{
  "pipeline_seconds": 8.781068800017238,
  "solver_seconds": 6.49519289995078,
  "adaptive_query_seconds": 1.396963300067,
  "adaptive_query_calls": 1248000,
  "worker_import_seconds": 0.26438430009875447,
  "loaded_module": "<WORKSPACE>/src/calibrex/data/adaptive_voxel.py",
  "loaded_evaluation_modules": {
    "calibrex.data.livox": "<WORKSPACE>/src/calibrex/data/livox.py",
    "calibrex.data.odometry_track": "<WORKSPACE>/src/calibrex/data/odometry_track.py",
    "calibrex.graph.lidar_point_to_plane": "<WORKSPACE>/src/calibrex/graph/lidar_point_to_plane.py",
    "calibrex.evaluation.lidar": "<WORKSPACE>/src/calibrex/evaluation/lidar.py",
    "calibrex.solvers.continuous_time_lidar_pair_solver": "<WORKSPACE>/src/calibrex/solvers/continuous_time_lidar_pair_solver.py",
    "calibrex.data.adaptive_voxel": "<WORKSPACE>/src/calibrex/data/adaptive_voxel.py",
    "calibrex.pipelines.online": "<WORKSPACE>/src/calibrex/pipelines/online.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"
  },
  "uniform_normal_calculations": 883,
  "interpolated_pose_calculations": 434232,
  "sampled_split": {
    "train_count": 38400,
    "train_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925",
    "holdout_count": 9600,
    "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe"
  },
  "result": {
    "config_path": "examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml",
    "dataset_path": "data/public/glim_versatile/livox_rosbag2_gt_restamped",
    "estimated_time_offset_sec": -0.025,
    "final_holdout_rmse_m": 0.0922906037408748,
    "final_train_rmse_m": 0.050821727995281396,
    "holdout_correspondence_count": 3451,
    "initial_time_offset_sec": 0.0,
    "initial_train_rmse_m": 0.058548950677130965,
    "initial_transform": {
      "child": "livox_avia_copy",
      "convention": "T_parent_child",
      "estimate_id": "T_livox_avia_livox_avia_copy",
      "parent": "livox_avia",
      "provenance": {
        "evidence_level": "unknown",
        "execution_mode": "online_stream",
        "notes": [
          "clock offset was profiled with extrinsic re-optimization",
          "supplied piecewise odometry trajectory remained fixed"
        ],
        "producer": "slac_native",
        "role_in_comparison": "initial",
        "source": "calibrex.solvers.continuous_time_lidar_pair_solver",
        "tool_name": "continuous_time_lidar_pair_solver"
      },
      "quality": {
        "grade": "warn",
        "std_rotation_deg": [],
        "std_translation_m": []
      },
      "rotation_quat_xyzw": [
        0.0,
        0.0,
        0.0,
        1.0
      ],
      "translation_m": [
        0.0,
        0.0,
        0.0
      ]
    },
    "iterations": [
      {
        "accepted": true,
        "candidate_holdout_rmse_m": [
          0.09394574316425691,
          0.09642451309816596,
          0.10151400178809798
        ],
        "candidate_offsets_sec": [
          -0.02,
          0.0,
          0.02
        ],
        "candidate_train_rmse_m": [
          0.05152604693130724,
          0.05305402630039482,
          0.05773121852507567
        ],
        "holdout_rmse_m": 0.09394574316425691,
        "iteration": 1,
        "selected_offset_sec": -0.02,
        "train_rmse_m": 0.05152604693130724
      },
      {
        "accepted": true,
        "candidate_holdout_rmse_m": [
          0.09127329963539012,
          0.09178825365604466,
          0.09545424576701399
        ],
        "candidate_offsets_sec": [
          -0.04,
          -0.02,
          0.0
        ],
        "candidate_train_rmse_m": [
          0.05182326280143999,
          0.050961876307943264,
          0.05298142628099149
        ],
        "holdout_rmse_m": 0.09178825365604466,
        "iteration": 2,
        "selected_offset_sec": -0.02,
        "train_rmse_m": 0.050961876307943264
      },
      {
        "accepted": true,
        "candidate_holdout_rmse_m": [
          0.09085611576779115,
          0.09227857348297204,
          0.0950246975131892
        ],
        "candidate_offsets_sec": [
          -0.04,
          -0.02,
          0.0
        ],
        "candidate_train_rmse_m": [
          0.051664541879618456,
          0.050865412065751216,
          0.053087589346890174
        ],
        "holdout_rmse_m": 0.09227857348297204,
        "iteration": 3,
        "selected_offset_sec": -0.02,
        "train_rmse_m": 0.050865412065751216
      },
      {
        "accepted": true,
        "candidate_holdout_rmse_m": [
          0.09085273107893962,
          0.0922435262766265,
          0.09455937685822291
        ],
        "candidate_offsets_sec": [
          -0.04,
          -0.02,
