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Add LiDAR RTK hand-eye calibration workflow and results

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results/README.md
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# 标定结果索引
本目录保存本次双天线 RTK—3D LiDAR 手眼标定的可复现结果。坐标约定统一为：
```text
X = T_body_lidar
```
即外参将**原始 LiDAR 点**变换到以**后轮轴中心**为原点、X 前/Y 左/Z 上的车体系。
## 部署时只使用这一个文件
[`final_extrinsic_deployment.json`](final_extrinsic_deployment.json) 是唯一用于部署的外参文件：
```text
translation [m] = [ 1.297759692, -0.000067331, 0.720497835 ]
RPY xyz [deg] = [ -0.785151146, 1.202660822, -0.835510053 ]
```
## 顶层汇总文件
| 文件 | 用途 | 是否用于部署 |
|---|---|---|
| [`final_extrinsic_deployment.json`](final_extrinsic_deployment.json) | 精简、固定的最终外参；含平移、RPY、四元数和 4×4 矩阵。 | **是，唯一入口** |
| [`final_extrinsic_recommended.json`](final_extrinsic_recommended.json) | 同一算法外参的完整求解记录、残差、地面约束、条件数和 Bootstrap。 | 否；用于审计/复现。 |
| [`final_summary.json`](final_summary.json) | 共识结果的摘要。 | 否；用于查看指标。 |
| [`comparison_summary.json`](comparison_summary.json) | Open3D GICP、small_gicp 与共识解的对比。 | 否；用于方法对比。 |
`final_extrinsic_deployment.json` 与 `final_extrinsic_recommended.json` 的外参数值相同；前者只是删除了求解过程字段，供上游程序稳定读取。
## 子目录
| 目录 | 内容 | 用途 |
|---|---|---|
| [`common/`](common/) | 第二批每个静止站点拟合得到的地面平面。 | 地面约束检查。 |
| [`open3d_gicp/`](open3d_gicp/) | Open3D GICP 生成的 LiDAR 相对运动 B、质量指标、精筛记录和对应外参。 | 后端一的独立结果。 |
| [`small_gicp/`](small_gicp/) | small_gicp 生成的 LiDAR 相对运动 B、质量指标、精筛记录和对应外参。 | 后端二的独立结果。 |
| [`consensus/`](consensus/) | 两后端一致性筛选后的共识 B，共识外参和第一批辅助复核。 | 主要求解依据。 |
| [`diagnostics/`](diagnostics/) | 单运动对 roll/pitch/yaw 局部灵敏度扫描。 | 仅诊断，不可直接当外参。 |
## 如何识别 B 文件
每个 `.npz` 都是 LiDAR 相对运动集合 `B_ij = T_Li_Lj`，把第 j 个静止站点的点云变换到第 i 个站点 LiDAR 坐标系。它们不是车体—雷达外参，不能直接写入部署配置。
- `B_batch2_*`：第二批 38 站高频 RTK 数据，主要求解使用。
- `B_batch1_*`：第一批 38 站稀疏 RTK 数据，仅作辅助复核。
- `*_estimation.npz`：点云配准的初始候选集合。
- `*_refined.npz`：经过点云质量门限后的集合。
- `consensus/B_batch2_consensus.npz`：Open3D 与 small_gicp 对同一运动对的 B 差异不超过 `0.05 m / 0.50°` 后保留的 39 对；它是最终主求解输入。
同名的 `.quality.json/.csv` 记录配准质量，`.refinement.json` 记录精筛过程，`.consensus.json` 记录跨后端一致性筛选。它们都用于追溯，不用于部署。
## 结果使用边界
- 主结果由第二批数据求解；第一批只作为独立辅助检查，不参与主结果拟合。
- B 的筛选先于 X 的求解，并且不读取待求外参 X，不用 AX 残差反过来选择 B。
- 第二批共识集的 AX RMS 为 `0.07985 m / 0.96118°`；旋转残差约 1°，因此不是厘米级绝对精度认证。
- 当前 RTK 轨迹只有位置和 yaw，没有 roll/pitch。AX 残差对 Z 不可观；Z 必须结合地面约束和独立机械量测确认。
更多流程、运行命令和可视化说明见仓库根目录的 [`README.md`](../README.md)。
results/common/ground_planes_batch2.csv
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results/comparison_summary.json
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{
"recommended_backend": "open3d_gicp",
"selection_reason": "The two X estimates agree closely; Open3D has lower second-batch AX residual, better B loop closure, and lower first-batch auxiliary residual.",
"coordinate_convention": "T_body_lidar maps raw LiDAR points into rear-axle body frame",
"measured_extrinsic_used_as_initial": false,
"second_batch_role": "estimation (dense RTK)",
"first_batch_role": "auxiliary check only (sparse RTK)",
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},
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],
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],
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],
"initial_B_loop_closure": {
"count": 106,
"translation_rms_m": 0.020350848901853437,
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},
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},
"small_gicp": {
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],
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],
"estimation_pairs": 80,
"estimation_translation_rms_m": 0.11870623426762615,
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"bootstrap_std": [
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],
"initial_B_loop_closure": {
"count": 252,
"translation_rms_m": 0.06356464456110195,
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"rotation_rms_deg": 0.7286536542725655,
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},
"batch1_auxiliary_pairs": 36,
"batch1_auxiliary_translation_rms_m": 0.07402020402512643,
"batch1_auxiliary_rotation_rms_deg": 1.1492603033421918
},
"important_limit": "Backend agreement is strong, but AX rotation RMS remains about one degree. This is not a centimetre-grade absolute certification."
}
results/consensus/B_batch1_consensus.consensus.json
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{
"selection_is_X_independent": true,
"B_source": "Open3D; small_gicp is used only as an agreement gate",
"max_translation_m": 0.05,
"max_rotation_deg": 0.5,
"input_open3d_pairs": 41,
"accepted_pairs": 22,
"pairs": [
{
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results/consensus/B_batch1_consensus.npz
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results/consensus/B_batch2_consensus.npz
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results/consensus/batch1_auxiliary_check.json
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results/consensus/extrinsic_batch2_consensus.json
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results/diagnostics/consensus_pair0_left_rpy_scan.csv
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label,roll_correction_deg,pitch_correction_deg,yaw_correction_deg,selected_pair_translation_cm,selected_pair_rotation_deg,all_pair_translation_rms_m,all_pair_rotation_rms_deg,normalized_global_rms,normalized_global_rms_change,improved_pairs,worsened_pairs,global_consistency_signal,ground_normal_tilt_rms_deg,ground_height_rms_m
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pitch_+0.300_roll_-0.200,-0.2,0.3,0.0,12.752638042306833,0.4112074527490782,0.08073488194995813,1.0288692761236073,2.6156330810711834,0.11649174539423912,15,24,False,1.7135991876939975,0.03471396517121731
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pitch_+0.300_roll_+0.100,0.1,0.3,0.0,12.964919880829425,0.44535539842024163,0.07815149226179761,1.036676092226784,2.596507573236926,0.09736623755998153,18,21,False,1.6556931398905776,0.034713965171217304
yaw_-0.200_diagnostic,0.0,0.0,-0.2,13.607478813867315,0.5166365681634414,0.08024771376258277,0.961176171904301,2.5042597228312786,0.005118387154334325,18,21,False,1.6662748432297787,0.0347139651712173
yaw_+0.200_diagnostic,0.0,0.0,0.2,13.479715314434312,0.5166365681634427,0.08028135387591602,0.961176171904301,2.5046909681249,0.005549632447955588,13,26,False,1.6662748432297787,0.0347139651712173
1 label roll_correction_deg pitch_correction_deg yaw_correction_deg selected_pair_translation_cm selected_pair_rotation_deg all_pair_translation_rms_m all_pair_rotation_rms_deg normalized_global_rms normalized_global_rms_change improved_pairs worsened_pairs global_consistency_signal ground_normal_tilt_rms_deg ground_height_rms_m
2 baseline 0.0 0.0 0.0 13.53760421849012 0.5166365681634405 0.07984780651249465 0.961176171904301 2.4991413356769443 0.0 0 0 False 1.6662748432297785 0.03471396517121729
3 pitch_+0.100 0.0 0.1 0.0 13.322368374959654 0.4851311566747633 0.07937622701088871 0.9709178397492695 2.508178616440067 0.009037280763122713 17 22 False 1.661255702204205 0.03471396517121729
4 pitch_+0.200 0.0 0.2 0.0 13.107741962217032 0.45594025406310634 0.07905894857986535 0.991843015836615 2.536757223795175 0.03761588811823069 17 22 False 1.6622470214176333 0.03471396517121729
5 pitch_+0.300 0.0 0.3 0.0 12.89375489636804 0.4295360884271374 0.07889765995849754 1.0232658257505307 2.5842267894606974 0.0850854537837531 16 23 False 1.669238092496052 0.034713965171217276
6 pitch_+0.000_roll_-0.200 -0.2 0.0 0.0 13.395035432680281 0.501501180601739 0.08136434456273667 0.9671396098919116 2.5277457796497282 0.028604443972783944 12 27 False 1.7107124278398285 0.034713965171217304
7 pitch_+0.000_roll_-0.100 -0.1 0.0 0.0 13.466127879921094 0.5071126466746416 0.08054864611850543 0.958376027630505 2.503831503507573 0.004690167830628589 13 26 False 1.685676496509504 0.034713965171217304
8 pitch_+0.000_roll_+0.100 0.1 0.0 0.0 13.609457775458583 0.5298619890141043 0.07926481666577584 0.9754404878748625 2.5137822192795105 0.014640883602566213 23 16 False 1.652705907802981 0.034713965171217304
9 pitch_+0.100_roll_-0.200 -0.2 0.1 0.0 13.180263465884618 0.4689801268726104 0.08100204146829142 0.9768217811391146 2.5379628557651293 0.03882152008818496 14 25 False 1.7058242505297496 0.034713965171217304
10 pitch_+0.100_roll_-0.100 -0.1 0.1 0.0 13.251119920699841 0.47497594758710626 0.08013195956996022 0.9681458624297539 2.5134991588556583 0.014357823178714035 17 22 False 1.6807154082401394 0.03471396517121729
11 pitch_+0.100_roll_+0.100 0.1 0.1 0.0 13.394001942784334 0.4991919434350986 0.07873808044179886 0.9850410981186302 2.5221217227950565 0.022980387118112233 19 20 False 1.6476453039285432 0.0347139651712173
12 pitch_+0.200_roll_-0.200 -0.2 0.2 0.0 12.966120616418092 0.43871598020210434 0.08079188106279227 0.9976230703529106 2.567477045713792 0.0683357100368478 15 24 False 1.7067898021773054 0.034713965171217304
13 pitch_+0.200_roll_-0.100 -0.1 0.2 0.0 13.036731063691272 0.44511961856905025 0.07986863254178682 0.989129669887256 2.5426579402355864 0.04351660455864215 19 20 False 1.6816953294526065 0.03471396517121731
14 pitch_+0.200_roll_+0.100 0.1 0.2 0.0 13.179146202690733 0.4708734484159498 0.07836629319834118 1.0056724288764685 2.5499055866185576 0.0507642509416133 19 20 False 1.648644705864238 0.034713965171217304
15 pitch_+0.300_roll_-0.200 -0.2 0.3 0.0 12.752638042306833 0.4112074527490782 0.08073488194995813 1.0288692761236073 2.6156330810711834 0.11649174539423912 15 24 False 1.7135991876939975 0.03471396517121731
16 pitch_+0.300_roll_-0.100 -0.1 0.3 0.0 12.822991835578721 0.41803263983275235 0.07976001272785865 1.020636005744607 2.5906476559016074 0.0915063202246631 16 23 False 1.6886059172123598 0.0347139651712173
17 pitch_+0.300_roll_+0.100 0.1 0.3 0.0 12.964919880829425 0.44535539842024163 0.07815149226179761 1.036676092226784 2.596507573236926 0.09736623755998153 18 21 False 1.6556931398905776 0.034713965171217304
18 yaw_-0.200_diagnostic 0.0 0.0 -0.2 13.607478813867315 0.5166365681634414 0.08024771376258277 0.961176171904301 2.5042597228312786 0.005118387154334325 18 21 False 1.6662748432297787 0.0347139651712173
19 yaw_+0.200_diagnostic 0.0 0.0 0.2 13.479715314434312 0.5166365681634427 0.08028135387591602 0.961176171904301 2.5046909681249 0.005549632447955588 13 26 False 1.6662748432297787 0.0347139651712173
results/diagnostics/consensus_pair0_left_rpy_scan.json
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results/diagnostics/open3d_refined_pair0_left_rpy_scan.csv
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label,roll_correction_deg,pitch_correction_deg,yaw_correction_deg,selected_pair_translation_cm,selected_pair_rotation_deg,all_pair_translation_rms_m,all_pair_rotation_rms_deg,normalized_global_rms,normalized_global_rms_change,improved_pairs,worsened_pairs,global_consistency_signal,ground_normal_tilt_rms_deg,ground_height_rms_m
baseline,0.0,0.0,0.0,7.9716047501124,0.5471090190705759,0.10039155672864886,1.0152957563636194,2.855641391442648,0.0,0,0,False,1.6662748432297785,0.03471396517121729
pitch_+0.100,0.0,0.1,0.0,7.877722926634115,0.5242415332114175,0.10031155812336309,1.0345690614552345,2.8820645462820917,0.026423154839443797,27,39,False,1.661255702204205,0.03471396517121729
pitch_+0.200,0.0,0.2,0.0,7.783902534642328,0.5013877557627758,0.10034501725742666,1.0647782869175946,2.9262023505769332,0.07056095913428528,26,40,False,1.6622470214176333,0.03471396517121729
pitch_+0.300,0.0,0.3,0.0,7.69014529426882,0.4785497243321324,0.1004916878666913,1.1050268752403856,2.9872678674890754,0.1316264760464274,25,41,False,1.669238092496052,0.034713965171217276
pitch_+0.000_roll_-0.200,-0.2,0.0,0.0,7.822046878606513,0.5457706857344996,0.10257010426899679,1.0267538544989139,2.9026099336312234,0.04696854218857549,22,44,False,1.7107124278398285,0.034713965171217304
pitch_+0.000_roll_-0.100,-0.1,0.0,0.0,7.896797905766369,0.545955313109902,0.10143505999644054,1.0151691591975842,2.870174601960012,0.014533210517364115,25,41,False,1.685676496509504,0.034713965171217304
pitch_+0.000_roll_+0.100,0.1,0.0,0.0,8.046465471725153,0.5492256932471735,0.09944242267101946,1.0271293323765827,2.859282573021794,0.0036411815791459468,38,28,False,1.652705907802981,0.034713965171217304
pitch_+0.100_roll_-0.200,-0.2,0.1,0.0,7.728092854641688,0.5228446714705329,0.10256719458254226,1.0458160126880083,2.929664876976855,0.07402348553420701,24,42,False,1.7058242505297496,0.034713965171217304
pitch_+0.100_roll_-0.100,-0.1,0.1,0.0,7.802880223772661,0.5230373912267472,0.10139401948155134,1.0344448200154543,2.896999001946205,0.04135761050355713,31,35,False,1.6807154082401394,0.03471396517121729
pitch_+0.100_roll_+0.100,0.1,0.1,0.0,7.952619015892104,0.5264501536349752,0.09932272291285332,1.0461846579706375,2.885136161262053,0.029494769819405242,30,36,False,1.6476453039285432,0.0347139651712173
pitch_+0.200_roll_-0.200,-0.2,0.2,0.0,7.634199171873722,0.49992704876652105,0.10267526429269669,1.0757093910702569,2.9741363007059745,0.11849490926332651,27,39,False,1.7067898021773054,0.034713965171217304
pitch_+0.200_roll_-0.100,-0.1,0.2,0.0,7.709023440769963,0.5001285987059726,0.10146524807256484,1.0646575627535269,2.9414386837539155,0.08579729231126754,30,36,False,1.6816953294526065,0.03471396517121731
pitch_+0.200_roll_+0.100,0.1,0.2,0.0,7.8588344993060915,0.5036965847149959,0.09931755660454081,1.0760678191977628,2.928699135454269,0.07305774401162113,29,37,False,1.648644705864238,0.034713965171217304
pitch_+0.300_roll_-0.200,-0.2,0.3,0.0,7.540367539154748,0.47701910095086286,0.102893833307342,1.1155635852142416,3.035256961724302,0.17961557028165398,25,41,False,1.7135991876939975,0.03471396517121731
pitch_+0.300_roll_-0.100,-0.1,0.3,0.0,7.615229271779279,0.47723032409407057,0.10164837804314657,1.1049105360171487,3.0027098217989345,0.14706843035628658,25,41,False,1.6886059172123598,0.0347139651712173
pitch_+0.300_roll_+0.100,0.1,0.3,0.0,7.7651136462045685,0.48096817789925783,0.09942680753866891,1.1159092500059349,2.989195517179804,0.13355412573715597,28,38,False,1.6556931398905776,0.034713965171217304
yaw_-0.200_diagnostic,0.0,0.0,-0.2,7.9342751812671235,0.5471090190705757,0.10053142254152782,1.0152957563636194,2.8576089058597884,0.0019675144171404924,35,31,False,1.6662748432297787,0.0347139651712173
yaw_+0.200_diagnostic,0.0,0.0,0.2,8.012589151848083,0.547109019070576,0.10091495789660097,1.0152957563636194,2.8630112438600364,0.007369852417388412,18,48,False,1.6662748432297787,0.0347139651712173
1 label roll_correction_deg pitch_correction_deg yaw_correction_deg selected_pair_translation_cm selected_pair_rotation_deg all_pair_translation_rms_m all_pair_rotation_rms_deg normalized_global_rms normalized_global_rms_change improved_pairs worsened_pairs global_consistency_signal ground_normal_tilt_rms_deg ground_height_rms_m
2 baseline 0.0 0.0 0.0 7.9716047501124 0.5471090190705759 0.10039155672864886 1.0152957563636194 2.855641391442648 0.0 0 0 False 1.6662748432297785 0.03471396517121729
3 pitch_+0.100 0.0 0.1 0.0 7.877722926634115 0.5242415332114175 0.10031155812336309 1.0345690614552345 2.8820645462820917 0.026423154839443797 27 39 False 1.661255702204205 0.03471396517121729
4 pitch_+0.200 0.0 0.2 0.0 7.783902534642328 0.5013877557627758 0.10034501725742666 1.0647782869175946 2.9262023505769332 0.07056095913428528 26 40 False 1.6622470214176333 0.03471396517121729
5 pitch_+0.300 0.0 0.3 0.0 7.69014529426882 0.4785497243321324 0.1004916878666913 1.1050268752403856 2.9872678674890754 0.1316264760464274 25 41 False 1.669238092496052 0.034713965171217276
6 pitch_+0.000_roll_-0.200 -0.2 0.0 0.0 7.822046878606513 0.5457706857344996 0.10257010426899679 1.0267538544989139 2.9026099336312234 0.04696854218857549 22 44 False 1.7107124278398285 0.034713965171217304
7 pitch_+0.000_roll_-0.100 -0.1 0.0 0.0 7.896797905766369 0.545955313109902 0.10143505999644054 1.0151691591975842 2.870174601960012 0.014533210517364115 25 41 False 1.685676496509504 0.034713965171217304
8 pitch_+0.000_roll_+0.100 0.1 0.0 0.0 8.046465471725153 0.5492256932471735 0.09944242267101946 1.0271293323765827 2.859282573021794 0.0036411815791459468 38 28 False 1.652705907802981 0.034713965171217304
9 pitch_+0.100_roll_-0.200 -0.2 0.1 0.0 7.728092854641688 0.5228446714705329 0.10256719458254226 1.0458160126880083 2.929664876976855 0.07402348553420701 24 42 False 1.7058242505297496 0.034713965171217304
10 pitch_+0.100_roll_-0.100 -0.1 0.1 0.0 7.802880223772661 0.5230373912267472 0.10139401948155134 1.0344448200154543 2.896999001946205 0.04135761050355713 31 35 False 1.6807154082401394 0.03471396517121729
11 pitch_+0.100_roll_+0.100 0.1 0.1 0.0 7.952619015892104 0.5264501536349752 0.09932272291285332 1.0461846579706375 2.885136161262053 0.029494769819405242 30 36 False 1.6476453039285432 0.0347139651712173
12 pitch_+0.200_roll_-0.200 -0.2 0.2 0.0 7.634199171873722 0.49992704876652105 0.10267526429269669 1.0757093910702569 2.9741363007059745 0.11849490926332651 27 39 False 1.7067898021773054 0.034713965171217304
13 pitch_+0.200_roll_-0.100 -0.1 0.2 0.0 7.709023440769963 0.5001285987059726 0.10146524807256484 1.0646575627535269 2.9414386837539155 0.08579729231126754 30 36 False 1.6816953294526065 0.03471396517121731
14 pitch_+0.200_roll_+0.100 0.1 0.2 0.0 7.8588344993060915 0.5036965847149959 0.09931755660454081 1.0760678191977628 2.928699135454269 0.07305774401162113 29 37 False 1.648644705864238 0.034713965171217304
15 pitch_+0.300_roll_-0.200 -0.2 0.3 0.0 7.540367539154748 0.47701910095086286 0.102893833307342 1.1155635852142416 3.035256961724302 0.17961557028165398 25 41 False 1.7135991876939975 0.03471396517121731
16 pitch_+0.300_roll_-0.100 -0.1 0.3 0.0 7.615229271779279 0.47723032409407057 0.10164837804314657 1.1049105360171487 3.0027098217989345 0.14706843035628658 25 41 False 1.6886059172123598 0.0347139651712173
17 pitch_+0.300_roll_+0.100 0.1 0.3 0.0 7.7651136462045685 0.48096817789925783 0.09942680753866891 1.1159092500059349 2.989195517179804 0.13355412573715597 28 38 False 1.6556931398905776 0.034713965171217304
18 yaw_-0.200_diagnostic 0.0 0.0 -0.2 7.9342751812671235 0.5471090190705757 0.10053142254152782 1.0152957563636194 2.8576089058597884 0.0019675144171404924 35 31 False 1.6662748432297787 0.0347139651712173
19 yaw_+0.200_diagnostic 0.0 0.0 0.2 8.012589151848083 0.547109019070576 0.10091495789660097 1.0152957563636194 2.8630112438600364 0.007369852417388412 18 48 False 1.6662748432297787 0.0347139651712173
results/diagnostics/open3d_refined_pair0_left_rpy_scan.json
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results/diagnostics/small_gicp_refined_pair0_left_rpy_scan.csv
+19
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label,roll_correction_deg,pitch_correction_deg,yaw_correction_deg,selected_pair_translation_cm,selected_pair_rotation_deg,all_pair_translation_rms_m,all_pair_rotation_rms_deg,normalized_global_rms,normalized_global_rms_change,improved_pairs,worsened_pairs,global_consistency_signal,ground_normal_tilt_rms_deg,ground_height_rms_m
baseline,0.0,0.0,0.0,9.17040157943579,0.3948131792835417,0.11878243181951181,1.1425260172834293,3.296235617224735,0.0,0,0,False,1.6662748432297785,0.03471396517121729
pitch_+0.100,0.0,0.1,0.0,9.076928136371041,0.4171107485761563,0.11876672804528438,1.1650719587800913,3.3274291807303316,0.031193563505596433,37,43,False,1.661255702204205,0.03471396517121729
pitch_+0.200,0.0,0.2,0.0,8.983515248729091,0.4394867360130287,0.11886418170047355,1.2000618469690334,3.378175724075376,0.08194010685064068,33,47,False,1.6622470214176333,0.03471396517121729
pitch_+0.300,0.0,0.3,0.0,8.890164410286015,0.4619296835950138,0.11907438084482405,1.246448116042569,3.4476100262900324,0.1513744090652973,29,51,False,1.669238092496052,0.034713965171217276
pitch_+0.000_roll_-0.200,-0.2,0.0,0.0,9.01972941526644,0.4032977537513619,0.12043024872839399,1.1611526935950138,3.3458153318563415,0.049579714631606375,32,48,False,1.7107124278398285,0.034713965171217304
pitch_+0.000_roll_-0.100,-0.1,0.0,0.0,9.095041148790378,0.3984113441028921,0.1195670451553767,1.1451882592248208,3.3112438616237037,0.015008244398968529,36,44,False,1.685676496509504,0.034713965171217304
pitch_+0.000_roll_+0.100,0.1,0.0,0.0,9.245809148607497,0.39253869750368725,0.1180779565326178,1.153258101553409,3.3010571825949637,0.004821565370228598,39,41,False,1.652705907802981,0.034713965171217304
pitch_+0.100_roll_-0.200,-0.2,0.1,0.0,8.926223519858327,0.4251505609368216,0.12047176074785593,1.1833438511380916,3.3773641697603143,0.08112855253557916,35,45,False,1.7058242505297496,0.034713965171217304
