schema_version: slac.lidar_lidar_extrinsic/v0.1
method: map_registration/v0.1
solver_status: max_iterations
policy_status: inconclusive
policy_reasons:
- 'not constrained by the data, so not calibrated: roll'
calibrated_dofs:
- pitch
- yaw
- x
- y
- z
transform:
  parent_frame: /os1_cloud_node1/points
  child_frame: /os1_cloud_node2/points
  translation_m:
  - -0.49016906998694326
  - -0.02360529785986217
  - 0.04221231985116586
  rotation_quat_xyzw:
  - 0.0038060859251061187
  - 0.7069778152131677
  - 0.7072230202646124
  - -0.001866042375378064
dofs:
- name: roll
  unit: deg
  value: 89.98076146246854
  std_analytic: 0.007601686272434142
  std_jackknife: 0.10808202311784253
  std_reported: 0.10808202311784253
  status: unobservable
  reference_value: 90.0
  error_to_reference: 0.01986864937697297
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 3509.3624366465956
    detected: true
- name: pitch
  unit: deg
  value: -0.4596319188883416
  std_analytic: 0.001547845147606943
  std_jackknife: 0.01610014849574775
  std_reported: 0.01610014849574775
  status: estimated
  reference_value: 0.0
  error_to_reference: 0.4596052477689577
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 95378.60116827488
    detected: true
- name: yaw
  unit: deg
  value: 179.84287709341385
  std_analytic: 0.0024817858598284214
  std_jackknife: 0.01940018902096613
  std_reported: 0.01940018902096613
  status: estimated
  reference_value: 180.0
  error_to_reference: -0.15719922912872353
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 111111.68656424806
    detected: true
- name: x
  unit: m
  value: -0.49016906998694326
  std_analytic: 0.000403969392267732
  std_jackknife: 0.00719213087559426
  std_reported: 0.00719213087559426
  status: estimated
  reference_value: -0.5
  error_to_reference: 0.009830930013056738
  known_bad_control:
    amount: 0.05
    unit: m
    holdout_delta_chi2: 7175.629413856193
    detected: true
- name: y
  unit: m
  value: -0.02360529785986217
  std_analytic: 0.0006516257215105057
  std_jackknife: 0.006784319351843307
  std_reported: 0.006784319351843307
  status: estimated
  reference_value: 0.03
  error_to_reference: -0.053605297859862164
  known_bad_control:
    amount: 0.05
    unit: m
    holdout_delta_chi2: 3097.2741701863706
    detected: true
- name: z
  unit: m
  value: 0.04221231985116586
  std_analytic: 0.0003685182078384151
  std_jackknife: 0.008557599721469494
  std_reported: 0.008557599721469494
  status: estimated
  reference_value: -0.0049999999999999975
  error_to_reference: 0.047212319851165856
  known_bad_control:
    amount: 0.05
    unit: m
    holdout_delta_chi2: 13755.881593292579
    detected: true
residual_sigma_m: 0.08645307600426742
holdout_median_residual_m: 0.06084804504485128
reference_holdout_delta_chi2: 48900.55213825405
samples:
  reference_scans: 5795
  samples: 578
  train_samples: 388
  holdout_samples: 190
  train_correspondences: 197000
  holdout_correspondences: 95454
train_blocks:
- 0
- 2
- 3
- 5
- 6
- 8
- 9
- 11
- 12
- 14
- 15
- 17
- 18
- 20
- 21
- 23
- 24
- 26
- 27
- 29
- 30
- 32
- 33
- 35
- 36
- 38
- 39
- 41
- 42
- 44
- 45
- 47
- 48
- 50
- 51
- 53
- 54
- 56
- 57
holdout_blocks:
- 1
- 4
- 7
- 10
- 13
- 16
- 19
- 22
- 25
- 28
- 31
- 34
- 37
- 40
- 43
- 46
- 49
- 52
- 55
jackknife_fits: 8
options:
  sample_every_scans: 10
  map_half_window_scans: 5
  block_duration_s: 10.0
  holdout_every: 3
  jackknife_groups: 8
  rotation_control_deg: 1.0
  translation_control_m: 0.05
  detection_delta_chi2: 9.0
  observable_rotation_std_deg: 0.1
  observable_translation_std_m: 0.02
  voxel_size_m: 0.2
  max_correspondence_m: 0.5
  huber_m: 0.05
  iterations: 30
reference: inv(lidar_horz.yaml) @ lidar_vert.yaml
limitations:
- The reference LiDAR's odometry supplies the map; its drift over the map window adds
  noise to every sample.
- The clock offset between the two LiDARs is not estimated; both clouds are matched
  at their header times.
- The reference transform, if given, is a comparison, not ground truth.
provenance:
  generator: calibrex.evaluation.lidar_lidar_map
  generator_version: 0.4.1
  git_commit: bf809d7
  command:
  - calibrex
  - lidar-lidar
  - ros2
  - tnp_01_rosbag2
  - --reference-topic
  - /os1_cloud_node1/points
  - --target-topic
  - /os1_cloud_node2/points
  - --point-time-field
  - t
  - --body-transforms
  - tnp_01/lidar_horz.yaml
  - tnp_01/lidar_vert.yaml
  dataset_family: ntu_viral
  sequence_ids:
  - tnp_01_rosbag2
  reference_topic: /os1_cloud_node1/points
  target_topic: /os1_cloud_node2/points
  input_sha256: 7618b7869c81075e3af4a8a1021d118f0b09dec8fc9f00fdccb1882dd35178ee
  input_digest_scope: bag metadata.yaml in full; bag databases by size and first 64
    MiB
  dataset_license: CC BY-NC-SA 4.0
  created_at: '2026-09-30T15:30:29.101953+00:00'