{ "schema_version": "slac.benchmark_definition/v0.1", "benchmark_id": "glim-complete-continuous-time-compiled", "title": "Public GLIM Livox complete continuous-time refinement", "protocol": { "protocol_id": "glim-compiled-fresh-subprocess-v5", "dataset_id": "glim_versatile", "dataset_doi": "10.5281/zenodo.6864654", "dataset_source_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "data_license": "CC-BY-4.0 (AIST Zenodo record 6864654)", "split_policy": "Latest capture frames held out; repeats share the same accuracy fixture", "splits": [ { "split_id": "repeat-01", "seed": 0, "fit_count": 38400, "holdout_count": 9600, "fit_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925", "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe" }, { "split_id": "repeat-02", "seed": 0, "fit_count": 38400, "holdout_count": 9600, "fit_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925", "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe" }, { "split_id": "repeat-03", "seed": 0, "fit_count": 38400, "holdout_count": 9600, "fit_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925", "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe" }, { "split_id": "repeat-04", "seed": 0, "fit_count": 38400, "holdout_count": 9600, "fit_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925", "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe" }, { "split_id": "repeat-05", "seed": 0, "fit_count": 38400, "holdout_count": 9600, "fit_ids_sha256": "912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925", "holdout_ids_sha256": "3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe" } ], "initial_estimate_policy": "Same supplied public config, initial estimate and temporal split", "tuning_policy": "Reverse order every other repeat; child OMP_NUM_THREADS=1", "failure_policy": "Keep all timings and mismatches; no warmup or excluded outliers" }, "metrics": [ { "name": "pipeline_seconds", "label": "pipeline_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Full evaluation API including replay and provenance hashing" }, { "name": "solver_seconds", "label": "solver_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Complete clock profile and extrinsic solver call" }, { "name": "adaptive_query_seconds", "label": "adaptive_query_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Adaptive nearest-plane call time, including wrapper overhead" }, { "name": "adaptive_query_calls", "label": "adaptive_query_calls", "unit": "calls", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Actual adaptive nearest-plane calls in the complete run" }, { "name": "worker_import_seconds", "label": "worker_import_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Worker entry through imports, excluding interpreter startup" }, { "name": "uniform_normal_calculations", "label": "uniform_normal_calculations", "unit": "calls", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Actual uniform geometric fallback calls" }, { "name": "interpolated_pose_calculations", "label": "interpolated_pose_calculations", "unit": "calls", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "Interior odometry SE3 interpolation calls" }, { "name": "worker_cpu_seconds", "label": "worker_cpu_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": false, "interpretation": "All-thread process CPU from worker entry through saved-result hash; excludes interpreter startup and measurement JSON serialization" }, { "name": "subprocess_wall_seconds", "label": "subprocess_wall_seconds", "unit": "s", "display_scale": 1.0, "direction": "lower", "primary": true, "interpretation": "Fresh complete process wall, including artifact saves" }, { "name": "complete_result_matches", "label": "complete_result_matches", "unit": "bool", "display_scale": 1.0, "direction": "higher", "primary": false, "interpretation": "All artifact values except the exact kernel identity note" } ], "methods": [ { "method_id": "baseline", "label": "baseline", "implementation": "subprocess", "tool_name": "Calibrex", "tool_version": "0.5.1", "source_commit": "700a88d6827e9b33242d1a8fef3bb72c8f0c4090", "adapter_version": "continuous-time-compiled/v5" }, { "method_id": "sparse", "label": "sparse", "implementation": "subprocess", "tool_name": "Calibrex", "tool_version": "0.5.1", "source_commit": "e6bef54ee2ac7e57fb9de4f89c66dd8ac287559e", "adapter_version": "continuous-time-compiled/v5" } ], "trials": [ { "method_id": "baseline", "split_id": "repeat-01", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 1.0202677003107965, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 32.282976799993776, "solver_seconds": 29.841030600015074, "subprocess_wall_seconds": 35.18622909998521, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 35.953125, "worker_import_seconds": 2.169474799884483 }, "runtime_seconds": 35.18622909998521, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-packed-full-v2/baseline.repeat-01", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "5627b46c93a7688b3d1b5e6f3df8253615275ff87cd092c669dca34053a459a1", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt\", \"calibrex.data.livox\": \"/outputs/public-glim-packed-full-v2/baseline.livox.py.txt\", \"calibrex.data.odometry_track\": \"/outputs/public-glim-packed-full-v2/baseline.odometry_track.py.txt\", \"calibrex.evaluation.lidar\": \"/outputs/public-glim-packed-full-v2/baseline.lidar.py.txt\", \"calibrex.graph.lidar_point_to_plane\": \"/outputs/public-glim-packed-full-v2/baseline.lidar_point_to_plane.py.txt\", \"calibrex.pipelines.online\": \"/outputs/public-glim-packed-full-v2/baseline.online.py.txt\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/outputs/public-glim-packed-full-v2/baseline.continuous_time_lidar_pair_solver.py.txt\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/outputs/public-glim-packed-full-v2/baseline.fixed_trajectory_se3_solver.py.txt\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/outputs/public-glim-packed-full-v2/baseline.numba_continuous_time_adapter.py.txt\", \"calibrex.solvers.robust_lidar_observations\": \"/outputs/public-glim-packed-full-v2/baseline.robust_lidar_observations.py.txt\"}, \"loaded_module\": \"/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt\", \"numba_cache_after\": {\"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.1.nbc\": \"a33b98ba9164b546d422e9168b8e1a6fddacbb8897539b8c0e2240cbabd0f270\", \"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.nbi\": \"5750de3859b2905b2677a1aebbcb1e7b19314ba9ae823581f06180fe7afbef0b\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a1f7bf06b9336a0d5ed9b7115d5571679ff7c7126a7cd59b82324363addcc839\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"fe8ddf1b394c9d8eea26d6bde4c055abc4199512b1307fe74f82900575aad33d\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"60c451b7934224d4318e91906a7cd98b5fa279d39a7f0343e873e86c54dff76f\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"baa4c889c2129e5459bd46b97275543391fa78f441779741bbffa8cf4ba9bbca\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"785a318ae374d3a692129516f30dc94f6d42e69c1290bcb3db75da7905707f03\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"24ebffd5964d282da48a094a81cd6972825100244b895f180e97a1b16fc796fe\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"29d4d6ea86a079428300ebf3527d840b9c10e48cc301c3ba1f73a5ad7b521f2e\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"df8588e44bfc613a807e78767200fc14175047130ff383c03aaac3805f4978b3\"}, \"numba_cache_before\": {}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 1, \"result_sha256\": \"f66e58e35897ee97276fd251ff1103368948e99e553f68b79895e32d6ca9a064\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"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\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"e6bef54\",\"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.numba_continuous_time/v0.2;numba=0.65.1;fastmath=false;cache=true\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"e6bef54\",\"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\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "sparse", "split_id": "repeat-01", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 