pitch_+0.100_roll_-0.100,-0.1,0.1,0.0,9.001551548682645,0.4205181630564456,0.1195801596045202,1.1676828282839524,3.342708269995132,0.046472652770396916,34,46,False,1.6807154082401394,0.03471396517121729
pitch_+0.100_roll_+0.100,0.1,0.1,0.0,9.152351713867697,0.41495850563128295,0.11803306342745587,1.175598202053685,3.331793234208173,0.035557616983437956,33,47,False,1.6476453039285432,0.0347139651712173
pitch_+0.200_roll_-0.200,-0.2,0.2,0.0,8.832778133209484,0.4471243504044202,0.12062476910644687,1.2178088730560497,3.428172658132847,0.13193704090811176,30,50,False,1.7067898021773054,0.034713965171217304
pitch_+0.200_roll_-0.100,-0.1,0.2,0.0,8.908122483450981,0.44272195299870193,0.11970563817510238,1.2025967761770837,3.3936310861155006,0.09739546889076545,33,47,False,1.6816953294526065,0.03471396517121731
pitch_+0.200_roll_+0.100,0.1,0.2,0.0,9.058954849462527,0.4374446064319599,0.11810204126073977,1.2102837520093128,3.3820679918494174,0.0858323746246823,32,48,False,1.648644705864238,0.034713965171217304
pitch_+0.300_roll_-0.200,-0.2,0.3,0.0,8.739394768298625,0.469202063453847,0.1208887180452031,1.263543756747655,3.4973996284538247,0.20116401122908956,29,51,False,1.7135991876939975,0.03471396517121731
pitch_+0.300_roll_-0.100,-0.1,0.3,0.0,8.81475545648032,0.46500876133584307,0.11994299492844523,1.2488889095688314,3.4631521547194706,0.16691653749473545,30,50,False,1.6886059172123598,0.0347139651712173
pitch_+0.300_roll_+0.100,0.1,0.3,0.0,8.96562003954328,0.45998721539756443,0.11828455597352863,1.2562925755921872,3.4510257337050003,0.1547901164802652,29,51,False,1.6556931398905776,0.034713965171217304
yaw_-0.200_diagnostic,0.0,0.0,-0.2,9.118174501598277,0.39481317928354154,0.11873527555886121,1.142526017283429,3.295555956965929,-0.0006796602588061695,45,35,True,1.6662748432297787,0.0347139651712173
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1 label roll_correction_deg pitch_correction_deg yaw_correction_deg selected_pair_translation_cm selected_pair_rotation_deg all_pair_translation_rms_m all_pair_rotation_rms_deg normalized_global_rms normalized_global_rms_change improved_pairs worsened_pairs global_consistency_signal ground_normal_tilt_rms_deg ground_height_rms_m
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3 pitch_+0.100 0.0 0.1 0.0 9.076928136371041 0.4171107485761563 0.11876672804528438 1.1650719587800913 3.3274291807303316 0.031193563505596433 37 43 False 1.661255702204205 0.03471396517121729
4 pitch_+0.200 0.0 0.2 0.0 8.983515248729091 0.4394867360130287 0.11886418170047355 1.2000618469690334 3.378175724075376 0.08194010685064068 33 47 False 1.6622470214176333 0.03471396517121729
5 pitch_+0.300 0.0 0.3 0.0 8.890164410286015 0.4619296835950138 0.11907438084482405 1.246448116042569 3.4476100262900324 0.1513744090652973 29 51 False 1.669238092496052 0.034713965171217276
6 pitch_+0.000_roll_-0.200 -0.2 0.0 0.0 9.01972941526644 0.4032977537513619 0.12043024872839399 1.1611526935950138 3.3458153318563415 0.049579714631606375 32 48 False 1.7107124278398285 0.034713965171217304
7 pitch_+0.000_roll_-0.100 -0.1 0.0 0.0 9.095041148790378 0.3984113441028921 0.1195670451553767 1.1451882592248208 3.3112438616237037 0.015008244398968529 36 44 False 1.685676496509504 0.034713965171217304
8 pitch_+0.000_roll_+0.100 0.1 0.0 0.0 9.245809148607497 0.39253869750368725 0.1180779565326178 1.153258101553409 3.3010571825949637 0.004821565370228598 39 41 False 1.652705907802981 0.034713965171217304
9 pitch_+0.100_roll_-0.200 -0.2 0.1 0.0 8.926223519858327 0.4251505609368216 0.12047176074785593 1.1833438511380916 3.3773641697603143 0.08112855253557916 35 45 False 1.7058242505297496 0.034713965171217304
10 pitch_+0.100_roll_-0.100 -0.1 0.1 0.0 9.001551548682645 0.4205181630564456 0.1195801596045202 1.1676828282839524 3.342708269995132 0.046472652770396916 34 46 False 1.6807154082401394 0.03471396517121729
11 pitch_+0.100_roll_+0.100 0.1 0.1 0.0 9.152351713867697 0.41495850563128295 0.11803306342745587 1.175598202053685 3.331793234208173 0.035557616983437956 33 47 False 1.6476453039285432 0.0347139651712173
12 pitch_+0.200_roll_-0.200 -0.2 0.2 0.0 8.832778133209484 0.4471243504044202 0.12062476910644687 1.2178088730560497 3.428172658132847 0.13193704090811176 30 50 False 1.7067898021773054 0.034713965171217304
13 pitch_+0.200_roll_-0.100 -0.1 0.2 0.0 8.908122483450981 0.44272195299870193 0.11970563817510238 1.2025967761770837 3.3936310861155006 0.09739546889076545 33 47 False 1.6816953294526065 0.03471396517121731
14 pitch_+0.200_roll_+0.100 0.1 0.2 0.0 9.058954849462527 0.4374446064319599 0.11810204126073977 1.2102837520093128 3.3820679918494174 0.0858323746246823 32 48 False 1.648644705864238 0.034713965171217304
15 pitch_+0.300_roll_-0.200 -0.2 0.3 0.0 8.739394768298625 0.469202063453847 0.1208887180452031 1.263543756747655 3.4973996284538247 0.20116401122908956 29 51 False 1.7135991876939975 0.03471396517121731
16 pitch_+0.300_roll_-0.100 -0.1 0.3 0.0 8.81475545648032 0.46500876133584307 0.11994299492844523 1.2488889095688314 3.4631521547194706 0.16691653749473545 30 50 False 1.6886059172123598 0.0347139651712173
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19 yaw_+0.200_diagnostic 0.0 0.0 0.2 9.225647367504836 0.39481317928354204 0.1194719055604376 1.142526017283429 3.306187727273662 0.009952110048927043 27 53 False 1.6662748432297787 0.0347139651712173
results/diagnostics/small_gicp_refined_pair0_left_rpy_scan.json
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results/final_extrinsic_deployment.json
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results/final_extrinsic_recommended.json
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results/final_summary.json
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"warning": "AX rotation RMS remains about one degree; this is not centimetre-grade absolute certification."
}
results/open3d_gicp/B_batch1_auxiliary.npz
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results/open3d_gicp/B_batch1_auxiliary_refined.npz
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results/open3d_gicp/B_batch1_auxiliary_refined.refinement.json
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results/open3d_gicp/B_batch1_quality.csv
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i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
0,1,4.069460063439237,24.612641616688823,0.742135248947238,0.1176855237061111,6,4.407651482488117,0.013825313356667012,0.06962701621921227,1.0,True,
0,2,8.883155687691525,14.186041609026283,0.6152139070398225,0.12748244203393638,6,7.377377816318336,0.010848197501521375,0.23936253539883626,1.0,True,
0,3,5.800196618465403,50.885974946353855,0.7200942109830172,0.11742249635115339,6,5.031984522656203,0.010896220625647894,0.1047126090415015,1.0,True,
1,2,4.892046307546544,10.426600007662538,0.7419273778112828,0.11333156226718596,6,4.459403177706152,0.011700301190659394,0.07531112640817904,1.0,True,
1,3,1.7315947839093804,26.273333329665036,0.860897030953885,0.10772639754828932,6,3.19377614050938,0.0031419813068167823,0.07553165598013784,1.0,True,
1,4,1.6946255625760025,60.40345832959281,0.881875,0.10577894988132426,6,3.092963722704653,0.004385743087150129,0.11984963227966941,1.0,True,
2,3,3.2805755806518446,36.69993333732758,0.7933853118712274,0.10942029884827265,6,3.7004807304428255,0.008219359847113026,0.1277049389798412,1.0,True,
2,4,4.866335020594746,70.83005833725535,0.7129525942515864,0.11823277244188567,6,3.5207832348575936,0.003926646926802803,0.12676782091003777,1.0,True,
2,5,1.8274406190287722,30.448549979291712,0.7434186132740082,0.11591916677323456,6,3.2245913426430066,0.005762289421636631,0.0417195018069042,1.0,True,
3,4,1.75881263274858,34.13012499992777,0.8393594395095709,0.11198421236679276,6,2.9955796261301395,0.016040499501420776,0.10475252258183747,1.0,True,
3,5,2.1020200425132134,67.14848331661929,0.7942090219957748,0.1150960059583273,6,3.466731955810642,0.01716401750472473,0.19985666972488197,1.0,True,
3,6,5.791805311102367,61.163322289150074,0.6534504391468005,0.12221285442048085,6,4.065547866736895,0.010758157432153631,0.2541461196933768,1.0,True,
4,5,3.30592832159088,101.27860831654709,0.7519675356615839,0.11239744207499523,6,3.538427973689991,0.007054246334297592,0.24517862996973167,1.0,True,
4,6,6.453995240105232,95.29344728907782,0.6228429546865301,0.12861898753238143,6,5.239918976750594,0.01896562608787198,0.25933537698897335,1.0,True,
4,7,9.537609568572432,26.32130681988008,0.6193556570268899,0.13116150037214716,6,6.94052030016787,0.01746189088684816,0.36780633600082835,1.0,True,
5,6,3.7769167422851373,5.985161027469212,0.7384387717351092,0.11889495868628594,6,3.6057257786167156,0.00882639593332281,0.0737386250122742,1.0,True,
5,7,6.565348405821576,74.95730149666699,0.6792642983119174,0.11864042030155272,6,4.820407924638239,0.009720083307578809,0.20972540690307045,1.0,True,
5,8,6.3343271669452825,107.99940292217995,0.6467507736253273,0.12542317047495377,6,3.0799731272083655,0.01002585992591628,0.05691592874139322,1.0,True,
6,7,3.1558607172566147,68.97214046919777,0.7476148072764279,0.11288592031143596,6,3.5859463118826977,0.010814191328094169,0.0266481566439959,1.0,True,
6,8,3.3979014114419868,102.01424189471071,0.6804804804804805,0.11508385505331041,6,2.2706877166387276,0.004482804469688638,0.1044466289150781,1.0,True,
6,9,0.28270347875173524,124.11602215258995,0.7371697154471545,0.11682527448508172,6,2.8975705145594723,0.005203408768588573,0.04849411501759064,1.0,True,
7,8,4.78580085090425,33.04210142551296,0.664336521952416,0.11766047279270792,6,2.929070995599858,0.0018478739597912201,0.09974755915747875,1.0,True,
7,9,2.876695741106431,166.91183737821345,0.6077132839890923,0.1180552047396233,6,3.7184930305903685,0.010919730241803961,0.14576304064343415,1.0,True,
7,10,3.5227760858025783,151.5297683494061,0.8481789137380191,0.10615102438506704,6,2.8662462784517695,0.006788694147854834,0.052872203183928275,1.0,True,
8,9,3.469611483011297,133.86973595269956,0.5943661971830986,0.11920565901187036,6,3.7883774947006965,0.0042443197269814905,0.10102914613043958,1.0,True,
8,10,8.226583602288494,175.42813022508852,0.5924719507781397,0.12046539737502422,6,6.6212639471399966,0.012068925048483609,0.06971570917645852,1.0,True,
8,11,1.865267488778983,173.7180803410843,0.6789593030194534,0.1124672015619688,6,2.333957745729889,0.006563181150688944,0.09301162138898374,1.0,True,
9,10,5.488028285806731,41.558394272381754,0.6015824400204186,0.11914584090399423,6,5.490861355062907,0.023677817470035802,0.12091279277864625,1.0,True,
9,11,4.718056434111957,39.84834438838189,0.5936159475145092,0.12220038333634799,6,2.975477564952316,0.010739868846460122,0.11267510434066752,1.0,True,
9,12,4.0664516687652705,11.300244475855449,0.6125753012048193,0.12248054470736866,6,2.850813791288553,0.006578056867618694,0.0648765356282168,1.0,True,
10,11,8.48963239412477,1.7100498839998592,0.5922981366459628,0.1252332170275593,6,3.561970732702301,0.0101884878590875,0.04905586883665525,1.0,True,
10,12,7.8510898708654135,30.258149796526293,0.5541275333662877,0.12481360204475032,6,3.7517795436266956,0.031261518480906504,0.2822575477830575,1.0,True,
10,13,7.303425556850936,93.89697482620899,0.4898572501878287,0.1234709130125476,6,5.011926866876523,0.002887507644989318,0.12861291537137956,1.0,True,
11,12,0.684356309096518,28.54809991252644,0.8033488144707895,0.10033649821782255,6,2.8495161791494152,0.0037957676909615035,0.030493386938618566,1.0,True,
11,13,4.983180422136547,92.18692494220912,0.48959881129271915,0.13002768142853224,6,7.500744983348576,0.04820000634069387,0.21663658694591276,1.0,True,
11,14,7.513058208926106,116.17598776756182,0.5511551155115512,0.1363490361205856,6,8.69179713026475,0.020420243910966678,0.3388561639372597,1.0,True,
12,13,4.470221622128888,63.638825029682685,0.5484109386548411,0.12959344453923985,6,6.303133528073185,0.011857268436770598,0.07665557322523474,1.0,True,
12,14,7.042432348069883,87.62788785503537,0.5823908549191292,0.13141832933236727,6,7.376965777627224,0.010833935971029728,0.22584716035991784,1.0,True,
12,15,9.425648786798952,64.11974003309916,0.5143102812922246,0.13728792513153318,6,10.6657111200586,0.012453922151317217,0.21281971313986298,1.0,True,
13,14,2.6059162757855927,23.989062825352686,0.6649008254281138,0.11829356218038511,6,4.46953470312236,0.010710695211339957,0.05103080008067046,1.0,True,
13,15,4.985522367267706,0.4809150034164723,0.6433105164903546,0.12280456147298241,6,5.48212715248282,0.002079348825514708,0.08095419399489742,1.0,True,
13,16,5.330126890587504,0.570225046299944,0.5092755076460266,0.12767535698436475,6,5.1227851245513,0.01771530501608281,0.1987385247368959,1.0,True,
14,15,2.3845573265941185,23.508147821936216,0.7934889434889435,0.10996554201681306,6,3.5978390564938083,0.010537581931095797,0.18886023198851049,1.0,True,
14,16,7.871327660405588,24.55928787165262,0.5124335024124707,0.1271130929550258,6,6.773046277884419,0.0367675981786339,0.17067950171934768,1.0,True,
14,17,6.334147330965719,0.13339551798522414,0.5997034840622684,0.12123178848040567,6,5.0521521307734485,0.007039639082169618,0.1420706023439064,1.0,True,
15,16,10.188241681839806,1.051140049716416,0.4525684289463817,0.1310762605599437,6,10.161233588287896,0.03028489261617412,0.2306307424740811,1.0,True,
15,17,8.639041695194567,23.641543339921444,0.5419370943584623,0.12926666329467473,6,7.1208904116826295,0.016749087599431237,0.21516518274709787,1.0,True,
15,18,9.620687246763701,76.25281000098852,0.5239486723415068,0.13468232645821807,6,7.765728655204814,0.015824236097669597,0.5418501890608881,1.0,False,forward_reverse_rotation
16,17,1.5531467972267479,24.69268338963786,0.725455688246386,0.11626130134637655,6,2.5539312507809044,0.008173066808338859,0.1459219364983215,1.0,True,
16,18,0.5677742310084086,77.30395005070493,0.7509598157153826,0.11215936550371307,6,2.72958456426664,0.01007065253007885,0.024451533638690782,1.0,True,
16,19,2.9811390265794215,109.91770005034847,0.61725,0.11278472852394253,6,3.8445921585562353,0.013911959588582991,0.09838261866068182,1.0,True,
17,18,0.98603936348044,52.61126666106708,0.7936102236421725,0.10947670477666799,6,2.9613430589728713,0.004348617987976676,0.08578297576648478,1.0,True,
17,19,3.326868398717413,85.22501666071064,0.6638372238172513,0.11457050422944211,6,4.039052271877423,0.011384309901198326,0.08601325248059774,1.0,True,
17,20,1.702964560097507,146.95247656520317,0.6755903523172118,0.11461754659819628,6,2.9771145257220444,0.003070224389531284,0.041777705584758074,1.0,True,
18,19,3.0423123591285863,32.61374999964355,0.7679796696315121,0.10951225500902462,6,3.162387301290471,0.0016757410207260358,0.05240557176555545,1.0,True,
18,20,1.0853574230860805,94.34120990413592,0.7909488300334276,0.11336174254244849,6,2.472783746978993,0.0011490974177271606,0.05798276029492007,1.0,True,
18,21,0.7190584934612743,134.43032499953063,0.7659654868371332,0.11623488568922577,6,2.3334272634442037,0.0007397588392132655,0.049540488476333674,1.0,True,
19,20,1.9962827272376449,61.72745990449234,0.7140883977900553,0.1080327967474786,6,2.8867642059111027,0.008102122424322853,0.0646114560547033,1.0,True,
19,21,3.133843614009462,101.81657499988698,0.6584615384615384,0.10963878686899117,6,2.8691912248684632,0.012913229197399395,0.08080164801156113,1.0,True,
19,22,3.558853688535236,131.87013333415302,0.6261591020009761,0.11484815169172223,6,3.1506020281084415,0.008079663853152794,0.06664730348633674,1.0,True,
20,21,1.4312693216245356,40.08911509539463,0.8130212871903398,0.10717601941116739,6,2.598682401671686,0.003986207075465725,0.014468856174509968,1.0,True,
20,22,2.8745434122269677,70.1426734296607,0.709279368213228,0.11654592484503022,6,3.3550200552976293,0.004732316748497569,0.04653511032479733,1.0,True,
20,23,2.368927629183393,88.7954400941961,0.7151155604993202,0.11440209684434971,6,3.0862044513861178,0.013864191008669256,0.04741774806449891,1.0,True,
21,22,1.9888588003695142,30.053558334266054,0.7434966727162734,0.11011755646689264,6,3.014221192692681,0.0010075959724342985,0.03301381213076696,1.0,True,
21,23,1.9477165743251885,48.70632499880147,0.7529083858458555,0.11149633235838309,6,3.077926485095861,0.001989351505445817,0.010666288445208057,1.0,True,
21,24,3.76075382790461,86.89547500633407,0.7106949236076885,0.11526418670282225,6,3.884216729530811,0.0033123302523526757,0.010450448797924646,1.0,True,
22,23,0.8778876913955667,18.652766664535406,0.8800913132284032,0.0910569893232571,6,2.4100478670835583,0.0032245216994413483,0.016462830433921317,1.0,True,
22,24,2.2510479983846268,56.84191667206801,0.746915842188836,0.11145740682737049,6,2.851886485949151,0.01259476909551429,0.07575320422516746,1.0,True,
22,25,3.452614527841686,105.36038662410485,0.6202953787517865,0.10996904036547328,6,3.4469213215286616,0.01971125516503169,0.10319789629151777,1.0,True,
23,24,1.8212773036309853,38.18915000753262,0.7859065329092244,0.11467536863831725,6,2.8422525641977647,0.011606021246419816,0.08140725284903579,1.0,True,
23,25,2.999856552735995,86.70761995956946,0.6364070141953955,0.11293944470788622,6,3.2389862166172447,0.02314438992859391,0.07068788850704667,1.0,True,
23,26,1.7088514993141615,157.34900000166795,0.6150898203592814,0.11134349524292353,6,3.3995614886239296,0.039322949699257106,0.11562859307450143,1.0,True,
24,25,1.2059352225587747,48.51846995203683,0.7858615254031769,0.11149776506996652,6,2.476851261276463,0.011240124367435099,0.1049569848741807,1.0,True,
24,26,1.1958827550030364,119.15984999413537,0.7456781105429754,0.10341842736085993,6,2.5300194557440525,0.01395883182919579,0.08780591339848752,1.0,True,
24,27,3.786115539231191,149.59794999698258,0.621380846325167,0.10953325191126222,6,3.7363642522268807,0.016637332395867215,0.10353943868518889,1.0,True,
25,26,1.8270495459501794,70.64138004209858,0.8347382167873679,0.10115747661888057,6,3.0333095788198037,0.01268722454395532,0.041403863092781025,1.0,True,
25,27,4.741885618180033,101.07948004494568,0.624412013026173,0.11277808045896366,6,3.9078457957611743,0.025589655197266314,0.15422514597254583,1.0,True,
25,28,3.8640843382258447,141.59343004213218,0.5869307400379506,0.11770827672499123,6,4.799123781945888,0.022027669812843296,0.2897817423195282,1.0,True,
26,27,2.939444415707082,30.43810000284707,0.6580285783482683,0.1098010629341849,6,3.5110471043097586,0.0028795138573569803,0.007524827744647535,1.0,True,
26,28,2.285770454773634,70.95205000003368,0.6673413501607334,0.11114983317987888,6,3.8873517833668108,0.008151782060846088,0.22733511766651973,1.0,True,
26,29,3.6568094249627374,131.92299999999997,0.567654409139593,0.1129321723600836,6,3.929185583738771,0.018525590401292088,0.6411617076853331,1.0,False,forward_reverse_rotation
27,28,2.3764785758716087,40.513949997186636,0.795572759162937,0.10258057277674534,6,3.138921602248635,0.0021193681800924964,0.11642323746608753,1.0,True,
27,29,4.061689152213973,101.48489999715295,0.7440454600411075,0.10506613395932038,6,3.1227510205159508,0.010617830050775887,0.010252586949293494,1.0,True,
27,30,5.033742765789926,178.61309998505533,0.5825184112036702,0.11453665822491028,6,7.650962341345717,2.5431128502617377,2.5742599673919253,1.0,False,forward_reverse_translation;forward_reverse_rotation
28,29,1.7860052935263149,60.970949999966315,0.829172610556348,0.101007907265047,6,3.8068503338763042,0.002050657211153992,0.060432422726630436,1.0,True,
28,30,7.378510482049102,138.09914998778677,0.5397673314339981,0.12193285407050827,6,9.554349687793176,2.3478431587463846,1.5786016001583607,1.0,False,forward_reverse_translation;forward_reverse_rotation
28,31,8.396001985859645,161.15751666826222,0.5045164398410213,0.12642928247376978,6,9.31764609998303,0.020394024193417442,0.4096021180283358,1.0,True,
29,30,8.925911734961222,77.12819998782052,0.5217133364973896,0.12674065647229513,6,8.522188842167411,0.029506475723043876,0.11389243918851435,1.0,True,
29,31,9.936139535050964,100.18656666829587,0.49500421331407246,0.12930714939449198,6,8.914982386428042,0.09268316078142827,0.5769686714189283,1.0,False,forward_reverse_translation;forward_reverse_rotation
29,32,9.719184595429152,159.1482027457047,0.4949034656433625,0.12826034683961704,6,9.48481031343127,0.046228293643484374,0.3497292020413176,0.0,False,multistart_instability
30,31,1.0176267260390144,23.058366680475352,0.8362783988460152,0.09839553390448733,6,3.4866604582833345,0.00292801654357991,0.07029435398214784,1.0,True,
30,32,0.8427696971904044,82.02000275788396,0.8588193030774758,0.09922846236206209,6,3.665055653691297,0.007868521232743847,0.0646663588791515,1.0,True,
30,33,1.1320092061720382,147.1799498371321,0.7985030295829868,0.09950089003213429,6,4.012416511656465,0.002818384349407474,0.04751878128625789,1.0,True,
