schema_version: slac.ins_lidar_hand_eye/v0.1
method: joint_trajectory_hand_eye/v0.1
solver_status: converged
policy_status: inconclusive
policy_reasons:
- 'not constrained by the data or a prior, so not calibrated: pitch, x, y, z'
calibrated_dofs:
- roll
- yaw
- reference_scale
transform:
  parent_frame: ins
  child_frame: lidar
  translation_m:
  - 0.07973480478836244
  - -0.08139960382787453
  - -0.16267900482867148
  rotation_quat_xyzw:
  - 0.00020202569697982291
  - -0.0006389542438994121
  - 0.36483896937824933
  - 0.9310703933355999
time_offset_s: 0.004838752153768517
reference_scale: 0.9700382140069187
dofs:
- name: roll
  unit: deg
  value: -0.005158373748772304
  std_analytic: 0.013251950129160096
  std_jackknife: 0.04873634973375607
  std_reported: 0.04873634973375607
  status: estimated
  reference_value: 0.0
  error_to_reference: 0.04816772764299966
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 581.1798962931646
    detected: true
- name: pitch
  unit: deg
  value: -0.07661802777575223
  std_analytic: 0.01423701143137855
  std_jackknife: 0.10789512930237714
  std_reported: 0.10789512930237714
  status: unobservable
  reference_value: 0.0
  error_to_reference: -0.05980640857778908
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 236.82579669346137
    detected: true
- name: yaw
  unit: deg
  value: 42.79535941652893
  std_analytic: 0.04808531693734374
  std_jackknife: 0.054318241936992855
  std_reported: 0.054318241936992855
  status: estimated
  reference_value: 42.60351460900684
  error_to_reference: 0.19184132984568794
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 267.324802214408
    detected: true
- name: x
  unit: m
  value: 0.07973480478836244
  std_analytic: 0.012858153355493328
  std_jackknife: 0.09309184158912641
  std_reported: 0.09309184158912641
  status: unobservable
  reference_value: 0.0
  error_to_reference: 0.07973480478836244
  known_bad_control:
    amount: 0.1
    unit: m
    holdout_delta_chi2: -5.302928859375811
    detected: false
- name: y
  unit: m
  value: -0.08139960382787453
  std_analytic: 0.012813879778454794
  std_jackknife: 0.045117248054662794
  std_reported: 0.045117248054662794
  status: unobservable
  reference_value: 0.0
  error_to_reference: -0.08139960382787453
  known_bad_control:
    amount: 0.1
    unit: m
    holdout_delta_chi2: 1.8548456592957336
    detected: false
- name: z
  unit: m
  value: -0.16267900482867148
  std_analytic: 0.2849547212837895
  std_jackknife: 0.20072376344017567
  std_reported: 0.2849547212837895
  status: unobservable
  reference_value: 0.13
  error_to_reference: -0.2926790048286715
  known_bad_control:
    amount: 0.1
    unit: m
    holdout_delta_chi2: -0.47508541710283225
    detected: false
- name: time_offset
  unit: s
  value: 0.004838752153768517
  std_analytic: 0.0007290810761490081
  std_jackknife: 0.009783123242089357
  std_reported: 0.009783123242089357
  status: unobservable
  known_bad_control:
    amount: 0.02
    unit: s
    holdout_delta_chi2: 328.6049881721458
    detected: true
- name: reference_scale
  unit: ratio
  value: 0.9700382140069187
  std_analytic: 0.0008118806907661739
  std_jackknife: 0.0021117159935287104
  std_reported: 0.0021117159935287104
  status: estimated
options:
  step_frames:
  - 5
  - 10
  - 20
  holdout_every: 3
  rotation_control_deg: 1.0
  translation_control_m: 0.1
  time_control_s: 0.02
  detection_delta_chi2: 9.0
  estimate_time_offset: true
  estimate_reference_scale: true
  rotation_sigma_rad: 0.0017453292519943296
  translation_sigma_floor_m: 0.01
  translation_sigma_per_m: 0.02
  observable_rotation_std_deg: 0.1
  observable_translation_std_m: 0.02
  observable_time_offset_std_s: 0.005
  priors: []
odometry:
  frame_count: 600
  missing_frames: []
  registration_count: 599
  converged_registrations: 599
  median_correspondences: 12266.0
  median_registration_rmse_m: 0.09886977573175747
block_duration_s: 5.0
train_blocks:
- 0
- 1
- 3
- 4
- 6
- 7
- 9
- 10
- 12
holdout_blocks:
- 2
- 5
- 8
- 11
jackknife_fits: 9
train:
  motion_count: 120
  rotation_rmse_deg: 0.37952834900255417
  translation_rmse_m: 0.05786079905006882
  rotation_median_deg: 0.12402129390302354
  translation_median_m: 0.04066868313197057
holdout:
  motion_count: 51
  rotation_rmse_deg: 0.22380120248462484
  translation_rmse_m: 0.05730310124476912
  rotation_median_deg: 0.13356373738756636
  translation_median_m: 0.04461860930117789
reference_calibration: Boreas T_applanix_lidar.txt (dataset-provided reference estimate)
limitations:
- 'Rigid-scan registration: published per-point time offsets are not used for deskewing.'
- The Applanix post-processed trajectory is a reference estimate, not independent
  metrology.
- The reference extrinsic is comparison-only; no translation or full-extrinsic claim
  follows from a partial result.
provenance:
  generator: calibrex.evaluation.boreas_ins_lidar
  generator_version: 0.5.1
  git_commit: a795fb65
  command:
  - C:\Users\rsasa\Workspace\Calibrex\.venv\Scripts\python.exe
  - C:\Users\rsasa\Workspace\Calibrex\outputs\run-boreas-ins-development-v1.py
  dataset_family: boreas
  drive_ids:
  - boreas-2020-11-26-13-58
  input_sha256: 1b3ca2645bb0e70958a8cf236b93a440a182cc7163e7c25e84c8405b22cc983e
  dataset_license: CC BY 4.0
  created_at: '2026-10-22T09:28:24.748402+00:00'