          0.0
        ],
        "candidate_train_rmse_m": [
          0.05156119791300855,
          0.050848341699210826,
          0.05310408353950161
        ],
        "holdout_rmse_m": 0.0922435262766265,
        "iteration": 4,
        "selected_offset_sec": -0.02,
        "train_rmse_m": 0.050848341699210826
      },
      {
        "accepted": true,
        "candidate_holdout_rmse_m": [
          0.0907265167115888,
          0.09217290095977056,
          0.09401545565144712
        ],
        "candidate_offsets_sec": [
          -0.04,
          -0.02,
          0.0
        ],
        "candidate_train_rmse_m": [
          0.0515179224297033,
          0.050834944247588006,
          0.05309297106507748
        ],
        "holdout_rmse_m": 0.09217290095977056,
        "iteration": 5,
        "selected_offset_sec": -0.02,
        "train_rmse_m": 0.050834944247588006
      },
      {
        "accepted": false,
        "candidate_holdout_rmse_m": [
          0.09054541242212061,
          0.09216154895445547,
          0.09414795093194908
        ],
        "candidate_offsets_sec": [
          -0.04,
          -0.02,
          0.0
        ],
        "candidate_train_rmse_m": [
          0.051641852259135895,
          0.05085694311473306,
          0.05311163628701708
        ],
        "holdout_rmse_m": 0.09216154895445547,
        "iteration": 6,
        "selected_offset_sec": -0.02,
        "train_rmse_m": 0.05085694311473306
      },
      {
        "accepted": false,
        "candidate_holdout_rmse_m": [
          0.09152189776658831,
          0.09216154895445547,
          0.09278978079406719
        ],
        "candidate_offsets_sec": [
          -0.03,
          -0.02,
          -0.01
        ],
        "candidate_train_rmse_m": [
          0.05108417467040787,
          0.05085694311473306,
          0.051902926808629166
        ],
        "holdout_rmse_m": 0.09216154895445547,
        "iteration": 7,
        "selected_offset_sec": -0.02,
        "train_rmse_m": 0.05085694311473306
      },
      {
        "accepted": true,
        "candidate_holdout_rmse_m": [
          0.0922906037408748,
          0.09216154895445547,
          0.09198663137418496
        ],
        "candidate_offsets_sec": [
          -0.025,
          -0.02,
          -0.015
        ],
        "candidate_train_rmse_m": [
          0.050821727995281396,
          0.05085694311473306,
          0.05114460199662823
        ],
        "holdout_rmse_m": 0.0922906037408748,
        "iteration": 8,
        "selected_offset_sec": -0.025,
        "train_rmse_m": 0.050821727995281396
      }
    ],
    "observability": {
      "condition_number": 18.89070683391553,
      "rank": 6,
      "residual_count": 29181,
      "weak_directions": []
    },
    "odometry_topic": "/odom",
    "options": {
      "adaptive_max_voxel_size_m": 1.5,
      "adaptive_min_points_per_voxel": 6,
      "adaptive_min_voxel_size_m": 0.25,
      "adaptive_range_exponent": 0.5,
      "adaptive_range_reference_m": 10.0,
      "adaptive_use_uniform_fallback": true,
      "correspondence_refinement_iterations": 1,
      "fixed_extrinsic_max_iterations": 8,
      "fixed_extrinsic_robust_loss": "huber",
      "holdout_start_fraction": 0.8,
      "initial_time_offset_sec": 0.0,
      "initial_time_step_sec": 0.02,
      "max_abs_time_offset_sec": 0.2,
      "max_iterations": 8,
      "max_odometry_extrapolation_s": 0.25,
      "max_source_records": 6000,
      "min_correspondences": 6,
      "minimum_time_step_sec": 0.005,
      "outlier_mad_scale": 3.5,
      "outlier_min_inlier_fraction": 0.25,
      "outlier_min_threshold_m": 0.02,
      "outlier_policy": "mad",
      "sampling_seed": 0,
      "voxel_strategy": "adaptive"
    },
    "outlier_rejected_count": 6908,
    "provenance": {
      "git_commit": "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"
      ],
      "source_paths": [
        "examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml",
        "data/public/glim_versatile/livox_rosbag2_gt_restamped"
      ],
      "source_sha256": {
        "data/public/glim_versatile/livox_rosbag2_gt_restamped": "bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185",
        "examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3"
      },
      "tool_name": "calibrex",
      "tool_version": "0.5.1"
    },
    "reason": "maximum time-profile iterations reached",
    "refined_transform": {
      "child": "livox_avia_copy",
      "convention": "T_parent_child",
      "estimate_id": "T_livox_avia_livox_avia_copy",
      "parent": "livox_avia",
      "provenance": {
        "evidence_level": "algorithmically_refined",