31,32,0.2771314063233405,58.9616360774086,0.8562575941676792,0.09641015722415121,6,3.1475922536183365,0.00743603397476557,0.05749362415769439,1.0,True,
31,33,0.5409306841643147,124.12158315665668,0.7594021215043394,0.09971190839470828,6,3.924941555652805,0.008658288176145966,0.04699249624411687,1.0,True,
31,34,0.9901318542574941,155.5976733552555,0.7827868852459017,0.09387821156002771,6,3.677769944550314,0.001760438169327793,0.07141137968742438,0.0,False,multistart_instability
32,33,0.38765596924480794,65.15994707924807,0.859390009606148,0.09596734045987164,6,3.3457711754162425,0.007599187780672587,0.08086834965344242,1.0,True,
32,34,1.0327853226589305,96.63603727784675,0.8306916426512968,0.09663160733562838,6,3.561692133355112,0.008708468398558678,0.031578495955716095,1.0,True,
32,35,1.1947451269258382,131.6892972449946,0.8055028462998103,0.09329597448562056,6,3.202004817860687,0.002684669665422271,0.0241000049832631,1.0,True,
33,34,0.7453275493729801,31.47609019859864,0.8550154872527996,0.09764473733600805,6,3.153108280248987,0.005560284067502743,0.07666131775182662,1.0,True,
33,35,1.0924186931915323,66.52935016574651,0.8344316309719935,0.08989959394950665,6,3.014281766333208,0.0013737288250339052,0.028590963377823297,1.0,True,
33,36,3.335020341384374,123.21987515531416,0.7655961609449982,0.10046425727734096,6,3.222688396070449,0.012544124903927084,0.05831564134554671,1.0,True,
34,35,0.6186130964444055,35.05325996714787,0.8692633560837845,0.08711586696140278,6,2.9228018947680083,0.006834102546614079,0.04740606842462777,1.0,True,
34,36,3.114273556969299,91.74378495671547,0.771256306140027,0.09836949441930562,6,3.7389528980898077,0.004832468349243269,0.046439990812924645,1.0,True,
34,37,2.8155528331227235,126.08390993626574,0.722881252293017,0.10001696647063055,6,3.8298681993003196,0.0035748664819913244,0.09211471145637762,1.0,True,
35,36,2.4989423629184655,56.69052498956759,0.7697728101081278,0.09462474495647087,6,3.9667933176330195,0.004833519542267701,0.07989067847153554,1.0,True,
35,37,2.2182956249874577,91.03064996911786,0.7351769110010868,0.09626480689856566,6,3.604883740945235,0.00826951342075784,0.05772015666601106,1.0,True,
36,37,0.5129211474320938,34.34012497955026,0.8790139064475347,0.08686306972783016,6,2.86419132160936,0.0018743847744752261,0.0426177033120738,1.0,True,
1 i j rtk_translation_m rtk_rotation_deg heldout_inlier_ratio heldout_inlier_rmse_m hessian_rank hessian_condition reverse_translation_m reverse_rotation_deg multistart_success_rate accepted rejection_reasons
2 0 1 4.069460063439237 24.612641616688823 0.742135248947238 0.1176855237061111 6 4.407651482488117 0.013825313356667012 0.06962701621921227 1.0 True
3 0 2 8.883155687691525 14.186041609026283 0.6152139070398225 0.12748244203393638 6 7.377377816318336 0.010848197501521375 0.23936253539883626 1.0 True
4 0 3 5.800196618465403 50.885974946353855 0.7200942109830172 0.11742249635115339 6 5.031984522656203 0.010896220625647894 0.1047126090415015 1.0 True
5 1 2 4.892046307546544 10.426600007662538 0.7419273778112828 0.11333156226718596 6 4.459403177706152 0.011700301190659394 0.07531112640817904 1.0 True
6 1 3 1.7315947839093804 26.273333329665036 0.860897030953885 0.10772639754828932 6 3.19377614050938 0.0031419813068167823 0.07553165598013784 1.0 True
7 1 4 1.6946255625760025 60.40345832959281 0.881875 0.10577894988132426 6 3.092963722704653 0.004385743087150129 0.11984963227966941 1.0 True
8 2 3 3.2805755806518446 36.69993333732758 0.7933853118712274 0.10942029884827265 6 3.7004807304428255 0.008219359847113026 0.1277049389798412 1.0 True
9 2 4 4.866335020594746 70.83005833725535 0.7129525942515864 0.11823277244188567 6 3.5207832348575936 0.003926646926802803 0.12676782091003777 1.0 True
10 2 5 1.8274406190287722 30.448549979291712 0.7434186132740082 0.11591916677323456 6 3.2245913426430066 0.005762289421636631 0.0417195018069042 1.0 True
11 3 4 1.75881263274858 34.13012499992777 0.8393594395095709 0.11198421236679276 6 2.9955796261301395 0.016040499501420776 0.10475252258183747 1.0 True
12 3 5 2.1020200425132134 67.14848331661929 0.7942090219957748 0.1150960059583273 6 3.466731955810642 0.01716401750472473 0.19985666972488197 1.0 True
13 3 6 5.791805311102367 61.163322289150074 0.6534504391468005 0.12221285442048085 6 4.065547866736895 0.010758157432153631 0.2541461196933768 1.0 True
14 4 5 3.30592832159088 101.27860831654709 0.7519675356615839 0.11239744207499523 6 3.538427973689991 0.007054246334297592 0.24517862996973167 1.0 True
15 4 6 6.453995240105232 95.29344728907782 0.6228429546865301 0.12861898753238143 6 5.239918976750594 0.01896562608787198 0.25933537698897335 1.0 True
16 4 7 9.537609568572432 26.32130681988008 0.6193556570268899 0.13116150037214716 6 6.94052030016787 0.01746189088684816 0.36780633600082835 1.0 True
17 5 6 3.7769167422851373 5.985161027469212 0.7384387717351092 0.11889495868628594 6 3.6057257786167156 0.00882639593332281 0.0737386250122742 1.0 True
18 5 7 6.565348405821576 74.95730149666699 0.6792642983119174 0.11864042030155272 6 4.820407924638239 0.009720083307578809 0.20972540690307045 1.0 True
19 5 8 6.3343271669452825 107.99940292217995 0.6467507736253273 0.12542317047495377 6 3.0799731272083655 0.01002585992591628 0.05691592874139322 1.0 True
20 6 7 3.1558607172566147 68.97214046919777 0.7476148072764279 0.11288592031143596 6 3.5859463118826977 0.010814191328094169 0.0266481566439959 1.0 True
21 6 8 3.3979014114419868 102.01424189471071 0.6804804804804805 0.11508385505331041 6 2.2706877166387276 0.004482804469688638 0.1044466289150781 1.0 True
22 6 9 0.28270347875173524 124.11602215258995 0.7371697154471545 0.11682527448508172 6 2.8975705145594723 0.005203408768588573 0.04849411501759064 1.0 True
23 7 8 4.78580085090425 33.04210142551296 0.664336521952416 0.11766047279270792 6 2.929070995599858 0.0018478739597912201 0.09974755915747875 1.0 True
24 7 9 2.876695741106431 166.91183737821345 0.6077132839890923 0.1180552047396233 6 3.7184930305903685 0.010919730241803961 0.14576304064343415 1.0 True
25 7 10 3.5227760858025783 151.5297683494061 0.8481789137380191 0.10615102438506704 6 2.8662462784517695 0.006788694147854834 0.052872203183928275 1.0 True
26 8 9 3.469611483011297 133.86973595269956 0.5943661971830986 0.11920565901187036 6 3.7883774947006965 0.0042443197269814905 0.10102914613043958 1.0 True
27 8 10 8.226583602288494 175.42813022508852 0.5924719507781397 0.12046539737502422 6 6.6212639471399966 0.012068925048483609 0.06971570917645852 1.0 True
28 8 11 1.865267488778983 173.7180803410843 0.6789593030194534 0.1124672015619688 6 2.333957745729889 0.006563181150688944 0.09301162138898374 1.0 True
29 9 10 5.488028285806731 41.558394272381754 0.6015824400204186 0.11914584090399423 6 5.490861355062907 0.023677817470035802 0.12091279277864625 1.0 True
30 9 11 4.718056434111957 39.84834438838189 0.5936159475145092 0.12220038333634799 6 2.975477564952316 0.010739868846460122 0.11267510434066752 1.0 True
31 9 12 4.0664516687652705 11.300244475855449 0.6125753012048193 0.12248054470736866 6 2.850813791288553 0.006578056867618694 0.0648765356282168 1.0 True
32 10 11 8.48963239412477 1.7100498839998592 0.5922981366459628 0.1252332170275593 6 3.561970732702301 0.0101884878590875 0.04905586883665525 1.0 True
33 10 12 7.8510898708654135 30.258149796526293 0.5541275333662877 0.12481360204475032 6 3.7517795436266956 0.031261518480906504 0.2822575477830575 1.0 True
34 10 13 7.303425556850936 93.89697482620899 0.4898572501878287 0.1234709130125476 6 5.011926866876523 0.002887507644989318 0.12861291537137956 1.0 True
35 11 12 0.684356309096518 28.54809991252644 0.8033488144707895 0.10033649821782255 6 2.8495161791494152 0.0037957676909615035 0.030493386938618566 1.0 True
36 11 13 4.983180422136547 92.18692494220912 0.48959881129271915 0.13002768142853224 6 7.500744983348576 0.04820000634069387 0.21663658694591276 1.0 True
37 11 14 7.513058208926106 116.17598776756182 0.5511551155115512 0.1363490361205856 6 8.69179713026475 0.020420243910966678 0.3388561639372597 1.0 True
38 12 13 4.470221622128888 63.638825029682685 0.5484109386548411 0.12959344453923985 6 6.303133528073185 0.011857268436770598 0.07665557322523474 1.0 True
39 12 14 7.042432348069883 87.62788785503537 0.5823908549191292 0.13141832933236727 6 7.376965777627224 0.010833935971029728 0.22584716035991784 1.0 True
40 12 15 9.425648786798952 64.11974003309916 0.5143102812922246 0.13728792513153318 6 10.6657111200586 0.012453922151317217 0.21281971313986298 1.0 True
41 13 14 2.6059162757855927 23.989062825352686 0.6649008254281138 0.11829356218038511 6 4.46953470312236 0.010710695211339957 0.05103080008067046 1.0 True
42 13 15 4.985522367267706 0.4809150034164723 0.6433105164903546 0.12280456147298241 6 5.48212715248282 0.002079348825514708 0.08095419399489742 1.0 True
43 13 16 5.330126890587504 0.570225046299944 0.5092755076460266 0.12767535698436475 6 5.1227851245513 0.01771530501608281 0.1987385247368959 1.0 True
44 14 15 2.3845573265941185 23.508147821936216 0.7934889434889435 0.10996554201681306 6 3.5978390564938083 0.010537581931095797 0.18886023198851049 1.0 True
45 14 16 7.871327660405588 24.55928787165262 0.5124335024124707 0.1271130929550258 6 6.773046277884419 0.0367675981786339 0.17067950171934768 1.0 True
46 14 17 6.334147330965719 0.13339551798522414 0.5997034840622684 0.12123178848040567 6 5.0521521307734485 0.007039639082169618 0.1420706023439064 1.0 True
47 15 16 10.188241681839806 1.051140049716416 0.4525684289463817 0.1310762605599437 6 10.161233588287896 0.03028489261617412 0.2306307424740811 1.0 True
48 15 17 8.639041695194567 23.641543339921444 0.5419370943584623 0.12926666329467473 6 7.1208904116826295 0.016749087599431237 0.21516518274709787 1.0 True
49 15 18 9.620687246763701 76.25281000098852 0.5239486723415068 0.13468232645821807 6 7.765728655204814 0.015824236097669597 0.5418501890608881 1.0 False forward_reverse_rotation
50 16 17 1.5531467972267479 24.69268338963786 0.725455688246386 0.11626130134637655 6 2.5539312507809044 0.008173066808338859 0.1459219364983215 1.0 True
51 16 18 0.5677742310084086 77.30395005070493 0.7509598157153826 0.11215936550371307 6 2.72958456426664 0.01007065253007885 0.024451533638690782 1.0 True
52 16 19 2.9811390265794215 109.91770005034847 0.61725 0.11278472852394253 6 3.8445921585562353 0.013911959588582991 0.09838261866068182 1.0 True
53 17 18 0.98603936348044 52.61126666106708 0.7936102236421725 0.10947670477666799 6 2.9613430589728713 0.004348617987976676 0.08578297576648478 1.0 True
54 17 19 3.326868398717413 85.22501666071064 0.6638372238172513 0.11457050422944211 6 4.039052271877423 0.011384309901198326 0.08601325248059774 1.0 True
55 17 20 1.702964560097507 146.95247656520317 0.6755903523172118 0.11461754659819628 6 2.9771145257220444 0.003070224389531284 0.041777705584758074 1.0 True
56 18 19 3.0423123591285863 32.61374999964355 0.7679796696315121 0.10951225500902462 6 3.162387301290471 0.0016757410207260358 0.05240557176555545 1.0 True
57 18 20 1.0853574230860805 94.34120990413592 0.7909488300334276 0.11336174254244849 6 2.472783746978993 0.0011490974177271606 0.05798276029492007 1.0 True
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71 23 24 1.8212773036309853 38.18915000753262 0.7859065329092244 0.11467536863831725 6 2.8422525641977647 0.011606021246419816 0.08140725284903579 1.0 True
72 23 25 2.999856552735995 86.70761995956946 0.6364070141953955 0.11293944470788622 6 3.2389862166172447 0.02314438992859391 0.07068788850704667 1.0 True
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74 24 25 1.2059352225587747 48.51846995203683 0.7858615254031769 0.11149776506996652 6 2.476851261276463 0.011240124367435099 0.1049569848741807 1.0 True
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88 28 31 8.396001985859645 161.15751666826222 0.5045164398410213 0.12642928247376978 6 9.31764609998303 0.020394024193417442 0.4096021180283358 1.0 True
89 29 30 8.925911734961222 77.12819998782052 0.5217133364973896 0.12674065647229513 6 8.522188842167411 0.029506475723043876 0.11389243918851435 1.0 True
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92 30 31 1.0176267260390144 23.058366680475352 0.8362783988460152 0.09839553390448733 6 3.4866604582833345 0.00292801654357991 0.07029435398214784 1.0 True
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94 30 33 1.1320092061720382 147.1799498371321 0.7985030295829868 0.09950089003213429 6 4.012416511656465 0.002818384349407474 0.04751878128625789 1.0 True
95 31 32 0.2771314063233405 58.9616360774086 0.8562575941676792 0.09641015722415121 6 3.1475922536183365 0.00743603397476557 0.05749362415769439 1.0 True
96 31 33 0.5409306841643147 124.12158315665668 0.7594021215043394 0.09971190839470828 6 3.924941555652805 0.008658288176145966 0.04699249624411687 1.0 True
97 31 34 0.9901318542574941 155.5976733552555 0.7827868852459017 0.09387821156002771 6 3.677769944550314 0.001760438169327793 0.07141137968742438 0.0 False multistart_instability
98 32 33 0.38765596924480794 65.15994707924807 0.859390009606148 0.09596734045987164 6 3.3457711754162425 0.007599187780672587 0.08086834965344242 1.0 True
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100 32 35 1.1947451269258382 131.6892972449946 0.8055028462998103 0.09329597448562056 6 3.202004817860687 0.002684669665422271 0.0241000049832631 1.0 True
101 33 34 0.7453275493729801 31.47609019859864 0.8550154872527996 0.09764473733600805 6 3.153108280248987 0.005560284067502743 0.07666131775182662 1.0 True
102 33 35 1.0924186931915323 66.52935016574651 0.8344316309719935 0.08989959394950665 6 3.014281766333208 0.0013737288250339052 0.028590963377823297 1.0 True
103 33 36 3.335020341384374 123.21987515531416 0.7655961609449982 0.10046425727734096 6 3.222688396070449 0.012544124903927084 0.05831564134554671 1.0 True
104 34 35 0.6186130964444055 35.05325996714787 0.8692633560837845 0.08711586696140278 6 2.9228018947680083 0.006834102546614079 0.04740606842462777 1.0 True
105 34 36 3.114273556969299 91.74378495671547 0.771256306140027 0.09836949441930562 6 3.7389528980898077 0.004832468349243269 0.046439990812924645 1.0 True
106 34 37 2.8155528331227235 126.08390993626574 0.722881252293017 0.10001696647063055 6 3.8298681993003196 0.0035748664819913244 0.09211471145637762 1.0 True
107 35 36 2.4989423629184655 56.69052498956759 0.7697728101081278 0.09462474495647087 6 3.9667933176330195 0.004833519542267701 0.07989067847153554 1.0 True
108 35 37 2.2182956249874577 91.03064996911786 0.7351769110010868 0.09626480689856566 6 3.604883740945235 0.00826951342075784 0.05772015666601106 1.0 True
109 36 37 0.5129211474320938 34.34012497955026 0.8790139064475347 0.08686306972783016 6 2.86419132160936 0.0018743847744752261 0.0426177033120738 1.0 True
results/open3d_gicp/B_batch1_quality.json
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results/open3d_gicp/B_batch2_estimation.npz
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i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
0,1,0.503306788400079,13.198324485965863,0.7947725072604066,0.09714510386272111,6,3.1645559924308744,0.00040681040655899406,0.015836974306118006,1.0,True,
0,2,1.1601020961002007,26.306295080591493,0.8196783588704571,0.10111548255452249,6,3.1496351272437915,0.0024786662018318395,0.04305117802148083,1.0,True,
0,3,1.1328421148283978,41.74134818989305,0.8170202208162759,0.10132889132333661,6,2.9636847958606816,0.001763337668740155,0.0152261810177797,1.0,True,
1,2,0.6927979865343085,13.107970594625625,0.7847728726807421,0.08513837010948266,6,2.6465075635845983,0.003621881376895638,0.011153493139183525,1.0,True,
1,3,0.7002295454253883,28.543023703927183,0.7885699962401304,0.09713251502799032,6,2.6341764735488145,0.0014094469663425105,0.02902143941632062,1.0,True,
1,4,0.8045641659338967,57.731023816949346,0.7363658899355479,0.09863727794945644,6,2.7377680197189993,0.011592408190980286,0.17084480097436408,1.0,True,
2,3,0.13949776780243606,15.435053109301553,0.918286915396742,0.07288259780013887,6,2.6383381348446657,0.002273707715582919,0.0026923349652342365,1.0,True,
2,4,0.6701726006967371,44.62305322232371,0.8370341514089079,0.09441127521663696,6,3.0939727970407334,0.0041401597740440875,0.03075174550917053,1.0,True,
2,5,0.8004226998626774,62.96656300910673,0.8235371293623721,0.10626795357026747,6,2.8027866429960917,0.009148796674106823,0.05256412309062332,1.0,True,
3,4,0.5366157827594368,29.188000113022152,0.8850603941513032,0.07613142655207121,6,2.6417590251999084,0.0013904645484531576,0.0259404694028417,1.0,True,
3,5,0.6760093701980526,47.53150989980517,0.8740046236835346,0.09072202522560696,6,2.686157540984516,0.006509933107990933,0.02545212192512678,1.0,True,
3,6,1.4361364806393455,80.09091141471853,0.6795928884308168,0.10271649349323747,6,3.008166890660092,0.00828154435242913,0.026486510290724834,1.0,True,
4,5,0.17861948949299924,18.343509786783002,0.8684444444444445,0.0784387700526441,6,2.6861954442048104,0.0025072579888539386,0.021042298559759365,1.0,True,
4,6,1.5807073315069207,50.90291130169636,0.6781301745000636,0.10313081772493418,6,2.8455217243212387,0.003271195715147848,0.14716032493381534,1.0,True,
4,7,1.7804201387535592,75.18775779751417,0.7873548387096774,0.09891997778736471,6,3.1802938248442474,0.004633577062239209,0.04472721629193465,1.0,True,
5,6,1.5316987521992935,32.55940151491337,0.6911991765311374,0.10152400788085783,6,3.2393513551418907,0.005288907067525738,0.05494235971756111,1.0,True,
5,7,1.6091514152462776,56.844248010731185,0.7747360187719984,0.09121609616459708,6,3.123473300580222,0.00421464356720393,0.015634168997181876,1.0,True,
5,8,1.1872485760158462,85.67585439000777,0.7829477514946712,0.10577559680144696,6,3.109219016133088,0.0033105282814613057,0.030813019102438145,1.0,True,
6,7,1.5692385974903325,24.284846495817817,0.7347979599843075,0.10196810239533251,6,3.458846242963224,0.004020707752206965,0.039850323489805044,1.0,True,
6,8,0.5035712140385419,53.11645287509441,0.7155149934810952,0.10460245111398395,6,3.0180670962260874,0.0072368624874882504,0.0055907688631446776,1.0,True,
6,9,0.8508108569116883,66.44324365209327,0.6825438366919655,0.10495957402394829,6,3.140616320789838,0.00430894236478819,0.13911475434755866,1.0,True,
7,8,1.1230406357307108,28.831606379276582,0.8127890077949531,0.09942756972076687,6,2.9436564519387325,0.008316114154115147,0.01814737917470093,1.0,True,
7,9,0.7186795671679719,42.158397156275456,0.8193873491579367,0.09507291602212191,6,3.5012345051117295,0.006751593996528964,0.029293578235221863,1.0,True,
7,10,0.39293571356254015,58.25702665650087,0.7940216681895313,0.10356080767641777,6,2.817840996766873,0.006883567504360684,0.016492683422577963,1.0,True,
8,9,0.4407680716864947,13.326790776998866,0.8581438392384981,0.09484304022144129,6,3.219825075793889,0.007253035671159373,0.024252719250072975,1.0,True,
8,10,0.968166048306331,29.425420277224287,0.8015356585111921,0.10152298131640612,6,3.7446585062478155,0.0017523919908150464,0.05042176209078739,1.0,True,
8,11,3.0540124804140354,66.34511043540417,0.688687555052221,0.10536230082368817,6,4.696625415382456,0.0036281146181207165,0.013078005975049522,1.0,True,
9,10,0.5276649044820116,16.098629500225417,0.8560606060606061,0.09594368034796862,6,3.2778548903058375,0.010491037599418197,0.0599937188173442,1.0,True,
9,11,2.680593454060616,53.0183196584053,0.6966788735951509,0.10384409271666459,6,4.3419055531595605,0.009543265092514783,0.09977883713501384,1.0,True,
9,12,3.2944321799753977,73.22024906015783,0.6579243162233046,0.10621203405076814,6,4.293885241325807,0.0028782078295197843,0.0743495992598884,1.0,True,
10,11,2.249454986440387,36.91969015817989,0.729195173529046,0.10869447817964137,6,4.322382098282597,0.0028206125960216254,0.014140069566934874,1.0,True,
10,12,2.8783779741216167,57.12161955993242,0.6945982527377876,0.10596349826421764,6,4.493186221276381,0.005660464094292755,0.08952914345108036,1.0,True,
10,13,3.84803303865234,78.07081297783375,0.6530587074494326,0.1098871098886565,6,4.997105968288151,0.009441275754405344,0.06902225135435515,1.0,True,
11,12,0.636223282239137,20.20192940175253,0.865792610250298,0.09248705530398661,6,3.4380496057859116,0.007654923324833218,0.03083951917063289,1.0,True,
11,13,2.0145868546459504,41.151122819653864,0.8217656194003106,0.10443913508460159,6,3.957969004992005,0.0019958122994113434,0.04243931133970266,1.0,True,
11,14,1.2405786051647103,116.67752660647822,0.7462918660287081,0.10754571546972236,6,4.619857754383166,0.0030226348073827927,0.05528144266002643,1.0,True,
12,13,1.5928240921286525,20.949193417901323,0.8347322378531742,0.10791137431619166,6,3.358528082155117,0.0033753816186126483,0.015427430722607398,1.0,True,