0.7981887999922037, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 18.86336700001266, "solver_seconds": 16.53857269999571, "subprocess_wall_seconds": 21.591042400104925, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 39.125, "worker_import_seconds": 2.0564144999952987 }, "runtime_seconds": 21.591042400104925, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-packed-full-v2/sparse.repeat-01", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "191e480455a2033c359b79a8d3703ecf935f8f9695b8062d1cf510995d3192dc", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"/src/calibrex/evaluation/lidar.py\", \"calibrex.graph.lidar_point_to_plane\": \"/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"d7c19ada717efa6d8c65578612e0b416006bdbe8de1378d6b359272ee204defe\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"b2e528c824ada5c60ae11918c171431c698179eaba9d8323daeeff11404b36f1\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"840a00a6e7e22025316cdb8aebb10189439ee545842c7a71b8811809d8ff5395\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"687d8dcffd1b9a082bfb94503d5e2af72af7720148f5d55432d8ff9a78531b23\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.1.nbc\": \"4445700510c8c43a00a1c14bf1d54ae64eb587f298be71639bb5d1b7de8d29c3\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.nbi\": \"fad7854e9e270d15b4f6e0b0027406a849a633baaca3684ece7f3aceb5ab26d6\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"fa1ff5cacce57bd3aa314e0b21c152d19c0d882aac737a381851875f5e280a89\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"a99975a29c53af28247b943abab87ea7a8cec715fcbbd25882c4391b3df0cd0d\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"4ec543ad49b9f74f50f645292472faf2a559545144e221cbf42e9005f4e6cf4b\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"abeda87f3737af00f6be5760bf8705f209d13da4614760b438dc2091cbba6ac2\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"8c1d78f06319624a7c61fd5033d90548e033abc8c98b94bb12ecd1518700c015\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"8206e54bc3f3a0e5b3c5ff429c6bb6c4a9f8b7526b3420db890811f520ced8ef\"}, \"numba_cache_before\": {}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 1, \"result_sha256\": \"9840ea45fa2c16d2063882e34691fb0d544dc989c8611f7619b8b093cb35e4fe\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"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\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"e6bef54\",\"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.numba_continuous_time/v0.4;numba=0.65.1;fastmath=false;cache=true\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"e6bef54\",\"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\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "sparse", "split_id": "repeat-02", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 0.8785962002584711, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 11.465553799993359, "solver_seconds": 9.066831299918704, "subprocess_wall_seconds": 13.7695451999316, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 31.796875, "worker_import_seconds": 1.792849799967371 }, "runtime_seconds": 13.7695451999316, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-packed-full-v2/sparse.repeat-02", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "191e480455a2033c359b79a8d3703ecf935f8f9695b8062d1cf510995d3192dc", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"/src/calibrex/evaluation/lidar.py\", \"calibrex.graph.lidar_point_to_plane\": \"/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"d7c19ada717efa6d8c65578612e0b416006bdbe8de1378d6b359272ee204defe\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"b2e528c824ada5c60ae11918c171431c698179eaba9d8323daeeff11404b36f1\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"840a00a6e7e22025316cdb8aebb10189439ee545842c7a71b8811809d8ff5395\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"687d8dcffd1b9a082bfb94503d5e2af72af7720148f5d55432d8ff9a78531b23\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.1.nbc\": \"4445700510c8c43a00a1c14bf1d54ae64eb587f298be71639bb5d1b7de8d29c3\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.nbi\": \"fad7854e9e270d15b4f6e0b0027406a849a633baaca3684ece7f3aceb5ab26d6\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"fa1ff5cacce57bd3aa314e0b21c152d19c0d882aac737a381851875f5e280a89\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"a99975a29c53af28247b943abab87ea7a8cec715fcbbd25882c4391b3df0cd0d\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"4ec543ad49b9f74f50f645292472faf2a559545144e221cbf42e9005f4e6cf4b\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"abeda87f3737af00f6be5760bf8705f209d13da4614760b438dc2091cbba6ac2\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"8c1d78f06319624a7c61fd5033d90548e033abc8c98b94bb12ecd1518700c015\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"8206e54bc3f3a0e5b3c5ff429c6bb6c4a9f8b7526b3420db890811f520ced8ef\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"d7c19ada717efa6d8c65578612e0b416006bdbe8de1378d6b359272ee204defe\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"b2e528c824ada5c60ae11918c171431c698179eaba9d8323daeeff11404b36f1\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"840a00a6e7e22025316cdb8aebb10189439ee545842c7a71b8811809d8ff5395\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"687d8dcffd1b9a082bfb94503d5e2af72af7720148f5d55432d8ff9a78531b23\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.1.nbc\": \"4445700510c8c43a00a1c14bf1d54ae64eb587f298be71639bb5d1b7de8d29c3\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.nbi\": \"fad7854e9e270d15b4f6e0b0027406a849a633baaca3684ece7f3aceb5ab26d6\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"fa1ff5cacce57bd3aa314e0b21c152d19c0d882aac737a381851875f5e280a89\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"a99975a29c53af28247b943abab87ea7a8cec715fcbbd25882c4391b3df0cd0d\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"4ec543ad49b9f74f50f645292472faf2a559545144e221cbf42e9005f4e6cf4b\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"abeda87f3737af00f6be5760bf8705f209d13da4614760b438dc2091cbba6ac2\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"8c1d78f06319624a7c61fd5033d90548e033abc8c98b94bb12ecd1518700c015\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"8206e54bc3f3a0e5b3c5ff429c6bb6c4a9f8b7526b3420db890811f520ced8ef\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 2, \"result_sha256\": \"9840ea45fa2c16d2063882e34691fb0d544dc989c8611f7619b8b093cb35e4fe\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"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\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"e6bef54\",\"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.numba_continuous_time/v0.4;numba=0.65.1;fastmath=false;cache=true\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"e6bef54\",\"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\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "baseline", "split_id": "repeat-02", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 0.8055447007063776, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 19.42465279996395, "solver_seconds": 17.151571099995635, "subprocess_wall_seconds": 21.834345999988727, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 22.828125, "worker_import_seconds": 1.8843614000361413 }, "runtime_seconds": 