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调整雷达到RTK标定分支为独立根目录结构

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lichun.qu
2026-07-24 08:42:16 +08:00
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commit 6d87b6ba9c
132 changed files with 214 additions and 197832 deletions
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results/01_previous_two_batches/README.md
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# 历史两批结果
第二批 38 站的密集 RTK 数据用于求解；第一批 38 站因 RTK 约 10 秒一条，仅作辅助检查。最终部署值：
```text
translation_m = [1.297759692, -0.000067331, 0.720497835]
RPY_deg_xyz = [-0.785151146, 1.202660822, -0.835510053]
```
共识估计使用 39 个运动对，AX RMS 约 `0.07985 m / 0.96118°`。第一批辅助检查 22 对约 `0.06067 m / 1.00298°`。`final_extrinsic_deployment.json` 是唯一建议直接交给下游的部署 JSON；其余文件用于审计和复现。
results/01_previous_two_batches/common/ground_planes_batch2.csv
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time,nx,ny,nz,d,inliers,rms_m,frame_counter
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results/01_previous_two_batches/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)",
"backend_difference": {
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},
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],
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],
"initial_B_loop_closure": {
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"translation_p95_m": 0.04464367942375473,
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"batch1_auxiliary_rotation_rms_deg": 1.0783402768758907
},
"small_gicp": {
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],
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],
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],
"initial_B_loop_closure": {
"count": 252,
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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/01_previous_two_batches/consensus/B_batch1_consensus.consensus.json
-328
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@@ -1,328 +0,0 @@
{
"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/01_previous_two_batches/consensus/B_batch1_consensus.npz
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results/01_previous_two_batches/consensus/B_batch2_consensus.consensus.json
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results/01_previous_two_batches/consensus/B_batch2_consensus.npz
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results/01_previous_two_batches/consensus/extrinsic_batch2_consensus.json
-399
View File
@@ -1,399 +0,0 @@
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results/01_previous_two_batches/diagnostics/consensus_pair0_left_rpy_scan.csv
-19
View File
@@ -1,19 +0,0 @@
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,0.0,0.0,0.0,13.53760421849012,0.5166365681634405,0.07984780651249465,0.961176171904301,2.4991413356769443,0.0,0,0,False,1.6662748432297785,0.03471396517121729
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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/01_previous_two_batches/diagnostics/consensus_pair0_left_rpy_scan.json
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results/01_previous_two_batches/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/01_previous_two_batches/diagnostics/open3d_refined_pair0_left_rpy_scan.json
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results/01_previous_two_batches/diagnostics/small_gicp_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,0.0,0.0,0.0,9.17040157943579,0.3948131792835417,0.11878243181951181,1.1425260172834293,3.296235617224735,0.0,0,0,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
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
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 9.17040157943579 0.3948131792835417 0.11878243181951181 1.1425260172834293 3.296235617224735 0.0 0 0 False 1.6662748432297785 0.03471396517121729
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
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results/01_previous_two_batches/final_extrinsic_deployment.json
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results/01_previous_two_batches/final_extrinsic_recommended.json
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results/01_previous_two_batches/final_summary.json
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},
"separate_backend_results": {
"open3d_gicp": {
"translation_m": [
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}
},
"warning": "AX rotation RMS remains about one degree; this is not centimetre-grade absolute certification."
