lichun.qu/calibration
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add LiDAR RTK hand-eye calibration workflow and results

Browse Source
This commit is contained in:
lichun.qu
2026-07-22 09:31:44 +08:00
commit 62c7ab2e98
61 changed files with 156232 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
results/open3d_gicp/B_batch1_quality.csv
+109
View File
@@ -0,0 +1,109 @@
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
58 18 21 0.7190584934612743 134.43032499953063 0.7659654868371332 0.11623488568922577 6 2.3334272634442037 0.0007397588392132655 0.049540488476333674 1.0 True
59 19 20 1.9962827272376449 61.72745990449234 0.7140883977900553 0.1080327967474786 6 2.8867642059111027 0.008102122424322853 0.0646114560547033 1.0 True
60 19 21 3.133843614009462 101.81657499988698 0.6584615384615384 0.10963878686899117 6 2.8691912248684632 0.012913229197399395 0.08080164801156113 1.0 True
61 19 22 3.558853688535236 131.87013333415302 0.6261591020009761 0.11484815169172223 6 3.1506020281084415 0.008079663853152794 0.06664730348633674 1.0 True
62 20 21 1.4312693216245356 40.08911509539463 0.8130212871903398 0.10717601941116739 6 2.598682401671686 0.003986207075465725 0.014468856174509968 1.0 True
63 20 22 2.8745434122269677 70.1426734296607 0.709279368213228 0.11654592484503022 6 3.3550200552976293 0.004732316748497569 0.04653511032479733 1.0 True
64 20 23 2.368927629183393 88.7954400941961 0.7151155604993202 0.11440209684434971 6 3.0862044513861178 0.013864191008669256 0.04741774806449891 1.0 True
65 21 22 1.9888588003695142 30.053558334266054 0.7434966727162734 0.11011755646689264 6 3.014221192692681 0.0010075959724342985 0.03301381213076696 1.0 True
66 21 23 1.9477165743251885 48.70632499880147 0.7529083858458555 0.11149633235838309 6 3.077926485095861 0.001989351505445817 0.010666288445208057 1.0 True
67 21 24 3.76075382790461 86.89547500633407 0.7106949236076885 0.11526418670282225 6 3.884216729530811 0.0033123302523526757 0.010450448797924646 1.0 True
68 22 23 0.8778876913955667 18.652766664535406 0.8800913132284032 0.0910569893232571 6 2.4100478670835583 0.0032245216994413483 0.016462830433921317 1.0 True
69 22 24 2.2510479983846268 56.84191667206801 0.746915842188836 0.11145740682737049 6 2.851886485949151 0.01259476909551429 0.07575320422516746 1.0 True
70 22 25 3.452614527841686 105.36038662410485 0.6202953787517865 0.10996904036547328 6 3.4469213215286616 0.01971125516503169 0.10319789629151777 1.0 True
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
73 23 26 1.7088514993141615 157.34900000166795 0.6150898203592814 0.11134349524292353 6 3.3995614886239296 0.039322949699257106 0.11562859307450143 1.0 True
74 24 25 1.2059352225587747 48.51846995203683 0.7858615254031769 0.11149776506996652 6 2.476851261276463 0.011240124367435099 0.1049569848741807 1.0 True
75 24 26 1.1958827550030364 119.15984999413537 0.7456781105429754 0.10341842736085993 6 2.5300194557440525 0.01395883182919579 0.08780591339848752 1.0 True
76 24 27 3.786115539231191 149.59794999698258 0.621380846325167 0.10953325191126222 6 3.7363642522268807 0.016637332395867215 0.10353943868518889 1.0 True
77 25 26 1.8270495459501794 70.64138004209858 0.8347382167873679 0.10115747661888057 6 3.0333095788198037 0.01268722454395532 0.041403863092781025 1.0 True
78 25 27 4.741885618180033 101.07948004494568 0.624412013026173 0.11277808045896366 6 3.9078457957611743 0.025589655197266314 0.15422514597254583 1.0 True
79 25 28 3.8640843382258447 141.59343004213218 0.5869307400379506 0.11770827672499123 6 4.799123781945888 0.022027669812843296 0.2897817423195282 1.0 True
80 26 27 2.939444415707082 30.43810000284707 0.6580285783482683 0.1098010629341849 6 3.5110471043097586 0.0028795138573569803 0.007524827744647535 1.0 True
81 26 28 2.285770454773634 70.95205000003368 0.6673413501607334 0.11114983317987888 6 3.8873517833668108 0.008151782060846088 0.22733511766651973 1.0 True
82 26 29 3.6568094249627374 131.92299999999997 0.567654409139593 0.1129321723600836 6 3.929185583738771 0.018525590401292088 0.6411617076853331 1.0 False forward_reverse_rotation
83 27 28 2.3764785758716087 40.513949997186636 0.795572759162937 0.10258057277674534 6 3.138921602248635 0.0021193681800924964 0.11642323746608753 1.0 True
84 27 29 4.061689152213973 101.48489999715295 0.7440454600411075 0.10506613395932038 6 3.1227510205159508 0.010617830050775887 0.010252586949293494 1.0 True
85 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
86 28 29 1.7860052935263149 60.970949999966315 0.829172610556348 0.101007907265047 6 3.8068503338763042 0.002050657211153992 0.060432422726630436 1.0 True
87 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
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
90 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
91 29 32 9.719184595429152 159.1482027457047 0.4949034656433625 0.12826034683961704 6 9.48481031343127 0.046228293643484374 0.3497292020413176 0.0 False multistart_instability
92 30 31 1.0176267260390144 23.058366680475352 0.8362783988460152 0.09839553390448733 6 3.4866604582833345 0.00292801654357991 0.07029435398214784 1.0 True
93 30 32 0.8427696971904044 82.02000275788396 0.8588193030774758 0.09922846236206209 6 3.665055653691297 0.007868521232743847 0.0646663588791515 1.0 True
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
99 32 34 1.0327853226589305 96.63603727784675 0.8306916426512968 0.09663160733562838 6 3.561692133355112 0.008708468398558678 0.031578495955716095 1.0 True
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