12,14,0.6774809171975742,96.47559720472566,0.7626657196969697,0.10926443071446633,6,3.847953795189004,0.0011083901763643633,0.03408686226954418,1.0,True,
12,15,1.8892292086221258,131.14857460490867,0.7404945183111733,0.10470183850479874,6,3.1806996321008576,0.008442575945215317,0.02844707164454242,1.0,True,
13,14,0.9721300146850552,75.52640378682433,0.8138569225293629,0.1125369920515294,6,3.2147734820704015,0.005457899756974233,0.04250371025579654,1.0,True,
13,15,2.426469315960194,110.19938118700728,0.7853886616014026,0.10710393317615087,6,2.4365756135744383,0.0023363953219779758,0.003679886698275418,1.0,True,
13,16,4.157137927296689,135.66277163100625,0.7461059190031153,0.10791684095774041,6,2.2141337125272007,0.0023169831632091926,0.02473862097872449,1.0,True,
14,15,2.176233486689304,34.672977400182965,0.7456694756554307,0.11049010248131722,6,2.3376174680383377,0.0027632919724097076,0.05272762900968177,1.0,True,
14,16,3.79947855245853,60.13636784418198,0.7114577084583084,0.11170286188791147,6,2.479974772421199,0.0043726035924820505,0.11525585711885118,1.0,True,
14,17,6.190474035537447,15.261944565117341,0.6170986278878855,0.11803645680912848,6,5.206426513766648,0.02802927019183766,0.10048860643286558,1.0,True,
15,16,1.7328875589135755,25.463390443999018,0.7687034629476421,0.09834033850996364,6,2.3729567416081196,0.004926598691892943,0.10049788043616295,1.0,True,
15,17,8.352264787019024,19.411032835065622,0.5596902808274586,0.12817180913542037,6,8.442537153126064,0.04660873899639204,0.08128930035257874,1.0,True,
15,18,6.346037230040679,25.592965647994788,0.6134687462217386,0.11861991782546771,6,5.933642175309751,0.006137337753783083,0.040498570689394164,1.0,True,
16,17,9.849975560032544,44.87442327906463,0.589649455234486,0.12715782204597983,6,10.240964391202342,0.016491489842564398,0.29283865924681673,1.0,True,
16,18,7.9099649541476005,0.12957520399577063,0.6441329694864798,0.11977657776801591,6,7.973620675877663,0.01581702082704062,0.07681086634765077,1.0,True,
16,19,6.609737623005951,34.172763646089344,0.642055375405338,0.11922626532224312,6,5.690723701436521,0.01936736899083179,0.22155509936605944,1.0,True,
17,18,2.081596655954183,45.003998483060414,0.761206687666586,0.10248796635270672,6,4.778521884225018,0.003602819302929225,0.04280787772842571,1.0,True,
17,19,4.34928579963815,79.047186925154,0.6654080389768575,0.10560001932239894,6,4.647516519431804,0.015683211248127868,0.18051709633786264,1.0,True,
17,20,4.4206846692505035,169.37257900760153,0.6377810007251632,0.11215519048187066,6,5.178731668470772,0.016926609942259613,0.20634229894075337,1.0,True,
18,19,3.459222336215112,34.04318844209358,0.7556208482370976,0.10994458141969204,6,3.594858191146124,0.004654350735545165,0.12873243616635754,1.0,True,
18,20,4.94806857498194,124.36858052454107,0.6686517992904207,0.11525187440612464,6,4.510107356424666,0.022993775653731053,0.1013964892640344,1.0,True,
18,21,6.5847443121227816,175.25342056617163,0.5905541093343251,0.1262853354637165,6,5.942345924349615,0.021857815102479028,0.4259066161744867,1.0,True,
19,20,3.031758915138065,90.32539208244746,0.7420998980632009,0.12052023632629244,6,3.3463968507926847,0.012566250876576632,0.08500209892702067,1.0,True,
19,21,3.732423384308353,141.21023212407198,0.6515019319456562,0.12055764747498063,6,4.076270140910382,0.007120603737667027,0.05561876226347328,1.0,True,
19,22,6.37255124464243,175.13200822775684,0.5905501782985226,0.12548545004843537,6,5.705777346141328,0.005772061596466365,0.10356450735473072,1.0,True,
20,21,2.057726146362386,50.884840041624386,0.7791517249907258,0.1109933103332085,6,3.525554312141476,0.004882992437392809,0.09954673132586826,1.0,True,
20,22,4.388457127616061,94.54259968980386,0.6575290550783224,0.11893104898070972,6,4.203674621017558,0.005511015274661758,0.13108161960065734,1.0,True,
20,23,8.256548639868363,126.4903843444735,0.5799237611181702,0.12732395079162134,6,6.120182481367245,0.02421237470645105,0.2728497258921342,1.0,True,
21,22,2.665930009787955,43.65775964817948,0.7379804721295267,0.11301282071283571,6,4.252070885311591,0.005342970038949662,0.023692959917636515,1.0,True,
21,23,6.670349114267683,75.60554430284907,0.6154133001864512,0.11796945645750438,6,5.503558762374886,0.021862964848253088,0.18671115674675795,1.0,True,
21,24,4.0761181240750135,118.87493116884215,0.6688601936925751,0.11271893154362743,6,4.6072424136923145,0.017882487871653564,0.11231417140662198,1.0,True,
22,23,4.005228418650323,31.947784654669576,0.7269494538989077,0.11696827793053062,6,3.9354343956207307,0.036708381465019306,0.17149160359500737,1.0,True,
22,24,1.4231800329066895,75.21717152066267,0.7625269567423569,0.11122908154278312,6,2.9923801902407035,0.033708002403797385,0.18898419347187523,1.0,True,
22,25,0.9824487562406952,165.63918634111403,0.7063042657606644,0.1109686247290255,6,3.260862218157852,0.0237546710240931,0.20388046327310663,1.0,True,
23,24,2.6253440212817054,43.26938686599312,0.785377057547531,0.11259637754562075,6,3.1689777161216344,0.008388924730327863,0.09824473511740778,1.0,True,
23,25,4.30404511575867,133.69140168644446,0.682445260093659,0.11585305930039552,6,4.459805342354154,0.03262070035564156,0.26820774135203534,1.0,True,
23,26,6.580252552934289,159.52196102005493,0.6190717727618564,0.1225437625254746,6,4.748664745468758,0.020450511219618477,0.11876511292532045,1.0,True,
24,25,2.0155105379126432,90.4220148204513,0.7662452591656131,0.10751986617832841,6,3.2073569479179214,0.020801978066425954,0.11499836231449187,1.0,True,
24,26,4.344602404326578,157.20865211395216,0.7051298290056998,0.11713046861462412,6,4.0423396253765445,0.02866879831073192,0.14020373652670878,1.0,True,
24,27,4.194437499675352,171.65485957819877,0.7231216797369087,0.11332956637109663,6,3.5737137574022637,0.0391123663878616,0.31745415833557195,1.0,True,
25,26,2.340922525153354,66.78663729350096,0.8146752104535746,0.1067005622933313,6,2.8555177924942416,0.015155094735859666,0.09937091691588736,1.0,True,
25,27,2.187150933555911,97.92312560134954,0.8480552070263488,0.10282262567757873,6,2.8008487935140383,0.020178532297188766,0.14259764688967286,1.0,True,
25,28,6.688406442287195,171.26720999836604,0.6516274978006786,0.11571138405667894,6,3.5101673009694134,0.012932261164889271,0.1340627397278959,1.0,True,
26,27,0.6349061963265976,31.136488307848563,0.8667504714016342,0.10966038141955464,6,2.9297274048756186,0.0016799531047772863,0.021489450960699312,1.0,True,
26,28,5.008419104260455,121.94615270813352,0.7044824981113069,0.11528623479803272,6,2.991781333569699,0.011526585390891731,0.12425176309998268,1.0,True,
26,29,2.224643201350574,145.73622267800252,0.713654161930024,0.11136018082941974,6,3.2605126809731075,0.0026952303885011083,0.026655596724504224,1.0,True,
27,28,5.622863551235285,90.80966440028486,0.7058971457311706,0.1123767383226778,6,3.2376046779603893,0.004853942846193662,0.04151426276015074,1.0,True,
27,29,2.458639091699311,114.59973437015381,0.7564328960645812,0.11469589052522192,6,3.205131133212321,0.012664149059349924,0.06847473063899887,1.0,True,
27,30,2.614522132166758,143.98503586800658,0.7694542698332492,0.10812761282109745,6,3.5636250205999853,0.029100131201629794,0.2714584305620497,1.0,True,
28,29,5.5254251571777075,23.790069969868927,0.6751737207833228,0.11779777341629802,6,4.576892329120707,0.02178556321929983,0.16690946122682282,1.0,True,
28,30,6.682895390289165,53.17537146772172,0.6491205871188156,0.12153627244194264,6,5.217063769204219,0.03128065038149053,0.11076032475862632,1.0,True,
28,31,11.27338119162288,23.882243944837096,0.5547279383916173,0.13098667045941628,6,8.538477868201968,0.007811024872033181,0.25693805699014277,1.0,True,
29,30,1.1998189814142899,29.3853014978528,0.8093424727088093,0.11457686827315132,6,2.757583581977887,0.011632920497220726,0.07792616982135933,1.0,True,
29,31,5.755712819539279,0.09217397496817598,0.7190982776089159,0.1179079898277715,6,4.190353867263325,0.010102013331328315,0.05295397679545269,1.0,True,
29,32,7.3497160995478215,44.7412737155501,0.683451384417257,0.12293657670032715,6,4.583568719289398,0.015683401555203327,0.1727804303986473,1.0,True,
30,31,4.592128513798009,29.29312752288462,0.7552004058853374,0.1130974670000902,6,3.6871413543680527,0.010357085925134528,0.12088315402655661,1.0,True,
30,32,6.2188831730504885,74.12657521340287,0.7014059073906874,0.11707558829895812,6,4.009905097582674,0.044382968752358344,0.22757601248033596,1.0,True,
30,33,7.344850966128434,112.7430048900433,0.6023929471032745,0.12334051659083738,6,4.260065691019417,0.002643716461244746,0.05342399356841621,1.0,True,
31,32,1.7043840283934533,44.83344769051828,0.785355810063055,0.11197405173054666,6,3.256332960817364,0.017947904056538493,0.11867936940390052,1.0,True,
31,33,3.3472002644811774,83.44987736715868,0.6260366926363408,0.11401170513833872,6,3.204107721135536,0.005088227871807909,0.05996016929359153,1.0,True,
31,34,3.311630046755356,133.49479301359594,0.6536974685122833,0.11166700866683012,6,3.289691648920709,0.01957685602042411,0.06586346108113965,1.0,True,
32,33,1.9394369188755196,38.61642967664041,0.7442187300370512,0.11487243540634488,6,2.5670787340169654,0.00371510987119075,0.04386474659625542,1.0,True,
32,34,2.1435446082722334,88.6613453230776,0.7408722109533469,0.1145103812359268,6,2.7396880211128143,0.0033854042879271646,0.04345206885157784,1.0,True,
32,35,3.1027737257249126,119.84526039487966,0.8249047681597268,0.10651397196801952,6,2.6908216879663684,0.014229552741777998,0.06789311177543367,1.0,True,
33,34,0.5704890065278277,50.0449156464372,0.8265015479876161,0.1079360614731508,6,3.0056080815747785,0.005517776656180037,0.04447304678975396,1.0,True,
33,35,2.3843314966611664,81.22883071823928,0.7029487179487179,0.11079043369762126,6,2.804837502264682,0.0045321280438173584,0.02066446888667937,1.0,True,
33,36,3.5605240220038255,106.66041349586102,0.612932138284251,0.11677728789370431,6,3.2326527799764184,0.011704878383874686,0.04254924292122366,1.0,True,
34,35,2.9403442697824866,31.183915071802076,0.7198829665436968,0.11381984857774002,6,3.296185466097946,0.015242618456135898,0.1219677981121258,1.0,True,
34,36,4.102710388907318,56.61549784942384,0.6450260449752255,0.11677131628998773,6,3.6854553885932066,0.0029445631740664846,0.0910859237401823,1.0,True,
34,37,3.6865711881345757,30.12086856551724,0.6870731404445548,0.11846537329500156,6,4.5399964456315365,0.013941395463696922,0.12307688004234886,1.0,True,
35,36,1.2045561534352058,25.431582777621774,0.811216429699842,0.11156358795429076,6,2.5821119008039335,0.003966448406861189,0.11486278330291146,1.0,True,
35,37,6.084062615492111,1.063046506284832,0.6916945230136282,0.12226449151266647,6,3.9062079497745845,0.012490325532322776,0.1588294259454204,1.0,True,
36,37,7.2781244258509386,26.494629283906598,0.6406009244992296,0.123972843683949,6,4.59789964279208,0.011995188628592031,0.19550165133048591,1.0,True,
1 i j rtk_translation_m rtk_rotation_deg heldout_inlier_ratio heldout_inlier_rmse_m hessian_rank hessian_condition reverse_translation_m reverse_rotation_deg multistart_success_rate accepted rejection_reasons
2 0 1 0.503306788400079 13.198324485965863 0.7947725072604066 0.09714510386272111 6 3.1645559924308744 0.00040681040655899406 0.015836974306118006 1.0 True
3 0 2 1.1601020961002007 26.306295080591493 0.8196783588704571 0.10111548255452249 6 3.1496351272437915 0.0024786662018318395 0.04305117802148083 1.0 True
4 0 3 1.1328421148283978 41.74134818989305 0.8170202208162759 0.10132889132333661 6 2.9636847958606816 0.001763337668740155 0.0152261810177797 1.0 True
5 1 2 0.6927979865343085 13.107970594625625 0.7847728726807421 0.08513837010948266 6 2.6465075635845983 0.003621881376895638 0.011153493139183525 1.0 True
6 1 3 0.7002295454253883 28.543023703927183 0.7885699962401304 0.09713251502799032 6 2.6341764735488145 0.0014094469663425105 0.02902143941632062 1.0 True
7 1 4 0.8045641659338967 57.731023816949346 0.7363658899355479 0.09863727794945644 6 2.7377680197189993 0.011592408190980286 0.17084480097436408 1.0 True
8 2 3 0.13949776780243606 15.435053109301553 0.918286915396742 0.07288259780013887 6 2.6383381348446657 0.002273707715582919 0.0026923349652342365 1.0 True
9 2 4 0.6701726006967371 44.62305322232371 0.8370341514089079 0.09441127521663696 6 3.0939727970407334 0.0041401597740440875 0.03075174550917053 1.0 True
10 2 5 0.8004226998626774 62.96656300910673 0.8235371293623721 0.10626795357026747 6 2.8027866429960917 0.009148796674106823 0.05256412309062332 1.0 True
11 3 4 0.5366157827594368 29.188000113022152 0.8850603941513032 0.07613142655207121 6 2.6417590251999084 0.0013904645484531576 0.0259404694028417 1.0 True
12 3 5 0.6760093701980526 47.53150989980517 0.8740046236835346 0.09072202522560696 6 2.686157540984516 0.006509933107990933 0.02545212192512678 1.0 True
13 3 6 1.4361364806393455 80.09091141471853 0.6795928884308168 0.10271649349323747 6 3.008166890660092 0.00828154435242913 0.026486510290724834 1.0 True
14 4 5 0.17861948949299924 18.343509786783002 0.8684444444444445 0.0784387700526441 6 2.6861954442048104 0.0025072579888539386 0.021042298559759365 1.0 True
15 4 6 1.5807073315069207 50.90291130169636 0.6781301745000636 0.10313081772493418 6 2.8455217243212387 0.003271195715147848 0.14716032493381534 1.0 True
16 4 7 1.7804201387535592 75.18775779751417 0.7873548387096774 0.09891997778736471 6 3.1802938248442474 0.004633577062239209 0.04472721629193465 1.0 True
17 5 6 1.5316987521992935 32.55940151491337 0.6911991765311374 0.10152400788085783 6 3.2393513551418907 0.005288907067525738 0.05494235971756111 1.0 True
18 5 7 1.6091514152462776 56.844248010731185 0.7747360187719984 0.09121609616459708 6 3.123473300580222 0.00421464356720393 0.015634168997181876 1.0 True
19 5 8 1.1872485760158462 85.67585439000777 0.7829477514946712 0.10577559680144696 6 3.109219016133088 0.0033105282814613057 0.030813019102438145 1.0 True
20 6 7 1.5692385974903325 24.284846495817817 0.7347979599843075 0.10196810239533251 6 3.458846242963224 0.004020707752206965 0.039850323489805044 1.0 True
21 6 8 0.5035712140385419 53.11645287509441 0.7155149934810952 0.10460245111398395 6 3.0180670962260874 0.0072368624874882504 0.0055907688631446776 1.0 True
22 6 9 0.8508108569116883 66.44324365209327 0.6825438366919655 0.10495957402394829 6 3.140616320789838 0.00430894236478819 0.13911475434755866 1.0 True
23 7 8 1.1230406357307108 28.831606379276582 0.8127890077949531 0.09942756972076687 6 2.9436564519387325 0.008316114154115147 0.01814737917470093 1.0 True
24 7 9 0.7186795671679719 42.158397156275456 0.8193873491579367 0.09507291602212191 6 3.5012345051117295 0.006751593996528964 0.029293578235221863 1.0 True
25 7 10 0.39293571356254015 58.25702665650087 0.7940216681895313 0.10356080767641777 6 2.817840996766873 0.006883567504360684 0.016492683422577963 1.0 True
26 8 9 0.4407680716864947 13.326790776998866 0.8581438392384981 0.09484304022144129 6 3.219825075793889 0.007253035671159373 0.024252719250072975 1.0 True
27 8 10 0.968166048306331 29.425420277224287 0.8015356585111921 0.10152298131640612 6 3.7446585062478155 0.0017523919908150464 0.05042176209078739 1.0 True
28 8 11 3.0540124804140354 66.34511043540417 0.688687555052221 0.10536230082368817 6 4.696625415382456 0.0036281146181207165 0.013078005975049522 1.0 True
29 9 10 0.5276649044820116 16.098629500225417 0.8560606060606061 0.09594368034796862 6 3.2778548903058375 0.010491037599418197 0.0599937188173442 1.0 True
30 9 11 2.680593454060616 53.0183196584053 0.6966788735951509 0.10384409271666459 6 4.3419055531595605 0.009543265092514783 0.09977883713501384 1.0 True
31 9 12 3.2944321799753977 73.22024906015783 0.6579243162233046 0.10621203405076814 6 4.293885241325807 0.0028782078295197843 0.0743495992598884 1.0 True
32 10 11 2.249454986440387 36.91969015817989 0.729195173529046 0.10869447817964137 6 4.322382098282597 0.0028206125960216254 0.014140069566934874 1.0 True
33 10 12 2.8783779741216167 57.12161955993242 0.6945982527377876 0.10596349826421764 6 4.493186221276381 0.005660464094292755 0.08952914345108036 1.0 True
34 10 13 3.84803303865234 78.07081297783375 0.6530587074494326 0.1098871098886565 6 4.997105968288151 0.009441275754405344 0.06902225135435515 1.0 True
35 11 12 0.636223282239137 20.20192940175253 0.865792610250298 0.09248705530398661 6 3.4380496057859116 0.007654923324833218 0.03083951917063289 1.0 True
36 11 13 2.0145868546459504 41.151122819653864 0.8217656194003106 0.10443913508460159 6 3.957969004992005 0.0019958122994113434 0.04243931133970266 1.0 True
37 11 14 1.2405786051647103 116.67752660647822 0.7462918660287081 0.10754571546972236 6 4.619857754383166 0.0030226348073827927 0.05528144266002643 1.0 True
38 12 13 1.5928240921286525 20.949193417901323 0.8347322378531742 0.10791137431619166 6 3.358528082155117 0.0033753816186126483 0.015427430722607398 1.0 True
39 12 14 0.6774809171975742 96.47559720472566 0.7626657196969697 0.10926443071446633 6 3.847953795189004 0.0011083901763643633 0.03408686226954418 1.0 True
40 12 15 1.8892292086221258 131.14857460490867 0.7404945183111733 0.10470183850479874 6 3.1806996321008576 0.008442575945215317 0.02844707164454242 1.0 True
41 13 14 0.9721300146850552 75.52640378682433 0.8138569225293629 0.1125369920515294 6 3.2147734820704015 0.005457899756974233 0.04250371025579654 1.0 True
42 13 15 2.426469315960194 110.19938118700728 0.7853886616014026 0.10710393317615087 6 2.4365756135744383 0.0023363953219779758 0.003679886698275418 1.0 True
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results/open3d_gicp/B_batch2_quality.json
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results/open3d_gicp/B_batch2_refined.npz
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results/open3d_gicp/B_batch2_refined.refinement.json
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results/open3d_gicp/batch1_auxiliary_check.json
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results/open3d_gicp/extrinsic_batch2.json
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results/open3d_gicp/extrinsic_batch2_refined.json
+534
View File
@@ -0,0 +1,534 @@
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results/small_gicp/B_batch1_auxiliary.npz
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results/small_gicp/B_batch1_auxiliary_refined.refinement.json
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i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
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2,4,4.866335020594746,70.83005833725535,0.7190493965409979,0.11680954298455397,6,23.730154915082874,0.005632827193528356,0.03284052493715785,1.0,True,
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5,7,6.565348405821576,74.95730149666699,0.6841773746535651,0.11964187966504931,6,27.33180748081407,0.003240486196092054,0.04738439683023512,1.0,True,
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7,9,2.876695741106431,166.91183737821345,0.6157641864692897,0.12124276796057824,6,31.889839980753695,2.858085971145254,5.202834749913653,1.0,False,forward_reverse_translation;forward_reverse_rotation
7,10,3.5227760858025783,151.5297683494061,0.8421725239616613,0.10512064341715703,6,18.208137447441548,0.00590396821278501,0.011716048666689089,1.0,True,
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10,12,7.8510898708654135,30.258149796526293,0.5523974295600593,0.12600876663407296,6,24.040230371790127,0.0067913142930030295,0.19210976651930364,1.0,True,
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11,13,4.983180422136547,92.18692494220912,0.4904655770183259,0.13065086109778945,6,59.94917005604024,0.03026165336674197,0.022229096602302635,1.0,True,
11,14,7.513058208926106,116.17598776756182,0.5502994743918836,0.13363854913882675,6,76.59552817138297,0.012728663920096705,0.13777836936248603,1.0,True,
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12,15,9.425648786798952,64.11974003309916,0.512344920771404,0.13771827771927672,6,83.08102250810028,0.1594220156320846,0.7727589642419826,1.0,False,forward_reverse_translation;forward_reverse_rotation
13,14,2.6059162757855927,23.989062825352686,0.6685967722064802,0.11944947118678222,6,17.494241627788213,0.00889966253307221,0.1868503363813343,1.0,True,
13,15,4.985522367267706,0.4809150034164723,0.6380833851897947,0.12132550246856395,6,19.285114979899365,0.011310526444604854,0.11618951108877962,1.0,True,
13,16,5.330126890587504,0.570225046299944,0.5094008523439458,0.12969283093489314,6,23.287780580490335,0.01929138406979036,0.6381307294537529,1.0,False,forward_reverse_rotation
14,15,2.3845573265941185,23.508147821936216,0.7915233415233415,0.11297936021484274,6,14.802453343324077,0.04714013527415902,0.5990777245962995,1.0,False,forward_reverse_rotation
