{
  "schema_version": "slac.benchmark_definition/v0.1",
  "benchmark_id": "glim-complete-continuous-time-compiled",
  "title": "Public GLIM Livox complete continuous-time refinement",
  "protocol": {
    "protocol_id": "glim-compiled-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": 6000,
        "holdout_count": 3200,
        "fit_ids_sha256": "8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386",
        "holdout_ids_sha256": "0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1"
      },
      {
        "split_id": "repeat-02",
        "seed": 0,
        "fit_count": 6000,
        "holdout_count": 3200,
        "fit_ids_sha256": "8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386",
        "holdout_ids_sha256": "0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1"
      },
      {
        "split_id": "repeat-03",
        "seed": 0,
        "fit_count": 6000,
        "holdout_count": 3200,
        "fit_ids_sha256": "8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386",
        "holdout_ids_sha256": "0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1"
      },
      {
        "split_id": "repeat-04",
        "seed": 0,
        "fit_count": 6000,
        "holdout_count": 3200,
        "fit_ids_sha256": "8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386",
        "holdout_ids_sha256": "0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1"
      },
      {
        "split_id": "repeat-05",
        "seed": 0,
        "fit_count": 6000,
        "holdout_count": 3200,
        "fit_ids_sha256": "8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386",
        "holdout_ids_sha256": "0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1"
      }
    ],
    "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": "eb50c99878706a45eb0e584f3573507313cdc172",
      "adapter_version": "continuous-time-compiled/v5"
    },
    {
      "method_id": "sparse",
      "label": "sparse",
      "implementation": "subprocess",
      "tool_name": "Calibrex",
      "tool_version": "0.5.1",
      "source_commit": "fb265b33cf0752e4ff9829f2c798b416da5a2fd0",
      "adapter_version": "continuous-time-compiled/v5"
    }
  ],
  "trials": [
    {
      "method_id": "baseline",
      "split_id": "repeat-01",
      "status": "success",
      "metrics": {
        "adaptive_query_calls": 184000.0,
        "adaptive_query_seconds": 0.1914228005334735,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 99391.0,
        "pipeline_seconds": 17.153328399988823,
        "solver_seconds": 16.054457100108266,
        "subprocess_wall_seconds": 20.16951259993948,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 20.640625,
        "worker_import_seconds": 2.230154199991375
      },
      "runtime_seconds": 20.16951259993948,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-default-v4/baseline.repeat-01 --candidate-query-backend cuda",
        "config_sha256": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "ed9f2c10555eb0e77100fc88d121a934e581b73e32e5f49ed65051627f52bd15",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
          "{\"cuda_cache_after\": {}, \"cuda_cache_before\": {}, \"execution_override\": null, \"loaded_cuda_module\": null, \"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.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.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._fused_jacobian_rows-266.py312.1.nbc\": \"77253410c0da7011b407879b1b8330b3994c32c96b6c38b338632a2d0c043359\", \"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.nbi\": \"18301a6b88a5f0145386dbfd1500b0de54236e80231de4f6e1a48f9cb462f9c6\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a24fddd52eefa1f6299627cf463744486af95ead8fb9db62c20d2c4e364ed545\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"9590bde018aa3d1cb9e0f6fca018042d7355a4c9ff9ae0fc322a0e8c52bf8d35\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.1.nbc\": \"514f3afffd01afb068b33ba2cc8b6773f12e79d3aa541fc5f83342324fedc489\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.nbi\": \"8fddc897418c2e2a616824cea1fad8e213db4c2402ad4884586b66ba672acc90\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"c400aad28e5427f637cab80baa8938fefb4810319f8e18fb1306463d6efd6a2e\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"5c4a5c44586051f63ab48cbe9bb61e0a481107d47f617550ff4c931a04f2a702\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"3297401ecf144c4edeeb6810ff8f312abecbf0a6be812ba37766c339bcaa2665\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"4d683a4732f4967c5e4b870798fe32fee284d8038a533aefeb8c6bacff85d944\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"ce539cba2283343d2e9f1fd1c1a53aa972cfa7622dde3a359aaeb22adb79198f\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"06a070b034a0404a1331187e8101d373cfad30bc1cc74a27c6ae0a5db7eb4140\"}, \"numba_cache_before\": {}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 1, \"result_sha256\": \"385492964789b2536ce2f363ce21df43876679f61ac1782e4cd6ebf39320a2e9\", \"sampled_split\": {\"holdout_count\": 3200, \"holdout_ids_sha256\": \"0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1\", \"train_count\": 6000, \"train_ids_sha256\": \"8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386\"}}",
          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.04,\"final_holdout_rmse_m\":0.05078387183780445,\"final_train_rmse_m\":0.030992997998017136,\"holdout_correspondence_count\":2526,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.04356229285396421,\"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\":[0.05191950899805976,0.0594670200342744,0.06469129355302423],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"holdout_rmse_m\":0.05191950899805976,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05169869035261985,0.0528108227587572,0.059392403749460816],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"holdout_rmse_m\":0.05169869035261985,\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05420022389016767,0.05078387183780445,0.05307558632419566],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"holdout_rmse_m\":0.05078387183780445,\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.054058837478851644,0.05063987525033928,0.055066524752057644],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05237254206627457,0.05063987525033928,0.052196929998250575],\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05113501036016141,0.05063987525033928,0.05180521557791382],\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"holdout_rmse_m\":0.05180521557791382,\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_rmse_m\":0.03116456872308248}],\"observability\":{\"condition_number\":20.081958398487494,\"rank\":6,\"residual_count\":4773,\"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,\"max_target_points_per_split\":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\":1595,\"provenance\":{\"git_commit\":\"fb265b3\",\"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=28\",\"holdout_frame_count=8\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=6000\",\"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.numba_continuous_time/v0.6;numba=0.65.1;fastmath=false;cache=true\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"time-profile step reached the configured minimum\",\"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\":\"pass\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0018791697506833464,0.001546182159350107,0.00031907139263010636,0.9999969881130767],\"translation_m\":[0.0025226347149937137,0.013369673196585203,-0.012116083303066624]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"converged\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":4773,\"train_diagnostics\":{\"final_residuals\":{\"count\":4773,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.02160132821236874,\"mean_m\":0.0006244752053437753,\"median_abs_m\":0.013116298377918147,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.0724018494378207,\"p99_abs_m\":0.08929071764502822,\"rmse_m\":0.030992997998017136},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":4829,\"train_outlier_rejected_count\":956,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4780,\"train_outlier_rejected_count\":1004,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_correspondence_count\":4777,\"train_outlier_rejected_count\":1009,\"train_rmse_m\":0.03116456872308248}],\"provenance\":{\"git_commit\":\"fb265b3\",\"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_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":2674,\"lower_bound_m\":0.0,\"residuals\":{\"count\":2674,\"max_m\":0.09240378991752374,\"mean_abs_m\":0.016539303765964027,\"mean_m\":0.0008534895298400799,\"median_abs_m\":0.009415624708894454,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.06251278979645186,\"p99_abs_m\":0.08623786606882815,\"rmse_m\":0.025286426364681626},\"upper_bound_m\":5.0},{\"correspondence_count\":1678,\"lower_bound_m\":5.0,\"residuals\":{\"count\":1678,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.028653884342262185,\"mean_m\":0.0012347026684022414,\"median_abs_m\":0.021347763618972213,\"min_m\":-0.09502294880470964,\"p95_abs_m\":0.08169799696010552,\"p99_abs_m\":0.09107793499260479,\"rmse_m\":0.037562779516999885},\"upper_bound_m\":10.0},{\"correspondence_count\":421,\"lower_bound_m\":10.0,\"residuals\":{\"count\":421,\"max_m\":0.09239942461218702,\"mean_abs_m\":0.02564328589342578,\"mean_m\":-0.0032623323640510577,\"median_abs_m\":0.018354694764313208,\"min_m\":-0.09274082992673473,\"p95_abs_m\":0.0764916766892347,\"p99_abs_m\":0.08787656069205768,\"rmse_m\":0.03471710113509699},\"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\":-0.04,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":5786,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_outlier_rejection_rate\":0.17507777393708954,\"train_target_point_count\":11200},\"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": 184000.0,
        "adaptive_query_seconds": 0.20462270022835582,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 99391.0,
        "pipeline_seconds": 18.02234840008896,
        "solver_seconds": 16.62693600007333,
        "subprocess_wall_seconds": 22.290304399910383,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 22.921875,
        "worker_import_seconds": 3.1383354000281543
      },
      "runtime_seconds": 22.290304399910383,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-default-v4/sparse.repeat-01 --candidate-query-backend cuda",
        "config_sha256": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "9ff5fadbc80bd330a00194420e3347d0cdce4329beb4d352b91175969f7c1fa0",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
