schema_version: slac.continuous_time_lidar_pair_result/v0.1
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
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:
  - -0.006182575217564595
  - 0.010091546303164226
  - -0.025982572953141138
  rotation_quat_xyzw:
  - 0.0015939672814563777
  - 0.0010636355733886337
  - -0.0016413832846795496
  - 0.9999968168992267
  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: 0.058548950677130965
final_train_rmse_m: 0.050821727995281396
final_holdout_rmse_m: 0.0922906037408748
train_correspondence_count: 29181
holdout_correspondence_count: 3451
outlier_rejected_count: 6908
observability:
  rank: 6
  condition_number: 18.89070683391553
  weak_directions: []
  residual_count: 29181
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:
  - 0.05152604693130724
  - 0.05305402630039482
  - 0.05773121852507567
  candidate_holdout_rmse_m:
  - 0.09394574316425691
  - 0.09642451309816596
  - 0.10151400178809798
  selected_offset_sec: -0.02
  train_rmse_m: 0.05152604693130724
  holdout_rmse_m: 0.09394574316425691
  accepted: true
- iteration: 2
  candidate_offsets_sec:
  - -0.04
  - -0.02
  - 0.0
  candidate_train_rmse_m:
  - 0.05182326280143999
  - 0.050961876307943264
  - 0.05298142628099149
  candidate_holdout_rmse_m:
  - 0.09127329963539012
  - 0.09178825365604466
  - 0.09545424576701399
  selected_offset_sec: -0.02
  train_rmse_m: 0.050961876307943264
  holdout_rmse_m: 0.09178825365604466
  accepted: true
- iteration: 3
  candidate_offsets_sec:
  - -0.04
  - -0.02
  - 0.0
  candidate_train_rmse_m:
  - 0.051664541879618456
  - 0.050865412065751216
  - 0.053087589346890174
  candidate_holdout_rmse_m:
  - 0.09085611576779115
  - 0.09227857348297204
  - 0.0950246975131892
  selected_offset_sec: -0.02
  train_rmse_m: 0.050865412065751216
  holdout_rmse_m: 0.09227857348297204
  accepted: true
- iteration: 4
  candidate_offsets_sec:
  - -0.04
  - -0.02
  - 0.0
  candidate_train_rmse_m:
  - 0.05156119791300855
  - 0.050848341699210826
  - 0.05310408353950161
  candidate_holdout_rmse_m:
  - 0.09085273107893962
  - 0.0922435262766265
  - 0.09455937685822291
  selected_offset_sec: -0.02
  train_rmse_m: 0.050848341699210826
  holdout_rmse_m: 0.0922435262766265
  accepted: true
- iteration: 5
  candidate_offsets_sec:
  - -0.04
  - -0.02
  - 0.0
  candidate_train_rmse_m:
  - 0.0515179224297033
  - 0.050834944247588006
  - 0.05309297106507748
  candidate_holdout_rmse_m:
  - 0.0907265167115888
  - 0.09217290095977056
  - 0.09401545565144712
  selected_offset_sec: -0.02
  train_rmse_m: 0.050834944247588006
  holdout_rmse_m: 0.09217290095977056
  accepted: true
- iteration: 6
  candidate_offsets_sec:
  - -0.04
  - -0.02
  - 0.0
  candidate_train_rmse_m:
  - 0.051641852259135895
  - 0.05085694311473306
  - 0.05311163628701708
  candidate_holdout_rmse_m:
  - 0.09054541242212061
  - 0.09216154895445547
  - 0.09414795093194908
  selected_offset_sec: -0.02
  train_rmse_m: 0.05085694311473306
  holdout_rmse_m: 0.09216154895445547
  accepted: false
- iteration: 7
  candidate_offsets_sec:
  - -0.03
  - -0.02
  - -0.01
  candidate_train_rmse_m:
  - 0.05108417467040787
  - 0.05085694311473306
  - 0.051902926808629166
  candidate_holdout_rmse_m:
  - 0.09152189776658831
  - 0.09216154895445547
  - 0.09278978079406719
  selected_offset_sec: -0.02
  train_rmse_m: 0.05085694311473306
  holdout_rmse_m: 0.09216154895445547
  accepted: false
- iteration: 8
  candidate_offsets_sec:
  - -0.025
  - -0.02
  - -0.015
  candidate_train_rmse_m:
  - 0.050821727995281396
  - 0.05085694311473306
  - 0.05114460199662823
  candidate_holdout_rmse_m:
  - 0.0922906037408748
  - 0.09216154895445547
  - 0.09198663137418496
  selected_offset_sec: -0.025
  train_rmse_m: 0.050821727995281396
  holdout_rmse_m: 0.0922906037408748
  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: 38400
  train_candidate_correspondence_count: 35171
  train_correspondence_count: 29181
  train_outlier_rejected_count: 5990
  train_outlier_rejection_rate: 0.1703107673935913
  selected_time_offset_sec: -0.025
  final_residuals:
    count: 29181
    rmse_m: 0.050821727995281396
    mean_m: 0.00018118579722093743
    mean_abs_m: 0.03514888496730821
    median_abs_m: 0.021084065306056853
    p95_abs_m: 0.1193742288421619
    p99_abs_m: 0.14872473162829394
    min_m: -0.15715254642853216
    max_m: 0.1572322040060798
  range_bins:
  - lower_bound_m: 0.0
    upper_bound_m: 5.0
    correspondence_count: 15294
    residuals:
