supplied public config, initial estimate and temporal split", "tuning_policy": "Reverse order every other repeat; child OMP_NUM_THREADS=1", "failure_policy": "Keep all timings and mismatches; no warmup or excluded outliers" }, "metrics": [ { "name": "pipeline_seconds", "label": "pipeline_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Full evaluation API including replay and provenance hashing" }, { "name": "solver_seconds", "label": "solver_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Complete clock profile and extrinsic solver call" }, { "name": "adaptive_query_seconds", "label": "adaptive_query_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Sum of adaptive nearest-plane call durations, including wrapper overhead; durations can overlap for parallel candidates" }, { "name": "adaptive_query_calls", "label": "adaptive_query_calls", "unit": "calls", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Actual adaptive nearest-plane calls in the complete run" }, { "name": "worker_import_seconds", "label": "worker_import_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Worker entry through imports, excluding interpreter startup" }, { "name": "uniform_normal_calculations", "label": "uniform_normal_calculations", "unit": "calls", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Actual uniform geometric fallback calls" }, { "name": "interpolated_pose_calculations", "label": "interpolated_pose_calculations", "unit": "calls", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Interior odometry SE3 interpolation calls" }, { "name": "worker_cpu_seconds", "label": "worker_cpu_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "All-thread process CPU from worker entry through saved-result hash; excludes interpreter startup and measurement JSON serialization" }, { "name": "subprocess_wall_seconds", "label": "subprocess_wall_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": true, "interpretation": "Fresh complete process wall, including artifact saves" }, { "name": "complete_result_matches", "label": "complete_result_matches", "unit": "bool", "display_scale": 1.0, "direction": "higher", "primary": false, "interpretation": "All artifact values except the exact kernel identity note" } ], "methods": [ { "method_id": "baseline", "label": "baseline", "implementation": "subprocess", "tool_name": "Calibrex", "tool_version": "0.5.1", "source_commit": "a1ff874ab0dbc39c2dacc9607f40841c610997d7", "adapter_version": "continuous-time-cuda/v5" }, { "method_id": "sparse", "label": "sparse", "implementation": "subprocess", "tool_name": "Calibrex", "tool_version": "0.5.1", "source_commit": "b9eadf0f2a14c1c8993d85bcb2da29a73878893c", "adapter_version": "continuous-time-cuda/v5" } ], "trials": [ { "method_id": "baseline", "split_id": "repeat-01", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 3.805589600233361, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 24.89474189991597, "solver_seconds": 22.306339300004765, "subprocess_wall_seconds": 28.353358199936338, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 27.515625, "worker_import_seconds": 2.2626005999045447 }, "runtime_seconds": 28.353358199936338, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-cuda-associations-full-v3/baseline.repeat-01 --candidate-query-backend cuda --baseline-query-backend cuda", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "ca591768946a47aaa076ab3ce8e3e116c199ca2e301393413f992700a8efb36e", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"cuda_cache_after\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\"}, \"cuda_cache_before\": {}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": \"baseline.cuda_continuous_time_adapter.py.txt\", \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"baseline.adaptive_voxel.py.txt\", \"calibrex.data.livox\": \"baseline.livox.py.txt\", \"calibrex.data.odometry_track\": \"baseline.odometry_track.py.txt\", \"calibrex.evaluation.lidar\": \"baseline.lidar.py.txt\", \"calibrex.evaluation.packed_lidar_observations\": \"baseline.packed_lidar_observations.py.txt\", \"calibrex.graph.lidar_point_to_plane\": \"baseline.lidar_point_to_plane.py.txt\", \"calibrex.pipelines.online\": \"baseline.online.py.txt\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"baseline.continuous_time_lidar_pair_solver.py.txt\", \"calibrex.solvers.cuda_continuous_time_adapter\": \"baseline.cuda_continuous_time_adapter.py.txt\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"baseline.fixed_trajectory_se3_solver.py.txt\", \"calibrex.solvers.numba_continuous_time_adapter\": \"baseline.numba_continuous_time_adapter.py.txt\", \"calibrex.solvers.robust_lidar_observations\": \"baseline.robust_lidar_observations.py.txt\"}, \"loaded_module\": \"baseline.adaptive_voxel.py.txt\", \"numba_cache_after\": {\"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"eebd4a7f76a139927eb7d55f245d4e3478dcf02bd8227c22af8fd35834a0b06f\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"a3694276843fb2b6ab5fdc304d9dc5712a724fc043674b8e4ab14cc7295681ff\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"88d0032edbca395b76479d11ce93a5bc3d6176b84289176223e43d181cf5ff09\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"7afb86482d7485f47a4bfbe3c9088b3ee85a87ce7161b096462b0ce4fcd97af5\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"b7ec02b3e4c012133cfd9d927f12a8c19df30ef88fbdec34d1fa0ddf2acc6142\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"05961e24f837b7461cab845e4822dbded3a5b7643488c925be81815a199686af\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"836da7b2f4e1deacfc79ddbf77ffec4d67defd8baffc8a0e30d64721c14bb320\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"4fc451e60adfa48fa506b206a9d168a344875f7a035af37fefbc7221f2df8fac\"}, \"numba_cache_before\": {}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 1, \"result_sha256\": \"ae6be52b0ac2a5fb7d6de4e50a1798fe5a0f8411c1668e26b6b1e0216a4cba14\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"continuous-time profile re-solves the six-DoF extrinsic at every clock candidate\",\"target holdout is the latest capture frame group and is never used for optimization\",\"train diagnostics summarize only the selected train factor and train profile\",\"trajectory_model is piecewise SE(3) interpolation of supplied odometry; trajectory knots are fixed\",\"train_frame_count=96\",\"holdout_frame_count=24\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=None\",\"outlier_policy=mad\",\"voxel_strategy=adaptive\",\"replay_source_message_count=1\",\"adaptive correspondences use a uniform voxel fallback and select the lower initial point-to-plane residual\",\"continuous_time_query_execution: calibrex.cuda_continuous_time/v0.4;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"all residual summaries and profile candidates are train-only\",\"holdout_used_for_selection is fixed false by the diagnostics schema\",\"range bins use target LiDAR point range in meters\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "sparse", "split_id": "repeat-01", "status": "success", "metrics": { "adaptive_query_calls": 0.0, "adaptive_query_seconds": 0.0, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 50.15200239990372, "solver_seconds": 44.798121199943125, "subprocess_wall_seconds": 72.67615299997851, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 31.0, "worker_import_seconds": 20.325319499941543 }, "runtime_seconds": 72.67615299997851, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-cuda-associations-full-v3/sparse.repeat-01 --candidate-query-backend cuda --baseline-query-backend cuda", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "8fcbfc80ff924dfd16694088e3ee327f2f64707a06ace20a2dc56ec191ec9f08", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"cuda_cache_after\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\", \"f4331870c33b1b7c90f548c88d07b801503c89e5.cubin\": \"84d63457c31f3966a080e1ce0b4a3b07748a9ea2aa61ff30168c7ea31a327b15\"}, \"cuda_cache_before\": {}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": \"/src/calibrex/solvers/cuda_continuous_time_adapter.py\", \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"/src/calibrex/evaluation/lidar.py\", \"calibrex.evaluation.packed_lidar_observations\": \"/src/calibrex/evaluation/packed_lidar_observations.py\", \"calibrex.graph.lidar_point_to_plane\": \"/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.cuda_continuous_time_adapter\": \"/src/calibrex/solvers/cuda_continuous_time_adapter.