schema_version: slac.continuous_time_lidar_pair_result/v0.1
config_path: examples\public_datasets\glim_versatile\online_continuous_time_compiled_queries_config.yaml
dataset_path: data\public\glim_versatile\livox_rosbag2_gt_restamped
source_sensor: livox_avia
target_sensor: livox_avia_copy
odometry_topic: /odom
variable: T_livox_avia_livox_avia_copy
trajectory_model: piecewise_se3_fixed_odometry
time_offset_sign_convention: positive offset evaluates target capture at odometry
  time t_capture + offset
initial_transform:
  convention: T_parent_child
  parent: livox_avia
  child: livox_avia_copy
  translation_m:
  - 0.0
  - 0.0
  - 0.0
  rotation_quat_xyzw:
  - 0.0
  - 0.0
  - 0.0
  - 1.0
  quality:
    grade: warn
    std_translation_m: []
    std_rotation_deg: []
  estimate_id: T_livox_avia_livox_avia_copy
  provenance:
    producer: slac_native
    execution_mode: online_stream
    role_in_comparison: initial
    evidence_level: unknown
    source: calibrex.solvers.continuous_time_lidar_pair_solver
    tool_name: continuous_time_lidar_pair_solver
    notes:
    - clock offset was profiled with extrinsic re-optimization
    - supplied piecewise odometry trajectory remained fixed
refined_transform:
  convention: T_parent_child
  parent: livox_avia
  child: livox_avia_copy
  translation_m:
  - 0.0025226347149937137
  - 0.013369673196585203
  - -0.012116083303066624
  rotation_quat_xyzw:
  - 0.0018791697506833464
  - 0.001546182159350107
  - 0.00031907139263010636
  - 0.9999969881130767
  quality:
    grade: pass
    std_translation_m: []
    std_rotation_deg: []
  estimate_id: T_livox_avia_livox_avia_copy
  provenance:
    producer: slac_native
    execution_mode: online_stream
    role_in_comparison: output
    evidence_level: algorithmically_refined
    source: calibrex.solvers.continuous_time_lidar_pair_solver
    tool_name: continuous_time_lidar_pair_solver
    notes:
    - clock offset was profiled with extrinsic re-optimization
    - supplied piecewise odometry trajectory remained fixed
initial_time_offset_sec: 0.0
estimated_time_offset_sec: -0.04
initial_train_rmse_m: 0.04356229285396421
final_train_rmse_m: 0.030992997998017136
final_holdout_rmse_m: 0.05078387183780445
train_correspondence_count: 4773
holdout_correspondence_count: 2526
outlier_rejected_count: 1595
observability:
  rank: 6
  condition_number: 20.081958398487494
  weak_directions: []
  residual_count: 4773
status: converged
reason: time-profile step reached the configured minimum
options:
  initial_time_offset_sec: 0.0
  max_abs_time_offset_sec: 0.2
  initial_time_step_sec: 0.02
  minimum_time_step_sec: 0.005
  max_iterations: 8
  min_correspondences: 6
  max_odometry_extrapolation_s: 0.25
  max_source_records: 6000
  max_target_points_per_split: 6000
  sampling_seed: 0
  holdout_start_fraction: 0.8
  outlier_policy: mad
  outlier_mad_scale: 3.5
  outlier_min_threshold_m: 0.02
  outlier_min_inlier_fraction: 0.25
  voxel_strategy: adaptive
  adaptive_use_uniform_fallback: true
  adaptive_range_reference_m: 10.0
  adaptive_range_exponent: 0.5
  adaptive_min_voxel_size_m: 0.25
  adaptive_max_voxel_size_m: 1.5
  adaptive_min_points_per_voxel: 6
  correspondence_refinement_iterations: 1
  fixed_extrinsic_max_iterations: 8
  fixed_extrinsic_robust_loss: huber
iterations:
- iteration: 1
  candidate_offsets_sec:
  - -0.02
  - 0.0
  - 0.02
  candidate_train_rmse_m:
  - 0.03286065779023238
  - 0.036573878047733994
  - 0.04240866222028322
  candidate_holdout_rmse_m:
  - 0.05191950899805976
  - 0.0594670200342744
  - 0.06469129355302423
  selected_offset_sec: -0.02
  train_rmse_m: 0.03286065779023238
  holdout_rmse_m: 0.05191950899805976
  accepted: true
- iteration: 2
  candidate_offsets_sec:
  - -0.04
  - -0.02
  - 0.0
  candidate_train_rmse_m:
  - 0.031203639207619833
  - 0.032347953599461084
  - 0.03659108459808477
  candidate_holdout_rmse_m:
  - 0.05169869035261985
  - 0.0528108227587572
  - 0.059392403749460816
  selected_offset_sec: -0.04
  train_rmse_m: 0.031203639207619833
  holdout_rmse_m: 0.05169869035261985
  accepted: true
- iteration: 3
  candidate_offsets_sec:
  - -0.06
  - -0.04
  - -0.02
  candidate_train_rmse_m:
  - 0.034713020803974
  - 0.030992997998017136
  - 0.0324911563038359
  candidate_holdout_rmse_m:
  - 0.05420022389016767
  - 0.05078387183780445
  - 0.05307558632419566
  selected_offset_sec: -0.04
  train_rmse_m: 0.030992997998017136
  holdout_rmse_m: 0.05078387183780445
  accepted: true
- iteration: 4
  candidate_offsets_sec:
  - -0.06
  - -0.04
  - -0.02
  candidate_train_rmse_m:
  - 0.03425031314475621
  - 0.031170808533590777
  - 0.03251856382115617
  candidate_holdout_rmse_m:
  - 0.054058837478851644
  - 0.05063987525033928
  - 0.055066524752057644
  selected_offset_sec: -0.04
  train_rmse_m: 0.031170808533590777
  holdout_rmse_m: 0.05063987525033928
  accepted: false
- iteration: 5
  candidate_offsets_sec:
  - -0.05
  - -0.04
  - -0.03
  candidate_train_rmse_m:
  - 0.0325701070983547
  - 0.031170808533590777
  - 0.03165826431219229
  candidate_holdout_rmse_m:
  - 0.05237254206627457
  - 0.05063987525033928
  - 0.052196929998250575
  selected_offset_sec: -0.04
  train_rmse_m: 0.031170808533590777
  holdout_rmse_m: 0.05063987525033928
  accepted: false
- iteration: 6
  candidate_offsets_sec:
  - -0.045
  - -0.04
  - -0.035
  candidate_train_rmse_m:
  - 0.03175967482944669
  - 0.031170808533590777
  - 0.03116456872308248
  candidate_holdout_rmse_m:
  - 0.05113501036016141
  - 0.05063987525033928
  - 0.05180521557791382
  selected_offset_sec: -0.035
  train_rmse_m: 0.03116456872308248
  holdout_rmse_m: 0.05180521557791382
  accepted: false
train_diagnostics:
  schema_version: slac.continuous_time_lidar_train_diagnostics/v0.1
  selection_metric: train_rmse_m
  holdout_used_for_selection: false
  sampled_source_record_count: 3000
  train_target_point_count: 11200
  train_candidate_correspondence_count: 5786
  train_correspondence_count: 4773
  train_outlier_rejected_count: 1013
  train_outlier_rejection_rate: 0.17507777393708954
  selected_time_offset_sec: -0.04
  final_residuals:
    count: 4773
    rmse_m: 0.030992997998017136
    mean_m: 0.0006244752053437753
    mean_abs_m: 0.02160132821236874
    median_abs_m: 0.013116298377918147
    p95_abs_m: 0.0724018494378207
    p99_abs_m: 0.08929071764502822
    min_m: -0.09713977174224839
    max_m: 0.09527911287351436
  range_bins:
  - lower_bound_m: 0.0
    upper_bound_m: 5.0
    correspondence_count: 2674
    residuals:
      count: 2674
      rmse_m: 0.025286426364681626
      mean_m: 0.0008534895298400799
      mean_abs_m: 0.016539303765964027
      median_abs_m: 0.009415624708894454
      p95_abs_m: 0.06251278979645186
      p99_abs_m: 0.08623786606882815
      min_m: -0.09713977174224839
      max_m: 0.09240378991752374
  - lower_bound_m: 5.0
    upper_bound_m: 10.0
    correspondence_count: 1678
    residuals:
      count: 1678
      rmse_m: 0.037562779516999885
      mean_m: 0.0012347026684022414
      mean_abs_m: 0.028653884342262185
      median_abs_m: 0.021347763618972213
      p95_abs_m: 0.08169799696010552
      p99_abs_m: 0.09107793499260479
      min_m: -0.09502294880470964
      max_m: 0.09527911287351436
  - lower_bound_m: 10.0
    upper_bound_m: 20.0
    correspondence_count: 421
    residuals:
      count: 421
      rmse_m: 0.03471710113509699
      mean_m: -0.0032623323640510577
      mean_abs_m: 0.02564328589342578
      median_abs_m: 0.018354694764313208