21.834345999988727, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-packed-full-v2/baseline.repeat-02", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "5627b46c93a7688b3d1b5e6f3df8253615275ff87cd092c669dca34053a459a1", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt\", \"calibrex.data.livox\": \"/outputs/public-glim-packed-full-v2/baseline.livox.py.txt\", \"calibrex.data.odometry_track\": \"/outputs/public-glim-packed-full-v2/baseline.odometry_track.py.txt\", \"calibrex.evaluation.lidar\": \"/outputs/public-glim-packed-full-v2/baseline.lidar.py.txt\", \"calibrex.graph.lidar_point_to_plane\": \"/outputs/public-glim-packed-full-v2/baseline.lidar_point_to_plane.py.txt\", \"calibrex.pipelines.online\": \"/outputs/public-glim-packed-full-v2/baseline.online.py.txt\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/outputs/public-glim-packed-full-v2/baseline.continuous_time_lidar_pair_solver.py.txt\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/outputs/public-glim-packed-full-v2/baseline.fixed_trajectory_se3_solver.py.txt\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/outputs/public-glim-packed-full-v2/baseline.numba_continuous_time_adapter.py.txt\", \"calibrex.solvers.robust_lidar_observations\": \"/outputs/public-glim-packed-full-v2/baseline.robust_lidar_observations.py.txt\"}, \"loaded_module\": \"/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt\", \"numba_cache_after\": {\"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.1.nbc\": \"a33b98ba9164b546d422e9168b8e1a6fddacbb8897539b8c0e2240cbabd0f270\", \"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.nbi\": \"5750de3859b2905b2677a1aebbcb1e7b19314ba9ae823581f06180fe7afbef0b\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a1f7bf06b9336a0d5ed9b7115d5571679ff7c7126a7cd59b82324363addcc839\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"fe8ddf1b394c9d8eea26d6bde4c055abc4199512b1307fe74f82900575aad33d\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"60c451b7934224d4318e91906a7cd98b5fa279d39a7f0343e873e86c54dff76f\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"baa4c889c2129e5459bd46b97275543391fa78f441779741bbffa8cf4ba9bbca\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"785a318ae374d3a692129516f30dc94f6d42e69c1290bcb3db75da7905707f03\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"24ebffd5964d282da48a094a81cd6972825100244b895f180e97a1b16fc796fe\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"29d4d6ea86a079428300ebf3527d840b9c10e48cc301c3ba1f73a5ad7b521f2e\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"df8588e44bfc613a807e78767200fc14175047130ff383c03aaac3805f4978b3\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.1.nbc\": \"a33b98ba9164b546d422e9168b8e1a6fddacbb8897539b8c0e2240cbabd0f270\", \"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.nbi\": \"5750de3859b2905b2677a1aebbcb1e7b19314ba9ae823581f06180fe7afbef0b\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a1f7bf06b9336a0d5ed9b7115d5571679ff7c7126a7cd59b82324363addcc839\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"fe8ddf1b394c9d8eea26d6bde4c055abc4199512b1307fe74f82900575aad33d\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"60c451b7934224d4318e91906a7cd98b5fa279d39a7f0343e873e86c54dff76f\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"baa4c889c2129e5459bd46b97275543391fa78f441779741bbffa8cf4ba9bbca\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"785a318ae374d3a692129516f30dc94f6d42e69c1290bcb3db75da7905707f03\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"24ebffd5964d282da48a094a81cd6972825100244b895f180e97a1b16fc796fe\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"29d4d6ea86a079428300ebf3527d840b9c10e48cc301c3ba1f73a5ad7b521f2e\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"df8588e44bfc613a807e78767200fc14175047130ff383c03aaac3805f4978b3\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 2, \"result_sha256\": \"f66e58e35897ee97276fd251ff1103368948e99e553f68b79895e32d6ca9a064\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"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\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"e6bef54\",\"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.numba_continuous_time/v0.2;numba=0.65.1;fastmath=false;cache=true\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"e6bef54\",\"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\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "baseline", "split_id": "repeat-03", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 0.8242826997302473, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 19.7491325000301, "solver_seconds": 17.50544030009769, "subprocess_wall_seconds": 22.084013300016522, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 23.015625, "worker_import_seconds": 1.7839474000502378 }, "runtime_seconds": 22.084013300016522, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-packed-full-v2/baseline.repeat-03", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "5627b46c93a7688b3d1b5e6f3df8253615275ff87cd092c669dca34053a459a1", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt\", \"calibrex.data.livox\": \"/outputs/public-glim-packed-full-v2/baseline.livox.py.txt\", \"calibrex.data.odometry_track\": \"/outputs/public-glim-packed-full-v2/baseline.odometry_track.py.txt\", \"calibrex.evaluation.lidar\": \"/outputs/public-glim-packed-full-v2/baseline.lidar.py.txt\", \"calibrex.graph.lidar_point_to_plane\": \"/outputs/public-glim-packed-full-v2/baseline.lidar_point_to_plane.py.txt\", \"calibrex.pipelines.online\": \"/outputs/public-glim-packed-full-v2/baseline.online.py.txt\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/outputs/public-glim-packed-full-v2/baseline.continuous_time_lidar_pair_solver.py.txt\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/outputs/public-glim-packed-full-v2/baseline.fixed_trajectory_se3_solver.py.txt\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/outputs/public-glim-packed-full-v2/baseline.numba_continuous_time_adapter.py.txt\", \"calibrex.solvers.robust_lidar_observations\": \"/outputs/public-glim-packed-full-v2/baseline.robust_lidar_observations.py.txt\"}, \"loaded_module\": \"/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt\", \"numba_cache_after\": {\"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.1.nbc\": \"a33b98ba9164b546d422e9168b8e1a6fddacbb8897539b8c0e2240cbabd0f270\", \"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.nbi\": \"5750de3859b2905b2677a1aebbcb1e7b19314ba9ae823581f06180fe7afbef0b\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a1f7bf06b9336a0d5ed9b7115d5571679ff7c7126a7cd59b82324363addcc839\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"fe8ddf1b394c9d8eea26d6bde4c055abc4199512b1307fe74f82900575aad33d\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"60c451b7934224d4318e91906a7cd98b5fa279d39a7f0343e873e86c54dff76f\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"baa4c889c2129e5459bd46b97275543391fa78f441779741bbffa8cf4ba9bbca\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"785a318ae374d3a692129516f30dc94f6d42e69c1290bcb3db75da7905707f03\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"24ebffd5964d282da48a094a81cd6972825100244b895f180e97a1b16fc796fe\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"29d4d6ea86a079428300ebf3527d840b9c10e48cc301c3ba1f73a5ad7b521f2e\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"df8588e44bfc613a807e78767200fc14175047130ff383c03aaac3805f4978b3\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.1.nbc\": \"a33b98ba9164b546d422e9168b8e1a6fddacbb8897539b8c0e2240cbabd0f270\", \"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.nbi\": \"5750de3859b2905b2677a1aebbcb1e7b19314ba9ae823581f06180fe7afbef0b\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a1f7bf06b9336a0d5ed9b7115d5571679ff7c7126a7cd59b82324363addcc839\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"fe8ddf1b394c9d8eea26d6bde4c055abc4199512b1307fe74f82900575aad33d\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"60c451b7934224d4318e91906a7cd98b5fa279d39a7f0343e873e86c54dff76f\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"baa4c889c2129e5459bd46b97275543391fa78f441779741bbffa8cf4ba9bbca\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"785a318ae374d3a692129516f30dc94f6d42e69c1290bcb3db75da7905707f03\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"24ebffd5964d282da48a094a81cd6972825100244b895f180e97a1b16fc796fe\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"29d4d6ea86a079428300ebf3527d840b9c10e48cc301c3ba1f73a5ad7b521f2e\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"df8588e44bfc613a807e78767200fc14175047130ff383c03aaac3805f4978b3\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 