          "{\"cuda_cache_after\": {}, \"cuda_cache_before\": {}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": null, \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"<WORKSPACE>/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"<WORKSPACE>/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"<WORKSPACE>/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"<WORKSPACE>/src/calibrex/evaluation/lidar.py\", \"calibrex.graph.lidar_point_to_plane\": \"<WORKSPACE>/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"<WORKSPACE>/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"<WORKSPACE>/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"<WORKSPACE>/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"<WORKSPACE>/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"<WORKSPACE>/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"<WORKSPACE>/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.1.nbc\": \"deaf86846a1c1f1ad396208c64452ff65f6151d86ff6c893dc50d54cbc152c98\", \"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.nbi\": \"f96b7e7f5c9fdea9c06b21341d08ccc8b7604af1fe6156b5ed8a0f9fe68e5a43\", \"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"ad822d06950565f3cb2860a39b33f1ba2ab4c0c770f8b86885fb38498b45bed7\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"f92148fea6804a18a7eed54591d174e3bf550c05c729807199ea23e6452f4b35\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"8d5a800dbdb3c3522a75bb39adf2337d1b55c7bd4581b8343f0613cd507d6951\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"b3a02f96b4b8e7768466f5e05e5ff437c337ac5bd02a5312cb1f099bbf9b6fb8\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"7421ad286292a28041bff49ed35c45fbf6887750e905cf0ada245e8595b87c5e\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"ab2d2fc792f8a5c6318f74cf2a90cd3177b4577a47c3437d163d00f37aebf456\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_before\": {}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 1, \"result_sha256\": \"38fd791aed3d0a86eb4aaf2d3d404e8e3afa06f82395ca49fe238af6e9c32d6a\", \"sampled_split\": {\"holdout_count\": 3200, \"holdout_ids_sha256\": \"0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1\", \"train_count\": 6000, \"train_ids_sha256\": \"8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386\"}}",
          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.04,\"final_holdout_rmse_m\":0.05078387183780445,\"final_train_rmse_m\":0.030992997998017136,\"holdout_correspondence_count\":2526,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.04356229285396421,\"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\":[0.05191950899805976,0.0594670200342744,0.06469129355302423],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"holdout_rmse_m\":0.05191950899805976,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05169869035261985,0.0528108227587572,0.059392403749460816],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"holdout_rmse_m\":0.05169869035261985,\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05420022389016767,0.05078387183780445,0.05307558632419566],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"holdout_rmse_m\":0.05078387183780445,\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.054058837478851644,0.05063987525033928,0.055066524752057644],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05237254206627457,0.05063987525033928,0.052196929998250575],\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05113501036016141,0.05063987525033928,0.05180521557791382],\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"holdout_rmse_m\":0.05180521557791382,\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_rmse_m\":0.03116456872308248}],\"observability\":{\"condition_number\":20.081958398487494,\"rank\":6,\"residual_count\":4773,\"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,\"max_target_points_per_split\":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\":1595,\"provenance\":{\"git_commit\":\"fb265b3\",\"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=28\",\"holdout_frame_count=8\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=6000\",\"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.numba_continuous_time/v0.7;numba=0.65.1;fastmath=false;cache=true\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"time-profile step reached the configured minimum\",\"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\":\"pass\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0018791697506833464,0.001546182159350107,0.00031907139263010636,0.9999969881130767],\"translation_m\":[0.0025226347149937137,0.013369673196585203,-0.012116083303066624]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"converged\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":4773,\"train_diagnostics\":{\"final_residuals\":{\"count\":4773,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.02160132821236874,\"mean_m\":0.0006244752053437753,\"median_abs_m\":0.013116298377918147,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.0724018494378207,\"p99_abs_m\":0.08929071764502822,\"rmse_m\":0.030992997998017136},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":4829,\"train_outlier_rejected_count\":956,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4780,\"train_outlier_rejected_count\":1004,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_correspondence_count\":4777,\"train_outlier_rejected_count\":1009,\"train_rmse_m\":0.03116456872308248}],\"provenance\":{\"git_commit\":\"fb265b3\",\"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_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":2674,\"lower_bound_m\":0.0,\"residuals\":{\"count\":2674,\"max_m\":0.09240378991752374,\"mean_abs_m\":0.016539303765964027,\"mean_m\":0.0008534895298400799,\"median_abs_m\":0.009415624708894454,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.06251278979645186,\"p99_abs_m\":0.08623786606882815,\"rmse_m\":0.025286426364681626},\"upper_bound_m\":5.0},{\"correspondence_count\":1678,\"lower_bound_m\":5.0,\"residuals\":{\"count\":1678,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.028653884342262185,\"mean_m\":0.0012347026684022414,\"median_abs_m\":0.021347763618972213,\"min_m\":-0.09502294880470964,\"p95_abs_m\":0.08169799696010552,\"p99_abs_m\":0.09107793499260479,\"rmse_m\":0.037562779516999885},\"upper_bound_m\":10.0},{\"correspondence_count\":421,\"lower_bound_m\":10.0,\"residuals\":{\"count\":421,\"max_m\":0.09239942461218702,\"mean_abs_m\":0.02564328589342578,\"mean_m\":-0.0032623323640510577,\"median_abs_m\":0.018354694764313208,\"min_m\":-0.09274082992673473,\"p95_abs_m\":0.0764916766892347,\"p99_abs_m\":0.08787656069205768,\"rmse_m\":0.03471710113509699},\"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\":-0.04,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":5786,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_outlier_rejection_rate\":0.17507777393708954,\"train_target_point_count\":11200},\"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": 184000.0,
        "adaptive_query_seconds": 0.1848191999597475,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 99391.0,
        "pipeline_seconds": 6.126907899975777,
        "solver_seconds": 4.7643423998961225,
        "subprocess_wall_seconds": 10.618621599976905,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 11.3125,
        "worker_import_seconds": 3.404420100036077
      },
      "runtime_seconds": 10.618621599976905,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-default-v4/sparse.repeat-02 --candidate-query-backend cuda",
        "config_sha256": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "9ff5fadbc80bd330a00194420e3347d0cdce4329beb4d352b91175969f7c1fa0",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
          "{\"cuda_cache_after\": {}, \"cuda_cache_before\": {}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": null, \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"<WORKSPACE>/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"<WORKSPACE>/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"<WORKSPACE>/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"<WORKSPACE>/src/calibrex/evaluation/lidar.py\", \"calibrex.graph.lidar_point_to_plane\": \"<WORKSPACE>/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"<WORKSPACE>/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"<WORKSPACE>/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"<WORKSPACE>/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"<WORKSPACE>/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"<WORKSPACE>/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"<WORKSPACE>/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.1.nbc\": \"deaf86846a1c1f1ad396208c64452ff65f6151d86ff6c893dc50d54cbc152c98\", \"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.nbi\": \"f96b7e7f5c9fdea9c06b21341d08ccc8b7604af1fe6156b5ed8a0f9fe68e5a43\", \"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"ad822d06950565f3cb2860a39b33f1ba2ab4c0c770f8b86885fb38498b45bed7\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"f92148fea6804a18a7eed54591d174e3bf550c05c729807199ea23e6452f4b35\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"8d5a800dbdb3c3522a75bb39adf2337d1b55c7bd4581b8343f0613cd507d6951\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"b3a02f96b4b8e7768466f5e05e5ff437c337ac5bd02a5312cb1f099bbf9b6fb8\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"7421ad286292a28041bff49ed35c45fbf6887750e905cf0ada245e8595b87c5e\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"ab2d2fc792f8a5c6318f74cf2a90cd3177b4577a47c3437d163d00f37aebf456\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.1.nbc\": \"deaf86846a1c1f1ad396208c64452ff65f6151d86ff6c893dc50d54cbc152c98\", \"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.nbi\": \"f96b7e7f5c9fdea9c06b21341d08ccc8b7604af1fe6156b5ed8a0f9fe68e5a43\", \"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"ad822d06950565f3cb2860a39b33f1ba2ab4c0c770f8b86885fb38498b45bed7\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"f92148fea6804a18a7eed54591d174e3bf550c05c729807199ea23e6452f4b35\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"8d5a800dbdb3c3522a75bb39adf2337d1b55c7bd4581b8343f0613cd507d6951\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"b3a02f96b4b8e7768466f5e05e5ff437c337ac5bd02a5312cb1f099bbf9b6fb8\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"7421ad286292a28041bff49ed35c45fbf6887750e905cf0ada245e8595b87c5e\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"ab2d2fc792f8a5c6318f74cf2a90cd3177b4577a47c3437d163d00f37aebf456\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 2, \"result_sha256\": \"38fd791aed3d0a86eb4aaf2d3d404e8e3afa06f82395ca49fe238af6e9c32d6a\", \"sampled_split\": {\"holdout_count\": 3200, \"holdout_ids_sha256\": \"0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1\", \"train_count\": 6000, \"train_ids_sha256\": \"8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386\"}}",
