schema_version: slac.external_calibration_run/v0.1
run_id: li_init:li_init
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
  - construction_seq2.bag
  - mid360_rtk_slam.yaml
  container_digest: sha256:4e8bffa61f42f952aff915de0cce1e117f5c9136cf6c7b888fb748fba631288c
  attempted: true
  timed_out: false
  stages: []
  input_mounts: []
artifacts:
- role: output
  path: docs/assets/li_init/rtk_slam_construction_seq2_Initialization_result.txt
  sha256: 4f79f87ed695146377c35740f7313232ede088067eb148d895277cd5ffe80f0b
  size_bytes: 1240
  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: success
warnings:
- LI-Init import has no digest-bound input bag
- external training-data isolation is not declared
parsed_outputs:
  transforms:
    T_imu_lidar:
      convention: T_parent_child
      parent: imu
      child: lidar
      translation_m:
      - 0.023
      - 0.171935
      - -0.07174
      rotation_quat_xyzw:
      - -0.0057039518537138935
      - 0.003478025429613511
      - 0.010665347754745522
      - 0.9999208061789853
    T_lidar_imu:
      convention: T_parent_child
      parent: lidar
      child: imu
      translation_m:
      - -0.02716238384453989
      - -0.17220630106455248
      - 0.06960235240893202
      rotation_quat_xyzw:
      - 0.00570395185371386
      - -0.0034780254296135826
      - -0.010665347754745626
      - 0.9999208061789853
  time_offsets_seconds:
    imu_minus_lidar_s: -0.010426
  intrinsics: {}
  external_metrics:
    stage: Refinement result
    gyro_bias_x_rps: 0.021952
    gyro_bias_y_rps: -0.003847
    gyro_bias_z_rps: 0.000747
  external_metrics_comparable: false
provenance:
  producer: calibrex
  calibrex_version: 0.4.1
  generated_at: '2026-09-30T08:46:17.665586+00:00'
  git_commit: 5f7e694
  source_artifact: docs/assets/li_init/rtk_slam_construction_seq2_Initialization_result.txt
  source_artifact_sha256: 4f79f87ed695146377c35740f7313232ede088067eb148d895277cd5ffe80f0b