3, \"result_sha256\": \"f66e58e35897ee97276fd251ff1103368948e99e553f68b79895e32d6ca9a064\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"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\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"e6bef54\",\"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.numba_continuous_time/v0.2;numba=0.65.1;fastmath=false;cache=true\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"e6bef54\",\"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\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "sparse", "split_id": "repeat-03", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 0.9190268004313111, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 10.752612799988128, "solver_seconds": 8.625499900081195, "subprocess_wall_seconds": 13.056301000062376, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 29.96875, "worker_import_seconds": 1.7856697998940945 }, "runtime_seconds": 13.056301000062376, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-packed-full-v2/sparse.repeat-03", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "191e480455a2033c359b79a8d3703ecf935f8f9695b8062d1cf510995d3192dc", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"/src/calibrex/evaluation/lidar.py\", \"calibrex.graph.lidar_point_to_plane\": \"/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"d7c19ada717efa6d8c65578612e0b416006bdbe8de1378d6b359272ee204defe\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"b2e528c824ada5c60ae11918c171431c698179eaba9d8323daeeff11404b36f1\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"840a00a6e7e22025316cdb8aebb10189439ee545842c7a71b8811809d8ff5395\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"687d8dcffd1b9a082bfb94503d5e2af72af7720148f5d55432d8ff9a78531b23\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.1.nbc\": \"4445700510c8c43a00a1c14bf1d54ae64eb587f298be71639bb5d1b7de8d29c3\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.nbi\": \"fad7854e9e270d15b4f6e0b0027406a849a633baaca3684ece7f3aceb5ab26d6\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"fa1ff5cacce57bd3aa314e0b21c152d19c0d882aac737a381851875f5e280a89\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"a99975a29c53af28247b943abab87ea7a8cec715fcbbd25882c4391b3df0cd0d\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"4ec543ad49b9f74f50f645292472faf2a559545144e221cbf42e9005f4e6cf4b\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"abeda87f3737af00f6be5760bf8705f209d13da4614760b438dc2091cbba6ac2\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"8c1d78f06319624a7c61fd5033d90548e033abc8c98b94bb12ecd1518700c015\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"8206e54bc3f3a0e5b3c5ff429c6bb6c4a9f8b7526b3420db890811f520ced8ef\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"d7c19ada717efa6d8c65578612e0b416006bdbe8de1378d6b359272ee204defe\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"b2e528c824ada5c60ae11918c171431c698179eaba9d8323daeeff11404b36f1\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"840a00a6e7e22025316cdb8aebb10189439ee545842c7a71b8811809d8ff5395\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"687d8dcffd1b9a082bfb94503d5e2af72af7720148f5d55432d8ff9a78531b23\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.1.nbc\": \"4445700510c8c43a00a1c14bf1d54ae64eb587f298be71639bb5d1b7de8d29c3\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.nbi\": \"fad7854e9e270d15b4f6e0b0027406a849a633baaca3684ece7f3aceb5ab26d6\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"fa1ff5cacce57bd3aa314e0b21c152d19c0d882aac737a381851875f5e280a89\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"a99975a29c53af28247b943abab87ea7a8cec715fcbbd25882c4391b3df0cd0d\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"4ec543ad49b9f74f50f645292472faf2a559545144e221cbf42e9005f4e6cf4b\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"abeda87f3737af00f6be5760bf8705f209d13da4614760b438dc2091cbba6ac2\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"8c1d78f06319624a7c61fd5033d90548e033abc8c98b94bb12ecd1518700c015\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"8206e54bc3f3a0e5b3c5ff429c6bb6c4a9f8b7526b3420db890811f520ced8ef\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 3, \"result_sha256\": \"9840ea45fa2c16d2063882e34691fb0d544dc989c8611f7619b8b093cb35e4fe\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"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\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"e6bef54\",\"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.numba_continuous_time/v0.4;numba=0.65.1;fastmath=false;cache=true\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"e6bef54\",\"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\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "sparse", "split_id": "repeat-04", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 0.8439755995059386, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 10.592473300057463, "solver_seconds": 8.390689700026996, "subprocess_wall_seconds": 12.971307899919339, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 29.734375, "worker_import_seconds": 1.8680178000358865 }, "runtime_seconds": 12.971307899919339, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-packed-full-v2/sparse.repeat-04", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "191e480455a2033c359b79a8d3703ecf935f8f9695b8062d1cf510995d3192dc", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"/src/calibrex/evaluation/lidar.py\", \"calibrex.graph.lidar_point_to_plane\": \"/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"d7c19ada717efa6d8c65578612e0b416006bdbe8de1378d6b359272ee204defe\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"b2e528c824ada5c60ae11918c171431c698179eaba9d8323daeeff11404b36f1\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"840a00a6e7e22025316cdb8aebb10189439ee545842c7a71b8811809d8ff5395\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"687d8dcffd1b9a082bfb94503d5e2af72af7720148f5d55432d8ff9a78531b23\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.1.nbc\": \"4445700510c8c43a00a1c14bf1d54ae64eb587f298be71639bb5d1b7de8d29c3\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.nbi\": \"fad7854e9e270d15b4f6e0b0027406a849a633baaca3684ece7f3aceb5ab26d6\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"fa1ff5cacce57bd3aa314e0b21c152d19c0d882aac737a381851875f5e280a89\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"a99975a29c53af28247b943abab87ea7a8cec715fcbbd25882c4391b3df0cd0d\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"4ec543ad49b9f74f50f645292472faf2a559545144e221cbf42e9005f4e6cf4b\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"abeda87f3737af00f6be5760bf8705f209d13da4614760b438dc2091cbba6ac2\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"8c1d78f06319624a7c61fd5033d90548e033abc8c98b94bb12ecd1518700c015\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"8206e54bc3f3a0e5b3c5ff429c6bb6c4a9f8b7526b3420db890811f520ced8ef\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"d7c19ada717efa6d8c65578612e0b416006bdbe8de1378d6b359272ee204defe\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"b2e528c824ada5c60ae11918c171431c698179eaba9d8323daeeff11404b36f1\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"840a00a6e7e22025316cdb8aebb10189439ee545842c7a71b8811809d8ff5395\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"687d8dcffd1b9a082bfb94503d5e2af72af7720148f5d55432d8ff9a78531b23\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.1.nbc\": \"4445700510c8c43a00a1c14bf1d54ae64eb587f298be71639bb5d1b7de8d29c3\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.nbi\": \"fad7854e9e270d15b4f6e0b0027406a849a633baaca3684ece7f3aceb5ab26d6\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"fa1ff5cacce57bd3aa314e0b21c152d19c0d882aac737a381851875f5e280a89\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"a99975a29c53af28247b943abab87ea7a8cec715fcbbd25882c4391b3df0cd0d\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"4ec543ad49b9f74f50f645292472faf2a559545144e221cbf42e9005f4e6cf4b\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"abeda87f3737af00f6be5760bf8705f209d13da4614760b438dc2091cbba6ac2\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"8c1d78f06319624a7c61fd5033d90548e033abc8c98b94bb12ecd1518700c015\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"8206e54bc3f3a0e5b3c5ff429c6bb6c4a9f8b7526b3420db890811f520ced8ef\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 