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"b527b36466bed50df059db897f9c9fef3b09116368f375e751028d1e6a92d46a\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"6ea86139388369b5626737d3f43ddf35988104c7851c64b3129fdcf6e2fd34f0\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"cdccc944a311ff83aa401da780b55ab45c9d664d430886dbe84f74d9142d81be\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"6c8a9fb02a201a9c4f7ef975e2d58298f977c88087eb4712a688a1db7076639e\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_before\": {}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 1, \"result_sha256\": \"8e8398734b0037d3a5dfa3cd36a1caa6b14858c88d5f7965a5a6748a9afab856\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"continuous-time profile re-solves the six-DoF extrinsic at every clock candidate\",\"target holdout is the latest capture frame group and is never used for optimization\",\"train diagnostics summarize only the selected train factor and train profile\",\"trajectory_model is piecewise SE(3) interpolation of supplied odometry; trajectory knots are fixed\",\"train_frame_count=96\",\"holdout_frame_count=24\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=None\",\"outlier_policy=mad\",\"voxel_strategy=adaptive\",\"replay_source_message_count=1\",\"adaptive correspondences use a uniform voxel fallback and select the lower initial point-to-plane residual\",\"continuous_time_query_execution: calibrex.cuda_continuous_time/v0.5;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;associations_gpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0;association_kernel_sha256=b5f446ea685f32adaaaf96aafe44d423b8e05601dbc6ffb17fb7b8cc4ae124ad\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"all residual summaries and profile candidates are train-only\",\"holdout_used_for_selection is fixed false by the diagnostics schema\",\"range bins use target LiDAR point range in meters\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "sparse", "split_id": "repeat-02", "status": "success", "metrics": { "adaptive_query_calls": 0.0, "adaptive_query_seconds": 0.0, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 12.814733000006527, "solver_seconds": 8.783380800043233, "subprocess_wall_seconds": 19.170857599936426, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 18.5625, "worker_import_seconds": 4.5040487999795005 }, "runtime_seconds": 19.170857599936426, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-cuda-associations-full-v3/sparse.repeat-02 --candidate-query-backend cuda --baseline-query-backend cuda", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "8fcbfc80ff924dfd16694088e3ee327f2f64707a06ace20a2dc56ec191ec9f08", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"cuda_cache_after\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\", \"f4331870c33b1b7c90f548c88d07b801503c89e5.cubin\": \"84d63457c31f3966a080e1ce0b4a3b07748a9ea2aa61ff30168c7ea31a327b15\"}, \"cuda_cache_before\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\", \"f4331870c33b1b7c90f548c88d07b801503c89e5.cubin\": \"84d63457c31f3966a080e1ce0b4a3b07748a9ea2aa61ff30168c7ea31a327b15\"}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": \"/src/calibrex/solvers/cuda_continuous_time_adapter.py\", \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"/src/calibrex/evaluation/lidar.py\", \"calibrex.evaluation.packed_lidar_observations\": \"/src/calibrex/evaluation/packed_lidar_observations.py\", \"calibrex.graph.lidar_point_to_plane\": \"/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.cuda_continuous_time_adapter\": \"/src/calibrex/solvers/cuda_continuous_time_adapter.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"b527b36466bed50df059db897f9c9fef3b09116368f375e751028d1e6a92d46a\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"6ea86139388369b5626737d3f43ddf35988104c7851c64b3129fdcf6e2fd34f0\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"cdccc944a311ff83aa401da780b55ab45c9d664d430886dbe84f74d9142d81be\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"6c8a9fb02a201a9c4f7ef975e2d58298f977c88087eb4712a688a1db7076639e\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"b527b36466bed50df059db897f9c9fef3b09116368f375e751028d1e6a92d46a\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"6ea86139388369b5626737d3f43ddf35988104c7851c64b3129fdcf6e2fd34f0\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"cdccc944a311ff83aa401da780b55ab45c9d664d430886dbe84f74d9142d81be\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"6c8a9fb02a201a9c4f7ef975e2d58298f977c88087eb4712a688a1db7076639e\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 2, \"result_sha256\": \"8e8398734b0037d3a5dfa3cd36a1caa6b14858c88d5f7965a5a6748a9afab856\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"continuous-time profile re-solves the six-DoF extrinsic at every clock candidate\",\"target holdout is the latest capture frame group and is never used for optimization\",\"train diagnostics summarize only the selected train factor and train profile\",\"trajectory_model is piecewise SE(3) interpolation of supplied odometry; trajectory knots are fixed\",\"train_frame_count=96\",\"holdout_frame_count=24\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=None\",\"outlier_policy=mad\",\"voxel_strategy=adaptive\",\"replay_source_message_count=1\",\"adaptive correspondences use a uniform voxel fallback and select the lower initial point-to-plane residual\",\"continuous_time_query_execution: calibrex.cuda_continuous_time/v0.5;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;associations_gpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0;association_kernel_sha256=b5f446ea685f32adaaaf96aafe44d423b8e05601dbc6ffb17fb7b8cc4ae124ad\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"all residual summaries and profile candidates are train-only\",\"holdout_used_for_selection is fixed false by the diagnostics schema\",\"range bins use target LiDAR point range in meters\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "baseline", "split_id": "repeat-02", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 1.5992990999948233, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 14.804446900030598, "solver_seconds": 9.749505399959162, "subprocess_wall_seconds": 19.39430609997362, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 21.125, "worker_import_seconds": 3.6394317999947816 }, "runtime_seconds": 19.39430609997362, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-cuda-associations-full-v3/baseline.repeat-02 --candidate-query-backend cuda --baseline-query-backend