14,16,7.871327660405588,24.55928787165262,0.515650129902264,0.1258655742770286,6,27.98905523695805,0.019790578845351906,0.2492103704468241,1.0,True,
14,17,6.334147330965719,0.13339551798522414,0.6016802569804793,0.12195151942370595,6,25.851285634799194,0.01939980613812204,0.1992615163030762,1.0,True,
15,16,10.188241681839806,1.051140049716416,0.4590676165479315,0.13331101566670972,6,37.36189113980903,0.03193705319987942,0.25820325147713563,1.0,True,
15,17,8.639041695194567,23.641543339921444,0.5389415876185721,0.1297159188720241,6,23.825996467364362,0.007152603768137945,0.01099978555369691,1.0,True,
15,18,9.620687246763701,76.25281000098852,0.5202642612120442,0.13378678930694327,6,39.71428865706424,0.023698091864950893,0.7026335973530661,1.0,False,forward_reverse_rotation
16,17,1.5531467972267479,24.69268338963786,0.7229415461973602,0.10903876418375444,6,27.565368871601265,0.004743603748938733,0.03110066538977425,1.0,True,
16,18,0.5677742310084086,77.30395005070493,0.75774251343742,0.10672872147965808,6,23.961833593584473,0.00729627345064471,0.5370128665073076,1.0,False,forward_reverse_rotation
16,19,2.9811390265794215,109.91770005034847,0.624375,0.11606003815798548,6,43.92870457834769,0.00942822069733503,0.10349184268425643,1.0,True,
17,18,0.98603936348044,52.61126666106708,0.8035782747603833,0.11258525838778834,6,10.5263751279628,0.04456291633933312,0.40754887525204303,1.0,True,
17,19,3.326868398717413,85.22501666071064,0.667207589564349,0.1151980232980854,6,37.82913063903142,0.002550382605456025,0.05599236133477508,1.0,True,
17,20,1.702964560097507,146.95247656520317,0.6696552595024624,0.11181113630432839,6,22.83917826847431,0.009851652453759501,0.030403861001117326,1.0,True,
18,19,3.0423123591285863,32.61374999964355,0.7803049555273189,0.10890373850857962,6,14.866928278077225,0.0027074586252039488,0.03345524421318835,1.0,True,
18,20,1.0853574230860805,94.34120990413592,0.7890203137053227,0.110891959946164,6,9.73093989119612,0.07641393239305394,0.480643469622101,1.0,True,
18,21,0.7190584934612743,134.43032499953063,0.7686106562539362,0.1151576675189467,6,11.132461972272983,0.012325022302827005,0.06184414805686676,1.0,True,
19,20,1.9962827272376449,61.72745990449234,0.7206177800100452,0.11075109929370276,6,18.593207910714877,0.06755956873701982,0.6275145294718035,1.0,False,forward_reverse_rotation
19,21,3.133843614009462,101.81657499988698,0.6599384615384616,0.1100348641166372,6,24.889550971173787,0.032753113036640115,0.1570816751009414,1.0,True,
19,22,3.558853688535236,131.87013333415302,0.6354319180087847,0.11655958277402616,6,35.20679617831266,0.011678083327496752,0.14115606360994692,1.0,True,
20,21,1.4312693216245356,40.08911509539463,0.8091622059006598,0.10860060068735904,6,9.844983425406634,0.004342811149796408,0.43079835067471983,1.0,True,
20,22,2.8745434122269677,70.1426734296607,0.7075518262586377,0.11619246575360609,6,10.41692741032582,0.03233653011234762,0.3501326921447133,1.0,True,
20,23,2.368927629183393,88.7954400941961,0.7127672722778395,0.11187552234677736,6,10.890181651202985,0.0036477332397017036,0.03588537530780425,1.0,True,
21,22,1.9888588003695142,30.053558334266054,0.7451905626134301,0.11103160300292489,6,9.138865693353942,0.007025231148999399,0.031656114821116355,1.0,True,
21,23,1.9477165743251885,48.70632499880147,0.7537566650508968,0.1091762180475198,6,10.033043192754391,0.0026262958914527778,0.05939834892732321,1.0,True,
21,24,3.76075382790461,86.89547500633407,0.7108181370133071,0.1147630411233105,6,12.077810466162274,0.002611195084459223,0.042823121286843194,1.0,True,
22,23,0.8778876913955667,18.652766664535406,0.8809323561215908,0.09065520084082093,6,9.426617095196006,0.00074030291113835,0.005760006892562891,1.0,True,
22,24,2.2510479983846268,56.84191667206801,0.7459386832783681,0.1116686389188481,6,10.471980698049531,0.010212372381123916,0.01461127103474581,1.0,True,
22,25,3.452614527841686,105.36038662410485,0.6250595521676989,0.10935727133461083,6,47.514851436189325,0.013489723519689117,0.0723917800582207,1.0,True,
23,24,1.8212773036309853,38.18915000753262,0.7936138977244923,0.11107653584131949,6,10.660643490600723,0.008437497431588122,0.2765568737620497,1.0,True,
23,25,2.999856552735995,86.70761995956946,0.6337826553739712,0.11196536842375276,6,43.84810300726168,0.02359951283541323,0.10308564406068685,1.0,True,
23,26,1.7088514993141615,157.34900000166795,0.6073053892215569,0.11004156310392302,6,52.70992994760862,0.013062761031411258,0.0548185753269731,1.0,True,
24,25,1.2059352225587747,48.51846995203683,0.7898629804777495,0.11080878069613129,6,17.323052863790767,0.024355899665769485,0.10833606018329535,1.0,True,
24,26,1.1958827550030364,119.15984999413537,0.7515217920623326,0.10216449744519186,6,27.478293204817643,0.010967953426658109,0.044641472084512177,1.0,True,
24,27,3.786115539231191,149.59794999698258,0.6259589210591437,0.11074683701330018,6,26.105827828207687,0.04374270593226806,0.34168251600562055,1.0,True,
25,26,1.8270495459501794,70.64138004209858,0.8273774189718628,0.10613402567174812,6,17.478877580241615,0.018863132797671257,0.12251687299132978,1.0,True,
25,27,4.741885618180033,101.07948004494568,0.6236883367506936,0.11275084173352168,6,26.65509822252546,0.005757137825848521,0.2558617834036415,1.0,True,
25,28,3.8640843382258447,141.59343004213218,0.5871679316888045,0.11732003715351383,6,52.15762909847497,1.0486443236448235,4.536374847153588,1.0,False,forward_reverse_translation;forward_reverse_rotation
26,27,2.939444415707082,30.43810000284707,0.6585129571324776,0.10848902314415616,6,30.227639491425478,0.002959097196576797,0.043581628031778105,1.0,True,
26,28,2.285770454773634,70.95205000003368,0.6648410525062507,0.11120026543063653,6,45.565898082132684,0.012512803173543077,0.11122589391716618,1.0,True,
26,29,3.6568094249627374,131.92299999999997,0.5895513507080804,0.11693751976202812,6,62.1400238672027,2.7672344834891307,9.168367379205225,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
27,28,2.3764785758716087,40.513949997186636,0.7954517962985364,0.10154002419986238,6,26.01517111533084,0.019135551099374308,0.08227568287606397,1.0,True,
27,29,4.061689152213973,101.48489999715295,0.7446499818643453,0.1104935519181424,6,32.698094109014136,0.015390416284740782,0.08645102756020058,1.0,True,
27,30,5.033742765789926,178.61309998505533,0.583363515634432,0.11446907648011068,6,105.65813856703667,0.017491035693048888,0.22327775856236398,0.0,False,multistart_instability
28,29,1.7860052935263149,60.970949999966315,0.8317879220161674,0.10401467258245657,6,16.856539687156317,0.007126704551442278,0.059447117802805614,1.0,True,
28,30,7.378510482049102,138.09914998778677,0.540360873694207,0.1217315596532435,6,243.03186464572013,0.02476143939627759,0.2783665026489561,1.0,True,
28,31,8.396001985859645,161.15751666826222,0.5051186318198242,0.12667907013046822,6,145.12677311467613,0.01381623315543165,0.08866229443960012,1.0,True,
29,30,8.925911734961222,77.12819998782052,0.5223065970574277,0.12780035193537048,6,94.88866430179526,0.06232017355575957,1.955625956099923,1.0,False,forward_reverse_rotation
29,31,9.936139535050964,100.18656666829587,0.49440231130371975,0.12866710903574613,6,130.4988571288183,0.047123741889749056,0.2295904679982487,1.0,True,
29,32,9.719184595429152,159.1482027457047,0.49802134548507015,0.12675987702934546,6,49.64602672737782,0.0323736334045635,0.06974950067660468,0.0,False,multistart_instability
30,31,1.0176267260390144,23.058366680475352,0.8480586608967424,0.09667505139943416,6,22.5712438700004,0.01573204986385798,0.04061482397026774,1.0,True,
30,32,0.8427696971904044,82.02000275788396,0.867680517303317,0.0986734040048058,6,23.367311395821964,0.002023273028745447,0.014811950864385802,1.0,True,
30,33,1.1320092061720382,147.1799498371321,0.7995722941665676,0.10006346131537393,6,41.688755802373954,0.00887908049317058,0.048438711468841336,1.0,True,
31,32,0.2771314063233405,58.9616360774086,0.8486026731470231,0.09714101002609693,6,27.412782801978597,0.012921368358244189,0.05809273577687571,1.0,True,
31,33,0.5409306841643147,124.12158315665668,0.07871263259402121,0.14967084978243636,6,33.0912130689722,2.900706563387122,12.11541439568944,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
31,34,0.9901318542574941,155.5976733552555,0.7813404050144648,0.09211161518215291,6,17.31754498769328,3.351107529092291,8.098567652508597,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
32,33,0.38765596924480794,65.15994707924807,0.8592699327569645,0.08972486966187442,6,22.68434781952533,0.0035725430520846596,0.009168450597030125,1.0,True,
32,34,1.0327853226589305,96.63603727784675,0.8328530259365994,0.09815070141607997,6,23.927327238925002,0.04150636593087017,1.4498937658029205,1.0,False,forward_reverse_rotation
32,35,1.1947451269258382,131.6892972449946,0.8031309297912713,0.09391797152520207,6,30.896133075774756,0.007719527793580684,0.006042163579184511,0.0,False,multistart_instability
33,34,0.7453275493729801,31.47609019859864,0.8676435549201811,0.0964383255266311,6,26.835745049910184,0.02602048161602559,1.951142742234491,1.0,False,forward_reverse_rotation
33,35,1.0924186931915323,66.52935016574651,0.8329018592610026,0.09179860947142506,6,17.934600324801995,0.0072384331805243046,0.028209706778456432,1.0,True,
33,36,3.335020341384374,123.21987515531416,0.760797342192691,0.09861359027653524,6,26.32312350297475,0.0022735557932631,0.12221117701824208,1.0,True,
34,35,0.6186130964444055,35.05325996714787,0.8649093904448105,0.0788491357224537,6,23.02575456989985,0.0032110784907267375,0.015379666997505564,1.0,True,
34,36,3.114273556969299,91.74378495671547,0.7729789590254706,0.09845381444357724,6,36.91664640012635,0.011794412591703963,0.006135949966801849,1.0,True,
34,37,2.8155528331227235,126.08390993626574,0.722881252293017,0.09759501600127507,6,42.82845764024001,0.024742240312777743,0.08718512569927171,1.0,True,
35,36,2.4989423629184655,56.69052498956759,0.7695298262665533,0.09495386680108024,6,27.978829086780696,0.006644101856716534,0.038610475450088305,1.0,True,
35,37,2.2182956249874577,91.03064996911786,0.7217727327617437,0.10621413586570766,6,32.52725359303394,0.04503438705750094,1.5781812743250268,1.0,False,forward_reverse_rotation
36,37,0.5129211474320938,34.34012497955026,0.8785082174462705,0.08834636280188386,6,23.324824248042262,0.003787237363253161,0.027331592166342466,1.0,True,
1 i j rtk_translation_m rtk_rotation_deg heldout_inlier_ratio heldout_inlier_rmse_m hessian_rank hessian_condition reverse_translation_m reverse_rotation_deg multistart_success_rate accepted rejection_reasons
2 0 1 4.069460063439237 24.612641616688823 0.7376764924448849 0.11846276711125131 6 14.186383674198092 0.007238562624113292 0.02790414903884654 1.0 True
3 0 2 8.883155687691525 14.186041609026283 0.617186536801874 0.12801123590557925 6 36.79061260583155 0.006865219918284302 0.20055597955733165 1.0 True
4 0 3 5.800196618465403 50.885974946353855 0.7186066691459031 0.11701588647718943 6 18.363958192984455 0.008227849157773135 0.05354665376691754 1.0 True
5 1 2 4.892046307546544 10.426600007662538 0.7423043095866315 0.11327867264180574 6 26.05793878332379 0.01880830643908174 0.13698190350335646 1.0 True
6 1 3 1.7315947839093804 26.273333329665036 0.8389134554643083 0.10681097771213023 6 14.956194090958816 0.0035146019341874887 0.1349785173147079 1.0 True
7 1 4 1.6946255625760025 60.40345832959281 0.88 0.10289486740770283 6 11.829281279209892 0.006064649004018339 0.061683233541617866 1.0 True
8 2 3 3.2805755806518446 36.69993333732758 0.795020120724346 0.10968948046836192 6 23.96630628312886 0.006456546110122383 0.030970536985363332 1.0 True
9 2 4 4.866335020594746 70.83005833725535 0.7190493965409979 0.11680954298455397 6 23.730154915082874 0.005632827193528356 0.03284052493715785 1.0 True
10 2 5 1.8274406190287722 30.448549979291712 0.7598566308243727 0.11774293624986373 6 16.599379025063065 0.028141707120452414 0.19962462817569399 1.0 True
11 3 4 1.75881263274858 34.13012499992777 0.83898411109721 0.10512726552504312 6 15.664666117555983 0.006186049607122224 0.016880074405568043 1.0 True
12 3 5 2.1020200425132134 67.14848331661929 0.7968186901951038 0.11623997504357782 6 18.1548400244513 0.021983524103315014 0.3960603757299183 1.0 True
13 3 6 5.791805311102367 61.163322289150074 0.6568381430363864 0.12435814704811046 6 25.0151910725651 0.008738020425158864 0.1291569973379011 1.0 True
14 4 5 3.30592832159088 101.27860831654709 0.7543039842597147 0.11308907219490882 6 19.690455732375476 0.002243469564109645 0.06843841908142442 1.0 True
15 4 6 6.453995240105232 95.29344728907782 0.6218497827436374 0.12814112793605542 6 41.84651093530334 0.01600824572236542 0.4490447249637784 1.0 True
16 4 7 9.537609568572432 26.32130681988008 0.6169457128361238 0.13205154815512993 6 36.92786505190044 0.019160428104594212 0.2888349968548246 1.0 True
17 5 6 3.7769167422851373 5.985161027469212 0.7372055740535208 0.1175976253407229 6 19.32269960027907 0.013833903611932107 0.01952771029395653 1.0 True
18 5 7 6.565348405821576 74.95730149666699 0.6841773746535651 0.11964187966504931 6 27.33180748081407 0.003240486196092054 0.04738439683023512 1.0 True
19 5 8 6.3343271669452825 107.99940292217995 0.6521066412758867 0.12472719695199193 6 19.156993592870748 0.0278691016568626 0.41056933218195657 1.0 True
20 6 7 3.1558607172566147 68.97214046919777 0.7538481109273629 0.11470554120698542 6 17.160170663404163 0.03433121044907878 0.14981218442224864 1.0 True
21 6 8 3.3979014114419868 102.01424189471071 0.683003003003003 0.11564979549315224 6 20.447019845630425 0.008147035817338538 0.038229943243018406 1.0 True
22 6 9 0.28270347875173524 124.11602215258995 0.7360264227642277 0.11829700338913093 6 18.21588471622476 0.003942462178993821 0.004948404195791413 1.0 True
23 7 8 4.78580085090425 33.04210142551296 0.6644591611479028 0.12091344193997677 6 22.65051252921267 0.010087854632047892 0.1144705976875931 1.0 True
24 7 9 2.876695741106431 166.91183737821345 0.6157641864692897 0.12124276796057824 6 31.889839980753695 2.858085971145254 5.202834749913653 1.0 False forward_reverse_translation;forward_reverse_rotation
25 7 10 3.5227760858025783 151.5297683494061 0.8421725239616613 0.10512064341715703 6 18.208137447441548 0.00590396821278501 0.011716048666689089 1.0 True
26 8 9 3.469611483011297 133.86973595269956 0.5997550520514391 0.12251997518546373 6 26.58434328826198 0.1455308769088698 0.6888512968600221 1.0 False forward_reverse_translation;forward_reverse_rotation
27 8 10 8.226583602288494 175.42813022508852 0.5915068162625166 0.1229044134151169 6 28.111420003057543 0.008997663249148741 0.15439288797351725 1.0 True
28 8 11 1.865267488778983 173.7180803410843 0.6836137963957513 0.11276660610764273 6 37.61742547586071 0.1113060196402131 0.53316971567076 1.0 False forward_reverse_translation;forward_reverse_rotation
29 9 10 5.488028285806731 41.558394272381754 0.5969882593159775 0.11948988234049264 6 38.89573848099908 0.0030407162313759195 0.04107484998318919 1.0 True
30 9 11 4.718056434111957 39.84834438838189 0.593742114559677 0.12239484647700946 6 46.81089854115947 0.035258275490363276 0.11274694382482037 1.0 True
31 9 12 4.0664516687652705 11.300244475855449 0.6153363453815262 0.12504774785186165 6 23.277303065116303 0.0752860327247449 0.25939502405614967 1.0 True
32 10 11 8.48963239412477 1.7100498839998592 0.5888198757763975 0.12435475144629402 6 51.68982317778118 0.008996147539897087 0.2187503499467401 1.0 True
33 10 12 7.8510898708654135 30.258149796526293 0.5523974295600593 0.12600876663407296 6 24.040230371790127 0.0067913142930030295 0.19210976651930364 1.0 True
34 10 13 7.303425556850936 93.89697482620899 0.48622589531680444 0.12387372192061825 6 40.15734453396082 0.010457065237222635 0.051939983599844905 1.0 True
35 11 12 0.684356309096518 28.54809991252644 0.8081153752138841 0.09827968392237502 6 14.074429682972724 0.003170825002365958 0.052994059649638055 1.0 True
36 11 13 4.983180422136547 92.18692494220912 0.4904655770183259 0.13065086109778945 6 59.94917005604024 0.03026165336674197 0.022229096602302635 1.0 True
37 11 14 7.513058208926106 116.17598776756182 0.5502994743918836 0.13363854913882675 6 76.59552817138297 0.012728663920096705 0.13777836936248603 1.0 True
38 12 13 4.470221622128888 63.638825029682685 0.5394185760039418 0.1291861812905223 6 40.18929295270992 0.016569656651710556 0.06971243680146068 1.0 True
39 12 14 7.042432348069883 87.62788785503537 0.5838501763346711 0.13149007038687927 6 46.68047224389145 0.016475747103725697 0.027479170527625274 1.0 True
40 12 15 9.425648786798952 64.11974003309916 0.512344920771404 0.13771827771927672 6 83.08102250810028 0.1594220156320846 0.7727589642419826 1.0 False forward_reverse_translation;forward_reverse_rotation
41 13 14 2.6059162757855927 23.989062825352686 0.6685967722064802 0.11944947118678222 6 17.494241627788213 0.00889966253307221 0.1868503363813343 1.0 True
42 13 15 4.985522367267706 0.4809150034164723 0.6380833851897947 0.12132550246856395 6 19.285114979899365 0.011310526444604854 0.11618951108877962 1.0 True
43 13 16 5.330126890587504 0.570225046299944 0.5094008523439458 0.12969283093489314 6 23.287780580490335 0.01929138406979036 0.6381307294537529 1.0 False forward_reverse_rotation
44 14 15 2.3845573265941185 23.508147821936216 0.7915233415233415 0.11297936021484274 6 14.802453343324077 0.04714013527415902 0.5990777245962995 1.0 False forward_reverse_rotation
45 14 16 7.871327660405588 24.55928787165262 0.515650129902264 0.1258655742770286 6 27.98905523695805 0.019790578845351906 0.2492103704468241 1.0 True
46 14 17 6.334147330965719 0.13339551798522414 0.6016802569804793 0.12195151942370595 6 25.851285634799194 0.01939980613812204 0.1992615163030762 1.0 True
47 15 16 10.188241681839806 1.051140049716416 0.4590676165479315 0.13331101566670972 6 37.36189113980903 0.03193705319987942 0.25820325147713563 1.0 True
48 15 17 8.639041695194567 23.641543339921444 0.5389415876185721 0.1297159188720241 6 23.825996467364362 0.007152603768137945 0.01099978555369691 1.0 True
49 15 18 9.620687246763701 76.25281000098852 0.5202642612120442 0.13378678930694327 6 39.71428865706424 0.023698091864950893 0.7026335973530661 1.0 False forward_reverse_rotation
50 16 17 1.5531467972267479 24.69268338963786 0.7229415461973602 0.10903876418375444 6 27.565368871601265 0.004743603748938733 0.03110066538977425 1.0 True
51 16 18 0.5677742310084086 77.30395005070493 0.75774251343742 0.10672872147965808 6 23.961833593584473 0.00729627345064471 0.5370128665073076 1.0 False forward_reverse_rotation
52 16 19 2.9811390265794215 109.91770005034847 0.624375 0.11606003815798548 6 43.92870457834769 0.00942822069733503 0.10349184268425643 1.0 True
53 17 18 0.98603936348044 52.61126666106708 0.8035782747603833 0.11258525838778834 6 10.5263751279628 0.04456291633933312 0.40754887525204303 1.0 True
54 17 19 3.326868398717413 85.22501666071064 0.667207589564349 0.1151980232980854 6 37.82913063903142 0.002550382605456025 0.05599236133477508 1.0 True
55 17 20 1.702964560097507 146.95247656520317 0.6696552595024624 0.11181113630432839 6 22.83917826847431 0.009851652453759501 0.030403861001117326 1.0 True
56 18 19 3.0423123591285863 32.61374999964355 0.7803049555273189 0.10890373850857962 6 14.866928278077225 0.0027074586252039488 0.03345524421318835 1.0 True
57 18 20 1.0853574230860805 94.34120990413592 0.7890203137053227 0.110891959946164 6 9.73093989119612 0.07641393239305394 0.480643469622101 1.0 True
58 18 21 0.7190584934612743 134.43032499953063 0.7686106562539362 0.1151576675189467 6 11.132461972272983 0.012325022302827005 0.06184414805686676 1.0 True
59 19 20 1.9962827272376449 61.72745990449234 0.7206177800100452 0.11075109929370276 6 18.593207910714877 0.06755956873701982 0.6275145294718035 1.0 False forward_reverse_rotation
60 19 21 3.133843614009462 101.81657499988698 0.6599384615384616 0.1100348641166372 6 24.889550971173787 0.032753113036640115 0.1570816751009414 1.0 True
61 19 22 3.558853688535236 131.87013333415302 0.6354319180087847 0.11655958277402616 6 35.20679617831266 0.011678083327496752 0.14115606360994692 1.0 True
62 20 21 1.4312693216245356 40.08911509539463 0.8091622059006598 0.10860060068735904 6 9.844983425406634 0.004342811149796408 0.43079835067471983 1.0 True
63 20 22 2.8745434122269677 70.1426734296607 0.7075518262586377 0.11619246575360609 6 10.41692741032582 0.03233653011234762 0.3501326921447133 1.0 True
64 20 23 2.368927629183393 88.7954400941961 0.7127672722778395 0.11187552234677736 6 10.890181651202985 0.0036477332397017036 0.03588537530780425 1.0 True