4, \"result_sha256\": \"9840ea45fa2c16d2063882e34691fb0d544dc989c8611f7619b8b093cb35e4fe\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"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\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"e6bef54\",\"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.numba_continuous_time/v0.4;numba=0.65.1;fastmath=false;cache=true\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"e6bef54\",\"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\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "baseline", "split_id": "repeat-04", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 0.8223817991092801, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 19.62136970006395, "solver_seconds": 17.425504600047134, "subprocess_wall_seconds": 21.961949400021695, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 22.640625, "worker_import_seconds": 1.8217592000728473 }, "runtime_seconds": 21.961949400021695, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-packed-full-v2/baseline.repeat-04", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "5627b46c93a7688b3d1b5e6f3df8253615275ff87cd092c669dca34053a459a1", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt\", \"calibrex.data.livox\": \"/outputs/public-glim-packed-full-v2/baseline.livox.py.txt\", \"calibrex.data.odometry_track\": \"/outputs/public-glim-packed-full-v2/baseline.odometry_track.py.txt\", \"calibrex.evaluation.lidar\": \"/outputs/public-glim-packed-full-v2/baseline.lidar.py.txt\", \"calibrex.graph.lidar_point_to_plane\": \"/outputs/public-glim-packed-full-v2/baseline.lidar_point_to_plane.py.txt\", \"calibrex.pipelines.online\": \"/outputs/public-glim-packed-full-v2/baseline.online.py.txt\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/outputs/public-glim-packed-full-v2/baseline.continuous_time_lidar_pair_solver.py.txt\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/outputs/public-glim-packed-full-v2/baseline.fixed_trajectory_se3_solver.py.txt\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/outputs/public-glim-packed-full-v2/baseline.numba_continuous_time_adapter.py.txt\", \"calibrex.solvers.robust_lidar_observations\": \"/outputs/public-glim-packed-full-v2/baseline.robust_lidar_observations.py.txt\"}, \"loaded_module\": \"/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt\", \"numba_cache_after\": {\"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.1.nbc\": \"a33b98ba9164b546d422e9168b8e1a6fddacbb8897539b8c0e2240cbabd0f270\", \"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.nbi\": \"5750de3859b2905b2677a1aebbcb1e7b19314ba9ae823581f06180fe7afbef0b\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a1f7bf06b9336a0d5ed9b7115d5571679ff7c7126a7cd59b82324363addcc839\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"fe8ddf1b394c9d8eea26d6bde4c055abc4199512b1307fe74f82900575aad33d\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"60c451b7934224d4318e91906a7cd98b5fa279d39a7f0343e873e86c54dff76f\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"baa4c889c2129e5459bd46b97275543391fa78f441779741bbffa8cf4ba9bbca\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"785a318ae374d3a692129516f30dc94f6d42e69c1290bcb3db75da7905707f03\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"24ebffd5964d282da48a094a81cd6972825100244b895f180e97a1b16fc796fe\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"29d4d6ea86a079428300ebf3527d840b9c10e48cc301c3ba1f73a5ad7b521f2e\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"df8588e44bfc613a807e78767200fc14175047130ff383c03aaac3805f4978b3\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.1.nbc\": \"a33b98ba9164b546d422e9168b8e1a6fddacbb8897539b8c0e2240cbabd0f270\", \"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.nbi\": \"5750de3859b2905b2677a1aebbcb1e7b19314ba9ae823581f06180fe7afbef0b\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a1f7bf06b9336a0d5ed9b7115d5571679ff7c7126a7cd59b82324363addcc839\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"fe8ddf1b394c9d8eea26d6bde4c055abc4199512b1307fe74f82900575aad33d\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"60c451b7934224d4318e91906a7cd98b5fa279d39a7f0343e873e86c54dff76f\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"baa4c889c2129e5459bd46b97275543391fa78f441779741bbffa8cf4ba9bbca\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"785a318ae374d3a692129516f30dc94f6d42e69c1290bcb3db75da7905707f03\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"24ebffd5964d282da48a094a81cd6972825100244b895f180e97a1b16fc796fe\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"29d4d6ea86a079428300ebf3527d840b9c10e48cc301c3ba1f73a5ad7b521f2e\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"df8588e44bfc613a807e78767200fc14175047130ff383c03aaac3805f4978b3\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"sparse\", \"baseline\"], \"repeat\": 4, \"result_sha256\": \"f66e58e35897ee97276fd251ff1103368948e99e553f68b79895e32d6ca9a064\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"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\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"e6bef54\",\"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.numba_continuous_time/v0.2;numba=0.65.1;fastmath=false;cache=true\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"e6bef54\",\"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\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "baseline", "split_id": "repeat-05", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 0.8299578997539356, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 19.354828499956056, "solver_seconds": 17.313052400015295, "subprocess_wall_seconds": 21.700668700039387, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 22.5, "worker_import_seconds": 1.777892900048755 }, "runtime_seconds": 21.700668700039387, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-packed-full-v2/baseline.repeat-05", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "5627b46c93a7688b3d1b5e6f3df8253615275ff87cd092c669dca34053a459a1", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt\", \"calibrex.data.livox\": \"/outputs/public-glim-packed-full-v2/baseline.livox.py.txt\", \"calibrex.data.odometry_track\": \"/outputs/public-glim-packed-full-v2/baseline.odometry_track.py.txt\", \"calibrex.evaluation.lidar\": \"/outputs/public-glim-packed-full-v2/baseline.lidar.py.txt\", \"calibrex.graph.lidar_point_to_plane\": \"/outputs/public-glim-packed-full-v2/baseline.lidar_point_to_plane.py.txt\", \"calibrex.pipelines.online\": \"/outputs/public-glim-packed-full-v2/baseline.online.py.txt\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/outputs/public-glim-packed-full-v2/baseline.continuous_time_lidar_pair_solver.py.txt\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/outputs/public-glim-packed-full-v2/baseline.fixed_trajectory_se3_solver.py.txt\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/outputs/public-glim-packed-full-v2/baseline.numba_continuous_time_adapter.py.txt\", \"calibrex.solvers.robust_lidar_observations\": \"/outputs/public-glim-packed-full-v2/baseline.robust_lidar_observations.py.txt\"}