        "execution_mode": "online_stream",
        "notes": [
          "clock offset was profiled with extrinsic re-optimization",
          "supplied piecewise odometry trajectory remained fixed"
        ],
        "producer": "slac_native",
        "role_in_comparison": "output",
        "source": "calibrex.solvers.continuous_time_lidar_pair_solver",
        "tool_name": "continuous_time_lidar_pair_solver"
      },
      "quality": {
        "grade": "warn",
        "std_rotation_deg": [],
        "std_translation_m": []
      },
      "rotation_quat_xyzw": [
        0.0015939672814563777,
        0.0010636355733886337,
        -0.0016413832846795496,
        0.9999968168992267
      ],
      "translation_m": [
        -0.006182575217564595,
        0.010091546303164226,
        -0.025982572953141138
      ]
    },
    "schema_version": "slac.continuous_time_lidar_pair_result/v0.1",
    "source_sensor": "livox_avia",
    "status": "max_iterations",
    "target_sensor": "livox_avia_copy",
    "time_offset_sign_convention": "positive offset evaluates target capture at odometry time t_capture + offset",
    "train_correspondence_count": 29181,
    "train_diagnostics": {
      "final_residuals": {
        "count": 29181,
        "max_m": 0.1572322040060798,
        "mean_abs_m": 0.03514888496730821,
        "mean_m": 0.00018118579722093743,
        "median_abs_m": 0.021084065306056853,
        "min_m": -0.15715254642853216,
        "p95_abs_m": 0.1193742288421619,
        "p99_abs_m": 0.14872473162829394,
        "rmse_m": 0.050821727995281396
      },
      "holdout_used_for_selection": false,
      "profile": [
        {
          "accepted": true,
          "candidate_offsets_sec": [
            -0.02,
            0.0,
            0.02
          ],
          "candidate_train_rmse_m": [
            0.05152604693130724,
            0.05305402630039482,
            0.05773121852507567
          ],
          "iteration": 1,
          "selected_offset_sec": -0.02,
          "train_correspondence_count": 29239,
          "train_outlier_rejected_count": 5920,
          "train_rmse_m": 0.05152604693130724
        },
        {
          "accepted": true,
          "candidate_offsets_sec": [
            -0.04,
            -0.02,
            0.0
          ],
          "candidate_train_rmse_m": [
            0.05182326280143999,
            0.050961876307943264,
            0.05298142628099149
          ],
          "iteration": 2,
          "selected_offset_sec": -0.02,
          "train_correspondence_count": 29174,
          "train_outlier_rejected_count": 5991,
          "train_rmse_m": 0.050961876307943264
        },
        {
          "accepted": true,
          "candidate_offsets_sec": [
            -0.04,
            -0.02,
            0.0
          ],
          "candidate_train_rmse_m": [
            0.051664541879618456,
            0.050865412065751216,
            0.053087589346890174
          ],
          "iteration": 3,
          "selected_offset_sec": -0.02,
          "train_correspondence_count": 29170,
          "train_outlier_rejected_count": 5992,
          "train_rmse_m": 0.050865412065751216
        },
        {
          "accepted": true,
          "candidate_offsets_sec": [
            -0.04,
            -0.02,
            0.0
          ],
          "candidate_train_rmse_m": [
            0.05156119791300855,
            0.050848341699210826,
            0.05310408353950161
          ],
          "iteration": 4,
          "selected_offset_sec": -0.02,
          "train_correspondence_count": 29165,
          "train_outlier_rejected_count": 5995,
          "train_rmse_m": 0.050848341699210826
        },
        {
          "accepted": true,
          "candidate_offsets_sec": [
            -0.04,
            -0.02,
            0.0
          ],
          "candidate_train_rmse_m": [
            0.0515179224297033,
            0.050834944247588006,
            0.05309297106507748
          ],
          "iteration": 5,
          "selected_offset_sec": -0.02,
          "train_correspondence_count": 29161,
          "train_outlier_rejected_count": 5999,
          "train_rmse_m": 0.050834944247588006
        },
        {
          "accepted": false,
          "candidate_offsets_sec": [
            -0.04,
            -0.02,
            0.0
          ],
          "candidate_train_rmse_m": [
            0.051641852259135895,
            0.05085694311473306,
            0.05311163628701708
          ],
          "iteration": 6,
          "selected_offset_sec": -0.02,
          "train_correspondence_count": 29166,
          "train_outlier_rejected_count": 5995,