65 21 22 1.9888588003695142 30.053558334266054 0.7451905626134301 0.11103160300292489 6 9.138865693353942 0.007025231148999399 0.031656114821116355 1.0 True
66 21 23 1.9477165743251885 48.70632499880147 0.7537566650508968 0.1091762180475198 6 10.033043192754391 0.0026262958914527778 0.05939834892732321 1.0 True
67 21 24 3.76075382790461 86.89547500633407 0.7108181370133071 0.1147630411233105 6 12.077810466162274 0.002611195084459223 0.042823121286843194 1.0 True
68 22 23 0.8778876913955667 18.652766664535406 0.8809323561215908 0.09065520084082093 6 9.426617095196006 0.00074030291113835 0.005760006892562891 1.0 True
69 22 24 2.2510479983846268 56.84191667206801 0.7459386832783681 0.1116686389188481 6 10.471980698049531 0.010212372381123916 0.01461127103474581 1.0 True
70 22 25 3.452614527841686 105.36038662410485 0.6250595521676989 0.10935727133461083 6 47.514851436189325 0.013489723519689117 0.0723917800582207 1.0 True
71 23 24 1.8212773036309853 38.18915000753262 0.7936138977244923 0.11107653584131949 6 10.660643490600723 0.008437497431588122 0.2765568737620497 1.0 True
72 23 25 2.999856552735995 86.70761995956946 0.6337826553739712 0.11196536842375276 6 43.84810300726168 0.02359951283541323 0.10308564406068685 1.0 True
73 23 26 1.7088514993141615 157.34900000166795 0.6073053892215569 0.11004156310392302 6 52.70992994760862 0.013062761031411258 0.0548185753269731 1.0 True
74 24 25 1.2059352225587747 48.51846995203683 0.7898629804777495 0.11080878069613129 6 17.323052863790767 0.024355899665769485 0.10833606018329535 1.0 True
75 24 26 1.1958827550030364 119.15984999413537 0.7515217920623326 0.10216449744519186 6 27.478293204817643 0.010967953426658109 0.044641472084512177 1.0 True
76 24 27 3.786115539231191 149.59794999698258 0.6259589210591437 0.11074683701330018 6 26.105827828207687 0.04374270593226806 0.34168251600562055 1.0 True
77 25 26 1.8270495459501794 70.64138004209858 0.8273774189718628 0.10613402567174812 6 17.478877580241615 0.018863132797671257 0.12251687299132978 1.0 True
78 25 27 4.741885618180033 101.07948004494568 0.6236883367506936 0.11275084173352168 6 26.65509822252546 0.005757137825848521 0.2558617834036415 1.0 True
79 25 28 3.8640843382258447 141.59343004213218 0.5871679316888045 0.11732003715351383 6 52.15762909847497 1.0486443236448235 4.536374847153588 1.0 False forward_reverse_translation;forward_reverse_rotation
80 26 27 2.939444415707082 30.43810000284707 0.6585129571324776 0.10848902314415616 6 30.227639491425478 0.002959097196576797 0.043581628031778105 1.0 True
81 26 28 2.285770454773634 70.95205000003368 0.6648410525062507 0.11120026543063653 6 45.565898082132684 0.012512803173543077 0.11122589391716618 1.0 True
82 26 29 3.6568094249627374 131.92299999999997 0.5895513507080804 0.11693751976202812 6 62.1400238672027 2.7672344834891307 9.168367379205225 0.0 False forward_reverse_translation;forward_reverse_rotation;multistart_instability
83 27 28 2.3764785758716087 40.513949997186636 0.7954517962985364 0.10154002419986238 6 26.01517111533084 0.019135551099374308 0.08227568287606397 1.0 True
84 27 29 4.061689152213973 101.48489999715295 0.7446499818643453 0.1104935519181424 6 32.698094109014136 0.015390416284740782 0.08645102756020058 1.0 True
85 27 30 5.033742765789926 178.61309998505533 0.583363515634432 0.11446907648011068 6 105.65813856703667 0.017491035693048888 0.22327775856236398 0.0 False multistart_instability
86 28 29 1.7860052935263149 60.970949999966315 0.8317879220161674 0.10401467258245657 6 16.856539687156317 0.007126704551442278 0.059447117802805614 1.0 True
87 28 30 7.378510482049102 138.09914998778677 0.540360873694207 0.1217315596532435 6 243.03186464572013 0.02476143939627759 0.2783665026489561 1.0 True
88 28 31 8.396001985859645 161.15751666826222 0.5051186318198242 0.12667907013046822 6 145.12677311467613 0.01381623315543165 0.08866229443960012 1.0 True
89 29 30 8.925911734961222 77.12819998782052 0.5223065970574277 0.12780035193537048 6 94.88866430179526 0.06232017355575957 1.955625956099923 1.0 False forward_reverse_rotation
90 29 31 9.936139535050964 100.18656666829587 0.49440231130371975 0.12866710903574613 6 130.4988571288183 0.047123741889749056 0.2295904679982487 1.0 True
91 29 32 9.719184595429152 159.1482027457047 0.49802134548507015 0.12675987702934546 6 49.64602672737782 0.0323736334045635 0.06974950067660468 0.0 False multistart_instability
92 30 31 1.0176267260390144 23.058366680475352 0.8480586608967424 0.09667505139943416 6 22.5712438700004 0.01573204986385798 0.04061482397026774 1.0 True
93 30 32 0.8427696971904044 82.02000275788396 0.867680517303317 0.0986734040048058 6 23.367311395821964 0.002023273028745447 0.014811950864385802 1.0 True
94 30 33 1.1320092061720382 147.1799498371321 0.7995722941665676 0.10006346131537393 6 41.688755802373954 0.00887908049317058 0.048438711468841336 1.0 True
95 31 32 0.2771314063233405 58.9616360774086 0.8486026731470231 0.09714101002609693 6 27.412782801978597 0.012921368358244189 0.05809273577687571 1.0 True
96 31 33 0.5409306841643147 124.12158315665668 0.07871263259402121 0.14967084978243636 6 33.0912130689722 2.900706563387122 12.11541439568944 1.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
97 31 34 0.9901318542574941 155.5976733552555 0.7813404050144648 0.09211161518215291 6 17.31754498769328 3.351107529092291 8.098567652508597 0.0 False forward_reverse_translation;forward_reverse_rotation;multistart_instability
98 32 33 0.38765596924480794 65.15994707924807 0.8592699327569645 0.08972486966187442 6 22.68434781952533 0.0035725430520846596 0.009168450597030125 1.0 True
99 32 34 1.0327853226589305 96.63603727784675 0.8328530259365994 0.09815070141607997 6 23.927327238925002 0.04150636593087017 1.4498937658029205 1.0 False forward_reverse_rotation
100 32 35 1.1947451269258382 131.6892972449946 0.8031309297912713 0.09391797152520207 6 30.896133075774756 0.007719527793580684 0.006042163579184511 0.0 False multistart_instability
101 33 34 0.7453275493729801 31.47609019859864 0.8676435549201811 0.0964383255266311 6 26.835745049910184 0.02602048161602559 1.951142742234491 1.0 False forward_reverse_rotation
102 33 35 1.0924186931915323 66.52935016574651 0.8329018592610026 0.09179860947142506 6 17.934600324801995 0.0072384331805243046 0.028209706778456432 1.0 True
103 33 36 3.335020341384374 123.21987515531416 0.760797342192691 0.09861359027653524 6 26.32312350297475 0.0022735557932631 0.12221117701824208 1.0 True
104 34 35 0.6186130964444055 35.05325996714787 0.8649093904448105 0.0788491357224537 6 23.02575456989985 0.0032110784907267375 0.015379666997505564 1.0 True
105 34 36 3.114273556969299 91.74378495671547 0.7729789590254706 0.09845381444357724 6 36.91664640012635 0.011794412591703963 0.006135949966801849 1.0 True
106 34 37 2.8155528331227235 126.08390993626574 0.722881252293017 0.09759501600127507 6 42.82845764024001 0.024742240312777743 0.08718512569927171 1.0 True
107 35 36 2.4989423629184655 56.69052498956759 0.7695298262665533 0.09495386680108024 6 27.978829086780696 0.006644101856716534 0.038610475450088305 1.0 True
108 35 37 2.2182956249874577 91.03064996911786 0.7217727327617437 0.10621413586570766 6 32.52725359303394 0.04503438705750094 1.5781812743250268 1.0 False forward_reverse_rotation
109 36 37 0.5129211474320938 34.34012497955026 0.8785082174462705 0.08834636280188386 6 23.324824248042262 0.003787237363253161 0.027331592166342466 1.0 True
results/small_gicp/B_batch1_quality.json
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results/small_gicp/B_batch2_estimation.npz
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results/small_gicp/B_batch2_quality.csv
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i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
0,1,0.503306788400079,13.198324485965863,0.8131655372700871,0.09008834340898543,6,11.429289586039127,0.0005504552049968047,0.0032916777115618487,1.0,True,
0,2,1.1601020961002007,26.306295080591493,0.8167658604533367,0.09980570916927256,6,11.00789089021616,0.00205395151868756,0.012799633971915293,1.0,True,
0,3,1.1328421148283978,41.74134818989305,0.81441508497705,0.10115686777955255,6,13.837529680361882,0.01247476852224996,0.1726729736128094,1.0,True,
0,4,1.0129799192122786,70.92934830291522,0.7761963190184049,0.10269905695661055,6,12.888313335228592,0.019300920937430674,0.12217052794626229,1.0,True,
0,5,0.9014321094792815,89.27285808969826,0.7735100978813034,0.10986502690369805,6,24.919203290408266,0.0278108340699398,0.2717481445912482,1.0,True,
1,2,0.6927979865343085,13.107970594625625,0.7850287907869482,0.08649388452503427,6,11.757459931907107,0.001960394451155616,0.002128143929965857,1.0,True,
1,3,0.7002295454253883,28.543023703927183,0.7901992730918661,0.09109387779670658,6,12.066030386554463,0.004906057223105903,0.018773640398341965,1.0,True,
1,4,0.8045641659338967,57.731023816949346,0.7439266236985622,0.09680131928922782,6,12.860596463339792,0.020081946886066578,1.2340284819813434,1.0,False,forward_reverse_rotation
1,5,0.7829726518389362,76.07453360373235,0.7313806483915384,0.10148815288043825,6,12.782489568272775,0.016729134900242502,0.06734086907642674,1.0,True,
1,6,0.7843480712672012,108.63393511864574,0.6214689265536724,0.10742176387842234,6,26.39069479810122,0.0027238824581310127,0.04004688680398286,1.0,True,
2,3,0.13949776780243606,15.435053109301553,0.9176300578034682,0.07082931569628453,6,11.740335220665598,0.0016419682635548487,0.0015051284247814798,1.0,True,
2,4,0.6701726006967371,44.62305322232371,0.840540189585768,0.08212714345330237,6,12.917292889611646,0.0015059170263523442,0.004861145455894842,1.0,True,
2,5,0.8004226998626774,62.96656300910673,0.8300970873786407,0.0931389934573794,6,15.74858194202481,0.002555949510569182,0.008486377461290648,1.0,True,
2,6,1.3845111356101025,95.5259645240201,0.6495130297446696,0.10354826871538153,6,15.262952717632835,0.008359384079660144,0.07441619593698878,1.0,True,
2,7,2.161304865409727,119.81081101983789,0.8143257302921169,0.09968516416989152,6,30.540416925007207,0.013121403719342412,0.05039604031914888,1.0,True,
3,4,0.5366157827594368,29.188000113022152,0.8855689764780674,0.07250679559229746,6,11.672391892657863,0.0006574625393083392,0.0008548453445728261,1.0,True,
3,5,0.6760093701980526,47.53150989980517,0.8759311584895967,0.08543306637795112,6,15.073465050917047,0.0011073394938326227,0.004974962253885575,1.0,True,
3,6,1.4361364806393455,80.09091141471853,0.678819891780469,0.10239967326707564,6,23.156860004682848,0.002691305620040523,0.027681404773136364,1.0,True,
3,7,2.1008551524156123,104.37575791053635,0.7961101683853283,0.10180989325686585,6,29.756525470837225,0.023292005056525338,0.174639961337377,1.0,True,
3,8,1.3108481779402037,133.20736428981294,0.11556480999479438,0.1433106939673773,6,147.35707874920627,1.368389528072986,15.0277123732284,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
4,5,0.17861948949299924,18.343509786783002,0.8685714285714285,0.07604325543622346,6,12.370184068840063,0.003904582263467037,0.011742002375313174,1.0,True,
4,6,1.5807073315069207,50.90291130169636,0.6822060883963826,0.10567824422734254,6,18.163522769519293,0.011923922180697284,0.08008579261790838,1.0,True,
4,7,1.7804201387535592,75.18775779751417,0.7963870967741935,0.10178391918503964,6,25.315987799570973,0.034377900701078094,0.11532260919614924,1.0,True,
4,8,1.2818497736845669,104.01936417679076,0.7430850379518847,0.10189238984319506,6,25.19640114706588,0.034977663635135596,1.5753470469755222,1.0,False,forward_reverse_rotation
4,9,1.5141865499370524,117.34615495378958,0.0841833440929632,0.15176056899798168,6,84.88516221869183,3.340127368239112,6.177861200193235,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
5,6,1.5316987521992935,32.55940151491337,0.6864384971693258,0.10315026388508003,6,11.505426214947052,0.002552272421554712,0.013899678900349944,1.0,True,
5,7,1.6091514152462776,56.844248010731185,0.8104549602398644,0.09862238510016193,6,16.517299930207333,0.0037398303757535147,0.02129636862756259,1.0,True,
5,8,1.1872485760158462,85.67585439000777,0.7806082661814401,0.10305777405801758,6,17.737819341361416,0.0056799616182010805,0.026182015145595202,1.0,True,
5,9,1.380208837139288,99.00264516700663,0.7946777980693973,0.10313535699942489,6,14.147499646203187,0.06270036555847405,0.33857191756776234,1.0,True,
5,10,1.7506315276318887,115.10127466723206,0.7847418443359877,0.10018431236036145,6,21.425526326745782,0.005291671170548772,0.044796841001461946,1.0,True,
6,7,1.5692385974903325,24.284846495817817,0.7380672159016608,0.1046107504689679,6,13.947054238965462,0.010178220865611676,0.026255002379027764,1.0,True,
6,8,0.5035712140385419,53.11645287509441,0.7026075619295958,0.10337241424878332,6,21.232848227388097,0.017447450845101884,0.1292664848366822,1.0,True,
6,9,0.8508108569116883,66.44324365209327,0.6714210939544621,0.10949604778423808,6,34.21205543097956,0.09491078892598759,0.32255986251320673,1.0,False,forward_reverse_translation
6,10,1.3331914459292633,82.5418731523187,0.6619427982478743,0.10510077922086615,6,31.101566437428897,0.003562383894956786,0.04536548719264196,1.0,True,
6,11,3.16887584646763,119.46156331049859,0.638006230529595,0.1061575017783152,6,31.943306843588733,0.0059304520508679575,0.05963953472442965,1.0,True,
7,8,1.1230406357307108,28.831606379276582,0.8040692297529396,0.09680052952350976,6,22.21980394474879,0.008328073875015064,0.06350723756646647,1.0,True,
7,9,0.7186795671679719,42.158397156275456,0.8274764620076913,0.09296346258223728,6,22.096355228992984,0.0076981468910999155,0.020277033650542,1.0,True,
7,10,0.39293571356254015,58.25702665650087,0.7992429186790236,0.10479299924479576,6,30.246845596558646,0.04240408437264065,1.1111803590641476,1.0,False,forward_reverse_rotation
7,11,2.4544901278439815,95.17671681468076,0.7502523977788995,0.1028589368143411,6,19.931284665592216,0.005620519728387707,0.0303880139721275,1.0,True,
7,12,3.0905023273107046,115.3786462164333,0.7054418372441338,0.10706084863640537,6,10.761985004268995,0.004629206980441498,0.07009059694702204,1.0,True,
8,9,0.4407680716864947,13.326790776998866,0.8539132734003173,0.09158655960119419,6,31.292808872701826,0.0036696927581956673,0.014909075167693285,1.0,True,
8,10,0.968166048306331,29.425420277224287,0.7989328474752733,0.09757506446655329,6,25.45934970841849,0.008689580645481346,0.052297435035790506,1.0,True,
8,11,3.0540124804140354,66.34511043540417,0.6854158802063672,0.10755838259974337,6,42.46956117899474,0.00234148729464824,0.061662020462905004,1.0,True,
8,12,3.652970846697932,86.5470398371567,0.6485376477909147,0.11031208403019,6,30.049664340525695,0.013830104055554564,0.11563630256710061,1.0,True,
8,13,4.357531202056024,107.49623325505803,0.622879241516966,0.1149201207874094,6,27.04257772502661,0.005835943764379069,0.23887217550290574,1.0,True,
9,10,0.5276649044820116,16.098629500225417,0.8486154649947754,0.09691837979566219,6,22.577834737399076,0.007052114296262031,0.2907164943632002,1.0,True,
9,11,2.680593454060616,53.0183196584053,0.6963000378835712,0.10535088240045436,6,39.530571540955094,0.0034527207661208545,0.020238883727394828,1.0,True,
9,12,3.2944321799753977,73.22024906015783,0.6584238791057825,0.10587631557960675,6,33.498316372288826,0.009482405807021465,0.07225186033919398,1.0,True,
9,13,4.1147924441994315,94.16944247805917,0.621557336004006,0.11335203160746431,6,32.6975845279655,0.009011781776631502,0.0416830306778097,1.0,True,
9,14,3.748520283907519,169.69584626488452,0.048890560361037984,0.15557197380465354,6,51.54107837707314,1.0864076801076206,7.184564913859941,0.5,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
10,11,2.249454986440387,36.91969015817989,0.7156362731683045,0.10422606491110974,6,45.45254669271086,0.004301999273657816,0.02361974788713562,1.0,True,
10,12,2.8783779741216167,57.12161955993242,0.692875599852344,0.10691573133186853,6,39.11010182412513,0.004231594662123499,0.01872424915403812,1.0,True,
10,13,3.84803303865234,78.07081297783375,0.6594721262950173,0.10871022234744057,6,43.1464607017966,0.006980776690426113,0.21408921607631748,1.0,True,
10,14,3.3834992499807997,153.59721676465847,0.062245276028158575,0.15570919185507412,6,59.4104405367878,0.09444016841800375,2.8556589503073977,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
10,15,1.4957886147833104,171.72980583515965,0.6232518545542989,0.10969245891269987,6,43.00146365447724,3.0001452916434883,4.8522273147326915,1.0,False,forward_reverse_translation;forward_reverse_rotation
11,12,0.636223282239137,20.20192940175253,0.8688915375446961,0.08660981428891965,6,18.033297623211222,0.005089530929434581,0.03170796903435614,1.0,True,
11,13,2.0145868546459504,41.151122819653864,0.8021741727392188,0.10650327571539893,6,18.339724002801702,0.04485533499047456,0.27313934813876123,1.0,True,
11,14,1.2405786051647103,116.67752660647822,0.7455741626794259,0.11063741423489376,6,20.694961222671232,0.007044503253911164,0.40985193451245056,1.0,True,
11,15,1.4202907399288436,151.3505040066613,0.7466415272213057,0.10329430650455694,6,27.704214205277534,0.13203399207663835,1.4478079414864902,0.5,False,forward_reverse_translation;forward_reverse_rotation
11,16,2.7368971716016928,176.81389445065594,0.78639603721155,0.10318237166131629,6,34.658693494341755,0.008767229441137649,0.032548654712657686,1.0,True,
12,13,1.5928240921286525,20.949193417901323,0.8217283366828231,0.10684146627686454,6,16.400323597466677,0.01763325318199382,0.09467538550034012,1.0,True,
12,14,0.6774809171975742,96.47559720472566,0.7611268939393939,0.10826784336909262,6,10.635638995146312,0.0015931090432955832,0.024585439481643892,1.0,True,
12,15,1.8892292086221258,131.14857460490867,0.7324469325868906,0.11113399174419211,6,19.970471882560926,0.0024416100752998565,0.009279978214820864,1.0,True,
12,16,3.349436875941103,156.6119650489076,0.7500298864315601,0.10525785108693746,6,30.70828038440084,0.0024719134275639418,0.013160987022490347,1.0,True,
12,17,6.51378754358264,111.73754176984298,0.6198434030618207,0.1221546776649581,6,23.54160456185754,0.013538123192296372,0.06236055877935909,1.0,True,
13,14,0.9721300146850552,75.52640378682433,0.8278562107011508,0.10919246415865995,6,12.723402368483741,0.0049872211162087675,0.02566897887278044,1.0,True,
13,15,2.426469315960194,110.19938118700728,0.7886616014026885,0.10800229196760061,6,13.66454080002457,0.0038816141140735755,0.020030260506224723,1.0,True,
13,16,4.157137927296689,135.66277163100625,0.7477833692786964,0.10901310110319071,6,21.034367079780026,0.0024107551433002806,0.01470679715840447,1.0,True,
13,17,6.347445048137873,90.78834835194164,0.6122042632935114,0.12126385638135445,6,27.550293797111443,0.010111269848200304,1.6132660739833655,1.0,False,forward_reverse_rotation
13,18,4.26917989710959,135.79234683500215,0.6756988719960765,0.1140499722068077,6,13.668694297489541,0.010188526275029454,0.05757819838859875,1.0,True,
14,15,2.176233486689304,34.672977400182965,0.7415730337078652,0.11426627617931512,6,13.437209845730706,0.009280638111078932,0.07287904157175247,1.0,True,
14,16,3.79947855245853,60.13636784418198,0.7130173965206958,0.11194096137848975,6,36.60672565292038,0.0004016408999195087,0.020284570842973915,1.0,True,
14,17,6.190474035537447,15.261944565117341,0.6118212736015011,0.11991020962112661,6,17.152314443231333,0.020151321868834806,0.2079666531947748,1.0,True,
14,18,4.170672674565236,60.26594304817776,0.6756292203806016,0.1138218459710723,6,11.041435170572107,0.023698120255922432,0.1321697884270417,1.0,True,
14,19,3.9999134794649294,94.30913149027137,0.6699172941612147,0.112413086617321,6,9.748384934395327,0.018186549996561333,1.2493862686891326,1.0,False,forward_reverse_rotation
15,16,1.7328875589135755,25.463390443999018,0.7714218177520388,0.10015132538295435,6,21.49868629780701,0.007439481433750378,0.036349268136368934,1.0,True,
15,17,8.352264787019024,19.411032835065622,0.5587657459840518,0.12832496127520593,6,38.53228682833441,0.005430301274456062,0.06530638270069017,1.0,True,
15,18,6.346037230040679,25.592965647994788,0.615040502962157,0.11840729454457544,6,21.032065383701333,0.012871328625232324,0.037753566213482644,1.0,True,
15,19,5.607512178689573,59.636154090088375,0.6234350309955026,0.11735435665832353,6,16.270394372537467,0.007833445352022574,0.016491686030251827,1.0,True,
15,20,8.633248754322691,149.96154617253603,0.5562658304185261,0.13192141621005607,6,26.944324835385952,0.023510650105734523,0.673469393155776,1.0,False,forward_reverse_rotation
16,17,9.849975560032544,44.87442327906463,0.5900047370914259,0.1265936504427481,6,90.52736834449948,0.011296955150750666,0.21501790849158783,1.0,True,