, \"loaded_module\": \"/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt\", \"numba_cache_after\": {\"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.1.nbc\": \"a33b98ba9164b546d422e9168b8e1a6fddacbb8897539b8c0e2240cbabd0f270\", \"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.nbi\": \"5750de3859b2905b2677a1aebbcb1e7b19314ba9ae823581f06180fe7afbef0b\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a1f7bf06b9336a0d5ed9b7115d5571679ff7c7126a7cd59b82324363addcc839\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"fe8ddf1b394c9d8eea26d6bde4c055abc4199512b1307fe74f82900575aad33d\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"60c451b7934224d4318e91906a7cd98b5fa279d39a7f0343e873e86c54dff76f\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"baa4c889c2129e5459bd46b97275543391fa78f441779741bbffa8cf4ba9bbca\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"785a318ae374d3a692129516f30dc94f6d42e69c1290bcb3db75da7905707f03\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"24ebffd5964d282da48a094a81cd6972825100244b895f180e97a1b16fc796fe\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"29d4d6ea86a079428300ebf3527d840b9c10e48cc301c3ba1f73a5ad7b521f2e\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"df8588e44bfc613a807e78767200fc14175047130ff383c03aaac3805f4978b3\"}, \"numba_cache_before\": {\"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.1.nbc\": \"a33b98ba9164b546d422e9168b8e1a6fddacbb8897539b8c0e2240cbabd0f270\", \"baseline.numba_continuous_time_adapter.py._jacobian_rows-210.py312.nbi\": \"5750de3859b2905b2677a1aebbcb1e7b19314ba9ae823581f06180fe7afbef0b\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.1.nbc\": \"a1f7bf06b9336a0d5ed9b7115d5571679ff7c7126a7cd59b82324363addcc839\", \"baseline.numba_continuous_time_adapter.py._normal_rows-230.py312.nbi\": \"fe8ddf1b394c9d8eea26d6bde4c055abc4199512b1307fe74f82900575aad33d\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.1.nbc\": \"60c451b7934224d4318e91906a7cd98b5fa279d39a7f0343e873e86c54dff76f\", \"baseline.numba_continuous_time_adapter.py._pose_world_rows-75.py312.nbi\": \"baa4c889c2129e5459bd46b97275543391fa78f441779741bbffa8cf4ba9bbca\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.1.nbc\": \"785a318ae374d3a692129516f30dc94f6d42e69c1290bcb3db75da7905707f03\", \"baseline.numba_continuous_time_adapter.py._residual_rows-155.py312.nbi\": \"24ebffd5964d282da48a094a81cd6972825100244b895f180e97a1b16fc796fe\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.1.nbc\": \"29d4d6ea86a079428300ebf3527d840b9c10e48cc301c3ba1f73a5ad7b521f2e\", \"baseline.numba_continuous_time_adapter.py._world_rows-181.py312.nbi\": \"df8588e44bfc613a807e78767200fc14175047130ff383c03aaac3805f4978b3\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 5, \"result_sha256\": \"f66e58e35897ee97276fd251ff1103368948e99e553f68b79895e32d6ca9a064\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"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\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"e6bef54\",\"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.numba_continuous_time/v0.2;numba=0.65.1;fastmath=false;cache=true\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"e6bef54\",\"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\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } }, { "method_id": "sparse", "split_id": "repeat-05", "status": "success", "metrics": { "adaptive_query_calls": 1248000.0, "adaptive_query_seconds": 0.8641403006622568, "complete_result_matches": 1.0, "interpolated_pose_calculations": 434232.0, "pipeline_seconds": 10.976445800042711, "solver_seconds": 8.808822700055316, "subprocess_wall_seconds": 13.339257800020278, "uniform_normal_calculations": 883.0, "worker_cpu_seconds": 30.84375, "worker_import_seconds": 1.8477781999390572 }, "runtime_seconds": 13.339257800020278, "provenance": { "command": " /tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir /outputs/public-glim-packed-full-v2/sparse.repeat-05", "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c", "output_sha256": "191e480455a2033c359b79a8d3703ecf935f8f9695b8062d1cf510995d3192dc", "execution_host": "Windows-11-10.0.26300-SP0", "notes": [ "{\"loaded_evaluation_modules\": {\"calibrex.data.adaptive_voxel\": \"/src/calibrex/data/adaptive_voxel.py\", \"calibrex.data.livox\": \"/src/calibrex/data/livox.py\", \"calibrex.data.odometry_track\": \"/src/calibrex/data/odometry_track.py\", \"calibrex.evaluation.lidar\": \"/src/calibrex/evaluation/lidar.py\", \"calibrex.graph.lidar_point_to_plane\": \"/src/calibrex/graph/lidar_point_to_plane.py\", \"calibrex.pipelines.online\": \"/src/calibrex/pipelines/online.py\", \"calibrex.solvers.continuous_time_lidar_pair_solver\": \"/src/calibrex/solvers/continuous_time_lidar_pair_solver.py\", \"calibrex.solvers.fixed_trajectory_se3_solver\": \"/src/calibrex/solvers/fixed_trajectory_se3_solver.py\", \"calibrex.solvers.numba_continuous_time_adapter\": \"/src/calibrex/solvers/numba_continuous_time_adapter.py\", \"calibrex.solvers.robust_lidar_observations\": \"/src/calibrex/solvers/robust_lidar_observations.py\"}, \"loaded_module\": \"/src/calibrex/data/adaptive_voxel.py\", \"numba_cache_after\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"d7c19ada717efa6d8c65578612e0b416006bdbe8de1378d6b359272ee204defe\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"b2e528c824ada5c60ae11918c171431c698179eaba9d8323daeeff11404b36f1\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"840a00a6e7e22025316cdb8aebb10189439ee545842c7a71b8811809d8ff5395\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"687d8dcffd1b9a082bfb94503d5e2af72af7720148f5d55432d8ff9a78531b23\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.1.nbc\": \"4445700510c8c43a00a1c14bf1d54ae64eb587f298be71639bb5d1b7de8d29c3\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.nbi\": \"fad7854e9e270d15b4f6e0b0027406a849a633baaca3684ece7f3aceb5ab26d6\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"fa1ff5cacce57bd3aa314e0b21c152d19c0d882aac737a381851875f5e280a89\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"a99975a29c53af28247b943abab87ea7a8cec715fcbbd25882c4391b3df0cd0d\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"4ec543ad49b9f74f50f645292472faf2a559545144e221cbf42e9005f4e6cf4b\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"abeda87f3737af00f6be5760bf8705f209d13da4614760b438dc2091cbba6ac2\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"8c1d78f06319624a7c61fd5033d90548e033abc8c98b94bb12ecd1518700c015\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"8206e54bc3f3a0e5b3c5ff429c6bb6c4a9f8b7526b3420db890811f520ced8ef\"}, \"numba_cache_before\": {\"numba_continuous_time_adapter._normal_rows-230.py312.1.nbc\": \"d7c19ada717efa6d8c65578612e0b416006bdbe8de1378d6b359272ee204defe\", \"numba_continuous_time_adapter._normal_rows-230.py312.nbi\": \"b2e528c824ada5c60ae11918c171431c698179eaba9d8323daeeff11404b36f1\", \"numba_continuous_time_adapter._one_residual-250.py312.1.nbc\": \"840a00a6e7e22025316cdb8aebb10189439ee545842c7a71b8811809d8ff5395\", \"numba_continuous_time_adapter._one_residual-250.py312.nbi\": \"687d8dcffd1b9a082bfb94503d5e2af72af7720148f5d55432d8ff9a78531b23\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.1.nbc\": \"4445700510c8c43a00a1c14bf1d54ae64eb587f298be71639bb5d1b7de8d29c3\", \"numba_continuous_time_adapter._parallel_jacobian_rows-266.py312.nbi\": \"fad7854e9e270d15b4f6e0b0027406a849a633baaca3684ece7f3aceb5ab26d6\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.1.nbc\": \"fa1ff5cacce57bd3aa314e0b21c152d19c0d882aac737a381851875f5e280a89\", \"numba_continuous_time_adapter._pose_world_rows-75.py312.nbi\": \"a99975a29c53af28247b943abab87ea7a8cec715fcbbd25882c4391b3df0cd0d\", \"numba_continuous_time_adapter._residual_rows-155.py312.1.nbc\": \"4ec543ad49b9f74f50f645292472faf2a559545144e221cbf42e9005f4e6cf4b\", \"numba_continuous_time_adapter._residual_rows-155.py312.nbi\": \"abeda87f3737af00f6be5760bf8705f209d13da4614760b438dc2091cbba6ac2\", \"numba_continuous_time_adapter._world_rows-181.py312.1.nbc\": \"8c1d78f06319624a7c61fd5033d90548e033abc8c98b94bb12ecd1518700c015\", \"numba_continuous_time_adapter._world_rows-181.py312.nbi\": \"8206e54bc3f3a0e5b3c5ff429c6bb6c4a9f8b7526b3420db890811f520ced8ef\"}, \"numba_cache_policy\": \"persistent\", \"order\": [\"baseline\", \"sparse\"], \"repeat\": 