          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.04,\"final_holdout_rmse_m\":0.05078387183780445,\"final_train_rmse_m\":0.030992997998017136,\"holdout_correspondence_count\":2526,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.04356229285396421,\"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\":[0.05191950899805976,0.0594670200342744,0.06469129355302423],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"holdout_rmse_m\":0.05191950899805976,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05169869035261985,0.0528108227587572,0.059392403749460816],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"holdout_rmse_m\":0.05169869035261985,\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05420022389016767,0.05078387183780445,0.05307558632419566],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"holdout_rmse_m\":0.05078387183780445,\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.054058837478851644,0.05063987525033928,0.055066524752057644],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05237254206627457,0.05063987525033928,0.052196929998250575],\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05113501036016141,0.05063987525033928,0.05180521557791382],\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"holdout_rmse_m\":0.05180521557791382,\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_rmse_m\":0.03116456872308248}],\"observability\":{\"condition_number\":20.081958398487494,\"rank\":6,\"residual_count\":4773,\"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,\"max_target_points_per_split\":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\":1595,\"provenance\":{\"git_commit\":\"fb265b3\",\"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=28\",\"holdout_frame_count=8\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=6000\",\"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.numba_continuous_time/v0.7;numba=0.65.1;fastmath=false;cache=true\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"time-profile step reached the configured minimum\",\"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\":\"pass\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0018791697506833464,0.001546182159350107,0.00031907139263010636,0.9999969881130767],\"translation_m\":[0.0025226347149937137,0.013369673196585203,-0.012116083303066624]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"converged\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":4773,\"train_diagnostics\":{\"final_residuals\":{\"count\":4773,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.02160132821236874,\"mean_m\":0.0006244752053437753,\"median_abs_m\":0.013116298377918147,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.0724018494378207,\"p99_abs_m\":0.08929071764502822,\"rmse_m\":0.030992997998017136},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":4829,\"train_outlier_rejected_count\":956,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4780,\"train_outlier_rejected_count\":1004,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_correspondence_count\":4777,\"train_outlier_rejected_count\":1009,\"train_rmse_m\":0.03116456872308248}],\"provenance\":{\"git_commit\":\"fb265b3\",\"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_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":2674,\"lower_bound_m\":0.0,\"residuals\":{\"count\":2674,\"max_m\":0.09240378991752374,\"mean_abs_m\":0.016539303765964027,\"mean_m\":0.0008534895298400799,\"median_abs_m\":0.009415624708894454,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.06251278979645186,\"p99_abs_m\":0.08623786606882815,\"rmse_m\":0.025286426364681626},\"upper_bound_m\":5.0},{\"correspondence_count\":1678,\"lower_bound_m\":5.0,\"residuals\":{\"count\":1678,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.028653884342262185,\"mean_m\":0.0012347026684022414,\"median_abs_m\":0.021347763618972213,\"min_m\":-0.09502294880470964,\"p95_abs_m\":0.08169799696010552,\"p99_abs_m\":0.09107793499260479,\"rmse_m\":0.037562779516999885},\"upper_bound_m\":10.0},{\"correspondence_count\":421,\"lower_bound_m\":10.0,\"residuals\":{\"count\":421,\"max_m\":0.09239942461218702,\"mean_abs_m\":0.02564328589342578,\"mean_m\":-0.0032623323640510577,\"median_abs_m\":0.018354694764313208,\"min_m\":-0.09274082992673473,\"p95_abs_m\":0.0764916766892347,\"p99_abs_m\":0.08787656069205768,\"rmse_m\":0.03471710113509699},\"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\":-0.04,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":5786,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_outlier_rejection_rate\":0.17507777393708954,\"train_target_point_count\":11200},\"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": 184000.0,
        "adaptive_query_seconds": 0.17876459984108806,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 99391.0,
        "pipeline_seconds": 4.494790600030683,
        "solver_seconds": 3.3386771999066696,
        "subprocess_wall_seconds": 7.609956300002523,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 8.78125,
        "worker_import_seconds": 2.419041599961929
      },
      "runtime_seconds": 7.609956300002523,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-default-v4/baseline.repeat-02 --candidate-query-backend cuda",
        "config_sha256": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "ed9f2c10555eb0e77100fc88d121a934e581b73e32e5f49ed65051627f52bd15",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
          "{\"cuda_cache_after\": {}, \"cuda_cache_before\": {}, \"execution_override\": null, \"loaded_cuda_module\": null, \"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.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.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._fused_jacobian_rows-266.py312.1.nbc\": \"77253410c0da7011b407879b1b8330b3994c32c96b6c38b338632a2d0c043359\", \"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.nbi\": \"18301a6b88a5f0145386dbfd1500b0de54236e80231de4f6e1a48f9cb462f9c6\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a24fddd52eefa1f6299627cf463744486af95ead8fb9db62c20d2c4e364ed545\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"9590bde018aa3d1cb9e0f6fca018042d7355a4c9ff9ae0fc322a0e8c52bf8d35\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.1.nbc\": \"514f3afffd01afb068b33ba2cc8b6773f12e79d3aa541fc5f83342324fedc489\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.nbi\": \"8fddc897418c2e2a616824cea1fad8e213db4c2402ad4884586b66ba672acc90\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"c400aad28e5427f637cab80baa8938fefb4810319f8e18fb1306463d6efd6a2e\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"5c4a5c44586051f63ab48cbe9bb61e0a481107d47f617550ff4c931a04f2a702\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"3297401ecf144c4edeeb6810ff8f312abecbf0a6be812ba37766c339bcaa2665\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"4d683a4732f4967c5e4b870798fe32fee284d8038a533aefeb8c6bacff85d944\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"ce539cba2283343d2e9f1fd1c1a53aa972cfa7622dde3a359aaeb22adb79198f\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"06a070b034a0404a1331187e8101d373cfad30bc1cc74a27c6ae0a5db7eb4140\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.1.nbc\": \"77253410c0da7011b407879b1b8330b3994c32c96b6c38b338632a2d0c043359\", \"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.nbi\": \"18301a6b88a5f0145386dbfd1500b0de54236e80231de4f6e1a48f9cb462f9c6\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a24fddd52eefa1f6299627cf463744486af95ead8fb9db62c20d2c4e364ed545\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"9590bde018aa3d1cb9e0f6fca018042d7355a4c9ff9ae0fc322a0e8c52bf8d35\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.1.nbc\": \"514f3afffd01afb068b33ba2cc8b6773f12e79d3aa541fc5f83342324fedc489\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.nbi\": \"8fddc897418c2e2a616824cea1fad8e213db4c2402ad4884586b66ba672acc90\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"c400aad28e5427f637cab80baa8938fefb4810319f8e18fb1306463d6efd6a2e\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"5c4a5c44586051f63ab48cbe9bb61e0a481107d47f617550ff4c931a04f2a702\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"3297401ecf144c4edeeb6810ff8f312abecbf0a6be812ba37766c339bcaa2665\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"4d683a4732f4967c5e4b870798fe32fee284d8038a533aefeb8c6bacff85d944\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"ce539cba2283343d2e9f1fd1c1a53aa972cfa7622dde3a359aaeb22adb79198f\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"06a070b034a0404a1331187e8101d373cfad30bc1cc74a27c6ae0a5db7eb4140\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 2, \"result_sha256\": \"385492964789b2536ce2f363ce21df43876679f61ac1782e4cd6ebf39320a2e9\", \"sampled_split\": {\"holdout_count\": 3200, \"holdout_ids_sha256\": \"0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1\", \"train_count\": 6000, \"train_ids_sha256\": \"8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386\"}}",
          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.04,\"final_holdout_rmse_m\":0.05078387183780445,\"final_train_rmse_m\":0.030992997998017136,\"holdout_correspondence_count\":2526,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.04356229285396421,\"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\":[0.05191950899805976,0.0594670200342744,0.06469129355302423],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"holdout_rmse_m\":0.05191950899805976,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05169869035261985,0.0528108227587572,0.059392403749460816],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"holdout_rmse_m\":0.05169869035261985,\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05420022389016767,0.05078387183780445,0.05307558632419566],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"holdout_rmse_m\":0.05078387183780445,\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.054058837478851644,0.05063987525033928,0.055066524752057644],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05237254206627457,0.05063987525033928,0.052196929998250575],\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05113501036016141,0.05063987525033928,0.05180521557791382],\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"holdout_rmse_m\":0.05180521557791382,\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_rmse_m\":0.03116456872308248}],\"observability\":{\"condition_number\":20.081958398487494,\"rank\":6,\"residual_count\":4773,\"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,\"max_target_points_per_split\":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\":1595,\"provenance\":{\"git_commit\":\"fb265b3\",\"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=28\",\"holdout_frame_count=8\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=6000\",\"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.numba_continuous_time/v0.6;numba=0.65.1;fastmath=false;cache=true\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"time-profile step reached the configured minimum\",\"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\":\"pass\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0018791697506833464,0.001546182159350107,0.00031907139263010636,0.9999969881130767],\"translation_m\":[0.0025226347149937137,0.013369673196585203,-0.012116083303066624]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"converged\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":4773,\"train_diagnostics\":{\"final_residuals\":{\"count\":4773,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.02160132821236874,\"mean_m\":0.0006244752053437753,\"median_abs_m\":0.013116298377918147,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.0724018494378207,\"p99_abs_m\":0.08929071764502822,\"rmse_m\":0.030992997998017136},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":4829,\"train_outlier_rejected_count\":956,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4780,\"train_outlier_rejected_count\":1004,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_correspondence_count\":4777,\"train_outlier_rejected_count\":1009,\"train_rmse_m\":0.03116456872308248}],\"provenance\":{\"git_commit\":\"fb265b3\",\"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_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":2674,\"lower_bound_m\":0.0,\"residuals\":{\"count\":2674,\"max_m\":0.09240378991752374,\"mean_abs_m\":0.016539303765964027,\"mean_m\":0.0008534895298400799,\"median_abs_m\":0.009415624708894454,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.06251278979645186,\"p99_abs_m\":0.08623786606882815,\"rmse_m\":0.025286426364681626},\"upper_bound_m\":5.0},{\"correspondence_count\":1678,\"lower_bound_m\":5.0,\"residuals\":{\"count\":1678,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.028653884342262185,\"mean_m\":0.0012347026684022414,\"median_abs_m\":0.021347763618972213,\"min_m\":-0.09502294880470964,\"p95_abs_m\":0.08169799696010552,\"p99_abs_m\":0.09107793499260479,\"rmse_m\":0.037562779516999885},\"upper_bound_m\":10.0},{\"correspondence_count\":421,\"lower_bound_m\":10.0,\"residuals\":{\"count\":421,\"max_m\":0.09239942461218702,\"mean_abs_m\":0.02564328589342578,\"mean_m\":-0.0032623323640510577,\"median_abs_m\":0.018354694764313208,\"min_m\":-0.09274082992673473,\"p95_abs_m\":0.0764916766892347,\"p99_abs_m\":0.08787656069205768,\"rmse_m\":0.03471710113509699},\"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\":-0.04,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":5786,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_outlier_rejection_rate\":0.17507777393708954,\"train_target_point_count\":11200},\"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": 184000.0,