cuda", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "ca591768946a47aaa076ab3ce8e3e116c199ca2e301393413f992700a8efb36e", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"cuda_cache_after\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\"}, \"cuda_cache_before\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\"}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": \"baseline.cuda_continuous_time_adapter.py.txt\", \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"baseline.adaptive_voxel.py.txt\", \"calibrex.data.livox\": \"baseline.livox.py.txt\", \"calibrex.data.odometry_track\": \"baseline.odometry_track.py.txt\", \"calibrex.evaluation.lidar\": \"baseline.lidar.py.txt\", \"calibrex.evaluation.packed_lidar_observations\": \"baseline.packed_lidar_observations.py.txt\", \"calibrex.graph.lidar_point_to_plane\": \"baseline.lidar_point_to_plane.py.txt\", \"calibrex.pipelines.online\": \"baseline.online.py.txt\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"baseline.continuous_time_lidar_pair_solver.py.txt\", \"calibrex.solvers.cuda_continuous_time_adapter\": \"baseline.cuda_continuous_time_adapter.py.txt\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"baseline.fixed_trajectory_se3_solver.py.txt\", \"calibrex.solvers.numba_continuous_time_adapter\": \"baseline.numba_continuous_time_adapter.py.txt\", \"calibrex.solvers.robust_lidar_observations\": \"baseline.robust_lidar_observations.py.txt\"}, \"loaded_module\": \"baseline.adaptive_voxel.py.txt\", \"numba_cache_after\": {\"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"eebd4a7f76a139927eb7d55f245d4e3478dcf02bd8227c22af8fd35834a0b06f\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"a3694276843fb2b6ab5fdc304d9dc5712a724fc043674b8e4ab14cc7295681ff\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"88d0032edbca395b76479d11ce93a5bc3d6176b84289176223e43d181cf5ff09\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"7afb86482d7485f47a4bfbe3c9088b3ee85a87ce7161b096462b0ce4fcd97af5\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"b7ec02b3e4c012133cfd9d927f12a8c19df30ef88fbdec34d1fa0ddf2acc6142\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"05961e24f837b7461cab845e4822dbded3a5b7643488c925be81815a199686af\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"836da7b2f4e1deacfc79ddbf77ffec4d67defd8baffc8a0e30d64721c14bb320\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"4fc451e60adfa48fa506b206a9d168a344875f7a035af37fefbc7221f2df8fac\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"eebd4a7f76a139927eb7d55f245d4e3478dcf02bd8227c22af8fd35834a0b06f\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"a3694276843fb2b6ab5fdc304d9dc5712a724fc043674b8e4ab14cc7295681ff\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"88d0032edbca395b76479d11ce93a5bc3d6176b84289176223e43d181cf5ff09\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"7afb86482d7485f47a4bfbe3c9088b3ee85a87ce7161b096462b0ce4fcd97af5\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"b7ec02b3e4c012133cfd9d927f12a8c19df30ef88fbdec34d1fa0ddf2acc6142\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"05961e24f837b7461cab845e4822dbded3a5b7643488c925be81815a199686af\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"836da7b2f4e1deacfc79ddbf77ffec4d67defd8baffc8a0e30d64721c14bb320\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"4fc451e60adfa48fa506b206a9d168a344875f7a035af37fefbc7221f2df8fac\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 2, \"result_sha256\": \"ae6be52b0ac2a5fb7d6de4e50a1798fe5a0f8411c1668e26b6b1e0216a4cba14\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"continuous-time profile re-solves the six-DoF extrinsic at every clock candidate\",\"target holdout is the latest capture frame group and is never used for optimization\",\"train diagnostics summarize only the selected train factor and train profile\",\"trajectory_model is piecewise SE(3) interpolation of supplied odometry; trajectory knots are fixed\",\"train_frame_count=96\",\"holdout_frame_count=24\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=None\",\"outlier_policy=mad\",\"voxel_strategy=adaptive\",\"replay_source_message_count=1\",\"adaptive correspondences use a uniform voxel fallback and select the lower initial point-to-plane residual\",\"continuous_time_query_execution: calibrex.cuda_continuous_time/v0.4;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"all residual summaries and profile candidates are train-only\",\"holdout_used_for_selection is fixed false by the diagnostics schema\",\"range bins use target LiDAR point range in meters\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "baseline", "split_id": "repeat-03", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 1.4872790997615084, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 10.139320899965242, "solver_seconds": 6.8327746000140905, "subprocess_wall_seconds": 13.73618470004294, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 17.03125, "worker_import_seconds": 2.824440199881792 }, "runtime_seconds": 13.73618470004294, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-cuda-associations-full-v3/baseline.repeat-03 --candidate-query-backend cuda --baseline-query-backend cuda", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "ca591768946a47aaa076ab3ce8e3e116c199ca2e301393413f992700a8efb36e", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"cuda_cache_after\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\"}, \"cuda_cache_before\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\"}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": \"baseline.cuda_continuous_time_adapter.py.txt\", \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"baseline.adaptive_voxel.py.txt\", \"calibrex.data.livox\": \"baseline.livox.py.txt\", \"calibrex.data.odometry_track\": \"baseline.odometry_track.py.txt\", \"calibrex.evaluation.lidar\": \"baseline.lidar.py.txt\", \"calibrex.evaluation.packed_lidar_observations\": \"baseline.packed_lidar_observations.py.txt\", \"calibrex.graph.lidar_point_to_plane\": \"baseline.lidar_point_to_plane.py.txt\", \"calibrex.pipelines.online\": \"baseline.online.py.txt\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"baseline.continuous_time_lidar_pair_solver.py.txt\", \"calibrex.solvers.cuda_continuous_time_adapter\": \"baseline.cuda_continuous_time_adapter.py.txt\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"baseline.fixed_trajectory_se3_solver.py.txt\", \"calibrex.solvers.numba_continuous_time_adapter\": \"baseline.numba_continuous_time_adapter.py.txt\", \"calibrex.solvers.robust_lidar_observations\": \"baseline.robust_lidar_observations.py.txt\"}, \"loaded_module\": \"baseline.adaptive_voxel.py.txt\", \"numba_cache_after\": {\"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"eebd4a7f76a139927eb7d55f245d4e3478dcf02bd8227c22af8fd35834a0b06f\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"a3694276843fb2b6ab5fdc304d9dc5712a724fc043674b8e4ab14cc7295681ff\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"88d0032edbca395b76479d11ce93a5bc3d6176b84289176223e43d181cf5ff09\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"7afb86482d7485f47a4bfbe3c9088b3ee85a87ce7161b096462b0ce4fcd97af5\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"b7ec02b3e4c012133cfd9d927f12a8c19df30ef88fbdec34d1fa0ddf2acc6142\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"05961e24f837b7461cab845e4822dbded3a5b7643488c925be81815a199686af\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"836da7b2f4e1deacfc79ddbf77ffec4d67defd8baffc8a0e30d64721c14bb320\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"4fc451e60adfa48fa506b206a9d168a344875f7a035af37fefbc7221f2df8fac\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"eebd4a7f76a139927eb7d55f245d4e3478dcf02bd8227c22af8fd35834a0b06f\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"a3694276843fb2b6ab5fdc304d9dc5712a724fc043674b8e4ab14cc7295681ff\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"88d0032edbca395b76479d11ce93a5bc3d6176b84289176223e43d181cf5ff09\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"7afb86482d7485f47a4bfbe3c9088b3ee85a87ce7161b096462b0ce4fcd97af5\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"b7ec02b3e4c012133cfd9d927f12a8c19df30ef88fbdec34d1fa0ddf2acc6142\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"05961e24f837b7461cab845e4822dbded3a5b7643488c925be81815a199686af\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"836da7b2f4e1deacfc79ddbf77ffec4d67defd8baffc8a0e30d64721c14bb320\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"4fc451e60adfa48fa506b206a9d168a344875f7a035af37fefbc7221f2df8fac\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 3, \"result_sha256\": \"ae6be52b0ac2a5fb7d6de4e50a1798fe5a0f8411c1668e26b6b1e0216a4cba14\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"continuous-time profile re-solves the six-DoF extrinsic at every clock candidate\",\"target holdout is the latest capture frame group and is never used for optimization\",\"train diagnostics summarize only the selected train factor and train profile\",\"trajectory_model is piecewise SE(3) interpolation of supplied odometry; trajectory knots are fixed\",\"train_frame_count=96\",\"holdout_frame_count=24\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=None\",\"outlier_policy=mad\",\"voxel_strategy=adaptive\",\"replay_source_message_count=1\",\"adaptive