5, \"result_sha256\": \"9840ea45fa2c16d2063882e34691fb0d544dc989c8611f7619b8b093cb35e4fe\", \"sampled_split\": {\"holdout_count\": 9600, \"holdout_ids_sha256\": \"3e5f3f6ad7ac01170ac3a56001ace2dfaa596f5e9b655c9119d5f00364a64cfe\", \"train_count\": 38400, \"train_ids_sha256\": \"912447b46ab6efb37ad4879711e2e3cb23910e1f121453ae50e4daecc7af9925\"}}", "{\"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\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"initial\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0,0.0,0.0,1.0],\"translation_m\":[0.0,0.0,0.0]},\"iterations\":[{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09394574316425691,0.09642451309816596,0.10151400178809798],\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"holdout_rmse_m\":0.09394574316425691,\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09127329963539012,0.09178825365604466,0.09545424576701399],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"holdout_rmse_m\":0.09178825365604466,\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085611576779115,0.09227857348297204,0.0950246975131892],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"holdout_rmse_m\":0.09227857348297204,\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.09085273107893962,0.0922435262766265,0.09455937685822291],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"holdout_rmse_m\":0.0922435262766265,\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0907265167115888,0.09217290095977056,0.09401545565144712],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"holdout_rmse_m\":0.09217290095977056,\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09054541242212061,0.09216154895445547,0.09414795093194908],\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_holdout_rmse_m\":[0.09152189776658831,0.09216154895445547,0.09278978079406719],\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"holdout_rmse_m\":0.09216154895445547,\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_holdout_rmse_m\":[0.0922906037408748,0.09216154895445547,0.09198663137418496],\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"holdout_rmse_m\":0.0922906037408748,\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_rmse_m\":0.050821727995281396}],\"observability\":{\"condition_number\":18.89070683391553,\"rank\":6,\"residual_count\":29181,\"weak_directions\":[]},\"odometry_topic\":\"/odom\",\"options\":{\"adaptive_max_voxel_size_m\":1.5,\"adaptive_min_points_per_voxel\":6,\"adaptive_min_voxel_size_m\":0.25,\"adaptive_range_exponent\":0.5,\"adaptive_range_reference_m\":10.0,\"adaptive_use_uniform_fallback\":true,\"correspondence_refinement_iterations\":1,\"fixed_extrinsic_max_iterations\":8,\"fixed_extrinsic_robust_loss\":\"huber\",\"holdout_start_fraction\":0.8,\"initial_time_offset_sec\":0.0,\"initial_time_step_sec\":0.02,\"max_abs_time_offset_sec\":0.2,\"max_iterations\":8,\"max_odometry_extrapolation_s\":0.25,\"max_source_records\":6000,\"min_correspondences\":6,\"minimum_time_step_sec\":0.005,\"outlier_mad_scale\":3.5,\"outlier_min_inlier_fraction\":0.25,\"outlier_min_threshold_m\":0.02,\"outlier_policy\":\"mad\",\"sampling_seed\":0,\"voxel_strategy\":\"adaptive\"},\"outlier_rejected_count\":6908,\"provenance\":{\"git_commit\":\"e6bef54\",\"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.numba_continuous_time/v0.4;numba=0.65.1;fastmath=false;cache=true\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"reason\":\"maximum time-profile iterations reached\",\"refined_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"algorithmically_refined\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained fixed\"],\"producer\":\"slac_native\",\"role_in_comparison\":\"output\",\"source\":\"calibrex.solvers.continuous_time_lidar_pair_solver\",\"tool_name\":\"continuous_time_lidar_pair_solver\"},\"quality\":{\"grade\":\"warn\",\"std_rotation_deg\":[],\"std_translation_m\":[]},\"rotation_quat_xyzw\":[0.0015939672814563777,0.0010636355733886337,-0.0016413832846795496,0.9999968168992267],\"translation_m\":[-0.006182575217564595,0.010091546303164226,-0.025982572953141138]},\"schema_version\":\"slac.continuous_time_lidar_pair_result/v0.1\",\"source_sensor\":\"livox_avia\",\"status\":\"max_iterations\",\"target_sensor\":\"livox_avia_copy\",\"time_offset_sign_convention\":\"positive offset evaluates target capture at odometry time t_capture + offset\",\"train_correspondence_count\":29181,\"train_diagnostics\":{\"final_residuals\":{\"count\":29181,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.03514888496730821,\"mean_m\":0.00018118579722093743,\"median_abs_m\":0.021084065306056853,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.1193742288421619,\"p99_abs_m\":0.14872473162829394,\"rmse_m\":0.050821727995281396},\"holdout_used_for_selection\":false,\"profile\":[{\"accepted\":true,\"candidate_offsets_sec\":[-0.02,0.0,0.02],\"candidate_train_rmse_m\":[0.05152604693130724,0.05305402630039482,0.05773121852507567],\"iteration\":1,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29239,\"train_outlier_rejected_count\":5920,\"train_rmse_m\":0.05152604693130724},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05182326280143999,0.050961876307943264,0.05298142628099149],\"iteration\":2,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29174,\"train_outlier_rejected_count\":5991,\"train_rmse_m\":0.050961876307943264},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051664541879618456,0.050865412065751216,0.053087589346890174],\"iteration\":3,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29170,\"train_outlier_rejected_count\":5992,\"train_rmse_m\":0.050865412065751216},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.05156119791300855,0.050848341699210826,0.05310408353950161],\"iteration\":4,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29165,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.050848341699210826},{\"accepted\":true,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.0515179224297033,0.050834944247588006,0.05309297106507748],\"iteration\":5,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29161,\"train_outlier_rejected_count\":5999,\"train_rmse_m\":0.050834944247588006},{\"accepted\":false,\"candidate_offsets_sec\":[-0.04,-0.02,0.0],\"candidate_train_rmse_m\":[0.051641852259135895,0.05085694311473306,0.05311163628701708],\"iteration\":6,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":false,\"candidate_offsets_sec\":[-0.03,-0.02,-0.01],\"candidate_train_rmse_m\":[0.05108417467040787,0.05085694311473306,0.051902926808629166],\"iteration\":7,\"selected_offset_sec\":-0.02,\"train_correspondence_count\":29166,\"train_outlier_rejected_count\":5995,\"train_rmse_m\":0.05085694311473306},{\"accepted\":true,\"candidate_offsets_sec\":[-0.025,-0.02,-0.015],\"candidate_train_rmse_m\":[0.050821727995281396,0.05085694311473306,0.05114460199662823],\"iteration\":8,\"selected_offset_sec\":-0.025,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_rmse_m\":0.050821727995281396}],\"provenance\":{\"git_commit\":\"e6bef54\",\"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\"],\"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\":{\"data/public/glim_versatile/livox_rosbag2_gt_restamped\":\"bf305b5e1b72d998c8d1871bb6fae346a4374897033e98da982f977b38693185\",\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\":\"c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3\"},\"tool_name\":\"calibrex\",\"tool_version\":\"0.5.1\"},\"range_bins\":[{\"correspondence_count\":15294,\"lower_bound_m\":0.0,\"residuals\":{\"count\":15294,\"max_m\":0.1572080128275702,\"mean_abs_m\":0.03217763952034