        "adaptive_query_seconds": 0.2361349001294002,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 99391.0,
        "pipeline_seconds": 5.854465399985202,
        "solver_seconds": 4.471333099994808,
        "subprocess_wall_seconds": 10.065022099995986,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 11.75,
        "worker_import_seconds": 3.5086772999493405
      },
      "runtime_seconds": 10.065022099995986,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-default-v4/baseline.repeat-03 --candidate-query-backend cuda",
        "config_sha256": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "ed9f2c10555eb0e77100fc88d121a934e581b73e32e5f49ed65051627f52bd15",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
          "{\"cuda_cache_after\": {}, \"cuda_cache_before\": {}, \"execution_override\": null, \"loaded_cuda_module\": null, \"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.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.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._fused_jacobian_rows-266.py312.1.nbc\": \"77253410c0da7011b407879b1b8330b3994c32c96b6c38b338632a2d0c043359\", \"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.nbi\": \"18301a6b88a5f0145386dbfd1500b0de54236e80231de4f6e1a48f9cb462f9c6\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a24fddd52eefa1f6299627cf463744486af95ead8fb9db62c20d2c4e364ed545\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"9590bde018aa3d1cb9e0f6fca018042d7355a4c9ff9ae0fc322a0e8c52bf8d35\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.1.nbc\": \"514f3afffd01afb068b33ba2cc8b6773f12e79d3aa541fc5f83342324fedc489\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.nbi\": \"8fddc897418c2e2a616824cea1fad8e213db4c2402ad4884586b66ba672acc90\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"c400aad28e5427f637cab80baa8938fefb4810319f8e18fb1306463d6efd6a2e\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"5c4a5c44586051f63ab48cbe9bb61e0a481107d47f617550ff4c931a04f2a702\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"3297401ecf144c4edeeb6810ff8f312abecbf0a6be812ba37766c339bcaa2665\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"4d683a4732f4967c5e4b870798fe32fee284d8038a533aefeb8c6bacff85d944\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"ce539cba2283343d2e9f1fd1c1a53aa972cfa7622dde3a359aaeb22adb79198f\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"06a070b034a0404a1331187e8101d373cfad30bc1cc74a27c6ae0a5db7eb4140\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.1.nbc\": \"77253410c0da7011b407879b1b8330b3994c32c96b6c38b338632a2d0c043359\", \"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.nbi\": \"18301a6b88a5f0145386dbfd1500b0de54236e80231de4f6e1a48f9cb462f9c6\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a24fddd52eefa1f6299627cf463744486af95ead8fb9db62c20d2c4e364ed545\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"9590bde018aa3d1cb9e0f6fca018042d7355a4c9ff9ae0fc322a0e8c52bf8d35\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.1.nbc\": \"514f3afffd01afb068b33ba2cc8b6773f12e79d3aa541fc5f83342324fedc489\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.nbi\": \"8fddc897418c2e2a616824cea1fad8e213db4c2402ad4884586b66ba672acc90\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"c400aad28e5427f637cab80baa8938fefb4810319f8e18fb1306463d6efd6a2e\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"5c4a5c44586051f63ab48cbe9bb61e0a481107d47f617550ff4c931a04f2a702\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"3297401ecf144c4edeeb6810ff8f312abecbf0a6be812ba37766c339bcaa2665\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"4d683a4732f4967c5e4b870798fe32fee284d8038a533aefeb8c6bacff85d944\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"ce539cba2283343d2e9f1fd1c1a53aa972cfa7622dde3a359aaeb22adb79198f\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"06a070b034a0404a1331187e8101d373cfad30bc1cc74a27c6ae0a5db7eb4140\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 3, \"result_sha256\": \"385492964789b2536ce2f363ce21df43876679f61ac1782e4cd6ebf39320a2e9\", \"sampled_split\": {\"holdout_count\": 3200, \"holdout_ids_sha256\": \"0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1\", \"train_count\": 6000, \"train_ids_sha256\": \"8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386\"}}",
          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.04,\"final_holdout_rmse_m\":0.05078387183780445,\"final_train_rmse_m\":0.030992997998017136,\"holdout_correspondence_count\":2526,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.04356229285396421,\"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\":[0.05191950899805976,0.0594670200342744,0.06469129355302423],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"holdout_rmse_m\":0.05191950899805976,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05169869035261985,0.0528108227587572,0.059392403749460816],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"holdout_rmse_m\":0.05169869035261985,\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05420022389016767,0.05078387183780445,0.05307558632419566],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"holdout_rmse_m\":0.05078387183780445,\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.054058837478851644,0.05063987525033928,0.055066524752057644],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05237254206627457,0.05063987525033928,0.052196929998250575],\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05113501036016141,0.05063987525033928,0.05180521557791382],\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"holdout_rmse_m\":0.05180521557791382,\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_rmse_m\":0.03116456872308248}],\"observability\":{\"condition_number\":20.081958398487494,\"rank\":6,\"residual_count\":4773,\"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,\"max_target_points_per_split\":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\":1595,\"provenance\":{\"git_commit\":\"fb265b3\",\"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=28\",\"holdout_frame_count=8\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=6000\",\"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.numba_continuous_time/v0.6;numba=0.65.1;fastmath=false;cache=true\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"time-profile step reached the configured minimum\",\"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\":\"pass\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0018791697506833464,0.001546182159350107,0.00031907139263010636,0.9999969881130767],\"translation_m\":[0.0025226347149937137,0.013369673196585203,-0.012116083303066624]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"converged\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":4773,\"train_diagnostics\":{\"final_residuals\":{\"count\":4773,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.02160132821236874,\"mean_m\":0.0006244752053437753,\"median_abs_m\":0.013116298377918147,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.0724018494378207,\"p99_abs_m\":0.08929071764502822,\"rmse_m\":0.030992997998017136},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":4829,\"train_outlier_rejected_count\":956,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4780,\"train_outlier_rejected_count\":1004,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_correspondence_count\":4777,\"train_outlier_rejected_count\":1009,\"train_rmse_m\":0.03116456872308248}],\"provenance\":{\"git_commit\":\"fb265b3\",\"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_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":2674,\"lower_bound_m\":0.0,\"residuals\":{\"count\":2674,\"max_m\":0.09240378991752374,\"mean_abs_m\":0.016539303765964027,\"mean_m\":0.0008534895298400799,\"median_abs_m\":0.009415624708894454,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.06251278979645186,\"p99_abs_m\":0.08623786606882815,\"rmse_m\":0.025286426364681626},\"upper_bound_m\":5.0},{\"correspondence_count\":1678,\"lower_bound_m\":5.0,\"residuals\":{\"count\":1678,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.028653884342262185,\"mean_m\":0.0012347026684022414,\"median_abs_m\":0.021347763618972213,\"min_m\":-0.09502294880470964,\"p95_abs_m\":0.08169799696010552,\"p99_abs_m\":0.09107793499260479,\"rmse_m\":0.037562779516999885},\"upper_bound_m\":10.0},{\"correspondence_count\":421,\"lower_bound_m\":10.0,\"residuals\":{\"count\":421,\"max_m\":0.09239942461218702,\"mean_abs_m\":0.02564328589342578,\"mean_m\":-0.0032623323640510577,\"median_abs_m\":0.018354694764313208,\"min_m\":-0.09274082992673473,\"p95_abs_m\":0.0764916766892347,\"p99_abs_m\":0.08787656069205768,\"rmse_m\":0.03471710113509699},\"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\":-0.04,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":5786,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_outlier_rejection_rate\":0.17507777393708954,\"train_target_point_count\":11200},\"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": 184000.0,
        "adaptive_query_seconds": 0.19276459980756044,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 99391.0,
        "pipeline_seconds": 4.357289899955504,
        "solver_seconds": 3.1995436999714,
        "subprocess_wall_seconds": 7.677319600014016,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 8.9375,
        "worker_import_seconds": 2.616340200067498
      },
      "runtime_seconds": 7.677319600014016,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-default-v4/sparse.repeat-03 --candidate-query-backend cuda",
        "config_sha256": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "9ff5fadbc80bd330a00194420e3347d0cdce4329beb4d352b91175969f7c1fa0",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
