schema_version: slac.continuous_time_lidar_pair_result/v0.1
config_path: examples\public_datasets\glim_versatile\online_continuous_time_compiled_dense_capture_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:
  - -0.006420340124736379
  - 0.012652173241256342
  - -0.02301366535108216
  rotation_quat_xyzw:
  - 0.0015393622259474641
  - 0.0014500790167938124
  - -0.0016957407406766722
  - 0.9999963260423125
  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: 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: -0.025
initial_train_rmse_m: 0.057370176200909506
final_train_rmse_m: 0.049086313809198166
final_holdout_rmse_m: 0.09394581201769982
train_correspondence_count: 582119
holdout_correspondence_count: 67602
outlier_rejected_count: 137613
observability:
  rank: 6
  condition_number: 19.16563571890005
  weak_directions: []
  residual_count: 582119
status: max_iterations
reason: maximum time-profile iterations reached
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
  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:
  - 0.049464184358660665
  - 0.051407362455503015
  - 0.05628604472487857
  candidate_holdout_rmse_m:
  - 0.09571184213218482
  - 0.0995716460260033
  - 0.10503184050579091
  selected_offset_sec: -0.02
  train_rmse_m: 0.049464184358660665
  holdout_rmse_m: 0.09571184213218482
  accepted: true
- iteration: 2
  candidate_offsets_sec:
  - -0.04
  - -0.02
  - 0.0
  candidate_train_rmse_m:
  - 0.05034493304978426
  - 0.04923052897228388
  - 0.05159287671975171
  candidate_holdout_rmse_m:
  - 0.09232701146014846
  - 0.09490251830075698
  - 0.09838642904203788
  selected_offset_sec: -0.02
  train_rmse_m: 0.04923052897228388
  holdout_rmse_m: 0.09490251830075698
  accepted: true
- iteration: 3
  candidate_offsets_sec:
  - -0.04
  - -0.02
  - 0.0
  candidate_train_rmse_m:
  - 0.05017957712410044
  - 0.04920955182585908
  - 0.05166518259829283
  candidate_holdout_rmse_m:
  - 0.09226143336514588
  - 0.09472422154419698
  - 0.09804927304845115
  selected_offset_sec: -0.02
  train_rmse_m: 0.04920955182585908
  holdout_rmse_m: 0.09472422154419698
  accepted: true
- iteration: 4
  candidate_offsets_sec:
  - -0.04
  - -0.02
  - 0.0
  candidate_train_rmse_m:
  - 0.05013989598511986
  - 0.04919190012576584
  - 0.05169859175392839
  candidate_holdout_rmse_m:
  - 0.09224386074850734
  - 0.09469400106615077
  - 0.09795286792497307
  selected_offset_sec: -0.02
  train_rmse_m: 0.04919190012576584
  holdout_rmse_m: 0.09469400106615077
  accepted: true
- iteration: 5
  candidate_offsets_sec:
  - -0.04
  - -0.02
  - 0.0
  candidate_train_rmse_m:
  - 0.050148602401232784
  - 0.049196494644328084
  - 0.05170673011454384
  candidate_holdout_rmse_m:
  - 0.09224456206028672
  - 0.09464812459715029
  - 0.09792994259823051
  selected_offset_sec: -0.02
  train_rmse_m: 0.049196494644328084
  holdout_rmse_m: 0.09464812459715029
  accepted: false
- iteration: 6
  candidate_offsets_sec:
  - -0.03
  - -0.02
  - -0.01
  candidate_train_rmse_m:
  - 0.049254414884859835
  - 0.049196494644328084
  - 0.05004123042570123
  candidate_holdout_rmse_m:
  - 0.09327456638580518
  - 0.09464812459715029
  - 0.09669399004715376
  selected_offset_sec: -0.02
  train_rmse_m: 0.049196494644328084
  holdout_rmse_m: 0.09464812459715029
  accepted: false
- iteration: 7
  candidate_offsets_sec:
  - -0.025
  - -0.02
  - -0.015
