{
  "kalman_baseline": {
    "rmse_m": 0.26210435405238264,
    "rejected": 0
  },
  "kalman_gated": {
    "rmse_m": 0.1776810247485372,
    "rejected": 2
  },
  "kalman_small_Q": {
    "rmse_m": 0.3927112546859182,
    "rejected": 4
  },
  "kalman_small_R": {
    "rmse_m": 11.250709277649616,
    "rejected": 237
  },
  "icp_good_init": {
    "inlier_rmse_m": 0.023372453806877965,
    "fitness": 1.0,
    "rotation_error_deg": 1.2584369446650743,
    "translation_error_m": 0.05479128022759662
  },
  "icp_bad_init": {
    "inlier_rmse_m": 0.1505858873657393,
    "fitness": 0.5392156862745098,
    "rotation_error_deg": 171.69905172990366,
    "translation_error_m": 2.5194742306078326
  },
  "icp_outliers_open": {
    "inlier_rmse_m": 1.11719399517583,
    "fitness": 1.0,
    "rotation_error_deg": 71.41171879928567,
    "translation_error_m": 2.656979387163232
  },
  "icp_outliers_gated": {
    "inlier_rmse_m": 0.023372453806877965,
    "fitness": 0.7727272727272727,
    "rotation_error_deg": 1.2584369446650743,
    "translation_error_m": 0.05479128022759662
  },
  "icp_symmetric_ring": {
    "inlier_rmse_m": 3.8118847525843657e-16,
    "fitness": 1.0,
    "rotation_error_deg": 90.0,
    "translation_error_m": 9.990563187536139e-17
  },
  "frequency_H2_no_governor": {
    "min_Hz": 47.50227970491389,
    "end_Hz": 47.50227970491389,
    "initial_rocof_Hz_s": -0.625
  },
  "frequency_H2_droop": {
    "min_Hz": 49.78609745097039,
    "end_Hz": 49.88095238095238,
    "initial_rocof_Hz_s": -0.625
  },
  "frequency_H5_no_governor": {
    "min_Hz": 47.65202515656305,
    "end_Hz": 47.65202515656305,
    "initial_rocof_Hz_s": -0.25
  },
  "frequency_H5_droop": {
    "min_Hz": 49.84624125458305,
    "end_Hz": 49.8809523809524,
    "initial_rocof_Hz_s": -0.25
  },
  "frequency_dt_check_max_Hz": 1.7930048556991096e-09,
  "aliasing_max_difference": 2.2370993946196904e-14,
  "transform": {
    "world_point_m": [
      1.0000000000000002,
      4.0
    ],
    "recovered_local_point_m": [
      2.0,
      -9.957992501029599e-17
    ]
  }
}