correspondences use a uniform voxel fallback and select the lower initial point-to-plane residual\",\"continuous_time_query_execution: calibrex.cuda_continuous_time/v0.4;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"all residual summaries and profile candidates are train-only\",\"holdout_used_for_selection is fixed false by the diagnostics schema\",\"range bins use target LiDAR point range in meters\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "sparse", "split_id": "repeat-03", "status": "success", "metrics": { "adaptive_query_calls": 0.0, "adaptive_query_seconds": 0.0, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 9.219214900047518, "solver_seconds": 6.170921900076792, "subprocess_wall_seconds": 12.40462619997561, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 13.46875, "worker_import_seconds": 2.2744172998936847 }, "runtime_seconds": 12.40462619997561, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-cuda-associations-full-v3/sparse.repeat-03 --candidate-query-backend cuda --baseline-query-backend cuda", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "8fcbfc80ff924dfd16694088e3ee327f2f64707a06ace20a2dc56ec191ec9f08", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"cuda_cache_after\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\", \"f4331870c33b1b7c90f548c88d07b801503c89e5.cubin\": \"84d63457c31f3966a080e1ce0b4a3b07748a9ea2aa61ff30168c7ea31a327b15\"}, \"cuda_cache_before\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\", \"f4331870c33b1b7c90f548c88d07b801503c89e5.cubin\": \"84d63457c31f3966a080e1ce0b4a3b07748a9ea2aa61ff30168c7ea31a327b15\"}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": \"/src/calibrex/solvers/cuda_continuous_time_adapter.py\", \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"/src/calibrex/evaluation/lidar.py\", \"calibrex.evaluation.packed_lidar_observations\": \"/src/calibrex/evaluation/packed_lidar_observations.py\", \"calibrex.graph.lidar_point_to_plane\": \"/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.cuda_continuous_time_adapter\": \"/src/calibrex/solvers/cuda_continuous_time_adapter.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"b527b36466bed50df059db897f9c9fef3b09116368f375e751028d1e6a92d46a\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"6ea86139388369b5626737d3f43ddf35988104c7851c64b3129fdcf6e2fd34f0\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"cdccc944a311ff83aa401da780b55ab45c9d664d430886dbe84f74d9142d81be\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"6c8a9fb02a201a9c4f7ef975e2d58298f977c88087eb4712a688a1db7076639e\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"b527b36466bed50df059db897f9c9fef3b09116368f375e751028d1e6a92d46a\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"6ea86139388369b5626737d3f43ddf35988104c7851c64b3129fdcf6e2fd34f0\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"cdccc944a311ff83aa401da780b55ab45c9d664d430886dbe84f74d9142d81be\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"6c8a9fb02a201a9c4f7ef975e2d58298f977c88087eb4712a688a1db7076639e\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 3, \"result_sha256\": \"8e8398734b0037d3a5dfa3cd36a1caa6b14858c88d5f7965a5a6748a9afab856\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"continuous-time profile re-solves the six-DoF extrinsic at every clock candidate\",\"target holdout is the latest capture frame group and is never used for optimization\",\"train diagnostics summarize only the selected train factor and train profile\",\"trajectory_model is piecewise SE(3) interpolation of supplied odometry; trajectory knots are fixed\",\"train_frame_count=96\",\"holdout_frame_count=24\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=None\",\"outlier_policy=mad\",\"voxel_strategy=adaptive\",\"replay_source_message_count=1\",\"adaptive correspondences use a uniform voxel fallback and select the lower initial point-to-plane residual\",\"continuous_time_query_execution: calibrex.cuda_continuous_time/v0.5;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;associations_gpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0;association_kernel_sha256=b5f446ea685f32adaaaf96aafe44d423b8e05601dbc6ffb17fb7b8cc4ae124ad\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"all residual summaries and profile candidates are train-only\",\"holdout_used_for_selection is fixed false by the diagnostics schema\",\"range bins use target LiDAR point range in meters\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "sparse", "split_id": "repeat-04", "status": "success", "metrics": { "adaptive_query_calls": 0.0, "adaptive_query_seconds": 0.0, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 11.098157800035551, "solver_seconds": 7.102956800023094, "subprocess_wall_seconds": 14.291125699994154, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 16.046875, "worker_import_seconds": 2.35310439998284 }, "runtime_seconds": 14.291125699994154, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-cuda-associations-full-v3/sparse.repeat-04 --candidate-query-backend cuda --baseline-query-backend cuda", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "8fcbfc80ff924dfd16694088e3ee327f2f64707a06ace20a2dc56ec191ec9f08", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"cuda_cache_after\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\", \"f4331870c33b1b7c90f548c88d07b801503c89e5.cubin\": \"84d63457c31f3966a080e1ce0b4a3b07748a9ea2aa61ff30168c7ea31a327b15\"}, \"cuda_cache_before\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\", \"f4331870c33b1b7c90f548c88d07b801503c89e5.cubin\": \"84d63457c31f3966a080e1ce0b4a3b07748a9ea2aa61ff30168c7ea31a327b15\"}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": \"/src/calibrex/solvers/cuda_continuous_time_adapter.py\", \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"/src/calibrex/evaluation/lidar.py\", \"calibrex.evaluation.packed_lidar_observations\": \"/src/calibrex/evaluation/packed_lidar_observations.py\", \"calibrex.graph.lidar_point_to_plane\": \"/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.cuda_continuous_time_adapter\": \"/src/calibrex/solvers/cuda_continuous_time_adapter.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"b527b36466bed50df059db897f9c9fef3b09116368f375e751028d1e6a92d46a\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"6ea86139388369b5626737d3f43ddf35988104c7851c64b3129fdcf6e2fd34f0\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"cdccc944a311ff83aa401da780b55ab45c9d664d430886dbe84f74d9142d81be\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"6c8a9fb02a201a9c4f7ef975e2d58298f977c88087eb4712a688a1db7076639e\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"b527b36466bed50df059db897f9c9fef3b09116368f375e751028d1e6a92d46a\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"6ea86139388369b5626737d3f43ddf35988104c7851c64b3129fdcf6e2fd34f0\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"cdccc944a311ff83aa401da780b55ab45c9d664d430886dbe84f74d9142d81be\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"6c8a9fb02a201a9c4f7ef975e2d58298f977c88087eb4712a688a1db7076639e\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 4, \"result_sha256\": \"8e8398734b0037d3a5dfa3cd36a1caa6b14858c88d5f7965a5a6748a9afab856\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"continuous-time profile re-solves the six-DoF extrinsic at every clock candidate\",\"target holdout is the latest capture frame group and is never used for optimization\",\"train diagnostics summarize only the selected train factor and train profile\",\"trajectory_model is piecewise SE(3) interpolation of supplied odometry; trajectory knots are fixed\",\"train_frame_count=96\",\"holdout_frame_count=24\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=None\",\"outlier_policy=mad\",\"voxel_strategy=adaptive\",\"replay_source_message_count=1\",\"adaptive correspondences use a uniform voxel fallback and select the lower initial point-to-plane residual\",\"continuous_time_query_execution: calibrex.cuda_continuous_time/v0.5;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;associations_gpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0;association_kernel_sha256=b5f446ea685f32adaaaf96aafe44d423b8e05601dbc6ffb17fb7b8cc4ae124ad\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"all residual summaries and profile candidates are train-only\",\"holdout_used_for_selection is fixed false by the diagnostics schema\",\"range bins use target LiDAR point range in meters\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "baseline", "split_id": "repeat-04", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 3.346052600070834, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 13.696046700002626, "solver_seconds": 10.470013599959202, "subprocess_wall_seconds": 18.195873099961318, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 19.90625, "worker_import_seconds": 3.457283900002949 }, "runtime_seconds": 18.195873099961318, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-cuda-associations-full-v3/baseline.repeat-04 --candidate-query-backend cuda --baseline-query-backend cuda", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "ca591768946a47aaa076ab3ce8e3e116c199ca2e301393413f992700a8efb36e", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"cuda_cache_after\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\"}, \"cuda_cache_before\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\"}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": \"baseline.cuda_continuous_time_adapter.py.txt\", \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"baseline.adaptive_voxel.py.txt\", \"calibrex.data.livox\": \"baseline.livox.py.txt\", \"calibrex.data.odometry_track\": \"baseline.odometry_track.py.txt\", \"calibrex.evaluation.lidar\": \"baseline.lidar.py.txt\", \"calibrex.evaluation.packed_lidar_observations\": \"baseline.packed_lidar_observations.py.txt\", \"calibrex.graph.lidar_point_to_plane\": \"baseline.lidar_point_to_plane.py.txt\", \"calibrex.pipelines.online\": \"baseline.online.py.txt\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"baseline.continuous_time_lidar_pair_solver.py.txt\", \"calibrex.solvers.cuda_continuous_time_adapter\": \"baseline.cuda_continuous_time_adapter.py.txt\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"baseline.fixed_trajectory_se3_solver.py.txt\", \"calibrex.solvers.numba_continuous_time_adapter\": \"baseline.numba_continuous_time_adapter.py.txt\", \"calibrex.solvers.robust_lidar_observations\": \"baseline.robust_lidar_observations.py.txt\"}, \"loaded_module\": \"baseline.adaptive_voxel.py.txt\", \"numba_cache_after\": {\"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"eebd4a7f76a139927eb7d55f245d4e3478dcf02bd8227c22af8fd35834a0b06f\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"a3694276843fb2b6ab5fdc304d9dc5712a724fc043674b8e4ab14cc7295681ff\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"88d0032edbca395b76479d11ce93a5bc3d6176b84289176223e43d181cf5ff09\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"7afb86482d7485f47a4bfbe3c9088b3ee85a87ce7161b096462b0ce4fcd97af5\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"b7ec02b3e4c012133cfd9d927f12a8c19df30ef88fbdec34d1fa0ddf2acc6142\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"05961e24f837b7461cab845e4822dbded3a5b7643488c925be81815a199686af\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"836da7b2f4e1deacfc79ddbf77ffec4d67defd8baffc8a0e30d64721c14bb320\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"4fc451e60adfa48fa506b206a9d168a344875f7a035af37fefbc7221f2df8fac\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"eebd4a7f76a139927eb7d55f245d4e3478dcf02bd8227c22af8fd35834a0b06f\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"a3694276843fb2b6ab5fdc304d9dc5712a724fc043674b8e4ab14cc7295681ff\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"88d0032edbca395b76479d11ce93a5bc3d6176b84289176223e43d181cf5ff09\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"7afb86482d7485f47a4bfbe3c9088b3ee85a87ce7161b096462b0ce4fcd97af5\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"b7ec02b3e4c012133cfd9d927f12a8c19df30ef88fbdec34d1fa0ddf2acc6142\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"05961e24f837b7461cab845e4822dbded3a5b7643488c925be81815a199686af\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"836da7b2f4e1deacfc79ddbf77ffec4d67defd8baffc8a0e30d64721c14bb320\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"4fc451e60adfa48fa506b206a9d168a344875f7a035af37fefbc7221f2df8fac\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 4, \"result_sha256\": \"ae6be52b0ac2a5fb7d6de4e50a1798fe5a0f8411c1668e26b6b1e0216a4cba14\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"continuous-time profile re-solves the six-DoF extrinsic at every clock candidate\",\"target holdout is the latest capture frame group and is never used for optimization\",\"train diagnostics summarize only the selected train factor and train profile\",\"trajectory_model is piecewise SE(3) interpolation of supplied odometry; trajectory knots are fixed\",\"train_frame_count=96\",\"holdout_frame_count=24\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=None\",\"outlier_policy=mad\",\"voxel_strategy=adaptive\",\"replay_source_message_count=1\",\"adaptive correspondences use a uniform voxel fallback and select the lower initial point-to-plane residual\",\"continuous_time_query_execution: calibrex.cuda_continuous_time/v0.4;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"all residual summaries and profile candidates are train-only\",\"holdout_used_for_selection is fixed false by the diagnostics schema\",\"range bins use target LiDAR point range in meters\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "baseline", "split_id": "repeat-05", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 1.4519145999802276, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 10.269772800034843, "solver_seconds": 7.291358400019817, "subprocess_wall_seconds": 13.118011499987915, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 16.421875, "worker_import_seconds": 2.1516421999549493 }, "runtime_seconds": 13.118011499987915, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-cuda-associations-full-v3/baseline.repeat-05 --candidate-query-backend cuda --baseline-query-backend cuda", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "ca591768946a47aaa076ab3ce8e3e116c199ca2e301393413f992700a8efb36e", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"cuda_cache_after\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\"}, \"cuda_cache_before\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\"}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": \"baseline.cuda_continuous_time_adapter.py.txt\", \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"baseline.adaptive_voxel.py.txt\", \"calibrex.data.livox\": \"baseline.livox.py.txt\", \"calibrex.data.odometry_track\": \"baseline.odometry_track.py.txt\", \"calibrex.evaluation.lidar\": \"baseline.lidar.py.txt\", \"calibrex.evaluation.packed_lidar_observations\": \"baseline.packed_lidar_observations.py.txt\", \"calibrex.graph.lidar_point_to_plane\": \"baseline.lidar_point_to_plane.py.txt\", \"calibrex.pipelines.online\": \"baseline.online.py.txt\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"baseline.continuous_time_lidar_pair_solver.py.txt\", \"calibrex.solvers.cuda_continuous_time_adapter\": \"baseline.cuda_continuous_time_adapter.py.txt\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"baseline.fixed_trajectory_se3_solver.py.txt\", \"calibrex.solvers.numba_continuous_time_adapter\": \"baseline.numba_continuous_time_adapter.py.txt\", \"calibrex.solvers.robust_lidar_observations\": \"baseline.robust_lidar_observations.py.txt\"}, \"loaded_module\": \"baseline.adaptive_voxel.py.txt\", \"numba_cache_after\": {\"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"eebd4a7f76a139927eb7d55f245d4e3478dcf02bd8227c22af8fd35834a0b06f\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"a3694276843fb2b6ab5fdc304d9dc5712a724fc043674b8e4ab14cc7295681ff\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"88d0032edbca395b76479d11ce93a5bc3d6176b84289176223e43d181cf5ff09\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