      count: 15294
      rmse_m: 0.047779596730375774
      mean_m: -1.1651859179579598e-05
      mean_abs_m: 0.03217763952034386
      median_abs_m: 0.018198523489040816
      p95_abs_m: 0.11339975937589854
      p99_abs_m: 0.14682085628303776
      min_m: -0.1564239575835457
      max_m: 0.1572080128275702
  - lower_bound_m: 5.0
    upper_bound_m: 10.0
    correspondence_count: 13008
    residuals:
      count: 13008
      rmse_m: 0.054150943032941816
      mean_m: 0.00037635474490748397
      mean_abs_m: 0.038520290411274825
      median_abs_m: 0.024760422646396503
      p95_abs_m: 0.125655327759826
      p99_abs_m: 0.15022997923114784
      min_m: -0.15715254642853216
      max_m: 0.15714940600991548
  - lower_bound_m: 10.0
    upper_bound_m: 20.0
    correspondence_count: 879
    residuals:
      count: 879
      rmse_m: 0.05128488069732722
      mean_m: 0.0006481954052788555
      mean_abs_m: 0.036954329621181926
      median_abs_m: 0.025509085912835898
      p95_abs_m: 0.11592273361824426
      p99_abs_m: 0.14709605062709005
      min_m: -0.1504588007217171
      max_m: 0.1572322040060798
  - 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:
    - 0.05152604693130724
    - 0.05305402630039482
    - 0.05773121852507567
    selected_offset_sec: -0.02
    train_rmse_m: 0.05152604693130724
    train_correspondence_count: 29239
    train_outlier_rejected_count: 5920
    accepted: true
  - iteration: 2
    candidate_offsets_sec:
    - -0.04
    - -0.02
    - 0.0
    candidate_train_rmse_m:
    - 0.05182326280143999
    - 0.050961876307943264
    - 0.05298142628099149
    selected_offset_sec: -0.02
    train_rmse_m: 0.050961876307943264
    train_correspondence_count: 29174
    train_outlier_rejected_count: 5991
    accepted: true
  - iteration: 3
    candidate_offsets_sec:
    - -0.04
    - -0.02
    - 0.0
    candidate_train_rmse_m:
    - 0.051664541879618456
    - 0.050865412065751216
    - 0.053087589346890174
    selected_offset_sec: -0.02
    train_rmse_m: 0.050865412065751216
    train_correspondence_count: 29170
    train_outlier_rejected_count: 5992
    accepted: true
  - iteration: 4
    candidate_offsets_sec:
    - -0.04
    - -0.02
    - 0.0
    candidate_train_rmse_m:
    - 0.05156119791300855
    - 0.050848341699210826
    - 0.05310408353950161
    selected_offset_sec: -0.02
    train_rmse_m: 0.050848341699210826
    train_correspondence_count: 29165
    train_outlier_rejected_count: 5995
    accepted: true
  - iteration: 5
    candidate_offsets_sec:
    - -0.04
    - -0.02
    - 0.0
    candidate_train_rmse_m:
    - 0.0515179224297033
    - 0.050834944247588006
    - 0.05309297106507748
    selected_offset_sec: -0.02
    train_rmse_m: 0.050834944247588006
    train_correspondence_count: 29161
    train_outlier_rejected_count: 5999
    accepted: true
  - iteration: 6
    candidate_offsets_sec:
    - -0.04
    - -0.02
    - 0.0
    candidate_train_rmse_m:
    - 0.051641852259135895
    - 0.05085694311473306
    - 0.05311163628701708
    selected_offset_sec: -0.02
    train_rmse_m: 0.05085694311473306
    train_correspondence_count: 29166
    train_outlier_rejected_count: 5995
    accepted: false
  - iteration: 7
    candidate_offsets_sec:
    - -0.03
    - -0.02
    - -0.01
    candidate_train_rmse_m:
    - 0.05108417467040787
    - 0.05085694311473306
    - 0.051902926808629166
    selected_offset_sec: -0.02
    train_rmse_m: 0.05085694311473306
    train_correspondence_count: 29166
    train_outlier_rejected_count: 5995
    accepted: false
  - iteration: 8
    candidate_offsets_sec:
    - -0.025
    - -0.02
    - -0.015
    candidate_train_rmse_m:
    - 0.050821727995281396
    - 0.05085694311473306
    - 0.05114460199662823
    selected_offset_sec: -0.025
    train_rmse_m: 0.050821727995281396
    train_correspondence_count: 29181
    train_outlier_rejected_count: 5990
    accepted: true
  provenance:
    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:
      examples\public_datasets\glim_versatile\online_continuous_time_compiled_full_capture_config.yaml: c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3
      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_full_capture_config.yaml
  - data\public\glim_versatile\livox_rosbag2_gt_restamped
  source_sha256:
    examples\public_datasets\glim_versatile\online_continuous_time_compiled_full_capture_config.yaml: c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3
    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'