          "train_rmse_m": 0.05085694311473306
        },
        {
          "accepted": false,
          "candidate_offsets_sec": [
            -0.03,
            -0.02,
            -0.01
          ],
          "candidate_train_rmse_m": [
            0.05108417467040787,
            0.05085694311473306,
            0.051902926808629166
          ],
          "iteration": 7,
          "selected_offset_sec": -0.02,
          "train_correspondence_count": 29166,
          "train_outlier_rejected_count": 5995,
          "train_rmse_m": 0.05085694311473306
        },
        {
          "accepted": true,
          "candidate_offsets_sec": [
            -0.025,
            -0.02,
            -0.015
          ],
          "candidate_train_rmse_m": [
            0.050821727995281396,
            0.05085694311473306,
            0.05114460199662823
          ],
          "iteration": 8,
          "selected_offset_sec": -0.025,
          "train_correspondence_count": 29181,
          "train_outlier_rejected_count": 5990,
          "train_rmse_m": 0.050821727995281396
        }
      ],
      "provenance": {
        "git_commit": "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_full_capture_config.yaml",
          "data/public/glim_versatile/livox_rosbag2_gt_restamped"
        ],
        "source_sha256": {
          "data/public/glim_versatile/livox_rosbag2_gt_restamped": "bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185",
          "examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3"
        },
        "tool_name": "calibrex",
        "tool_version": "0.5.1"
      },
      "range_bins": [
        {
          "correspondence_count": 15294,
          "lower_bound_m": 0.0,
          "residuals": {
            "count": 15294,
            "max_m": 0.1572080128275702,
            "mean_abs_m": 0.03217763952034386,
            "mean_m": -1.1651859179579598e-05,
            "median_abs_m": 0.018198523489040816,
            "min_m": -0.1564239575835457,
            "p95_abs_m": 0.11339975937589854,
            "p99_abs_m": 0.14682085628303776,
            "rmse_m": 0.047779596730375774
          },
          "upper_bound_m": 5.0
        },
        {
          "correspondence_count": 13008,
          "lower_bound_m": 5.0,
          "residuals": {
            "count": 13008,
            "max_m": 0.15714940600991548,
            "mean_abs_m": 0.038520290411274825,
            "mean_m": 0.00037635474490748397,
            "median_abs_m": 0.024760422646396503,
            "min_m": -0.15715254642853216,
            "p95_abs_m": 0.125655327759826,
            "p99_abs_m": 0.15022997923114784,
            "rmse_m": 0.054150943032941816
          },
          "upper_bound_m": 10.0
        },
        {
          "correspondence_count": 879,
          "lower_bound_m": 10.0,
          "residuals": {
            "count": 879,
            "max_m": 0.1572322040060798,
            "mean_abs_m": 0.036954329621181926,
            "mean_m": 0.0006481954052788555,
            "median_abs_m": 0.025509085912835898,
            "min_m": -0.1504588007217171,
            "p95_abs_m": 0.11592273361824426,
            "p99_abs_m": 0.14709605062709005,
            "rmse_m": 0.05128488069732722
          },
          "upper_bound_m": 20.0
        },
        {
          "correspondence_count": 0,
          "lower_bound_m": 20.0,
          "residuals": {
            "count": 0
          },
          "upper_bound_m": 40.0
        },
        {
          "correspondence_count": 0,
          "lower_bound_m": 40.0,
          "residuals": {
            "count": 0
          },
          "upper_bound_m": 80.0
        },
        {
          "correspondence_count": 0,
          "lower_bound_m": 80.0,
          "residuals": {
            "count": 0
          }
        }
      ],
      "sampled_source_record_count": 3000,
      "schema_version": "slac.continuous_time_lidar_train_diagnostics/v0.1",
      "selected_time_offset_sec": -0.025,
      "selection_metric": "train_rmse_m",
      "train_candidate_correspondence_count": 35171,
      "train_correspondence_count": 29181,
      "train_outlier_rejected_count": 5990,
      "train_outlier_rejection_rate": 0.1703107673935913,
      "train_target_point_count": 38400
    },
    "trajectory_model": "piecewise_se3_fixed_odometry",
    "variable": "T_livox_avia_livox_avia_copy"
  },
  "result_sha256": "83d30a4e54480fb0c71527bddf59fd1f405ac44ca02ad3a737b3340999880d0d",
  "execution_override": "cuda",
  "loaded_cuda_module": "<WORKSPACE>/src/calibrex/solvers/cuda_continuous_time_adapter.py",
  "captured_target_count": 48000,
  "worker_cpu_seconds": 12.953125
}