          "{\"cuda_cache_after\": {}, \"cuda_cache_before\": {}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": null, \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"<WORKSPACE>/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"<WORKSPACE>/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"<WORKSPACE>/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"<WORKSPACE>/src/calibrex/evaluation/lidar.py\", \"calibrex.graph.lidar_point_to_plane\": \"<WORKSPACE>/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"<WORKSPACE>/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"<WORKSPACE>/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"<WORKSPACE>/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"<WORKSPACE>/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"<WORKSPACE>/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"<WORKSPACE>/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.1.nbc\": \"deaf86846a1c1f1ad396208c64452ff65f6151d86ff6c893dc50d54cbc152c98\", \"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.nbi\": \"f96b7e7f5c9fdea9c06b21341d08ccc8b7604af1fe6156b5ed8a0f9fe68e5a43\", \"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"ad822d06950565f3cb2860a39b33f1ba2ab4c0c770f8b86885fb38498b45bed7\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"f92148fea6804a18a7eed54591d174e3bf550c05c729807199ea23e6452f4b35\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"8d5a800dbdb3c3522a75bb39adf2337d1b55c7bd4581b8343f0613cd507d6951\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"b3a02f96b4b8e7768466f5e05e5ff437c337ac5bd02a5312cb1f099bbf9b6fb8\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"7421ad286292a28041bff49ed35c45fbf6887750e905cf0ada245e8595b87c5e\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"ab2d2fc792f8a5c6318f74cf2a90cd3177b4577a47c3437d163d00f37aebf456\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.1.nbc\": \"deaf86846a1c1f1ad396208c64452ff65f6151d86ff6c893dc50d54cbc152c98\", \"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.nbi\": \"f96b7e7f5c9fdea9c06b21341d08ccc8b7604af1fe6156b5ed8a0f9fe68e5a43\", \"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"ad822d06950565f3cb2860a39b33f1ba2ab4c0c770f8b86885fb38498b45bed7\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"f92148fea6804a18a7eed54591d174e3bf550c05c729807199ea23e6452f4b35\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"8d5a800dbdb3c3522a75bb39adf2337d1b55c7bd4581b8343f0613cd507d6951\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"b3a02f96b4b8e7768466f5e05e5ff437c337ac5bd02a5312cb1f099bbf9b6fb8\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"7421ad286292a28041bff49ed35c45fbf6887750e905cf0ada245e8595b87c5e\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"ab2d2fc792f8a5c6318f74cf2a90cd3177b4577a47c3437d163d00f37aebf456\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 3, \"result_sha256\": \"38fd791aed3d0a86eb4aaf2d3d404e8e3afa06f82395ca49fe238af6e9c32d6a\", \"sampled_split\": {\"holdout_count\": 3200, \"holdout_ids_sha256\": \"0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1\", \"train_count\": 6000, \"train_ids_sha256\": \"8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386\"}}",
          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.04,\"final_holdout_rmse_m\":0.05078387183780445,\"final_train_rmse_m\":0.030992997998017136,\"holdout_correspondence_count\":2526,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.04356229285396421,\"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\":[0.05191950899805976,0.0594670200342744,0.06469129355302423],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"holdout_rmse_m\":0.05191950899805976,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05169869035261985,0.0528108227587572,0.059392403749460816],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"holdout_rmse_m\":0.05169869035261985,\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05420022389016767,0.05078387183780445,0.05307558632419566],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"holdout_rmse_m\":0.05078387183780445,\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.054058837478851644,0.05063987525033928,0.055066524752057644],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05237254206627457,0.05063987525033928,0.052196929998250575],\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05113501036016141,0.05063987525033928,0.05180521557791382],\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"holdout_rmse_m\":0.05180521557791382,\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_rmse_m\":0.03116456872308248}],\"observability\":{\"condition_number\":20.081958398487494,\"rank\":6,\"residual_count\":4773,\"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,\"max_target_points_per_split\":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\":1595,\"provenance\":{\"git_commit\":\"fb265b3\",\"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=28\",\"holdout_frame_count=8\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=6000\",\"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.numba_continuous_time/v0.7;numba=0.65.1;fastmath=false;cache=true\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"time-profile step reached the configured minimum\",\"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\":\"pass\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0018791697506833464,0.001546182159350107,0.00031907139263010636,0.9999969881130767],\"translation_m\":[0.0025226347149937137,0.013369673196585203,-0.012116083303066624]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"converged\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":4773,\"train_diagnostics\":{\"final_residuals\":{\"count\":4773,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.02160132821236874,\"mean_m\":0.0006244752053437753,\"median_abs_m\":0.013116298377918147,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.0724018494378207,\"p99_abs_m\":0.08929071764502822,\"rmse_m\":0.030992997998017136},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":4829,\"train_outlier_rejected_count\":956,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4780,\"train_outlier_rejected_count\":1004,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_correspondence_count\":4777,\"train_outlier_rejected_count\":1009,\"train_rmse_m\":0.03116456872308248}],\"provenance\":{\"git_commit\":\"fb265b3\",\"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_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":2674,\"lower_bound_m\":0.0,\"residuals\":{\"count\":2674,\"max_m\":0.09240378991752374,\"mean_abs_m\":0.016539303765964027,\"mean_m\":0.0008534895298400799,\"median_abs_m\":0.009415624708894454,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.06251278979645186,\"p99_abs_m\":0.08623786606882815,\"rmse_m\":0.025286426364681626},\"upper_bound_m\":5.0},{\"correspondence_count\":1678,\"lower_bound_m\":5.0,\"residuals\":{\"count\":1678,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.028653884342262185,\"mean_m\":0.0012347026684022414,\"median_abs_m\":0.021347763618972213,\"min_m\":-0.09502294880470964,\"p95_abs_m\":0.08169799696010552,\"p99_abs_m\":0.09107793499260479,\"rmse_m\":0.037562779516999885},\"upper_bound_m\":10.0},{\"correspondence_count\":421,\"lower_bound_m\":10.0,\"residuals\":{\"count\":421,\"max_m\":0.09239942461218702,\"mean_abs_m\":0.02564328589342578,\"mean_m\":-0.0032623323640510577,\"median_abs_m\":0.018354694764313208,\"min_m\":-0.09274082992673473,\"p95_abs_m\":0.0764916766892347,\"p99_abs_m\":0.08787656069205768,\"rmse_m\":0.03471710113509699},\"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\":-0.04,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":5786,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_outlier_rejection_rate\":0.17507777393708954,\"train_target_point_count\":11200},\"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": 184000.0,
        "adaptive_query_seconds": 0.20093560009263456,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 99391.0,
        "pipeline_seconds": 4.714337300043553,
        "solver_seconds": 3.3862189000938088,
        "subprocess_wall_seconds": 8.205857299966738,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 9.625,
        "worker_import_seconds": 2.712602299870923
      },
      "runtime_seconds": 8.205857299966738,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-default-v4/sparse.repeat-04 --candidate-query-backend cuda",
        "config_sha256": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "9ff5fadbc80bd330a00194420e3347d0cdce4329beb4d352b91175969f7c1fa0",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
          "{\"cuda_cache_after\": {}, \"cuda_cache_before\": {}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": null, \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"<WORKSPACE>/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"<WORKSPACE>/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"<WORKSPACE>/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"<WORKSPACE>/src/calibrex/evaluation/lidar.py\", \"calibrex.graph.lidar_point_to_plane\": \"<WORKSPACE>/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"<WORKSPACE>/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"<WORKSPACE>/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"<WORKSPACE>/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"<WORKSPACE>/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"<WORKSPACE>/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"<WORKSPACE>/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.1.nbc\": \"deaf86846a1c1f1ad396208c64452ff65f6151d86ff6c893dc50d54cbc152c98\", \"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.nbi\": \"f96b7e7f5c9fdea9c06b21341d08ccc8b7604af1fe6156b5ed8a0f9fe68e5a43\", \"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"ad822d06950565f3cb2860a39b33f1ba2ab4c0c770f8b86885fb38498b45bed7\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"f92148fea6804a18a7eed54591d174e3bf550c05c729807199ea23e6452f4b35\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"8d5a800dbdb3c3522a75bb39adf2337d1b55c7bd4581b8343f0613cd507d6951\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"b3a02f96b4b8e7768466f5e05e5ff437c337ac5bd02a5312cb1f099bbf9b6fb8\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"7421ad286292a28041bff49ed35c45fbf6887750e905cf0ada245e8595b87c5e\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"ab2d2fc792f8a5c6318f74cf2a90cd3177b4577a47c3437d163d00f37aebf456\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.1.nbc\": \"deaf86846a1c1f1ad396208c64452ff65f6151d86ff6c893dc50d54cbc152c98\", \"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.nbi\": \"f96b7e7f5c9fdea9c06b21341d08ccc8b7604af1fe6156b5ed8a0f9fe68e5a43\", \"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"ad822d06950565f3cb2860a39b33f1ba2ab4c0c770f8b86885fb38498b45bed7\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"f92148fea6804a18a7eed54591d174e3bf550c05c729807199ea23e6452f4b35\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"8d5a800dbdb3c3522a75bb39adf2337d1b55c7bd4581b8343f0613cd507d6951\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"b3a02f96b4b8e7768466f5e05e5ff437c337ac5bd02a5312cb1f099bbf9b6fb8\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"7421ad286292a28041bff49ed35c45fbf6887750e905cf0ada245e8595b87c5e\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"ab2d2fc792f8a5c6318f74cf2a90cd3177b4577a47c3437d163d00f37aebf456\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 4, \"result_sha256\": \"38fd791aed3d0a86eb4aaf2d3d404e8e3afa06f82395ca49fe238af6e9c32d6a\", \"sampled_split\": {\"holdout_count\": 3200, \"holdout_ids_sha256\": \"0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1\", \"train_count\": 6000, \"train_ids_sha256\": \"8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386\"}}",
