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Add LiDAR RTK hand-eye calibration workflow and results

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lichun.qu
2026-07-22 09:31:44 +08:00
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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
165 32 36 4.235311686227635 145.27684317250132 0.7613800341073068 0.10898930843612145 6 12.22686011069426 0.008302372052489307 0.047221847858387886 1.0 True
166 32 37 3.1931475050378357 118.78221388859481 0.6919923126201153 0.11497666348297753 6 16.91846428853567 0.00567166990415677 0.10190182649448634 1.0 True
167 33 34 0.5704890065278277 50.0449156464372 0.8247678018575851 0.10774292174748101 6 13.307399451848953 0.005218203824516851 0.054034410494683056 1.0 True
168 33 35 2.3843314966611664 81.22883071823928 0.7097435897435898 0.11216257584808116 6 12.920219167499932 0.0055472051152683725 0.06161504272529624 1.0 True
169 33 36 3.5605240220038255 106.66041349586102 0.62202304737516 0.11282494351568334 6 18.491230751066993 0.009207361872581905 0.07430583689659953 1.0 True
170 33 37 4.013080941901569 80.16578421195443 0.6328828828828829 0.12540757119118434 6 17.018187124475837 0.0036940550280262596 0.12927083795080543 1.0 True
171 34 35 2.9403442697824866 31.183915071802076 0.7146673451214858 0.11428688542425412 6 13.705016766266674 0.013436446539858737 0.05510481554154184 1.0 True
172 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
173 34 37 3.6865711881345757 30.12086856551724 0.6899292189246243 0.11937420197560855 6 16.808577408839643 0.005083360744530967 0.10024940937419655 1.0 True
174 35 36 1.2045561534352058 25.431582777621774 0.8242496050552922 0.10907898456971946 6 9.660062538057792 0.0026096461304541156 0.07595057929078583 1.0 True
175 35 37 6.084062615492111 1.063046506284832 0.6924659295448702 0.12103303062396852 6 14.36240888115935 0.005914867863779407 0.06573359298031699 1.0 True
176 36 37 7.2781244258509386 26.494629283906598 0.6402157164869029 0.12413886977390769 6 20.08544982146282 0.008397869289519334 0.08479281990151419 1.0 True