schema_version: slac.config/v0.1 project: name: tum_rgbd_freiburg1_xyz_native_joint_slac description: Native pose/extrinsic/depth-scale/bias joint calibration on TUM fr1/xyz output_dir: outputs/tum_rgbd_freiburg1_xyz_native_joint_slac domain: robotics dataset: type: tum_rgbd path: C:\Users\rsasa\Workspace\Calibrex\data\public\rgbd_dataset_freiburg1_xyz time_base: sensor_time_sec sensors: rgbd0: type: camera model: tum_rgbd_registered_depth frame_id: rgbd0 intrinsics: estimate: false fx: 525.0 fy: 525.0 cx: 319.5 cy: 239.5 distortion_model: none frames: world: root: true trajectory_body: parent: world transform: estimate: false rgbd0: parent: trajectory_body transform: estimate: true initial: translation: - 0.0 - 0.0 - 0.0 rotation_quat_xyzw: - 0.0 - 0.0 - 0.0 - 1.0 pipeline: type: multi_sensor_slac frontends: - tum_depth_png - tum_groundtruth_trajectory factors: tum_rgbd_joint_point_to_plane: enabled: true options: frame_start_index: 180 frame_stride: 10 map_frame_count: 3 query_frame_count: 8 map_points_per_frame: 50000 query_points_per_frame: 20000 max_correspondences_per_frame: 4000 voxel_size_m: 0.1 correspondence_gate_m: 0.15 max_pose_time_delta_sec: 0.02 pose_prior_translation_sigma_m: 0.01 pose_prior_rotation_sigma_deg: 0.5 holdout_ratio: 0.25 huber_delta_m: 0.05 known_bad_translation_m: 0.03 known_bad_rotation_deg: 0.5 known_bad_depth_log_scale: 0.02 known_bad_depth_bias_m: 0.02 reference_translation_gate_m: 0.05 reference_rotation_gate_deg: 1.0 reference_depth_scale_error_gate_percent: 2.0 reference_depth_bias_gate_m: 0.03 replication_start_indices: - 60 - 180 - 300 cross_window_nondegradation_margin_m: 0.005 spatial_lattice_smoothness_sigma_m: 0.05 spatial_lattice_zero_mean_sigma_m: 0.0001 reassociation_max_outer_iterations: 2 reassociation_min_train_pair_jaccard: 0.99 reassociation_min_train_retained_fraction: 0.95 reassociation_unmatched_residual_penalty_m: 0.15 xyz_lattice_shape_sigma_m: 0.05 xyz_lattice_translation_gauge_sigma_m: 0.0001 xyz_lattice_rotation_gauge_sigma_rad: 0.0001 xyz_lattice_local_rotation_updates: 1 xyz_pair_max_correspondences_per_pair: 60 xyz_pair_stride: 1 solver: backend: native_tum_joint_slac max_iterations: 20 robust_loss: huber convergence_tolerance: 1.0e-06 seed: 23 evaluation: holdout_ratio: 0.25 metrics: - tum_joint_point_to_plane_rmse_m - tum_joint_augmented_information_rank - tum_joint_train_factor_family_count - tum_joint_train_max_family_information_fraction - tum_joint_schur_solver_used - tum_joint_schur_eliminated_dimension - tum_joint_schur_retained_dimension - tum_joint_schur_step_count - tum_joint_schur_linear_residual_inf - tum_joint_schur_complement_condition_number - tum_joint_data_only_extrinsic_rank - tum_joint_data_only_extrinsic_condition_number - tum_joint_data_only_shared_rank - tum_joint_data_only_shared_condition_number - tum_joint_depth_scale_reference_error_percent - tum_joint_depth_bias_reference_error_m - tum_joint_known_bad_detectable_fraction - tum_joint_identity_reference_translation_error_m - tum_joint_identity_reference_rotation_error_deg - tum_joint_replication_window_count - tum_joint_replication_converged_fraction - tum_joint_replication_reference_pass_fraction - tum_joint_replication_depth_scale_range_percent - tum_joint_replication_depth_bias_range_m - tum_joint_cross_window_max_holdout_delta_rmse_m - tum_joint_cross_window_nondegrading_fraction - tum_joint_spatial_ablation_converged_fraction - tum_joint_spatial_ablation_holdout_improved_fraction - tum_joint_spatial_ablation_worst_holdout_delta_rmse_m - tum_joint_spatial_lattice_max_abs_offset_m - tum_joint_spatial_constant_bias_range_m - tum_joint_spatial_known_bad_detectable_fraction_min - tum_joint_spatial_cross_window_max_holdout_delta_rmse_m - tum_joint_spatial_cross_window_nondegrading_fraction - tum_joint_xyz_ablation_window_count - tum_joint_xyz_ablation_converged_fraction - tum_joint_xyz_ablation_holdout_improved_fraction - tum_joint_xyz_ablation_worst_holdout_delta_rmse_m - tum_joint_xyz_data_only_field_rank_min - tum_joint_xyz_data_only_shared_rank_min - tum_joint_xyz_lattice_max_abs_offset_m - tum_joint_xyz_pair_holdout_improved_fraction - tum_joint_xyz_pair_data_only_field_rank_min - tum_joint_xyz_pair_known_bad_detectable_fraction_min - tum_joint_xyz_pair_reassociation_train_pair_jaccard_min - tum_joint_xyz_pair_reassociation_aware_probe_detectable_fraction_min - tum_joint_xyz_pair_reassociation_support_collapse_fraction_max - tum_joint_xyz_local_rotation_update_max_deg - tum_joint_xyz_known_bad_detectable_fraction_min - tum_joint_xyz_cross_window_max_holdout_delta_rmse_m - tum_joint_xyz_cross_window_nondegrading_fraction - tum_joint_reassociation_window_count - tum_joint_reassociation_converged_fraction - tum_joint_reassociation_train_pair_jaccard_min - tum_joint_reassociation_train_retained_query_fraction_min - tum_joint_reassociation_holdout_pair_jaccard_min - tum_joint_reassociation_holdout_rmse_delta_max_m - tum_joint_reassociation_outer_iterations_max - tum_joint_reassociation_known_bad_detectable_fraction_min - tum_joint_reassociation_aware_known_bad_detectable_fraction_min - tum_joint_reassociation_aware_probe_valid_fraction_min - tum_joint_reassociation_aware_support_collapse_fraction_max - tum_joint_reassociation_aware_pair_jaccard_min - tum_joint_reassociation_aware_baseline_retained_fraction_min - tum_joint_rematch_pair_jaccard_min - tum_joint_rematch_retained_query_fraction_min - tum_joint_rematch_same_target_fraction_min - tum_joint_rematch_best_holdout_delta_rmse_m - tum_joint_rematched_curvature_rank_min - tum_joint_rematched_negative_curvature_count_max - tum_joint_curvature_relative_hessian_difference_max - tum_joint_multistart_converged_fraction - tum_joint_multistart_basin_count - tum_joint_multistart_competitive_basin_count - tum_joint_multistart_ambiguity outputs: result: result.yaml report: report.html artifacts_dir: artifacts