          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.04,\"final_holdout_rmse_m\":0.05078387183780445,\"final_train_rmse_m\":0.030992997998017136,\"holdout_correspondence_count\":2526,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.04356229285396421,\"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\":[0.05191950899805976,0.0594670200342744,0.06469129355302423],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"holdout_rmse_m\":0.05191950899805976,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05169869035261985,0.0528108227587572,0.059392403749460816],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"holdout_rmse_m\":0.05169869035261985,\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05420022389016767,0.05078387183780445,0.05307558632419566],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"holdout_rmse_m\":0.05078387183780445,\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.054058837478851644,0.05063987525033928,0.055066524752057644],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05237254206627457,0.05063987525033928,0.052196929998250575],\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05113501036016141,0.05063987525033928,0.05180521557791382],\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"holdout_rmse_m\":0.05180521557791382,\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_rmse_m\":0.03116456872308248}],\"observability\":{\"condition_number\":20.081958398487494,\"rank\":6,\"residual_count\":4773,\"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,\"max_target_points_per_split\":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\":1595,\"provenance\":{\"git_commit\":\"fb265b3\",\"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=28\",\"holdout_frame_count=8\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=6000\",\"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.numba_continuous_time/v0.7;numba=0.65.1;fastmath=false;cache=true\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"time-profile step reached the configured minimum\",\"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\":\"pass\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0018791697506833464,0.001546182159350107,0.00031907139263010636,0.9999969881130767],\"translation_m\":[0.0025226347149937137,0.013369673196585203,-0.012116083303066624]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"converged\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":4773,\"train_diagnostics\":{\"final_residuals\":{\"count\":4773,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.02160132821236874,\"mean_m\":0.0006244752053437753,\"median_abs_m\":0.013116298377918147,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.0724018494378207,\"p99_abs_m\":0.08929071764502822,\"rmse_m\":0.030992997998017136},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":4829,\"train_outlier_rejected_count\":956,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4780,\"train_outlier_rejected_count\":1004,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_correspondence_count\":4777,\"train_outlier_rejected_count\":1009,\"train_rmse_m\":0.03116456872308248}],\"provenance\":{\"git_commit\":\"fb265b3\",\"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_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":2674,\"lower_bound_m\":0.0,\"residuals\":{\"count\":2674,\"max_m\":0.09240378991752374,\"mean_abs_m\":0.016539303765964027,\"mean_m\":0.0008534895298400799,\"median_abs_m\":0.009415624708894454,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.06251278979645186,\"p99_abs_m\":0.08623786606882815,\"rmse_m\":0.025286426364681626},\"upper_bound_m\":5.0},{\"correspondence_count\":1678,\"lower_bound_m\":5.0,\"residuals\":{\"count\":1678,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.028653884342262185,\"mean_m\":0.0012347026684022414,\"median_abs_m\":0.021347763618972213,\"min_m\":-0.09502294880470964,\"p95_abs_m\":0.08169799696010552,\"p99_abs_m\":0.09107793499260479,\"rmse_m\":0.037562779516999885},\"upper_bound_m\":10.0},{\"correspondence_count\":421,\"lower_bound_m\":10.0,\"residuals\":{\"count\":421,\"max_m\":0.09239942461218702,\"mean_abs_m\":0.02564328589342578,\"mean_m\":-0.0032623323640510577,\"median_abs_m\":0.018354694764313208,\"min_m\":-0.09274082992673473,\"p95_abs_m\":0.0764916766892347,\"p99_abs_m\":0.08787656069205768,\"rmse_m\":0.03471710113509699},\"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\":-0.04,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":5786,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_outlier_rejection_rate\":0.17507777393708954,\"train_target_point_count\":11200},\"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": 184000.0,
        "adaptive_query_seconds": 0.20184539980255067,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 99391.0,
        "pipeline_seconds": 5.215399899985641,
        "solver_seconds": 3.704360399977304,
        "subprocess_wall_seconds": 8.817494499962777,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 10.0625,
        "worker_import_seconds": 2.8633638999890536
      },
      "runtime_seconds": 8.817494499962777,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-default-v4/baseline.repeat-04 --candidate-query-backend cuda",
        "config_sha256": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "ed9f2c10555eb0e77100fc88d121a934e581b73e32e5f49ed65051627f52bd15",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
          "{\"cuda_cache_after\": {}, \"cuda_cache_before\": {}, \"execution_override\": null, \"loaded_cuda_module\": null, \"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.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.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._fused_jacobian_rows-266.py312.1.nbc\": \"77253410c0da7011b407879b1b8330b3994c32c96b6c38b338632a2d0c043359\", \"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.nbi\": \"18301a6b88a5f0145386dbfd1500b0de54236e80231de4f6e1a48f9cb462f9c6\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a24fddd52eefa1f6299627cf463744486af95ead8fb9db62c20d2c4e364ed545\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"9590bde018aa3d1cb9e0f6fca018042d7355a4c9ff9ae0fc322a0e8c52bf8d35\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.1.nbc\": \"514f3afffd01afb068b33ba2cc8b6773f12e79d3aa541fc5f83342324fedc489\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.nbi\": \"8fddc897418c2e2a616824cea1fad8e213db4c2402ad4884586b66ba672acc90\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"c400aad28e5427f637cab80baa8938fefb4810319f8e18fb1306463d6efd6a2e\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"5c4a5c44586051f63ab48cbe9bb61e0a481107d47f617550ff4c931a04f2a702\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"3297401ecf144c4edeeb6810ff8f312abecbf0a6be812ba37766c339bcaa2665\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"4d683a4732f4967c5e4b870798fe32fee284d8038a533aefeb8c6bacff85d944\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"ce539cba2283343d2e9f1fd1c1a53aa972cfa7622dde3a359aaeb22adb79198f\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"06a070b034a0404a1331187e8101d373cfad30bc1cc74a27c6ae0a5db7eb4140\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.1.nbc\": \"77253410c0da7011b407879b1b8330b3994c32c96b6c38b338632a2d0c043359\", \"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.nbi\": \"18301a6b88a5f0145386dbfd1500b0de54236e80231de4f6e1a48f9cb462f9c6\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a24fddd52eefa1f6299627cf463744486af95ead8fb9db62c20d2c4e364ed545\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"9590bde018aa3d1cb9e0f6fca018042d7355a4c9ff9ae0fc322a0e8c52bf8d35\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.1.nbc\": \"514f3afffd01afb068b33ba2cc8b6773f12e79d3aa541fc5f83342324fedc489\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.nbi\": \"8fddc897418c2e2a616824cea1fad8e213db4c2402ad4884586b66ba672acc90\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"c400aad28e5427f637cab80baa8938fefb4810319f8e18fb1306463d6efd6a2e\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"5c4a5c44586051f63ab48cbe9bb61e0a481107d47f617550ff4c931a04f2a702\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"3297401ecf144c4edeeb6810ff8f312abecbf0a6be812ba37766c339bcaa2665\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"4d683a4732f4967c5e4b870798fe32fee284d8038a533aefeb8c6bacff85d944\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"ce539cba2283343d2e9f1fd1c1a53aa972cfa7622dde3a359aaeb22adb79198f\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"06a070b034a0404a1331187e8101d373cfad30bc1cc74a27c6ae0a5db7eb4140\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 4, \"result_sha256\": \"385492964789b2536ce2f363ce21df43876679f61ac1782e4cd6ebf39320a2e9\", \"sampled_split\": {\"holdout_count\": 3200, \"holdout_ids_sha256\": \"0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1\", \"train_count\": 6000, \"train_ids_sha256\": \"8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386\"}}",
          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.04,\"final_holdout_rmse_m\":0.05078387183780445,\"final_train_rmse_m\":0.030992997998017136,\"holdout_correspondence_count\":2526,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.04356229285396421,\"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\":[0.05191950899805976,0.0594670200342744,0.06469129355302423],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"holdout_rmse_m\":0.05191950899805976,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05169869035261985,0.0528108227587572,0.059392403749460816],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"holdout_rmse_m\":0.05169869035261985,\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05420022389016767,0.05078387183780445,0.05307558632419566],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"holdout_rmse_m\":0.05078387183780445,\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.054058837478851644,0.05063987525033928,0.055066524752057644],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05237254206627457,0.05063987525033928,0.052196929998250575],\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05113501036016141,0.05063987525033928,0.05180521557791382],\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"holdout_rmse_m\":0.05180521557791382,\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_rmse_m\":0.03116456872308248}],\"observability\":{\"condition_number\":20.081958398487494,\"rank\":6,\"residual_count\":4773,\"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,\"max_target_points_per_split\":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\":1595,\"provenance\":{\"git_commit\":\"fb265b3\",\"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=28\",\"holdout_frame_count=8\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=6000\",\"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.numba_continuous_time/v0.6;numba=0.65.1;fastmath=false;cache=true\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"time-profile step reached the configured minimum\",\"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\":\"pass\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0018791697506833464,0.001546182159350107,0.00031907139263010636,0.9999969881130767],\"translation_m\":[0.0025226347149937137,0.013369673196585203,-0.012116083303066624]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"converged\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":4773,\"train_diagnostics\":{\"final_residuals\":{\"count\":4773,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.02160132821236874,\"mean_m\":0.0006244752053437753,\"median_abs_m\":0.013116298377918147,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.0724018494378207,\"p99_abs_m\":0.08929071764502822,\"rmse_m\":0.030992997998017136},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":4829,\"train_outlier_rejected_count\":956,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4780,\"train_outlier_rejected_count\":1004,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_correspondence_count\":4777,\"train_outlier_rejected_count\":1009,\"train_rmse_m\":0.03116456872308248}],\"provenance\":{\"git_commit\":\"fb265b3\",\"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_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":2674,\"lower_bound_m\":0.0,\"residuals\":{\"count\":2674,\"max_m\":0.09240378991752374,\"mean_abs_m\":0.016539303765964027,\"mean_m\":0.0008534895298400799,\"median_abs_m\":0.009415624708894454,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.06251278979645186,\"p99_abs_m\":0.08623786606882815,\"rmse_m\":0.025286426364681626},\"upper_bound_m\":5.0},{\"correspondence_count\":1678,\"lower_bound_m\":5.0,\"residuals\":{\"count\":1678,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.028653884342262185,\"mean_m\":0.0012347026684022414,\"median_abs_m\":0.021347763618972213,\"min_m\":-0.09502294880470964,\"p95_abs_m\":0.08169799696010552,\"p99_abs_m\":0.09107793499260479,\"rmse_m\":0.037562779516999885},\"upper_bound_m\":10.0},{\"correspondence_count\":421,\"lower_bound_m\":10.0,\"residuals\":{\"count\":421,\"max_m\":0.09239942461218702,\"mean_abs_m\":0.02564328589342578,\"mean_m\":-0.0032623323640510577,\"median_abs_m\":0.018354694764313208,\"min_m\":-0.09274082992673473,\"p95_abs_m\":0.0764916766892347,\"p99_abs_m\":0.08787656069205768,\"rmse_m\":0.03471710113509699},\"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\":-0.04,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":5786,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_outlier_rejection_rate\":0.17507777393708954,\"train_target_point_count\":11200},\"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": 184000.0,