16,18,7.9099649541476005,0.12957520399577063,0.6471098982882659,0.12019779875781794,6,38.44752656622707,0.016821400599454826,0.06522344447557246,1.0,True,
16,19,6.609737623005951,34.172763646089344,0.6280868046894488,0.12242728727104996,6,33.04590657073916,0.06745241310870236,1.6183598806956783,1.0,False,forward_reverse_rotation
16,20,9.541288639020653,124.49815572853673,0.5791883197228409,0.127436475456937,6,40.945151692592816,2.599521231663455,5.87323656621683,1.0,False,forward_reverse_translation;forward_reverse_rotation
16,21,9.407850320517097,175.38299577015903,0.49424730531670097,0.13389808634231865,6,45.28912477989511,0.04478742358365585,0.10475809279093058,1.0,True,
17,18,2.081596655954183,45.003998483060414,0.7629028349890962,0.10358638519274684,6,18.62989302843653,0.007136146106563684,0.13887814859043496,1.0,True,
17,19,4.34928579963815,79.047186925154,0.6728380024360536,0.10727518915463004,6,33.81541258417489,0.0017207670327870018,0.035486867252565536,1.0,True,
17,20,4.4206846692505035,169.37257900760153,0.6354846507130771,0.11168219002675635,6,38.40506040461897,0.020290214498459216,0.2831192364677464,1.0,True,
17,21,6.400116212709096,139.7425809507742,0.5695348561959995,0.1231813524465837,6,57.78224861663297,0.009859208985419086,0.31053558178227947,1.0,True,
17,22,8.798226453379533,96.08482130259475,0.5459048079246195,0.1287223998113377,6,62.758312260043155,0.03194615937469955,0.5773515871730924,1.0,False,forward_reverse_rotation
18,19,3.459222336215112,34.04318844209358,0.7562595809913132,0.11139160446923307,6,9.605522638453952,0.013156152321531143,0.09121207325672914,1.0,True,
18,20,4.94806857498194,124.36858052454107,0.6668778509883426,0.1149564835181103,6,18.76442873201715,0.0076759006397633354,0.11713903044228172,1.0,True,
18,21,6.5847443121227816,175.25342056617163,0.5977438948803768,0.12625086545570646,6,26.666713369082085,0.021119392446408227,0.18202979634982344,1.0,True,
18,22,9.20681259274594,141.08881978565523,0.5286220871327254,0.13561310095446666,6,65.22594013516775,0.03713510940704989,0.6483189610135184,1.0,False,forward_reverse_rotation
18,23,13.164275822166362,109.14103513098563,0.47146496815286626,0.14168298172295804,6,112.91469628781756,0.01208598984738065,0.6082838532521024,1.0,False,forward_reverse_rotation
19,20,3.031758915138065,90.32539208244746,0.7409531090723751,0.11651827109675585,6,10.060869835729363,0.0051743650857167135,0.07263138471648796,1.0,True,
19,21,3.732423384308353,141.21023212407198,0.6563629565000623,0.12291187901196955,6,15.339627619255575,0.0075358808329252175,0.06620678153945667,1.0,True,
19,22,6.37255124464243,175.13200822775684,0.5891492613346918,0.12519472268444526,6,28.30213785955742,0.010212573357042046,0.11056129275235052,1.0,True,
19,23,10.37094757900695,143.1842235730793,0.4984627209838586,0.13443006540917718,6,96.22322799212152,0.02229275506707497,0.2903847316754494,1.0,True,
19,24,7.752290899896264,99.91483670708607,0.5732565579014716,0.1300803661721533,6,45.37964984018865,0.07078749161909308,0.6582469262123747,1.0,False,forward_reverse_rotation
20,21,2.057726146362386,50.884840041624386,0.7808828984790405,0.11119787612354914,6,10.584324886965474,0.0031476308503252674,0.022487168529706673,1.0,True,
20,22,4.388457127616061,94.54259968980386,0.6557604850934815,0.11898674179731801,6,16.883756700029306,0.008500396323601164,0.06463449106814506,1.0,True,
20,23,8.256548639868363,126.4903843444735,0.5833545108005083,0.12863144503040289,6,48.7242741462686,0.013890482176493085,0.14514813799569015,1.0,True,
20,24,5.797339988732605,169.75977121046614,0.6348521385962685,0.11831053318180502,6,31.671029215629257,0.00725649124030166,0.27346756317921195,1.0,True,
20,25,3.9584300095978864,99.81821396908215,0.7094296865164296,0.11461231093244224,6,16.207076145397426,0.005999722474434507,0.07369423294061743,1.0,True,
21,22,2.665930009787955,43.65775964817948,0.7387220368310469,0.11520069835112393,6,16.025252253059314,0.0021484382611444506,0.09312757978022868,1.0,True,
21,23,6.670349114267683,75.60554430284907,0.6238657551274084,0.11987801174807478,6,32.271874238810035,0.007927242611182222,0.08795608522524892,1.0,True,
21,24,4.0761181240750135,118.87493116884215,0.6712192699279861,0.11172772070549726,6,21.556821129992922,0.04673963175312233,0.22273623714194987,1.0,True,
21,25,2.626640779558244,150.70305401070652,0.699310174919931,0.11234398811200015,6,15.335715959290205,0.018678960705618183,0.1734016933410122,1.0,True,
21,26,2.086425835169367,83.91641671720558,0.7166481550043194,0.11091971646336789,6,12.109452825928004,0.00977162867106615,0.0631934229127065,1.0,True,
22,23,4.005228418650323,31.947784654669576,0.7252984505969012,0.11644876240570266,6,17.935878140214236,0.013002087545984397,0.11470841251550605,1.0,True,
22,24,1.4231800329066895,75.21717152066267,0.7555499175440822,0.1089594430160029,6,14.427403734239578,0.0044919719825295985,0.008669004448985662,1.0,True,
22,25,0.9824487562406952,165.63918634111403,0.7088209387190134,0.11165869814478939,6,23.409617344710625,0.005265657588642687,0.10195131255569051,1.0,True,
22,26,3.0743977770984916,127.57417636538506,0.6831820474029249,0.11509847268437542,6,18.05320621935197,0.010313466929779696,0.02189018950989812,1.0,True,
22,27,3.054692363582515,96.43768805753649,0.712325317889966,0.11297739003609018,6,14.570486778570737,0.006473104665270118,0.07627008321159866,1.0,True,
23,24,2.6253440212817054,43.26938686599312,0.787546254944494,0.11112536909525574,6,13.667766137918514,0.003984385308883342,0.012875657690538275,1.0,True,
23,25,4.30404511575867,133.69140168644446,0.6839640551828883,0.11561487899989795,6,40.22316701306096,0.009663940236368565,0.2587163051792124,1.0,True,
23,26,6.580252552934289,159.52196102005493,0.6214811057570377,0.12356096223549605,6,59.18789907295204,0.03346639663911815,0.040359288659068966,1.0,True,
23,27,6.261292051742304,128.3854727122061,0.6439154109155375,0.11883308044324468,6,48.252953818047224,0.01363202571969651,0.268813724284828,1.0,True,
23,28,10.83543880539923,37.57580831192121,0.5551750380517504,0.13104613123848732,6,44.00847715074386,0.01592501575703795,0.1925228188054137,1.0,True,
24,25,2.0155105379126432,90.4220148204513,0.7610619469026548,0.10446971824743242,6,22.29894236104597,0.01721789520038266,0.09266069416139829,1.0,True,
24,26,4.344602404326578,157.20865211395216,0.6986700443318556,0.11795525471114342,6,30.354013262701024,0.0239438468814135,0.2700005297192175,1.0,True,
24,27,4.194437499675352,171.65485957819877,0.7233746521629142,0.11505806966234582,6,24.218829066684407,0.0071603040929797065,0.1144565168286882,1.0,True,
24,28,8.235813904401468,80.84519517791432,0.618522741669834,0.1218895746871147,6,34.55835443937473,0.008956300116613691,0.24319664279778394,1.0,True,
24,29,2.7255497122534083,57.0551252080454,0.7635993899339095,0.11147922533242269,6,11.572525725181164,0.02246832420061709,0.4519372330281508,1.0,True,
25,26,2.340922525153354,66.78663729350096,0.8176906646563639,0.1076748622762494,6,10.194320056407282,0.011727583881002021,0.04299213457608308,1.0,True,
25,27,2.187150933555911,97.92312560134954,0.8508155583437892,0.10177690901936605,6,9.447407214356089,0.004921098494284399,0.04722324529000337,1.0,True,
25,28,6.688406442287195,171.26720999836604,0.6552720874701521,0.1158307449607044,6,16.856702471098828,0.010027166778796438,0.069841684352646,1.0,True,
25,29,1.411474020521721,147.47714002849685,0.7434442763489663,0.11227320270489505,6,19.207346965238134,0.005744598995027529,0.30413185830684,1.0,True,
25,30,0.5324917816481396,118.09183853064393,0.7986111111111112,0.1061010900656728,6,14.995080416656407,0.004651476537899485,0.06337779258524685,1.0,True,
26,27,0.6349061963265976,31.136488307848563,0.8835952231301069,0.10164781558403184,6,8.741658683232068,0.0010243697887392141,0.04630474119881922,1.0,True,
26,28,5.008419104260455,121.94615270813352,0.7013346764039284,0.1156303654422143,6,10.39669408260953,0.016692399239017493,0.1408617368634082,1.0,True,
26,29,2.224643201350574,145.73622267800252,0.7255273462170014,0.11343814488049828,6,14.171918272295303,0.0030631045126193056,0.10499072900350268,1.0,True,
26,30,2.6736935848107626,175.1215241758588,0.7273877292852625,0.11178149175643984,6,20.18904245623208,0.002906139936114469,0.06343916895540856,1.0,True,
26,31,6.867005915953627,145.82839665297058,0.6099962135554714,0.12348129729633385,6,43.35600938855713,0.011230201352754812,0.02547666380871279,1.0,True,
27,28,5.622863551235285,90.80966440028486,0.7116811266188859,0.11387091842867321,6,10.816842555490693,0.011430300098438593,0.17858658887118406,1.0,True,
27,29,2.458639091699311,114.59973437015381,0.7588294651866802,0.10898351788466304,6,11.452504275483305,0.002552411031283606,0.096053889700167,1.0,True,
27,30,2.614522132166758,143.98503586800658,0.7699595755432036,0.10809432324457112,6,19.384788093934308,0.006419845852952349,0.09683669503892821,1.0,True,
27,31,6.500901961576647,114.69190834512194,0.6407864885303756,0.12195597170279295,6,45.71099685307573,0.03203829198983217,0.21314212616538905,1.0,True,
27,32,8.204840364723921,69.85846065460369,0.6120722798923491,0.12793570356778294,6,50.652407095458955,0.02476270066797521,0.18953242722457034,1.0,True,
28,29,5.5254251571777075,23.790069969868927,0.6751737207833228,0.11816626627973714,6,15.58130572797597,0.0036062245918322845,0.04228106700822467,1.0,True,
28,30,6.682895390289165,53.17537146772172,0.6476021763887132,0.12162303323930705,6,19.56745364015458,0.036760870155111036,0.061189777619461184,1.0,True,
28,31,11.27338119162288,23.882243944837096,0.558515338972352,0.1324943729180927,6,46.74937334475135,0.011294835537302048,0.22869636591571527,1.0,True,
28,32,12.874594603353637,20.951203745681177,0.5356867779204108,0.13793317141107478,6,47.36276875018484,0.009260784922164039,0.4736145985672847,1.0,True,
28,33,13.796424177198949,59.567633422321585,0.49968659897204465,0.13776776698165452,6,59.65569689133837,0.03480709552965627,0.1328751318540718,1.0,True,
29,30,1.1998189814142899,29.3853014978528,0.8126428027418127,0.11465616151168853,6,9.73882704495904,0.059123063905753705,0.35885997079417975,1.0,True,
29,31,5.755712819539279,0.09217397496817598,0.7178318135764944,0.11831514282300001,6,19.572443598172608,0.03055388488044922,0.16788276176822323,1.0,True,
29,32,7.3497160995478215,44.7412737155501,0.6866709594333548,0.12344589693451308,6,19.69654687402097,0.01847461637742171,0.10764991453418553,1.0,True,
29,33,8.359102419083325,83.35770339219052,0.6151911468812877,0.12607024585552623,6,19.321252328369155,0.005640558537625966,0.060018922799470055,1.0,True,
29,34,8.008340805017072,133.40261903862776,0.6489454636216149,0.1229782406905996,6,19.361211916752247,0.024951598645873194,0.20519725330906424,1.0,True,
30,31,4.592128513798009,29.29312752288462,0.76103500761035,0.11418966560335815,6,16.756236396505788,0.010805499433410783,0.0764328342532002,1.0,True,
30,32,6.2188831730504885,74.12657521340287,0.7051463949438926,0.11749249261595905,6,20.554466965332146,0.009422682577629085,0.037900377279079585,1.0,True,
30,33,7.344850966128434,112.7430048900433,0.6064231738035264,0.12368925274094972,6,20.291143104650924,0.0147669225762263,0.09037435316445036,1.0,True,
30,34,7.0347870411064095,162.78792053648075,0.6427946506686664,0.12352381867411776,6,21.47516866844496,3.1821548176867474,2.4099911828321603,1.0,False,forward_reverse_translation;forward_reverse_rotation
30,35,9.281470813161304,166.02816439171798,0.690784364483562,0.12252550482763978,6,16.634587270964886,0.009824737708452339,0.14818916841264132,1.0,True,
31,32,1.7043840283934533,44.83344769051828,0.7959078625659504,0.10965414855273443,6,12.882067962817517,0.009608345699366565,0.04073745185785107,1.0,True,
31,33,3.3472002644811774,83.44987736715868,0.636089469716009,0.11810494837446742,6,13.701242758091343,0.01055590691460776,0.06271370554561609,1.0,True,
31,34,3.311630046755356,133.49479301359594,0.6599326599326599,0.11513164519765848,6,15.199690471396346,0.002580333972310516,0.03476275200242535,1.0,True,
31,35,4.805055361756335,164.67870808539848,0.7747933884297521,0.1099315236542533,6,13.983106845566315,0.002969158365974405,0.02482993261597952,1.0,True,
31,36,5.921091773191984,169.88970913698103,0.79326799071447,0.11165900641583826,6,12.181844458808802,0.004151989866605975,0.032942374858786365,1.0,True,
32,33,1.9394369188755196,38.61642967664041,0.7479238533282229,0.1140254726045761,6,12.862133545437658,0.005854383016193307,0.042356141718508426,1.0,True,
32,34,2.1435446082722334,88.6613453230776,0.7426470588235294,0.11481351455228676,6,15.077486603426832,0.0025843844761028077,0.009064526838353553,1.0,True,
32,35,3.1027737257249126,119.84526039487966,0.8209641402863523,0.10635864973089924,6,10.914008667831691,0.004447738370013908,0.11616784364821804,1.0,True,
32,36,4.235311686227635,145.27684317250132,0.7613800341073068,0.10898930843612145,6,12.22686011069426,0.008302372052489307,0.047221847858387886,1.0,True,
32,37,3.1931475050378357,118.78221388859481,0.6919923126201153,0.11497666348297753,6,16.91846428853567,0.00567166990415677,0.10190182649448634,1.0,True,
33,34,0.5704890065278277,50.0449156464372,0.8247678018575851,0.10774292174748101,6,13.307399451848953,0.005218203824516851,0.054034410494683056,1.0,True,
33,35,2.3843314966611664,81.22883071823928,0.7097435897435898,0.11216257584808116,6,12.920219167499932,0.0055472051152683725,0.06161504272529624,1.0,True,
33,36,3.5605240220038255,106.66041349586102,0.62202304737516,0.11282494351568334,6,18.491230751066993,0.009207361872581905,0.07430583689659953,1.0,True,
33,37,4.013080941901569,80.16578421195443,0.6328828828828829,0.12540757119118434,6,17.018187124475837,0.0036940550280262596,0.12927083795080543,1.0,True,
34,35,2.9403442697824866,31.183915071802076,0.7146673451214858,0.11428688542425412,6,13.705016766266674,0.013436446539858737,0.05510481554154184,1.0,True,
34,36,4.102710388907318,56.61549784942384,0.6465506288908652,0.11729490897001751,6,19.754334744118587,0.086056763787067,1.0836879727751445,1.0,False,forward_reverse_translation;forward_reverse_rotation
34,37,3.6865711881345757,30.12086856551724,0.6899292189246243,0.11937420197560855,6,16.808577408839643,0.005083360744530967,0.10024940937419655,1.0,True,
35,36,1.2045561534352058,25.431582777621774,0.8242496050552922,0.10907898456971946,6,9.660062538057792,0.0026096461304541156,0.07595057929078583,1.0,True,
35,37,6.084062615492111,1.063046506284832,0.6924659295448702,0.12103303062396852,6,14.36240888115935,0.005914867863779407,0.06573359298031699,1.0,True,
36,37,7.2781244258509386,26.494629283906598,0.6402157164869029,0.12413886977390769,6,20.08544982146282,0.008397869289519334,0.08479281990151419,1.0,True,
1 i j rtk_translation_m rtk_rotation_deg heldout_inlier_ratio heldout_inlier_rmse_m hessian_rank hessian_condition reverse_translation_m reverse_rotation_deg multistart_success_rate accepted rejection_reasons
2 0 1 0.503306788400079 13.198324485965863 0.8131655372700871 0.09008834340898543 6 11.429289586039127 0.0005504552049968047 0.0032916777115618487 1.0 True
3 0 2 1.1601020961002007 26.306295080591493 0.8167658604533367 0.09980570916927256 6 11.00789089021616 0.00205395151868756 0.012799633971915293 1.0 True
4 0 3 1.1328421148283978 41.74134818989305 0.81441508497705 0.10115686777955255 6 13.837529680361882 0.01247476852224996 0.1726729736128094 1.0 True
5 0 4 1.0129799192122786 70.92934830291522 0.7761963190184049 0.10269905695661055 6 12.888313335228592 0.019300920937430674 0.12217052794626229 1.0 True
6 0 5 0.9014321094792815 89.27285808969826 0.7735100978813034 0.10986502690369805 6 24.919203290408266 0.0278108340699398 0.2717481445912482 1.0 True
7 1 2 0.6927979865343085 13.107970594625625 0.7850287907869482 0.08649388452503427 6 11.757459931907107 0.001960394451155616 0.002128143929965857 1.0 True
8 1 3 0.7002295454253883 28.543023703927183 0.7901992730918661 0.09109387779670658 6 12.066030386554463 0.004906057223105903 0.018773640398341965 1.0 True
9 1 4 0.8045641659338967 57.731023816949346 0.7439266236985622 0.09680131928922782 6 12.860596463339792 0.020081946886066578 1.2340284819813434 1.0 False forward_reverse_rotation
10 1 5 0.7829726518389362 76.07453360373235 0.7313806483915384 0.10148815288043825 6 12.782489568272775 0.016729134900242502 0.06734086907642674 1.0 True
11 1 6 0.7843480712672012 108.63393511864574 0.6214689265536724 0.10742176387842234 6 26.39069479810122 0.0027238824581310127 0.04004688680398286 1.0 True
12 2 3 0.13949776780243606 15.435053109301553 0.9176300578034682 0.07082931569628453 6 11.740335220665598 0.0016419682635548487 0.0015051284247814798 1.0 True
13 2 4 0.6701726006967371 44.62305322232371 0.840540189585768 0.08212714345330237 6 12.917292889611646 0.0015059170263523442 0.004861145455894842 1.0 True
14 2 5 0.8004226998626774 62.96656300910673 0.8300970873786407 0.0931389934573794 6 15.74858194202481 0.002555949510569182 0.008486377461290648 1.0 True
15 2 6 1.3845111356101025 95.5259645240201 0.6495130297446696 0.10354826871538153 6 15.262952717632835 0.008359384079660144 0.07441619593698878 1.0 True
16 2 7 2.161304865409727 119.81081101983789 0.8143257302921169 0.09968516416989152 6 30.540416925007207 0.013121403719342412 0.05039604031914888 1.0 True
17 3 4 0.5366157827594368 29.188000113022152 0.8855689764780674 0.07250679559229746 6 11.672391892657863 0.0006574625393083392 0.0008548453445728261 1.0 True
18 3 5 0.6760093701980526 47.53150989980517 0.8759311584895967 0.08543306637795112 6 15.073465050917047 0.0011073394938326227 0.004974962253885575 1.0 True
19 3 6 1.4361364806393455 80.09091141471853 0.678819891780469 0.10239967326707564 6 23.156860004682848 0.002691305620040523 0.027681404773136364 1.0 True
20 3 7 2.1008551524156123 104.37575791053635 0.7961101683853283 0.10180989325686585 6 29.756525470837225 0.023292005056525338 0.174639961337377 1.0 True
21 3 8 1.3108481779402037 133.20736428981294 0.11556480999479438 0.1433106939673773 6 147.35707874920627 1.368389528072986 15.0277123732284 1.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
22 4 5 0.17861948949299924 18.343509786783002 0.8685714285714285 0.07604325543622346 6 12.370184068840063 0.003904582263467037 0.011742002375313174 1.0 True
23 4 6 1.5807073315069207 50.90291130169636 0.6822060883963826 0.10567824422734254 6 18.163522769519293 0.011923922180697284 0.08008579261790838 1.0 True
24 4 7 1.7804201387535592 75.18775779751417 0.7963870967741935 0.10178391918503964 6 25.315987799570973 0.034377900701078094 0.11532260919614924 1.0 True
25 4 8 1.2818497736845669 104.01936417679076 0.7430850379518847 0.10189238984319506 6 25.19640114706588 0.034977663635135596 1.5753470469755222 1.0 False forward_reverse_rotation
26 4 9 1.5141865499370524 117.34615495378958 0.0841833440929632 0.15176056899798168 6 84.88516221869183 3.340127368239112 6.177861200193235 0.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
27 5 6 1.5316987521992935 32.55940151491337 0.6864384971693258 0.10315026388508003 6 11.505426214947052 0.002552272421554712 0.013899678900349944 1.0 True
28 5 7 1.6091514152462776 56.844248010731185 0.8104549602398644 0.09862238510016193 6 16.517299930207333 0.0037398303757535147 0.02129636862756259 1.0 True
29 5 8 1.1872485760158462 85.67585439000777 0.7806082661814401 0.10305777405801758 6 17.737819341361416 0.0056799616182010805 0.026182015145595202 1.0 True
30 5 9 1.380208837139288 99.00264516700663 0.7946777980693973 0.10313535699942489 6 14.147499646203187 0.06270036555847405 0.33857191756776234 1.0 True
31 5 10 1.7506315276318887 115.10127466723206 0.7847418443359877 0.10018431236036145 6 21.425526326745782 0.005291671170548772 0.044796841001461946 1.0 True
32 6 7 1.5692385974903325 24.284846495817817 0.7380672159016608 0.1046107504689679 6 13.947054238965462 0.010178220865611676 0.026255002379027764 1.0 True
33 6 8 0.5035712140385419 53.11645287509441 0.7026075619295958 0.10337241424878332 6 21.232848227388097 0.017447450845101884 0.1292664848366822 1.0 True
34 6 9 0.8508108569116883 66.44324365209327 0.6714210939544621 0.10949604778423808 6 34.21205543097956 0.09491078892598759 0.32255986251320673 1.0 False forward_reverse_translation
35 6 10 1.3331914459292633 82.5418731523187 0.6619427982478743 0.10510077922086615 6 31.101566437428897 0.003562383894956786 0.04536548719264196 1.0 True
36 6 11 3.16887584646763 119.46156331049859 0.638006230529595 0.1061575017783152 6 31.943306843588733 0.0059304520508679575 0.05963953472442965 1.0 True
37 7 8 1.1230406357307108 28.831606379276582 0.8040692297529396 0.09680052952350976 6 22.21980394474879 0.008328073875015064 0.06350723756646647 1.0 True
38 7 9 0.7186795671679719 42.158397156275456 0.8274764620076913 0.09296346258223728 6 22.096355228992984 0.0076981468910999155 0.020277033650542 1.0 True