386,\"mean_m\":-1.1651859179579598e-05,\"median_abs_m\":0.018198523489040816,\"min_m\":-0.1564239575835457,\"p95_abs_m\":0.11339975937589854,\"p99_abs_m\":0.14682085628303776,\"rmse_m\":0.047779596730375774},\"upper_bound_m\":5.0},{\"correspondence_count\":13008,\"lower_bound_m\":5.0,\"residuals\":{\"count\":13008,\"max_m\":0.15714940600991548,\"mean_abs_m\":0.038520290411274825,\"mean_m\":0.00037635474490748397,\"median_abs_m\":0.024760422646396503,\"min_m\":-0.15715254642853216,\"p95_abs_m\":0.125655327759826,\"p99_abs_m\":0.15022997923114784,\"rmse_m\":0.054150943032941816},\"upper_bound_m\":10.0},{\"correspondence_count\":879,\"lower_bound_m\":10.0,\"residuals\":{\"count\":879,\"max_m\":0.1572322040060798,\"mean_abs_m\":0.036954329621181926,\"mean_m\":0.0006481954052788555,\"median_abs_m\":0.025509085912835898,\"min_m\":-0.1504588007217171,\"p95_abs_m\":0.11592273361824426,\"p99_abs_m\":0.14709605062709005,\"rmse_m\":0.05128488069732722},\"upper_bound_m\":20.0},{\"correspondence_count\":0,\"lower_bound_m\":20.0,\"residuals\":{\"count\":0},\"upper_bound_m\":40.0},{\"correspondence_count\":0,\"lower_bound_m\":40.0,\"residuals\":{\"count\":0},\"upper_bound_m\":80.0},{\"correspondence_count\":0,\"lower_bound_m\":80.0,\"residuals\":{\"count\":0}}],\"sampled_source_record_count\":3000,\"schema_version\":\"slac.continuous_time_lidar_train_diagnostics/v0.1\",\"selected_time_offset_sec\":-0.025,\"selection_metric\":\"train_rmse_m\",\"train_candidate_correspondence_count\":35171,\"train_correspondence_count\":29181,\"train_outlier_rejected_count\":5990,\"train_outlier_rejection_rate\":0.1703107673935913,\"train_target_point_count\":38400},\"trajectory_model\":\"piecewise_se3_fixed_odometry\",\"variable\":\"T_livox_avia_livox_avia_copy\"}" ] } } ], "reference_method_id": "baseline", "bootstrap_samples": 1, "bootstrap_seed": 0, "limitations": [ "Single public sensor duplicated as an identity control; no absolute two-sensor accuracy claim.", "Fresh interpreters; no warmup or outlier exclusion; OS caches persist.", "Scope compiled substitutes 10 modules. All candidates, refinements, train/holdout budgets and writers are shared. Module filenames and source/input bytes are verified.", "Wall includes startup, imports, replay, optimization, diagnostics, input hashes, YAML output and worker measurement save; parent audits and CLI presentation are excluded.", "Phase timers wrap existing calls without extra work; their wrapper cost is included.", "Full saved/API artifacts and git revision are retained. Comparison normalizes path separators and excludes only the exact optional kernel identity note.", "Numba cache policy is recorded per trial, with compiled file hashes before/after. The first candidate uses an empty cache; all import/compile/load work is inside wall.", "Compiled scope gives each method its own persistent cache, initially empty.", "Worker CPU sums all worker threads from entry through the saved-result hash; interpreter startup and measurement JSON serialization are outside that diagnostic.", "Raw checksums and conversion lineage are verified before measurement.", "Split IDs hash ordered sampled target indices, capture timestamps and XYZ; the distinct temporal partitions and unchanged sampling caps are verified each run.", "Descriptive timings are local observations, not portable confidence estimates." ], "provenance": { "generator": "tools.benchmark_adaptive_plane_search", "generator_version": "v0.5", "generated_at": "2026-10-12T14:32:55.015999+00:00", "git_commit": "e6bef54", "command": " /tools/benchmark_adaptive_plane_search.py --baseline-scope compiled --baseline-commit 700a88d6827e9b33242d1a8fef3bb72c8f0c4090 --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --repetitions 5 --output-dir outputs/public-glim-packed-full-v2", "source_artifacts": { "/outputs/public-glim-packed-full-v2/baseline.adaptive_voxel.py.txt": "69968324b1423df2467d30cd4f842228b975fe1221b6107948b1e505b2672a34", "/outputs/public-glim-packed-full-v2/baseline.continuous_time_lidar_pair_solver.py.txt": "ea6c500fcc6964e46c7300f5201eb09a9de2ab3d644df8895f39e0b0eb1c224d", "/outputs/public-glim-packed-full-v2/baseline.fixed_trajectory_se3_solver.py.txt": "3231303433662c6bafdea3b4a4520842304f89226d6f29f95fe0398bd74f577e", "/outputs/public-glim-packed-full-v2/baseline.lidar.py.txt": "8e08c74cc5d6d11d96dae66c53a3e6b2c645bff28f7e0b56fc38567ec8cf4519", "/outputs/public-glim-packed-full-v2/baseline.lidar_point_to_plane.py.txt": "f25a68f5eea9bd91cd7d6bf080d1b433324109cdb26c9158dfeb7454b8e90e68", "/outputs/public-glim-packed-full-v2/baseline.livox.py.txt": "ce451bb490cfba1b4c8a85fcac92b1fc8856fc2ce1dd7f934f26fee5ef024005", "/outputs/public-glim-packed-full-v2/baseline.numba_continuous_time_adapter.py.txt": "dcb27061f637700ee55ad4ac6d417e7501afcb7ddb43b298d4f380299a8d0405", "/outputs/public-glim-packed-full-v2/baseline.odometry_track.py.txt": "660a735db57a92c164b9d20f470ba966f462cc83699e04856cc5f63092dab763", "/outputs/public-glim-packed-full-v2/baseline.online.py.txt": "fdf0f78525b75693c9c09011b1126e2439cbcb3f663e5c4b3fefbb404aebdb81", "/outputs/public-glim-packed-full-v2/baseline.robust_lidar_observations.py.txt": "53b147008752d5b559b1fe5b4ef6f91c11ebfa916ae20ec7380b1963c9fd904b", "data/public/glim_versatile/conversion-provenance.json": "7f51da99c1bdc0b2768229e6ff22809d5d0bb22e02dcc62dce2c3ce0dac2da56", "data/public/glim_versatile/gt.tar.gz": "4bfd871527d00065898153e77a6764ac331421aca16ff88bde778994f70f5bc9", "data/public/glim_versatile/gt/livox.txt": "bcc75ff7985f2e140e514c69f029153e0127a33ee7abc1b757e077386f5059ad", "data/public/glim_versatile/livox.bag": "f57a2e85339316d4235ab693ab2876aac5e113625c7f8b0f7873b62f92e09643", "data/public/glim_versatile/livox_rosbag2_gt_restamped/livox_rosbag2_gt_restamped.db3": "8d28f0a8ddda13b880e4648e9d687d4a566d40f70b87547f8798fe8a18cfde9e", "data/public/glim_versatile/livox_rosbag2_gt_restamped/metadata.yaml": "7542a3e1689e2007e9c15b8d163cddcbca4d87232dd92b7ecff48ba1e0f6645f", "examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3", "src/calibrex/core/continuous_time_lidar_artifacts.py": "96c051290b6b4f82f81fcc108b6ea4525b1497af064a3dedb8196e7dedd9d874", "src/calibrex/core/continuous_time_lidar_train_diagnostics.py": "f86b7e9d569b4ef61d85834df790207dbe2f424af17ec0f5df16b9f2aef6fcac", "src/calibrex/core/provenance.py": "eb7849f342892272ae136454da816852d080684b25c8ec55771582c1b8621f47", "src/calibrex/data/adaptive_voxel.py": "c676a4593cddd2f4c827d6e60534333764bf596fa409968cb9a8f170a1d17b87", "src/calibrex/data/livox.py": "0773a7e2fccb2d2faa23f9e90636a00355499af131ad671845edb2c8d33b1bfd", "src/calibrex/data/odometry_track.py": "1569e661470e902f2f08dde1bf2d0c41cc6540a24f59d9ee961e066d36653c91", "src/calibrex/evaluation/lidar.py": "2e4c7dda7f81eaa343096ccce57e1f160bc4418d395facfafc4bcbed4ffb16df", "src/calibrex/evaluation/packed_lidar_observations.py": "822720ec7ae4e6b2112e6aa2c4d81136ce4fdba237526292641b93da0300e453", "src/calibrex/graph/lidar_point_to_plane.py": "1cf91c6c9ef2aedf7ccbfa33835d592ee80c1ed6cb8f75736b345be984e968c1", "src/calibrex/pipelines/online.py": "69634642df94c09a16cc0bf82a2557559c030c81fe1446764a49e7b1084f6e64", "src/calibrex/solvers/continuous_time_lidar_pair_solver.py": "b2df6a42805a7bb2fe5d518f2a43d262fbe606bbcbb04e25e7f2e61a11b53882", "src/calibrex/solvers/fixed_trajectory_se3_solver.py": "f581fbb7e27509c9062f010878ff17efbece50c4fdb8c0b18a165898eb7706be", "src/calibrex/solvers/numba_continuous_time_adapter.py": "4e80b8a15e183b7c5c999b618ddea38f41bffd54ad8f220dff8dd2a3de41bfad", "src/calibrex/solvers/robust_lidar_observations.py": "ff398d558ec6f35eec497d6cdec80286b43ff4fd27a1e3b6a224d8e54098e240", "tools/benchmark_adaptive_plane_search.py": "73fcc22323f3a135d1f847c5d3a6e664055386088906ea5a9717ca52a17a394d", "tools/lidar_scan_deskew.py": "e36a870323f76256fb5b3f8b8364cb2edb4c06483b3ea0fe8a99bf2faa6f1ce0", "tools/rosbag1_to_rosbag2_online_pair.py": "9da3e080b62933d4d75f92c08bba91929fea401d99650e55f78bd3cdabfcc680" }, "data_verified": true } }