        "adaptive_query_seconds": 0.1780374003574252,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 99391.0,
        "pipeline_seconds": 4.844210100010969,
        "solver_seconds": 3.063780999975279,
        "subprocess_wall_seconds": 8.561620600055903,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 9.921875,
        "worker_import_seconds": 2.7113352000014856
      },
      "runtime_seconds": 8.561620600055903,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-default-v4/baseline.repeat-05 --candidate-query-backend cuda",
        "config_sha256": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "ed9f2c10555eb0e77100fc88d121a934e581b73e32e5f49ed65051627f52bd15",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
          "{\"cuda_cache_after\": {}, \"cuda_cache_before\": {}, \"execution_override\": null, \"loaded_cuda_module\": null, \"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.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.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._fused_jacobian_rows-266.py312.1.nbc\": \"77253410c0da7011b407879b1b8330b3994c32c96b6c38b338632a2d0c043359\", \"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.nbi\": \"18301a6b88a5f0145386dbfd1500b0de54236e80231de4f6e1a48f9cb462f9c6\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a24fddd52eefa1f6299627cf463744486af95ead8fb9db62c20d2c4e364ed545\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"9590bde018aa3d1cb9e0f6fca018042d7355a4c9ff9ae0fc322a0e8c52bf8d35\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.1.nbc\": \"514f3afffd01afb068b33ba2cc8b6773f12e79d3aa541fc5f83342324fedc489\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.nbi\": \"8fddc897418c2e2a616824cea1fad8e213db4c2402ad4884586b66ba672acc90\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"c400aad28e5427f637cab80baa8938fefb4810319f8e18fb1306463d6efd6a2e\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"5c4a5c44586051f63ab48cbe9bb61e0a481107d47f617550ff4c931a04f2a702\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"3297401ecf144c4edeeb6810ff8f312abecbf0a6be812ba37766c339bcaa2665\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"4d683a4732f4967c5e4b870798fe32fee284d8038a533aefeb8c6bacff85d944\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"ce539cba2283343d2e9f1fd1c1a53aa972cfa7622dde3a359aaeb22adb79198f\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"06a070b034a0404a1331187e8101d373cfad30bc1cc74a27c6ae0a5db7eb4140\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.1.nbc\": \"77253410c0da7011b407879b1b8330b3994c32c96b6c38b338632a2d0c043359\", \"baseline.numba_continuous_time_adapter.py._fused_jacobian_rows-266.py312.nbi\": \"18301a6b88a5f0145386dbfd1500b0de54236e80231de4f6e1a48f9cb462f9c6\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a24fddd52eefa1f6299627cf463744486af95ead8fb9db62c20d2c4e364ed545\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"9590bde018aa3d1cb9e0f6fca018042d7355a4c9ff9ae0fc322a0e8c52bf8d35\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.1.nbc\": \"514f3afffd01afb068b33ba2cc8b6773f12e79d3aa541fc5f83342324fedc489\", \"baseline.numba_continuous_time_adapter.py._one_residual-250.py312.nbi\": \"8fddc897418c2e2a616824cea1fad8e213db4c2402ad4884586b66ba672acc90\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"c400aad28e5427f637cab80baa8938fefb4810319f8e18fb1306463d6efd6a2e\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"5c4a5c44586051f63ab48cbe9bb61e0a481107d47f617550ff4c931a04f2a702\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"3297401ecf144c4edeeb6810ff8f312abecbf0a6be812ba37766c339bcaa2665\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"4d683a4732f4967c5e4b870798fe32fee284d8038a533aefeb8c6bacff85d944\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"ce539cba2283343d2e9f1fd1c1a53aa972cfa7622dde3a359aaeb22adb79198f\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"06a070b034a0404a1331187e8101d373cfad30bc1cc74a27c6ae0a5db7eb4140\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 5, \"result_sha256\": \"385492964789b2536ce2f363ce21df43876679f61ac1782e4cd6ebf39320a2e9\", \"sampled_split\": {\"holdout_count\": 3200, \"holdout_ids_sha256\": \"0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1\", \"train_count\": 6000, \"train_ids_sha256\": \"8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386\"}}",
          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.04,\"final_holdout_rmse_m\":0.05078387183780445,\"final_train_rmse_m\":0.030992997998017136,\"holdout_correspondence_count\":2526,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.04356229285396421,\"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\":[0.05191950899805976,0.0594670200342744,0.06469129355302423],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"holdout_rmse_m\":0.05191950899805976,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05169869035261985,0.0528108227587572,0.059392403749460816],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"holdout_rmse_m\":0.05169869035261985,\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05420022389016767,0.05078387183780445,0.05307558632419566],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"holdout_rmse_m\":0.05078387183780445,\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.054058837478851644,0.05063987525033928,0.055066524752057644],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05237254206627457,0.05063987525033928,0.052196929998250575],\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05113501036016141,0.05063987525033928,0.05180521557791382],\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"holdout_rmse_m\":0.05180521557791382,\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_rmse_m\":0.03116456872308248}],\"observability\":{\"condition_number\":20.081958398487494,\"rank\":6,\"residual_count\":4773,\"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,\"max_target_points_per_split\":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\":1595,\"provenance\":{\"git_commit\":\"fb265b3\",\"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=28\",\"holdout_frame_count=8\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=6000\",\"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.numba_continuous_time/v0.6;numba=0.65.1;fastmath=false;cache=true\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"time-profile step reached the configured minimum\",\"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\":\"pass\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0018791697506833464,0.001546182159350107,0.00031907139263010636,0.9999969881130767],\"translation_m\":[0.0025226347149937137,0.013369673196585203,-0.012116083303066624]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"converged\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":4773,\"train_diagnostics\":{\"final_residuals\":{\"count\":4773,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.02160132821236874,\"mean_m\":0.0006244752053437753,\"median_abs_m\":0.013116298377918147,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.0724018494378207,\"p99_abs_m\":0.08929071764502822,\"rmse_m\":0.030992997998017136},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":4829,\"train_outlier_rejected_count\":956,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4780,\"train_outlier_rejected_count\":1004,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_correspondence_count\":4777,\"train_outlier_rejected_count\":1009,\"train_rmse_m\":0.03116456872308248}],\"provenance\":{\"git_commit\":\"fb265b3\",\"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_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":2674,\"lower_bound_m\":0.0,\"residuals\":{\"count\":2674,\"max_m\":0.09240378991752374,\"mean_abs_m\":0.016539303765964027,\"mean_m\":0.0008534895298400799,\"median_abs_m\":0.009415624708894454,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.06251278979645186,\"p99_abs_m\":0.08623786606882815,\"rmse_m\":0.025286426364681626},\"upper_bound_m\":5.0},{\"correspondence_count\":1678,\"lower_bound_m\":5.0,\"residuals\":{\"count\":1678,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.028653884342262185,\"mean_m\":0.0012347026684022414,\"median_abs_m\":0.021347763618972213,\"min_m\":-0.09502294880470964,\"p95_abs_m\":0.08169799696010552,\"p99_abs_m\":0.09107793499260479,\"rmse_m\":0.037562779516999885},\"upper_bound_m\":10.0},{\"correspondence_count\":421,\"lower_bound_m\":10.0,\"residuals\":{\"count\":421,\"max_m\":0.09239942461218702,\"mean_abs_m\":0.02564328589342578,\"mean_m\":-0.0032623323640510577,\"median_abs_m\":0.018354694764313208,\"min_m\":-0.09274082992673473,\"p95_abs_m\":0.0764916766892347,\"p99_abs_m\":0.08787656069205768,\"rmse_m\":0.03471710113509699},\"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\":-0.04,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":5786,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_outlier_rejection_rate\":0.17507777393708954,\"train_target_point_count\":11200},\"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": 184000.0,
        "adaptive_query_seconds": 0.19521600008010864,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 99391.0,
        "pipeline_seconds": 5.138731200015172,
        "solver_seconds": 3.589994499925524,
        "subprocess_wall_seconds": 8.48775490000844,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 10.0625,
        "worker_import_seconds": 2.508071699994616
      },
      "runtime_seconds": 8.48775490000844,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-default-v4/sparse.repeat-05 --candidate-query-backend cuda",
        "config_sha256": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "9ff5fadbc80bd330a00194420e3347d0cdce4329beb4d352b91175969f7c1fa0",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