"7afb86482d7485f47a4bfbe3c9088b3ee85a87ce7161b096462b0ce4fcd97af5\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"b7ec02b3e4c012133cfd9d927f12a8c19df30ef88fbdec34d1fa0ddf2acc6142\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"05961e24f837b7461cab845e4822dbded3a5b7643488c925be81815a199686af\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"836da7b2f4e1deacfc79ddbf77ffec4d67defd8baffc8a0e30d64721c14bb320\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"4fc451e60adfa48fa506b206a9d168a344875f7a035af37fefbc7221f2df8fac\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"eebd4a7f76a139927eb7d55f245d4e3478dcf02bd8227c22af8fd35834a0b06f\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"a3694276843fb2b6ab5fdc304d9dc5712a724fc043674b8e4ab14cc7295681ff\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"88d0032edbca395b76479d11ce93a5bc3d6176b84289176223e43d181cf5ff09\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"7afb86482d7485f47a4bfbe3c9088b3ee85a87ce7161b096462b0ce4fcd97af5\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"b7ec02b3e4c012133cfd9d927f12a8c19df30ef88fbdec34d1fa0ddf2acc6142\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"05961e24f837b7461cab845e4822dbded3a5b7643488c925be81815a199686af\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"836da7b2f4e1deacfc79ddbf77ffec4d67defd8baffc8a0e30d64721c14bb320\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"4fc451e60adfa48fa506b206a9d168a344875f7a035af37fefbc7221f2df8fac\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 5, \"result_sha256\": \"ae6be52b0ac2a5fb7d6de4e50a1798fe5a0f8411c1668e26b6b1e0216a4cba14\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"continuous-time profile re-solves the six-DoF extrinsic at every clock candidate\",\"target holdout is the latest capture frame group and is never used for optimization\",\"train diagnostics summarize only the selected train factor and train profile\",\"trajectory_model is piecewise SE(3) interpolation of supplied odometry; trajectory knots are fixed\",\"train_frame_count=96\",\"holdout_frame_count=24\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=None\",\"outlier_policy=mad\",\"voxel_strategy=adaptive\",\"replay_source_message_count=1\",\"adaptive correspondences use a uniform voxel fallback and select the lower initial point-to-plane residual\",\"continuous_time_query_execution: calibrex.cuda_continuous_time/v0.4;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"all residual summaries and profile candidates are train-only\",\"holdout_used_for_selection is fixed false by the diagnostics schema\",\"range bins use target LiDAR point range in meters\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "sparse", "split_id": "repeat-05", "status": "success", "metrics": { "adaptive_query_calls": 0.0, "adaptive_query_seconds": 0.0, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 7.525566699914634, "solver_seconds": 4.878464799956419, "subprocess_wall_seconds": 10.623345599975437, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 12.703125, "worker_import_seconds": 2.3760192999616265 }, "runtime_seconds": 10.623345599975437, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-cuda-associations-full-v3/sparse.repeat-05 --candidate-query-backend cuda --baseline-query-backend cuda", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "8fcbfc80ff924dfd16694088e3ee327f2f64707a06ace20a2dc56ec191ec9f08", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"cuda_cache_after\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\", \"f4331870c33b1b7c90f548c88d07b801503c89e5.cubin\": \"84d63457c31f3966a080e1ce0b4a3b07748a9ea2aa61ff30168c7ea31a327b15\"}, \"cuda_cache_before\": {\"9ed58aaf0a8ff1513d8b1ff1f380f41d5d36ce51.cubin\": \"439af15bcb3e76072e7edf15df7826ea82900d542fef8a25a06add2bb01f6da4\", \"f4331870c33b1b7c90f548c88d07b801503c89e5.cubin\": \"84d63457c31f3966a080e1ce0b4a3b07748a9ea2aa61ff30168c7ea31a327b15\"}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": \"/src/calibrex/solvers/cuda_continuous_time_adapter.py\", \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"/src/calibrex/evaluation/lidar.py\", \"calibrex.evaluation.packed_lidar_observations\": \"/src/calibrex/evaluation/packed_lidar_observations.py\", \"calibrex.graph.lidar_point_to_plane\": \"/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.cuda_continuous_time_adapter\": \"/src/calibrex/solvers/cuda_continuous_time_adapter.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"b527b36466bed50df059db897f9c9fef3b09116368f375e751028d1e6a92d46a\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"6ea86139388369b5626737d3f43ddf35988104c7851c64b3129fdcf6e2fd34f0\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"cdccc944a311ff83aa401da780b55ab45c9d664d430886dbe84f74d9142d81be\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"6c8a9fb02a201a9c4f7ef975e2d58298f977c88087eb4712a688a1db7076639e\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"b527b36466bed50df059db897f9c9fef3b09116368f375e751028d1e6a92d46a\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"6ea86139388369b5626737d3f43ddf35988104c7851c64b3129fdcf6e2fd34f0\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"cdccc944a311ff83aa401da780b55ab45c9d664d430886dbe84f74d9142d81be\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"6c8a9fb02a201a9c4f7ef975e2d58298f977c88087eb4712a688a1db7076639e\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 5, \"result_sha256\": \"8e8398734b0037d3a5dfa3cd36a1caa6b14858c88d5f7965a5a6748a9afab856\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"continuous-time profile re-solves the six-DoF extrinsic at every clock candidate\",\"target holdout is the latest capture frame group and is never used for optimization\",\"train diagnostics summarize only the selected train factor and train profile\",\"trajectory_model is piecewise SE(3) interpolation of supplied odometry; trajectory knots are fixed\",\"train_frame_count=96\",\"holdout_frame_count=24\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=None\",\"outlier_policy=mad\",\"voxel_strategy=adaptive\",\"replay_source_message_count=1\",\"adaptive correspondences use a uniform voxel fallback and select the lower initial point-to-plane residual\",\"continuous_time_query_execution: calibrex.cuda_continuous_time/v0.5;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;associations_gpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0;association_kernel_sha256=b5f446ea685f32adaaaf96aafe44d423b8e05601dbc6ffb17fb7b8cc4ae124ad\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"b9eadf0\",\"notes\":[\"all residual summaries and profile candidates are train-only\",\"holdout_used_for_selection is fixed false by the diagnostics schema\",\"range bins use target LiDAR point range in meters\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"data/public/glim_versatile/livox_rosbag2_gt_restamped\"],\"source_sha256\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } } ], "method_summaries": { "baseline": { "method_id": "baseline", "trial_count": 5, "success_count": 5, "failure_count": 0, "failure_rate": 0.0, "runtime_seconds": { "count": 5, "mean": 18.559546719980425, "median": 18.195873099961318, "standard_deviation": 5.470337316017998, "minimum": 13.118011499987915, "maximum": 28.353358199936338, "p90": 24.769737359951254, "p95": 26.561547779943794, "mean_ci95_low": 15.636112020001747, "mean_ci95_high": 15.636112020001747 }, "peak_memory_mb": { "count": 0 }, "metrics": { "pipeline_seconds": { "metric": "pipeline_seconds", "distribution": { "count": 5, "mean": 14.760865839989856, "median": 13.696046700002626, "standard_deviation": 5.391841567290726, "minimum": 10.139320899965242, "maximum": 24.89474189991597, "p90": 20.85862389996182, "p95": 22.876682899938896, "mean_ci95_low": 11.80978163999971, "mean_ci95_high": 11.80978163999971 }, "rank": 1 }, "solver_seconds": { "metric": "solver_seconds", "distribution": { "count": 5, "mean": 11.329998259991408, "median": 9.749505399959162, "standard_deviation": 5.661328933902291, "minimum": 6.8327746000140905, "maximum": 22.306339300004765, "p90": 