  candidate_train_rmse_m:
  - 0.04915182128104535
  - 0.049196494644328084
  - 0.04954701745283863
  candidate_holdout_rmse_m:
  - 0.09396282460661212
  - 0.09464812459715029
  - 0.09560747346271412
  selected_offset_sec: -0.025
  train_rmse_m: 0.04915182128104535
  holdout_rmse_m: 0.09396282460661212
  accepted: true
- iteration: 8
  candidate_offsets_sec:
  - -0.03
  - -0.025
  - -0.02
  candidate_train_rmse_m:
  - 0.04920669024899803
  - 0.049086313809198166
  - 0.049237487153924925
  candidate_holdout_rmse_m:
  - 0.09331292621654655
  - 0.09394581201769982
  - 0.09465328227401543
  selected_offset_sec: -0.025
  train_rmse_m: 0.049086313809198166
  holdout_rmse_m: 0.09394581201769982
  accepted: true
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: 768000
  train_candidate_correspondence_count: 702199
  train_correspondence_count: 582119
  train_outlier_rejected_count: 120080
  train_outlier_rejection_rate: 0.17100565509207505
  selected_time_offset_sec: -0.025
  final_residuals:
    count: 582119
    rmse_m: 0.049086313809198166
    mean_m: 0.00022182881892681
    mean_abs_m: 0.03390641312015003
    median_abs_m: 0.020085512198455592
    p95_abs_m: 0.11547177200020867
    p99_abs_m: 0.14258218679290402
    min_m: -0.15050776556112222
    max_m: 0.15050762941857973
  range_bins:
  - lower_bound_m: 0.0
    upper_bound_m: 5.0
    correspondence_count: 298763
    residuals:
      count: 298763
      rmse_m: 0.046055824692420436
      mean_m: -0.00036575976958494845
      mean_abs_m: 0.030864503702020984
      median_abs_m: 0.017042839693617674
      p95_abs_m: 0.11012936173918453
      p99_abs_m: 0.14093666243147648
      min_m: -0.15050467931466352
      max_m: 0.15050759959305018
  - lower_bound_m: 5.0
    upper_bound_m: 10.0
    correspondence_count: 263934
    residuals:
      count: 263934
      rmse_m: 0.05225479649587614
      mean_m: 0.000815590919709922
      mean_abs_m: 0.03717917506802076
      median_abs_m: 0.02368782072911011
      p95_abs_m: 0.12044440480932947
      p99_abs_m: 0.1440526617234342
      min_m: -0.15050776556112222
      max_m: 0.15050762941857973
  - lower_bound_m: 10.0
    upper_bound_m: 20.0
    correspondence_count: 19422
    residuals:
      count: 19422
      rmse_m: 0.049811504827055965
      mean_m: 0.0011916425951315577
      mean_abs_m: 0.03622423989077997
      median_abs_m: 0.02516671154667886
      p95_abs_m: 0.11346537286318881
      p99_abs_m: 0.14195267782381665
      min_m: -0.1503789243744528
      max_m: 0.15049950912438015
  - 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:
    - 0.049464184358660665
    - 0.051407362455503015
    - 0.05628604472487857
    selected_offset_sec: -0.02
    train_rmse_m: 0.049464184358660665
    train_correspondence_count: 582974
    train_outlier_rejected_count: 119173
    accepted: true
  - iteration: 2
    candidate_offsets_sec:
    - -0.04
    - -0.02
    - 0.0
    candidate_train_rmse_m:
    - 0.05034493304978426
    - 0.04923052897228388
    - 0.05159287671975171
    selected_offset_sec: -0.02
    train_rmse_m: 0.04923052897228388
    train_correspondence_count: 582373
    train_outlier_rejected_count: 119760
    accepted: true
  - iteration: 3
    candidate_offsets_sec:
    - -0.04
    - -0.02
    - 0.0
    candidate_train_rmse_m:
    - 0.05017957712410044
    - 0.04920955182585908
    - 0.05166518259829283