          "{\"cuda_cache_after\": {}, \"cuda_cache_before\": {}, \"execution_override\": \"cuda\", \"loaded_cuda_module\": null, \"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"<WORKSPACE>/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"<WORKSPACE>/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"<WORKSPACE>/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"<WORKSPACE>/src/calibrex/evaluation/lidar.py\", \"calibrex.graph.lidar_point_to_plane\": \"<WORKSPACE>/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"<WORKSPACE>/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"<WORKSPACE>/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"<WORKSPACE>/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"<WORKSPACE>/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"<WORKSPACE>/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"<WORKSPACE>/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.1.nbc\": \"deaf86846a1c1f1ad396208c64452ff65f6151d86ff6c893dc50d54cbc152c98\", \"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.nbi\": \"f96b7e7f5c9fdea9c06b21341d08ccc8b7604af1fe6156b5ed8a0f9fe68e5a43\", \"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"ad822d06950565f3cb2860a39b33f1ba2ab4c0c770f8b86885fb38498b45bed7\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"f92148fea6804a18a7eed54591d174e3bf550c05c729807199ea23e6452f4b35\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"8d5a800dbdb3c3522a75bb39adf2337d1b55c7bd4581b8343f0613cd507d6951\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"b3a02f96b4b8e7768466f5e05e5ff437c337ac5bd02a5312cb1f099bbf9b6fb8\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"7421ad286292a28041bff49ed35c45fbf6887750e905cf0ada245e8595b87c5e\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"ab2d2fc792f8a5c6318f74cf2a90cd3177b4577a47c3437d163d00f37aebf456\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.1.nbc\": \"deaf86846a1c1f1ad396208c64452ff65f6151d86ff6c893dc50d54cbc152c98\", \"numba_continuous_time_adapter._fused_jacobian_rows-266.py312.nbi\": \"f96b7e7f5c9fdea9c06b21341d08ccc8b7604af1fe6156b5ed8a0f9fe68e5a43\", \"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"ad822d06950565f3cb2860a39b33f1ba2ab4c0c770f8b86885fb38498b45bed7\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"bd2ab6ef30b6fc2a81e3ca255c381d4bc808fa47d873296839ee25517c804bc2\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"f92148fea6804a18a7eed54591d174e3bf550c05c729807199ea23e6452f4b35\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"8d5a800dbdb3c3522a75bb39adf2337d1b55c7bd4581b8343f0613cd507d6951\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"b3a02f96b4b8e7768466f5e05e5ff437c337ac5bd02a5312cb1f099bbf9b6fb8\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"6a91842c1ce20b96e529a1ba1e2a5bd05b488437e8d423bbe96af4946d127cf9\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"7421ad286292a28041bff49ed35c45fbf6887750e905cf0ada245e8595b87c5e\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"38bfb797b952fd8611ea5a22cf491ba164ef0519644167067096bfee2e9f3a03\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"ab2d2fc792f8a5c6318f74cf2a90cd3177b4577a47c3437d163d00f37aebf456\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"fbe649604c6d5740fa72a34ce5df21f8646c107510a077ebb134f821e8654995\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 5, \"result_sha256\": \"38fd791aed3d0a86eb4aaf2d3d404e8e3afa06f82395ca49fe238af6e9c32d6a\", \"sampled_split\": {\"holdout_count\": 3200, \"holdout_ids_sha256\": \"0ca2151339586575d990b37935a6b44627e981399845f0f51c4f18c08afb2af1\", \"train_count\": 6000, \"train_ids_sha256\": \"8396d3bb0e0ad9134aafbb7e812eadd3110dfc75a18ddd201e10e6d1a5c50386\"}}",
          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.04,\"final_holdout_rmse_m\":0.05078387183780445,\"final_train_rmse_m\":0.030992997998017136,\"holdout_correspondence_count\":2526,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.04356229285396421,\"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\":[0.05191950899805976,0.0594670200342744,0.06469129355302423],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"holdout_rmse_m\":0.05191950899805976,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05169869035261985,0.0528108227587572,0.059392403749460816],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"holdout_rmse_m\":0.05169869035261985,\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.05420022389016767,0.05078387183780445,0.05307558632419566],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"holdout_rmse_m\":0.05078387183780445,\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.054058837478851644,0.05063987525033928,0.055066524752057644],\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05237254206627457,0.05063987525033928,0.052196929998250575],\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"holdout_rmse_m\":0.05063987525033928,\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.05113501036016141,0.05063987525033928,0.05180521557791382],\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"holdout_rmse_m\":0.05180521557791382,\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_rmse_m\":0.03116456872308248}],\"observability\":{\"condition_number\":20.081958398487494,\"rank\":6,\"residual_count\":4773,\"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,\"max_target_points_per_split\":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\":1595,\"provenance\":{\"git_commit\":\"fb265b3\",\"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=28\",\"holdout_frame_count=8\",\"holdout_start_fraction=0.8\",\"sampling_seed=0\",\"source_record_cap=6000\",\"target_point_cap_per_split=6000\",\"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.numba_continuous_time/v0.7;numba=0.65.1;fastmath=false;cache=true\"],\"source_paths\":[\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"time-profile step reached the configured minimum\",\"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\":\"pass\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0018791697506833464,0.001546182159350107,0.00031907139263010636,0.9999969881130767],\"translation_m\":[0.0025226347149937137,0.013369673196585203,-0.012116083303066624]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"converged\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":4773,\"train_diagnostics\":{\"final_residuals\":{\"count\":4773,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.02160132821236874,\"mean_m\":0.0006244752053437753,\"median_abs_m\":0.013116298377918147,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.0724018494378207,\"p99_abs_m\":0.08929071764502822,\"rmse_m\":0.030992997998017136},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.03286065779023238,0.036573878047733994,0.04240866222028322],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":4829,\"train_outlier_rejected_count\":956,\"train_rmse_m\":0.03286065779023238},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.031203639207619833,0.032347953599461084,0.03659108459808477],\"iteration\":2,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4780,\"train_outlier_rejected_count\":1004,\"train_rmse_m\":0.031203639207619833},{\"accepted\":true,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.034713020803974,0.030992997998017136,0.0324911563038359],\"iteration\":3,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_rmse_m\":0.030992997998017136},{\"accepted\":false,\"candidate_offsets_sec\":[-0.06,-0.04,-0.02],\"candidate_train_rmse_m\":[0.03425031314475621,0.031170808533590777,0.03251856382115617],\"iteration\":4,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.05,-0.04,-0.03],\"candidate_train_rmse_m\":[0.0325701070983547,0.031170808533590777,0.03165826431219229],\"iteration\":5,\"selected_offset_sec\":-0.04,\"train_correspondence_count\":4779,\"train_outlier_rejected_count\":1006,\"train_rmse_m\":0.031170808533590777},{\"accepted\":false,\"candidate_offsets_sec\":[-0.045,-0.04,-0.035],\"candidate_train_rmse_m\":[0.03175967482944669,0.031170808533590777,0.03116456872308248],\"iteration\":6,\"selected_offset_sec\":-0.035,\"train_correspondence_count\":4777,\"train_outlier_rejected_count\":1009,\"train_rmse_m\":0.03116456872308248}],\"provenance\":{\"git_commit\":\"fb265b3\",\"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_queries_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_queries_config.yaml\":\"677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":2674,\"lower_bound_m\":0.0,\"residuals\":{\"count\":2674,\"max_m\":0.09240378991752374,\"mean_abs_m\":0.016539303765964027,\"mean_m\":0.0008534895298400799,\"median_abs_m\":0.009415624708894454,\"min_m\":-0.09713977174224839,\"p95_abs_m\":0.06251278979645186,\"p99_abs_m\":0.08623786606882815,\"rmse_m\":0.025286426364681626},\"upper_bound_m\":5.0},{\"correspondence_count\":1678,\"lower_bound_m\":5.0,\"residuals\":{\"count\":1678,\"max_m\":0.09527911287351436,\"mean_abs_m\":0.028653884342262185,\"mean_m\":0.0012347026684022414,\"median_abs_m\":0.021347763618972213,\"min_m\":-0.09502294880470964,\"p95_abs_m\":0.08169799696010552,\"p99_abs_m\":0.09107793499260479,\"rmse_m\":0.037562779516999885},\"upper_bound_m\":10.0},{\"correspondence_count\":421,\"lower_bound_m\":10.0,\"residuals\":{\"count\":421,\"max_m\":0.09239942461218702,\"mean_abs_m\":0.02564328589342578,\"mean_m\":-0.0032623323640510577,\"median_abs_m\":0.018354694764313208,\"min_m\":-0.09274082992673473,\"p95_abs_m\":0.0764916766892347,\"p99_abs_m\":0.08787656069205768,\"rmse_m\":0.03471710113509699},\"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\":-0.04,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":5786,\"train_correspondence_count\":4773,\"train_outlier_rejected_count\":1013,\"train_outlier_rejection_rate\":0.17507777393708954,\"train_target_point_count\":11200},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}"
        ]
      }
    }
  ],
  "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 compiled substitutes 10 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; 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": "2026-10-12T21:32:41.908224+00:00",
    "git_commit": "fb265b3",
    "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --baseline-scope compiled --baseline-commit eb50c99878706a45eb0e584f3573507313cdc172 --candidate-query-backend cuda --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_queries_config.yaml --repetitions 5 --output-dir outputs/public-glim-cuda-continuous-default-v4",
    "source_artifacts": {
      "baseline.adaptive_voxel.py.txt": "8092345b64133e7f80680e6283cf5da1950b098881327ce62b0dfec22e10acb1",
      "baseline.continuous_time_lidar_pair_solver.py.txt": "2b83cdfdfab352429edb87f7beb0289dafd8ed3faad10aa6ceb80dbcbb6d5ca8",
      "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": "50adbf844647efc67cfe63b078a2440d40838baea0374275a3ade11370242966",
      "baseline.odometry_track.py.txt": "660a735db57a92c164b9d20f470ba966f462cc83699e04856cc5f63092dab763",
      "baseline.online.py.txt": "fdf0f78525b75693c9c09011b1126e2439cbcb3f663e5c4b3fefbb404aebdb81",
      "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_queries_config.yaml.txt": "677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55",
      "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": "c676a4593cddd2f4c827d6e60534333764bf596fa409968cb9a8f170a1d17b87",
      "measured.livox.py.txt": "0773a7e2fccb2d2faa23f9e90636a00355499af131ad671845edb2c8d33b1bfd",
      "measured.odometry_track.py.txt": "1569e661470e902f2f08dde1bf2d0c41cc6540a24f59d9ee961e066d36653c91",
      "measured.lidar.py.txt": "2e4c7dda7f81eaa343096ccce57e1f160bc4418d395facfafc4bcbed4ffb16df",
      "measured.packed_lidar_observations.py.txt": "822720ec7ae4e6b2112e6aa2c4d81136ce4fdba237526292641b93da0300e453",
      "measured.lidar_point_to_plane.py.txt": "1cf91c6c9ef2aedf7ccbfa33835d592ee80c1ed6cb8f75736b345be984e968c1",
      "measured.online.py.txt": "29e9f80ba53bca8e644e6568e429475251cc15605d2d9a612f17572abf96aa67",
      "measured.continuous_time_lidar_pair_solver.py.txt": "3b90ad1aa3785f7cc1ab9c5fbfaa89a8d63fa1f987f6b9134eac3eeb311e93f3",
      "measured.cuda_continuous_time_adapter.py.txt": "b6b9761ec85e365e9b5f87321d36001b657e039741e31639a0b5214883d5c048",
      "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": "d41df82c3180e89fc1e6697428448a124f6311f1a0e44dc4bf5f31bd637ab53b",
      "measured.lidar_scan_deskew.py.txt": "e36a870323f76256fb5b3f8b8364cb2edb4c06483b3ea0fe8a99bf2faa6f1ce0",
      "measured.rosbag1_to_rosbag2_online_pair.py.txt": "9da3e080b62933d4d75f92c08bba91929fea401d99650e55f78bd3cdabfcc680"
    },
    "data_verified": true
  }
}