17.571809019986542, "p95": 19.93907415999565, "mean_ci95_low": 8.235285319993272, "mean_ci95_high": 8.235285319993272 }, "rank": 1 }, "adaptive_query_seconds": { "metric": "adaptive_query_seconds", "distribution": { "count": 5, "mean": 2.338027000008151, "median": 1.5992990999948233, "standard_deviation": 1.0222075798463766, "minimum": 1.4519145999802276, "maximum": 3.805589600233361, "p90": 3.6217748001683505, "p95": 3.7136822002008554, "mean_ci95_low": 1.8743648999137803, "mean_ci95_high": 1.8743648999137803 }, "rank": 2 }, "adaptive_query_calls": { "metric": "adaptive_query_calls", "distribution": { "count": 5, "mean": 1248000.0, "median": 1248000.0, "standard_deviation": 0.0, "minimum": 1248000.0, "maximum": 1248000.0, "p90": 1248000.0, "p95": 1248000.0, "mean_ci95_low": 1248000.0, "mean_ci95_high": 1248000.0 }, "rank": 2 }, "worker_import_seconds": { "metric": "worker_import_seconds", "distribution": { "count": 5, "mean": 2.8670797399478034, "median": 2.824440199881792, "standard_deviation": 0.6039756104282219, "minimum": 2.1516421999549493, "maximum": 3.6394317999947816, "p90": 3.566572639998048, "p95": 3.603002219996415, "mean_ci95_low": 2.979447659943253, "mean_ci95_high": 2.979447659943253 }, "rank": 1 }, "uniform_normal_calculations": { "metric": "uniform_normal_calculations", "distribution": { "count": 5, "mean": 883.0, "median": 883.0, "standard_deviation": 0.0, "minimum": 883.0, "maximum": 883.0, "p90": 883.0, "p95": 883.0, "mean_ci95_low": 883.0, "mean_ci95_high": 883.0 }, "rank": 1 }, "interpolated_pose_calculations": { "metric": "interpolated_pose_calculations", "distribution": { "count": 5, "mean": 434232.0, "median": 434232.0, "standard_deviation": 0.0, "minimum": 434232.0, "maximum": 434232.0, "p90": 434232.0, "p95": 434232.0, "mean_ci95_low": 434232.0, "mean_ci95_high": 434232.0 }, "rank": 1 }, "worker_cpu_seconds": { "metric": "worker_cpu_seconds", "distribution": { "count": 5, "mean": 20.4, "median": 19.90625, "standard_deviation": 3.9642272457882632, "minimum": 16.421875, "maximum": 27.515625, "p90": 24.959375, "p95": 26.2375, "mean_ci95_low": 18.303125, "mean_ci95_high": 18.303125 }, "rank": 2 }, "subprocess_wall_seconds": { "metric": "subprocess_wall_seconds", "distribution": { "count": 5, "mean": 18.559546719980425, "median": 18.195873099961318, "standard_deviation": 5.470337316017998, "minimum": 13.118011499987915, "maximum": 28.353358199936338, "p90": 24.769737359951254, "p95": 26.561547779943794, "mean_ci95_low": 15.636112020001747, "mean_ci95_high": 15.636112020001747 }, "rank": 1 }, "complete_result_matches": { "metric": "complete_result_matches", "distribution": { "count": 5, "mean": 1.0, "median": 1.0, "standard_deviation": 0.0, "minimum": 1.0, "maximum": 1.0, "p90": 1.0, "p95": 1.0, "mean_ci95_low": 1.0, "mean_ci95_high": 1.0 }, "rank": 1 } } }, "sparse": { "method_id": "sparse", "trial_count": 5, "success_count": 5, "failure_count": 0, "failure_rate": 0.0, "runtime_seconds": { "count": 5, "mean": 25.83322161997203, "median": 14.291125699994154, "standard_deviation": 23.594638358453587, "minimum": 10.623345599975437, "maximum": 72.67615299997851, "p90": 51.27403483996168, "p95": 61.975093919970085, "mean_ci95_low": 13.778916259971448, "mean_ci95_high": 13.778916259971448 }, "peak_memory_mb": { "count": 0 }, "metrics": { "pipeline_seconds": { "metric": "pipeline_seconds", "distribution": { "count": 5, "mean": 18.16193495998159, "median": 11.098157800035551, "standard_deviation": 16.093219088864785, "minimum": 7.525566699914634, "maximum": 50.15200239990372, "p90": 35.21709463994485, "p95": 42.68454851992428, "mean_ci95_low": 9.97537746001035, "mean_ci95_high": 9.97537746001035 }, "rank": 2 }, "solver_seconds": { "metric": "solver_seconds", "distribution": { "count": 5, "mean": 14.346769100008533, "median": 7.102956800023094, "standard_deviation": 15.278757897701103, "minimum": 4.878464799956419, "maximum": 44.798121199943125, "p90": 30.392225039983174, "p95": 37.595173119963135, "mean_ci95_low": 6.621329240035266, "mean_ci95_high": 6.621329240035266 }, "rank": 2 }, "adaptive_query_seconds": { "metric": "adaptive_query_seconds", "distribution": { "count": 5, "mean": 0.0, "median": 0.0, "standard_deviation": 0.0, "minimum": 0.0, "maximum": 0.0, "p90": 0.0, "p95": 0.0, "mean_ci95_low": 0.0, "mean_ci95_high": 0.0 }, "rank": 1 }, "adaptive_query_calls": { "metric": "adaptive_query_calls", "distribution": { "count": 5, "mean": 0.0, "median": 0.0, "standard_deviation": 0.0, "minimum": 0.0, "maximum": 0.0, "p90": 0.0, "p95": 0.0, "mean_ci95_low": 0.0, "mean_ci95_high": 0.0 }, "rank": 1 }, "worker_import_seconds": { "metric": "worker_import_seconds", "distribution": { "count": 5, "mean": 6.366581859951839, "median": 2.3760192999616265, "standard_deviation": 7.029847616485382, "minimum": 2.2744172998936847, "maximum": 20.325319499941543, "p90": 13.996811219956728, "p95": 17.16106535994913, "mean_ci95_low": 2.756401419942267, "mean_ci95_high": 2.756401419942267 }, "rank": 2 }, "uniform_normal_calculations": { "metric": "uniform_normal_calculations", "distribution": { "count": 5, "mean": 883.0, "median": 883.0, "standard_deviation": 0.0, "minimum": 883.0, "maximum": 883.0, "p90": 883.0, "p95": 883.0, "mean_ci95_low": 883.0, "mean_ci95_high": 883.0 }, "rank": 1 }, "interpolated_pose_calculations": { "metric": "interpolated_pose_calculations", "distribution": { "count": 5, "mean": 434232.0, "median": 434232.0, "standard_deviation": 0.0, "minimum": 434232.0, "maximum": 434232.0, "p90": 434232.0, "p95": 434232.0, "mean_ci95_low": 434232.0, "mean_ci95_high": 434232.0 }, "rank": 1 }, "worker_cpu_seconds": { "metric": "worker_cpu_seconds", "distribution": { "count": 5, "mean": 18.35625, "median": 16.046875, "standard_deviation": 6.649596146101656, "minimum": 12.703125, "maximum": 31.0, "p90": 26.025, "p95": 28.512499999999996, "mean_ci95_low": 14.85, "mean_ci95_high": 14.85 }, "rank": 1 }, "subprocess_wall_seconds": { "metric": "subprocess_wall_seconds", "distribution": { "count": 5, "mean": 25.83322161997203, "median": 14.291125699994154, "standard_deviation": 23.594638358453587, "minimum": 10.623345599975437, "maximum": 72.67615299997851, "p90": 51.27403483996168, "p95": 61.975093919970085, "mean_ci95_low": 13.778916259971448, "mean_ci95_high": 13.778916259971448 }, "rank": 2 }, "complete_result_matches": { "metric": "complete_result_matches", "distribution": { "count": 5, "mean": 1.0, "median": 1.0, "standard_deviation": 0.0, "minimum": 1.0, "maximum": 1.0, "p90": 1.0, "p95": 1.0, "mean_ci95_low": 1.0, "mean_ci95_high": 1.0 }, "rank": 1 } } } }, "paired_comparisons": [ { "reference_method_id": "baseline", "candidate_method_id": "sparse", "metric": "pipeline_seconds", "direction": "lower", "paired_count": 5, "raw_delta_mean": 3.4010691199917344, "improvement_mean": -3.4010691199917344, "improvement_ci95_low": 1.8344041799893602, "improvement_ci95_high": 1.8344041799893602 }, { "reference_method_id": "baseline", "candidate_method_id": "sparse", "metric": "solver_seconds", "direction": "lower", "paired_count": 5, "raw_delta_mean": 3.016770840017125, "improvement_mean": -3.016770840017125, "improvement_ci95_low": 1.6139560799580068, "improvement_ci95_high": 1.6139560799580068 }, { "reference_method_id": "baseline", "candidate_method_id": "sparse", "metric": "adaptive_query_seconds", "direction": "lower", "paired_count": 5, "raw_delta_mean": -2.338027000008151, "improvement_mean": 2.338027000008151, "improvement_ci95_low": 1.8743648999137803, "improvement_ci95_high": 1.8743648999137803 }, { "reference_method_id": "baseline", "candidate_method_id": "sparse", "metric": "adaptive_query_calls", "direction": "lower", "paired_count": 5, "raw_delta_mean": -1248000.0, "improvement_mean": 1248000.0, "improvement_ci95_low": 1248000.0, "improvement_ci95_high": 1248000.0 }, { "reference_method_id": "baseline", "candidate_method_id": "sparse", "metric": "worker_import_seconds", "direction": "lower", "paired_count": 5, "raw_delta_mean": 3.4995021200040357, "improvement_mean": -3.4995021200040357, "improvement_ci95_low": 0.22304624000098555, "improvement_ci95_high": 0.22304624000098555 }, { "reference_method_id": "baseline", "candidate_method_id": "sparse", "metric": "uniform_normal_calculations", "direction": "lower", "paired_count": 5, "raw_delta_mean": 0.0, "improvement_mean": 0.0, "improvement_ci95_low": 0.0, "improvement_ci95_high": 0.0 }, { "reference_method_id": "baseline", "candidate_method_id": "sparse", "metric": "interpolated_pose_calculations", "direction": "lower", "paired_count": 5, "raw_delta_mean": 0.0, "improvement_mean": 0.0, "improvement_ci95_low": 0.0, "improvement_ci95_high": 0.0 }, { "reference_method_id": "baseline", "candidate_method_id": "sparse", "metric": "worker_cpu_seconds", "direction": "lower", "paired_count": 5, "raw_delta_mean": -2.04375, "improvement_mean": 2.04375, "improvement_ci95_low": 3.453125, "improvement_ci95_high": 3.453125 }, { "reference_method_id": "baseline", "candidate_method_id": "sparse", "metric": "subprocess_wall_seconds", "direction": "lower", "paired_count": 5, "raw_delta_mean": 7.273674899991602, "improvement_mean": -7.273674899991602, "improvement_ci95_low": 1.8571957600302995, "improvement_ci95_high": 1.8571957600302995 }, { "reference_method_id": "baseline", "candidate_method_id": "sparse", "metric": "complete_result_matches", "direction": "higher", "paired_count": 5, "raw_delta_mean": 0.0, "improvement_mean": 0.0, "improvement_ci95_low": 0.0, "improvement_ci95_high": 0.0 } ], "reference_method_id": "baseline", "bootstrap_samples": 1, "bootstrap_seed": 0, "limitations": [ "Single public sensor duplicated as an identity control; no absolute two-sensor accuracy claim.", "Fresh interpreters; no warmup or outlier exclusion; OS caches persist.", "Scope cuda substitutes 12 modules. All candidates, refinements, train/holdout budgets and writers are shared. Module filenames and source/input bytes are verified.", "Wall includes startup, imports, replay, optimization, diagnostics, input hashes, YAML output and worker measurement save; parent audits and CLI presentation are excluded.", "Phase timers wrap existing calls without extra work; their wrapper cost is included.", "Full saved/API artifacts and git revision are retained. Comparison normalizes path separators and excludes only the exact optional kernel identity note.", "Numba cache policy is recorded per trial, with compiled file hashes before/after. The first candidate uses an empty cache; all import/compile/load work is inside wall.", "Compiled scope gives each method its own persistent cache, initially empty.", "Candidate execution override: cuda; baseline execution override: cuda; all physical options and splits are shared. CUDA runs also own a fresh persistent kernel cache with trial-level before/after digests; compilation stays inside wall. CUDA dispatch retains CPU execution below the 8192-row capture budget.", "Worker CPU sums all worker threads from entry through the saved-result hash; interpreter startup and measurement JSON serialization are outside that diagnostic.", "Raw checksums and conversion lineage are verified before measurement.", "Split IDs hash ordered sampled target indices, capture timestamps and XYZ; the distinct temporal partitions and unchanged sampling caps are verified each run.", "Descriptive timings are local observations, not portable confidence estimates." ], "provenance": { "generator": "tools.benchmark_adaptive_plane_search", "generator_version": "v0.5", "generated_at": "2026-10-13T00:05:16.697314+00:00", "git_commit": "b9eadf0", "command": " /tools/benchmark_adaptive_plane_search.py --baseline-scope cuda --baseline-commit a1ff874ab0dbc39c2dacc9607f40841c610997d7 --candidate-query-backend cuda --baseline-query-backend cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --repetitions 5 --output-dir outputs/public-glim-cuda-associations-full-v3", "source_artifacts": { "baseline.adaptive_voxel.py.txt": "8092345b64133e7f80680e6283cf5da1950b098881327ce62b0dfec22e10acb1", "baseline.continuous_time_lidar_pair_solver.py.txt": "d93e9355299930b54e65416e0faf4411e14439c304be5567bb0e51345d876534", "baseline.cuda_continuous_time_adapter.py.txt": "b6b9761ec85e365e9b5f87321d36001b657e039741e31639a0b5214883d5c048", "baseline.fixed_trajectory_se3_solver.py.txt": "3231303433662c6bafdea3b4a4520842304f89226d6f29f95fe0398bd74f577e", "baseline.lidar.py.txt": "8e08c74cc5d6d11d96dae66c53a3e6b2c645bff28f7e0b56fc38567ec8cf4519", "baseline.lidar_point_to_plane.py.txt": "bfbf42d647e868101f07d8613230f331d5ffb21a1ca885e6e7d9404e9fcc63b8", "baseline.livox.py.txt": "50dfd41ad1beb55893636965cf8d12f8afc5aec69a91d3cba1cc762901036ed6", "baseline.numba_continuous_time_adapter.py.txt": "d70d695e47d9dcbb41cb39e26ba39e1e18ecbdde87e580a8a29945cc682ff518", "baseline.odometry_track.py.txt": "660a735db57a92c164b9d20f470ba966f462cc83699e04856cc5f63092dab763", "baseline.online.py.txt": "2a42398c4c7cac1d1435ecae2414a8a1eafe927ddd3dd1960d8a65f3728cb7e3", "baseline.packed_lidar_observations.py.txt": "822720ec7ae4e6b2112e6aa2c4d81136ce4fdba237526292641b93da0300e453", "baseline.robust_lidar_observations.py.txt": "99601cc85aed82b5ccdddf33d1d8c079470b2b8785ee4057e8853094779df95b", "data/public/glim_versatile/conversion-provenance.json": "7f51da99c1bdc0b2768229e6ff22809d5d0bb22e02dcc62dce2c3ce0dac2da56", "data/public/glim_versatile/gt.tar.gz": "4bfd871527d00065898153e77a6764ac331421aca16ff88bde778994f70f5bc9", "data/public/glim_versatile/gt/livox.txt": "bcc75ff7985f2e140e514c69f029153e0127a33ee7abc1b757e077386f5059ad", "data/public/glim_versatile/livox.bag": "f57a2e85339316d4235ab693ab2876aac5e113625c7f8b0f7873b62f92e09643", "data/public/glim_versatile/livox_rosbag2_gt_restamped/livox_rosbag2_gt_restamped.db3": "8d28f0a8ddda13b880e4648e9d687d4a566d40f70b87547f8798fe8a18cfde9e", "data/public/glim_versatile/livox_rosbag2_gt_restamped/metadata.yaml": "7542a3e1689e2007e9c15b8d163cddcbca4d87232dd92b7ecff48ba1e0f6645f", "measured.online_continuous_time_compiled_full_capture_config.yaml.txt": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "measured.continuous_time_lidar_artifacts.py.txt": "96c051290b6b4f82f81fcc108b6ea4525b1497af064a3dedb8196e7dedd9d874", "measured.continuous_time_lidar_train_diagnostics.py.txt": "f86b7e9d569b4ef61d85834df790207dbe2f424af17ec0f5df16b9f2aef6fcac", "measured.provenance.py.txt": "eb7849f342892272ae136454da816852d080684b25c8ec55771582c1b8621f47", "measured.adaptive_voxel.py.txt": "4a2afd9a882426f0a99dbf7af52f98d49b48e168a32956ec3496f5740c879a14", "measured.livox.py.txt": "0773a7e2fccb2d2faa23f9e90636a00355499af131ad671845edb2c8d33b1bfd", "measured.numba_lidar_deskew_adapter.py.txt": "53966123b0e942f48929494fba4389062ccee0cd44dc85501e4d3451a84cc0be", "measured.odometry_track.py.txt": "1569e661470e902f2f08dde1bf2d0c41cc6540a24f59d9ee961e066d36653c91", "measured.lidar.py.txt": "2e4c7dda7f81eaa343096ccce57e1f160bc4418d395facfafc4bcbed4ffb16df", "measured.packed_lidar_observations.py.txt": "8c276b9a7379b94cf33c4fe1b64baf5f436025e6eb412c31ae291255f1d01099", "measured.lidar_point_to_plane.py.txt": "840aeb3cee3774a43cedc3fad5a5d54d0e108b59c1407b44a837f5f7d8ec1070", "measured.online.py.txt": "090e373de41196825a09dd4735964cbcdcae766cb81cd643b061750272d08452", "measured.continuous_time_lidar_pair_solver.py.txt": "6f7d8db119a75e47c452b533c1b1fd05c9149fec1f4f9f7bc73517057aac142d", "measured.cuda_continuous_time_adapter.py.txt": "6128e58bfb376416385523f247f05453a72a1ccc1684d3e1d752adfe2317109c", "measured.cuda_plane_query_adapter.py.txt": "1e01de434b7baf5f635493d06435d42f87456340cb95fa5405a5761225ae0c03", "measured.fixed_trajectory_se3_solver.py.txt": "f581fbb7e27509c9062f010878ff17efbece50c4fdb8c0b18a165898eb7706be", "measured.numba_continuous_time_adapter.py.txt": "d70d695e47d9dcbb41cb39e26ba39e1e18ecbdde87e580a8a29945cc682ff518", "measured.robust_lidar_observations.py.txt": "ff398d558ec6f35eec497d6cdec80286b43ff4fd27a1e3b6a224d8e54098e240", "measured.benchmark_adaptive_plane_search.py.txt": "487a95d93ff320754afdf28f30263e3b0c6edbabc1a52fecc58a25033882d59c", "measured.lidar_scan_deskew.py.txt": "e36a870323f76256fb5b3f8b8364cb2edb4c06483b3ea0fe8a99bf2faa6f1ce0", "measured.rosbag1_to_rosbag2_online_pair.py.txt": "9da3e080b62933d4d75f92c08bba91929fea401d99650e55f78bd3cdabfcc680" }, "data_verified": true } }