39 7 10 0.39293571356254015 58.25702665650087 0.7992429186790236 0.10479299924479576 6 30.246845596558646 0.04240408437264065 1.1111803590641476 1.0 False forward_reverse_rotation
40 7 11 2.4544901278439815 95.17671681468076 0.7502523977788995 0.1028589368143411 6 19.931284665592216 0.005620519728387707 0.0303880139721275 1.0 True
41 7 12 3.0905023273107046 115.3786462164333 0.7054418372441338 0.10706084863640537 6 10.761985004268995 0.004629206980441498 0.07009059694702204 1.0 True
42 8 9 0.4407680716864947 13.326790776998866 0.8539132734003173 0.09158655960119419 6 31.292808872701826 0.0036696927581956673 0.014909075167693285 1.0 True
43 8 10 0.968166048306331 29.425420277224287 0.7989328474752733 0.09757506446655329 6 25.45934970841849 0.008689580645481346 0.052297435035790506 1.0 True
44 8 11 3.0540124804140354 66.34511043540417 0.6854158802063672 0.10755838259974337 6 42.46956117899474 0.00234148729464824 0.061662020462905004 1.0 True
45 8 12 3.652970846697932 86.5470398371567 0.6485376477909147 0.11031208403019 6 30.049664340525695 0.013830104055554564 0.11563630256710061 1.0 True
46 8 13 4.357531202056024 107.49623325505803 0.622879241516966 0.1149201207874094 6 27.04257772502661 0.005835943764379069 0.23887217550290574 1.0 True
47 9 10 0.5276649044820116 16.098629500225417 0.8486154649947754 0.09691837979566219 6 22.577834737399076 0.007052114296262031 0.2907164943632002 1.0 True
48 9 11 2.680593454060616 53.0183196584053 0.6963000378835712 0.10535088240045436 6 39.530571540955094 0.0034527207661208545 0.020238883727394828 1.0 True
49 9 12 3.2944321799753977 73.22024906015783 0.6584238791057825 0.10587631557960675 6 33.498316372288826 0.009482405807021465 0.07225186033919398 1.0 True
50 9 13 4.1147924441994315 94.16944247805917 0.621557336004006 0.11335203160746431 6 32.6975845279655 0.009011781776631502 0.0416830306778097 1.0 True
51 9 14 3.748520283907519 169.69584626488452 0.048890560361037984 0.15557197380465354 6 51.54107837707314 1.0864076801076206 7.184564913859941 0.5 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
52 10 11 2.249454986440387 36.91969015817989 0.7156362731683045 0.10422606491110974 6 45.45254669271086 0.004301999273657816 0.02361974788713562 1.0 True
53 10 12 2.8783779741216167 57.12161955993242 0.692875599852344 0.10691573133186853 6 39.11010182412513 0.004231594662123499 0.01872424915403812 1.0 True
54 10 13 3.84803303865234 78.07081297783375 0.6594721262950173 0.10871022234744057 6 43.1464607017966 0.006980776690426113 0.21408921607631748 1.0 True
55 10 14 3.3834992499807997 153.59721676465847 0.062245276028158575 0.15570919185507412 6 59.4104405367878 0.09444016841800375 2.8556589503073977 0.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
56 10 15 1.4957886147833104 171.72980583515965 0.6232518545542989 0.10969245891269987 6 43.00146365447724 3.0001452916434883 4.8522273147326915 1.0 False forward_reverse_translation;forward_reverse_rotation
57 11 12 0.636223282239137 20.20192940175253 0.8688915375446961 0.08660981428891965 6 18.033297623211222 0.005089530929434581 0.03170796903435614 1.0 True
58 11 13 2.0145868546459504 41.151122819653864 0.8021741727392188 0.10650327571539893 6 18.339724002801702 0.04485533499047456 0.27313934813876123 1.0 True
59 11 14 1.2405786051647103 116.67752660647822 0.7455741626794259 0.11063741423489376 6 20.694961222671232 0.007044503253911164 0.40985193451245056 1.0 True
60 11 15 1.4202907399288436 151.3505040066613 0.7466415272213057 0.10329430650455694 6 27.704214205277534 0.13203399207663835 1.4478079414864902 0.5 False forward_reverse_translation;forward_reverse_rotation
61 11 16 2.7368971716016928 176.81389445065594 0.78639603721155 0.10318237166131629 6 34.658693494341755 0.008767229441137649 0.032548654712657686 1.0 True
62 12 13 1.5928240921286525 20.949193417901323 0.8217283366828231 0.10684146627686454 6 16.400323597466677 0.01763325318199382 0.09467538550034012 1.0 True
63 12 14 0.6774809171975742 96.47559720472566 0.7611268939393939 0.10826784336909262 6 10.635638995146312 0.0015931090432955832 0.024585439481643892 1.0 True
64 12 15 1.8892292086221258 131.14857460490867 0.7324469325868906 0.11113399174419211 6 19.970471882560926 0.0024416100752998565 0.009279978214820864 1.0 True
65 12 16 3.349436875941103 156.6119650489076 0.7500298864315601 0.10525785108693746 6 30.70828038440084 0.0024719134275639418 0.013160987022490347 1.0 True
66 12 17 6.51378754358264 111.73754176984298 0.6198434030618207 0.1221546776649581 6 23.54160456185754 0.013538123192296372 0.06236055877935909 1.0 True
67 13 14 0.9721300146850552 75.52640378682433 0.8278562107011508 0.10919246415865995 6 12.723402368483741 0.0049872211162087675 0.02566897887278044 1.0 True
68 13 15 2.426469315960194 110.19938118700728 0.7886616014026885 0.10800229196760061 6 13.66454080002457 0.0038816141140735755 0.020030260506224723 1.0 True
69 13 16 4.157137927296689 135.66277163100625 0.7477833692786964 0.10901310110319071 6 21.034367079780026 0.0024107551433002806 0.01470679715840447 1.0 True
70 13 17 6.347445048137873 90.78834835194164 0.6122042632935114 0.12126385638135445 6 27.550293797111443 0.010111269848200304 1.6132660739833655 1.0 False forward_reverse_rotation
71 13 18 4.26917989710959 135.79234683500215 0.6756988719960765 0.1140499722068077 6 13.668694297489541 0.010188526275029454 0.05757819838859875 1.0 True
72 14 15 2.176233486689304 34.672977400182965 0.7415730337078652 0.11426627617931512 6 13.437209845730706 0.009280638111078932 0.07287904157175247 1.0 True
73 14 16 3.79947855245853 60.13636784418198 0.7130173965206958 0.11194096137848975 6 36.60672565292038 0.0004016408999195087 0.020284570842973915 1.0 True
74 14 17 6.190474035537447 15.261944565117341 0.6118212736015011 0.11991020962112661 6 17.152314443231333 0.020151321868834806 0.2079666531947748 1.0 True
75 14 18 4.170672674565236 60.26594304817776 0.6756292203806016 0.1138218459710723 6 11.041435170572107 0.023698120255922432 0.1321697884270417 1.0 True
76 14 19 3.9999134794649294 94.30913149027137 0.6699172941612147 0.112413086617321 6 9.748384934395327 0.018186549996561333 1.2493862686891326 1.0 False forward_reverse_rotation
77 15 16 1.7328875589135755 25.463390443999018 0.7714218177520388 0.10015132538295435 6 21.49868629780701 0.007439481433750378 0.036349268136368934 1.0 True
78 15 17 8.352264787019024 19.411032835065622 0.5587657459840518 0.12832496127520593 6 38.53228682833441 0.005430301274456062 0.06530638270069017 1.0 True
79 15 18 6.346037230040679 25.592965647994788 0.615040502962157 0.11840729454457544 6 21.032065383701333 0.012871328625232324 0.037753566213482644 1.0 True
80 15 19 5.607512178689573 59.636154090088375 0.6234350309955026 0.11735435665832353 6 16.270394372537467 0.007833445352022574 0.016491686030251827 1.0 True
81 15 20 8.633248754322691 149.96154617253603 0.5562658304185261 0.13192141621005607 6 26.944324835385952 0.023510650105734523 0.673469393155776 1.0 False forward_reverse_rotation
82 16 17 9.849975560032544 44.87442327906463 0.5900047370914259 0.1265936504427481 6 90.52736834449948 0.011296955150750666 0.21501790849158783 1.0 True
83 16 18 7.9099649541476005 0.12957520399577063 0.6471098982882659 0.12019779875781794 6 38.44752656622707 0.016821400599454826 0.06522344447557246 1.0 True
84 16 19 6.609737623005951 34.172763646089344 0.6280868046894488 0.12242728727104996 6 33.04590657073916 0.06745241310870236 1.6183598806956783 1.0 False forward_reverse_rotation
85 16 20 9.541288639020653 124.49815572853673 0.5791883197228409 0.127436475456937 6 40.945151692592816 2.599521231663455 5.87323656621683 1.0 False forward_reverse_translation;forward_reverse_rotation
86 16 21 9.407850320517097 175.38299577015903 0.49424730531670097 0.13389808634231865 6 45.28912477989511 0.04478742358365585 0.10475809279093058 1.0 True
87 17 18 2.081596655954183 45.003998483060414 0.7629028349890962 0.10358638519274684 6 18.62989302843653 0.007136146106563684 0.13887814859043496 1.0 True
88 17 19 4.34928579963815 79.047186925154 0.6728380024360536 0.10727518915463004 6 33.81541258417489 0.0017207670327870018 0.035486867252565536 1.0 True
89 17 20 4.4206846692505035 169.37257900760153 0.6354846507130771 0.11168219002675635 6 38.40506040461897 0.020290214498459216 0.2831192364677464 1.0 True
90 17 21 6.400116212709096 139.7425809507742 0.5695348561959995 0.1231813524465837 6 57.78224861663297 0.009859208985419086 0.31053558178227947 1.0 True
91 17 22 8.798226453379533 96.08482130259475 0.5459048079246195 0.1287223998113377 6 62.758312260043155 0.03194615937469955 0.5773515871730924 1.0 False forward_reverse_rotation
92 18 19 3.459222336215112 34.04318844209358 0.7562595809913132 0.11139160446923307 6 9.605522638453952 0.013156152321531143 0.09121207325672914 1.0 True
93 18 20 4.94806857498194 124.36858052454107 0.6668778509883426 0.1149564835181103 6 18.76442873201715 0.0076759006397633354 0.11713903044228172 1.0 True
94 18 21 6.5847443121227816 175.25342056617163 0.5977438948803768 0.12625086545570646 6 26.666713369082085 0.021119392446408227 0.18202979634982344 1.0 True
95 18 22 9.20681259274594 141.08881978565523 0.5286220871327254 0.13561310095446666 6 65.22594013516775 0.03713510940704989 0.6483189610135184 1.0 False forward_reverse_rotation
96 18 23 13.164275822166362 109.14103513098563 0.47146496815286626 0.14168298172295804 6 112.91469628781756 0.01208598984738065 0.6082838532521024 1.0 False forward_reverse_rotation
97 19 20 3.031758915138065 90.32539208244746 0.7409531090723751 0.11651827109675585 6 10.060869835729363 0.0051743650857167135 0.07263138471648796 1.0 True
98 19 21 3.732423384308353 141.21023212407198 0.6563629565000623 0.12291187901196955 6 15.339627619255575 0.0075358808329252175 0.06620678153945667 1.0 True
99 19 22 6.37255124464243 175.13200822775684 0.5891492613346918 0.12519472268444526 6 28.30213785955742 0.010212573357042046 0.11056129275235052 1.0 True
100 19 23 10.37094757900695 143.1842235730793 0.4984627209838586 0.13443006540917718 6 96.22322799212152 0.02229275506707497 0.2903847316754494 1.0 True
101 19 24 7.752290899896264 99.91483670708607 0.5732565579014716 0.1300803661721533 6 45.37964984018865 0.07078749161909308 0.6582469262123747 1.0 False forward_reverse_rotation
102 20 21 2.057726146362386 50.884840041624386 0.7808828984790405 0.11119787612354914 6 10.584324886965474 0.0031476308503252674 0.022487168529706673 1.0 True
103 20 22 4.388457127616061 94.54259968980386 0.6557604850934815 0.11898674179731801 6 16.883756700029306 0.008500396323601164 0.06463449106814506 1.0 True
104 20 23 8.256548639868363 126.4903843444735 0.5833545108005083 0.12863144503040289 6 48.7242741462686 0.013890482176493085 0.14514813799569015 1.0 True
105 20 24 5.797339988732605 169.75977121046614 0.6348521385962685 0.11831053318180502 6 31.671029215629257 0.00725649124030166 0.27346756317921195 1.0 True
106 20 25 3.9584300095978864 99.81821396908215 0.7094296865164296 0.11461231093244224 6 16.207076145397426 0.005999722474434507 0.07369423294061743 1.0 True
107 21 22 2.665930009787955 43.65775964817948 0.7387220368310469 0.11520069835112393 6 16.025252253059314 0.0021484382611444506 0.09312757978022868 1.0 True
108 21 23 6.670349114267683 75.60554430284907 0.6238657551274084 0.11987801174807478 6 32.271874238810035 0.007927242611182222 0.08795608522524892 1.0 True
109 21 24 4.0761181240750135 118.87493116884215 0.6712192699279861 0.11172772070549726 6 21.556821129992922 0.04673963175312233 0.22273623714194987 1.0 True
110 21 25 2.626640779558244 150.70305401070652 0.699310174919931 0.11234398811200015 6 15.335715959290205 0.018678960705618183 0.1734016933410122 1.0 True
111 21 26 2.086425835169367 83.91641671720558 0.7166481550043194 0.11091971646336789 6 12.109452825928004 0.00977162867106615 0.0631934229127065 1.0 True
112 22 23 4.005228418650323 31.947784654669576 0.7252984505969012 0.11644876240570266 6 17.935878140214236 0.013002087545984397 0.11470841251550605 1.0 True
113 22 24 1.4231800329066895 75.21717152066267 0.7555499175440822 0.1089594430160029 6 14.427403734239578 0.0044919719825295985 0.008669004448985662 1.0 True
114 22 25 0.9824487562406952 165.63918634111403 0.7088209387190134 0.11165869814478939 6 23.409617344710625 0.005265657588642687 0.10195131255569051 1.0 True
115 22 26 3.0743977770984916 127.57417636538506 0.6831820474029249 0.11509847268437542 6 18.05320621935197 0.010313466929779696 0.02189018950989812 1.0 True
116 22 27 3.054692363582515 96.43768805753649 0.712325317889966 0.11297739003609018 6 14.570486778570737 0.006473104665270118 0.07627008321159866 1.0 True
117 23 24 2.6253440212817054 43.26938686599312 0.787546254944494 0.11112536909525574 6 13.667766137918514 0.003984385308883342 0.012875657690538275 1.0 True
118 23 25 4.30404511575867 133.69140168644446 0.6839640551828883 0.11561487899989795 6 40.22316701306096 0.009663940236368565 0.2587163051792124 1.0 True
119 23 26 6.580252552934289 159.52196102005493 0.6214811057570377 0.12356096223549605 6 59.18789907295204 0.03346639663911815 0.040359288659068966 1.0 True
120 23 27 6.261292051742304 128.3854727122061 0.6439154109155375 0.11883308044324468 6 48.252953818047224 0.01363202571969651 0.268813724284828 1.0 True
121 23 28 10.83543880539923 37.57580831192121 0.5551750380517504 0.13104613123848732 6 44.00847715074386 0.01592501575703795 0.1925228188054137 1.0 True
122 24 25 2.0155105379126432 90.4220148204513 0.7610619469026548 0.10446971824743242 6 22.29894236104597 0.01721789520038266 0.09266069416139829 1.0 True
123 24 26 4.344602404326578 157.20865211395216 0.6986700443318556 0.11795525471114342 6 30.354013262701024 0.0239438468814135 0.2700005297192175 1.0 True
124 24 27 4.194437499675352 171.65485957819877 0.7233746521629142 0.11505806966234582 6 24.218829066684407 0.0071603040929797065 0.1144565168286882 1.0 True
125 24 28 8.235813904401468 80.84519517791432 0.618522741669834 0.1218895746871147 6 34.55835443937473 0.008956300116613691 0.24319664279778394 1.0 True
126 24 29 2.7255497122534083 57.0551252080454 0.7635993899339095 0.11147922533242269 6 11.572525725181164 0.02246832420061709 0.4519372330281508 1.0 True
127 25 26 2.340922525153354 66.78663729350096 0.8176906646563639 0.1076748622762494 6 10.194320056407282 0.011727583881002021 0.04299213457608308 1.0 True
128 25 27 2.187150933555911 97.92312560134954 0.8508155583437892 0.10177690901936605 6 9.447407214356089 0.004921098494284399 0.04722324529000337 1.0 True
129 25 28 6.688406442287195 171.26720999836604 0.6552720874701521 0.1158307449607044 6 16.856702471098828 0.010027166778796438 0.069841684352646 1.0 True
130 25 29 1.411474020521721 147.47714002849685 0.7434442763489663 0.11227320270489505 6 19.207346965238134 0.005744598995027529 0.30413185830684 1.0 True
131 25 30 0.5324917816481396 118.09183853064393 0.7986111111111112 0.1061010900656728 6 14.995080416656407 0.004651476537899485 0.06337779258524685 1.0 True
132 26 27 0.6349061963265976 31.136488307848563 0.8835952231301069 0.10164781558403184 6 8.741658683232068 0.0010243697887392141 0.04630474119881922 1.0 True
133 26 28 5.008419104260455 121.94615270813352 0.7013346764039284 0.1156303654422143 6 10.39669408260953 0.016692399239017493 0.1408617368634082 1.0 True
134 26 29 2.224643201350574 145.73622267800252 0.7255273462170014 0.11343814488049828 6 14.171918272295303 0.0030631045126193056 0.10499072900350268 1.0 True
135 26 30 2.6736935848107626 175.1215241758588 0.7273877292852625 0.11178149175643984 6 20.18904245623208 0.002906139936114469 0.06343916895540856 1.0 True
136 26 31 6.867005915953627 145.82839665297058 0.6099962135554714 0.12348129729633385 6 43.35600938855713 0.011230201352754812 0.02547666380871279 1.0 True
137 27 28 5.622863551235285 90.80966440028486 0.7116811266188859 0.11387091842867321 6 10.816842555490693 0.011430300098438593 0.17858658887118406 1.0 True
138 27 29 2.458639091699311 114.59973437015381 0.7588294651866802 0.10898351788466304 6 11.452504275483305 0.002552411031283606 0.096053889700167 1.0 True
139 27 30 2.614522132166758 143.98503586800658 0.7699595755432036 0.10809432324457112 6 19.384788093934308 0.006419845852952349 0.09683669503892821 1.0 True
140 27 31 6.500901961576647 114.69190834512194 0.6407864885303756 0.12195597170279295 6 45.71099685307573 0.03203829198983217 0.21314212616538905 1.0 True
141 27 32 8.204840364723921 69.85846065460369 0.6120722798923491 0.12793570356778294 6 50.652407095458955 0.02476270066797521 0.18953242722457034 1.0 True
142 28 29 5.5254251571777075 23.790069969868927 0.6751737207833228 0.11816626627973714 6 15.58130572797597 0.0036062245918322845 0.04228106700822467 1.0 True
143 28 30 6.682895390289165 53.17537146772172 0.6476021763887132 0.12162303323930705 6 19.56745364015458 0.036760870155111036 0.061189777619461184 1.0 True
144 28 31 11.27338119162288 23.882243944837096 0.558515338972352 0.1324943729180927 6 46.74937334475135 0.011294835537302048 0.22869636591571527 1.0 True
145 28 32 12.874594603353637 20.951203745681177 0.5356867779204108 0.13793317141107478 6 47.36276875018484 0.009260784922164039 0.4736145985672847 1.0 True
146 28 33 13.796424177198949 59.567633422321585 0.49968659897204465 0.13776776698165452 6 59.65569689133837 0.03480709552965627 0.1328751318540718 1.0 True
147 29 30 1.1998189814142899 29.3853014978528 0.8126428027418127 0.11465616151168853 6 9.73882704495904 0.059123063905753705 0.35885997079417975 1.0 True
148 29 31 5.755712819539279 0.09217397496817598 0.7178318135764944 0.11831514282300001 6 19.572443598172608 0.03055388488044922 0.16788276176822323 1.0 True
149 29 32 7.3497160995478215 44.7412737155501 0.6866709594333548 0.12344589693451308 6 19.69654687402097 0.01847461637742171 0.10764991453418553 1.0 True
150 29 33 8.359102419083325 83.35770339219052 0.6151911468812877 0.12607024585552623 6 19.321252328369155 0.005640558537625966 0.060018922799470055 1.0 True
151 29 34 8.008340805017072 133.40261903862776 0.6489454636216149 0.1229782406905996 6 19.361211916752247 0.024951598645873194 0.20519725330906424 1.0 True
152 30 31 4.592128513798009 29.29312752288462 0.76103500761035 0.11418966560335815 6 16.756236396505788 0.010805499433410783 0.0764328342532002 1.0 True
153 30 32 6.2188831730504885 74.12657521340287 0.7051463949438926 0.11749249261595905 6 20.554466965332146 0.009422682577629085 0.037900377279079585 1.0 True
154 30 33 7.344850966128434 112.7430048900433 0.6064231738035264 0.12368925274094972 6 20.291143104650924 0.0147669225762263 0.09037435316445036 1.0 True
155 30 34 7.0347870411064095 162.78792053648075 0.6427946506686664 0.12352381867411776 6 21.47516866844496 3.1821548176867474 2.4099911828321603 1.0 False forward_reverse_translation;forward_reverse_rotation
156 30 35 9.281470813161304 166.02816439171798 0.690784364483562 0.12252550482763978 6 16.634587270964886 0.009824737708452339 0.14818916841264132 1.0 True
157 31 32 1.7043840283934533 44.83344769051828 0.7959078625659504 0.10965414855273443 6 12.882067962817517 0.009608345699366565 0.04073745185785107 1.0 True
158 31 33 3.3472002644811774 83.44987736715868 0.636089469716009 0.11810494837446742 6 13.701242758091343 0.01055590691460776 0.06271370554561609 1.0 True
159 31 34 3.311630046755356 133.49479301359594 0.6599326599326599 0.11513164519765848 6 15.199690471396346 0.002580333972310516 0.03476275200242535 1.0 True
160 31 35 4.805055361756335 164.67870808539848 0.7747933884297521 0.1099315236542533 6 13.983106845566315 0.002969158365974405 0.02482993261597952 1.0 True
161 31 36 5.921091773191984 169.88970913698103 0.79326799071447 0.11165900641583826 6 12.181844458808802 0.004151989866605975 0.032942374858786365 1.0 True
162 32 33 1.9394369188755196 38.61642967664041 0.7479238533282229 0.1140254726045761 6 12.862133545437658 0.005854383016193307 0.042356141718508426 1.0 True
163 32 34 2.1435446082722334 88.6613453230776 0.7426470588235294 0.11481351455228676 6 15.077486603426832 0.0025843844761028077 0.009064526838353553 1.0 True
164 32 35 3.1027737257249126 119.84526039487966 0.8209641402863523 0.10635864973089924 6 10.914008667831691 0.004447738370013908 0.11616784364821804 1.0 True
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results/small_gicp/B_batch2_refined.npz
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results/small_gicp/B_batch2_refined.refinement.json
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results/small_gicp/batch1_auxiliary_check.json
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results/small_gicp/extrinsic_batch2_refined.json
+604
View File
@@ -0,0 +1,604 @@
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