      p95_abs_m: 0.0764916766892347
      p99_abs_m: 0.08787656069205768
      min_m: -0.09274082992673473
      max_m: 0.09239942461218702
  - lower_bound_m: 20.0
    upper_bound_m: 40.0
    correspondence_count: 0
    residuals:
      count: 0
  - lower_bound_m: 40.0
    upper_bound_m: 80.0
    correspondence_count: 0
    residuals:
      count: 0
  - lower_bound_m: 80.0
    correspondence_count: 0
    residuals:
      count: 0
  profile:
  - iteration: 1
    candidate_offsets_sec:
    - -0.02
    - 0.0
    - 0.02
    candidate_train_rmse_m:
    - 0.03286065779023238
    - 0.036573878047733994
    - 0.04240866222028322
    selected_offset_sec: -0.02
    train_rmse_m: 0.03286065779023238
    train_correspondence_count: 4829
    train_outlier_rejected_count: 956
    accepted: true
  - iteration: 2
    candidate_offsets_sec:
    - -0.04
    - -0.02
    - 0.0
    candidate_train_rmse_m:
    - 0.031203639207619833
    - 0.032347953599461084
    - 0.03659108459808477
    selected_offset_sec: -0.04
    train_rmse_m: 0.031203639207619833
    train_correspondence_count: 4780
    train_outlier_rejected_count: 1004
    accepted: true
  - iteration: 3
    candidate_offsets_sec:
    - -0.06
    - -0.04
    - -0.02
    candidate_train_rmse_m:
    - 0.034713020803974
    - 0.030992997998017136
    - 0.0324911563038359
    selected_offset_sec: -0.04
    train_rmse_m: 0.030992997998017136
    train_correspondence_count: 4773
    train_outlier_rejected_count: 1013
    accepted: true
  - iteration: 4
    candidate_offsets_sec:
    - -0.06
    - -0.04
    - -0.02
    candidate_train_rmse_m:
    - 0.03425031314475621
    - 0.031170808533590777
    - 0.03251856382115617
    selected_offset_sec: -0.04
    train_rmse_m: 0.031170808533590777
    train_correspondence_count: 4779
    train_outlier_rejected_count: 1006
    accepted: false
  - iteration: 5
    candidate_offsets_sec:
    - -0.05
    - -0.04
    - -0.03
    candidate_train_rmse_m:
    - 0.0325701070983547
    - 0.031170808533590777
    - 0.03165826431219229
    selected_offset_sec: -0.04
    train_rmse_m: 0.031170808533590777
    train_correspondence_count: 4779
    train_outlier_rejected_count: 1006
    accepted: false
  - iteration: 6
    candidate_offsets_sec:
    - -0.045
    - -0.04
    - -0.035
    candidate_train_rmse_m:
    - 0.03175967482944669
    - 0.031170808533590777
    - 0.03116456872308248
    selected_offset_sec: -0.035
    train_rmse_m: 0.03116456872308248
    train_correspondence_count: 4777
    train_outlier_rejected_count: 1009
    accepted: false
  provenance:
    source_paths:
    - examples\public_datasets\glim_versatile\online_continuous_time_compiled_queries_config.yaml
    - data\public\glim_versatile\livox_rosbag2_gt_restamped
    source_sha256:
      examples\public_datasets\glim_versatile\online_continuous_time_compiled_queries_config.yaml: 677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55
      data\public\glim_versatile\livox_rosbag2_gt_restamped: bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185
    tool_name: calibrex
    tool_version: 0.5.1
    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
provenance:
  source_paths:
  - examples\public_datasets\glim_versatile\online_continuous_time_compiled_queries_config.yaml
  - data\public\glim_versatile\livox_rosbag2_gt_restamped
  source_sha256:
    examples\public_datasets\glim_versatile\online_continuous_time_compiled_queries_config.yaml: 677b4b8eed3a989949e37da0bc6fc59124262805151e6ab154ee2a5576387e55
    data\public\glim_versatile\livox_rosbag2_gt_restamped: bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185
  tool_name: calibrex
  tool_version: 0.5.1
  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'