    selected_offset_sec: -0.02
    train_rmse_m: 0.04920955182585908
    train_correspondence_count: 582290
    train_outlier_rejected_count: 119850
    accepted: true
  - iteration: 4
    candidate_offsets_sec:
    - -0.04
    - -0.02
    - 0.0
    candidate_train_rmse_m:
    - 0.05013989598511986
    - 0.04919190012576584
    - 0.05169859175392839
    selected_offset_sec: -0.02
    train_rmse_m: 0.04919190012576584
    train_correspondence_count: 582225
    train_outlier_rejected_count: 119902
    accepted: true
  - iteration: 5
    candidate_offsets_sec:
    - -0.04
    - -0.02
    - 0.0
    candidate_train_rmse_m:
    - 0.050148602401232784
    - 0.049196494644328084
    - 0.05170673011454384
    selected_offset_sec: -0.02
    train_rmse_m: 0.049196494644328084
    train_correspondence_count: 582226
    train_outlier_rejected_count: 119911
    accepted: false
  - iteration: 6
    candidate_offsets_sec:
    - -0.03
    - -0.02
    - -0.01
    candidate_train_rmse_m:
    - 0.049254414884859835
    - 0.049196494644328084
    - 0.05004123042570123
    selected_offset_sec: -0.02
    train_rmse_m: 0.049196494644328084
    train_correspondence_count: 582226
    train_outlier_rejected_count: 119911
    accepted: false
  - iteration: 7
    candidate_offsets_sec:
    - -0.025
    - -0.02
    - -0.015
    candidate_train_rmse_m:
    - 0.04915182128104535
    - 0.049196494644328084
    - 0.04954701745283863
    selected_offset_sec: -0.025
    train_rmse_m: 0.04915182128104535
    train_correspondence_count: 582352
    train_outlier_rejected_count: 119880
    accepted: true
  - iteration: 8
    candidate_offsets_sec:
    - -0.03
    - -0.025
    - -0.02
    candidate_train_rmse_m:
    - 0.04920669024899803
    - 0.049086313809198166
    - 0.049237487153924925
    selected_offset_sec: -0.025
    train_rmse_m: 0.049086313809198166
    train_correspondence_count: 582119
    train_outlier_rejected_count: 120080
    accepted: true
  provenance:
    source_paths:
    - examples\public_datasets\glim_versatile\online_continuous_time_compiled_dense_capture_config.yaml
    - data\public\glim_versatile\livox_rosbag2_gt_restamped
    source_sha256:
      examples\public_datasets\glim_versatile\online_continuous_time_compiled_dense_capture_config.yaml: 1e84922f03bde8b97f598237d8cd53e7a716db84a5f1f5651aa45043953d0186
      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_dense_capture_config.yaml
  - data\public\glim_versatile\livox_rosbag2_gt_restamped
  source_sha256:
    examples\public_datasets\glim_versatile\online_continuous_time_compiled_dense_capture_config.yaml: 1e84922f03bde8b97f598237d8cd53e7a716db84a5f1f5651aa45043953d0186
    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=96
  - holdout_frame_count=24
  - holdout_start_fraction=0.8
  - sampling_seed=0
  - source_record_cap=6000
  - target_point_cap_per_split=None
  - outlier_policy=mad
  - voxel_strategy=adaptive
  - replay_source_message_count=1
  - adaptive correspondences use a uniform voxel fallback and select the lower initial
    point-to-plane residual
  - 'continuous_time_query_execution: calibrex.cuda_continuous_time/v0.4;fp64=true;fma=false;cupy=14.2.0;cuda=12090;driver=13020;numba=0.65.1;trajectory_cpu=true;normal_cpu=true;standalone_residual_cpu=true;kernel_sha256=ad35e19c4f402fa99c14ce8e2a496f65a35c67655bdb795e6111d0f03d592be0'