schema_version: slac.external_calibration_run/v0.1
run_id: li_init:out_driving
adapter_name: li_init_result
adapter_version: li_init_result/v0.1
tool:
  name: li_init
  source_repository: https://github.com/hku-mars/LiDAR_IMU_Init
  source_commit: 66b157afa30bf6637d7f9defa6ddba46f417000b
  license_spdx: GPL-2.0-only
  license_boundary: container
execution:
  mode: container
  command:
  - run_li_init.sh
  - driving.bag
  - mid360_driving.yaml
  container_digest: sha256:4e8bffa61f42f952aff915de0cce1e117f5c9136cf6c7b888fb748fba631288c
  attempted: true
  timed_out: false
  stages: []
  input_mounts: []
artifacts:
- role: output
  path: docs/assets/li_init/driving_Initialization_result.txt
  sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
  size_bytes: 0
  media_type: text/plain
digests: {}
frame_convention: T_imu_lidar maps LiDAR points into the IMU frame (LI-Init offset_R_L_I,
  offset_T_L_I); T_lidar_imu is its inverse.
time_convention: t_imu = t_lidar + time_offset (LI-Init 'Time Lag IMU to LiDAR')
train_data_isolation:
  declared: false
status: invalid_output
warnings:
- LI-Init import has no digest-bound input bag
- 'LI-Init result could not be parsed: LI-Init result lacks the LiDAR-to-IMU homogeneous
  matrix'
- external training-data isolation is not declared
parsed_outputs:
  transforms: {}
  time_offsets_seconds: {}
  intrinsics: {}
  external_metrics: {}
  external_metrics_comparable: false
provenance:
  producer: calibrex
  calibrex_version: 0.4.1
  generated_at: '2026-09-29T19:54:16.897262+00:00'
  git_commit: 21ff89a
  source_artifact: docs/assets/li_init/driving_Initialization_result.txt
  source_artifact_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855