}
results/01_previous_two_batches/open3d_gicp/B_batch1_auxiliary.npz
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results/01_previous_two_batches/open3d_gicp/B_batch1_quality.csv
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@@ -1,109 +0,0 @@
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
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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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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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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
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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
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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
43 13 16 4.157137927296689 135.66277163100625 0.7461059190031153 0.10791684095774041 6 2.2141337125272007 0.0023169831632091926 0.02473862097872449 1.0 True
44 14 15 2.176233486689304 34.672977400182965 0.7456694756554307 0.11049010248131722 6 2.3376174680383377 0.0027632919724097076 0.05272762900968177 1.0 True
45 14 16 3.79947855245853 60.13636784418198 0.7114577084583084 0.11170286188791147 6 2.479974772421199 0.0043726035924820505 0.11525585711885118 1.0 True
46 14 17 6.190474035537447 15.261944565117341 0.6170986278878855 0.11803645680912848 6 5.206426513766648 0.02802927019183766 0.10048860643286558 1.0 True
47 15 16 1.7328875589135755 25.463390443999018 0.7687034629476421 0.09834033850996364 6 2.3729567416081196 0.004926598691892943 0.10049788043616295 1.0 True
48 15 17 8.352264787019024 19.411032835065622 0.5596902808274586 0.12817180913542037 6 8.442537153126064 0.04660873899639204 0.08128930035257874 1.0 True
49 15 18 6.346037230040679 25.592965647994788 0.6134687462217386 0.11861991782546771 6 5.933642175309751 0.006137337753783083 0.040498570689394164 1.0 True
50 16 17 9.849975560032544 44.87442327906463 0.589649455234486 0.12715782204597983 6 10.240964391202342 0.016491489842564398 0.29283865924681673 1.0 True
51 16 18 7.9099649541476005 0.12957520399577063 0.6441329694864798 0.11977657776801591 6 7.973620675877663 0.01581702082704062 0.07681086634765077 1.0 True
52 16 19 6.609737623005951 34.172763646089344 0.642055375405338 0.11922626532224312 6 5.690723701436521 0.01936736899083179 0.22155509936605944 1.0 True
53 17 18 2.081596655954183 45.003998483060414 0.761206687666586 0.10248796635270672 6 4.778521884225018 0.003602819302929225 0.04280787772842571 1.0 True
54 17 19 4.34928579963815 79.047186925154 0.6654080389768575 0.10560001932239894 6 4.647516519431804 0.015683211248127868 0.18051709633786264 1.0 True
55 17 20 4.4206846692505035 169.37257900760153 0.6377810007251632 0.11215519048187066 6 5.178731668470772 0.016926609942259613 0.20634229894075337 1.0 True
56 18 19 3.459222336215112 34.04318844209358 0.7556208482370976 0.10994458141969204 6 3.594858191146124 0.004654350735545165 0.12873243616635754 1.0 True
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58 18 21 6.5847443121227816 175.25342056617163 0.5905541093343251 0.1262853354637165 6 5.942345924349615 0.021857815102479028 0.4259066161744867 1.0 True
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results/01_previous_two_batches/open3d_gicp/B_batch2_quality.json
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results/01_previous_two_batches/open3d_gicp/B_batch2_refined.npz
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results/01_previous_two_batches/open3d_gicp/B_batch2_refined.refinement.json
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results/01_previous_two_batches/open3d_gicp/batch1_auxiliary_check.json
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results/01_previous_two_batches/open3d_gicp/extrinsic_batch2.json
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results/01_previous_two_batches/open3d_gicp/extrinsic_batch2_refined.json
-534
View File
@@ -1,534 +0,0 @@
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results/01_previous_two_batches/small_gicp/B_batch1_auxiliary.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
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0,3,5.800196618465403,50.885974946353855,0.7186066691459031,0.11701588647718943,6,18.363958192984455,0.008227849157773135,0.05354665376691754,1.0,True,
1,2,4.892046307546544,10.426600007662538,0.7423043095866315,0.11327867264180574,6,26.05793878332379,0.01880830643908174,0.13698190350335646,1.0,True,
1,3,1.7315947839093804,26.273333329665036,0.8389134554643083,0.10681097771213023,6,14.956194090958816,0.0035146019341874887,0.1349785173147079,1.0,True,
1,4,1.6946255625760025,60.40345832959281,0.88,0.10289486740770283,6,11.829281279209892,0.006064649004018339,0.061683233541617866,1.0,True,
2,3,3.2805755806518446,36.69993333732758,0.795020120724346,0.10968948046836192,6,23.96630628312886,0.006456546110122383,0.030970536985363332,1.0,True,
2,4,4.866335020594746,70.83005833725535,0.7190493965409979,0.11680954298455397,6,23.730154915082874,0.005632827193528356,0.03284052493715785,1.0,True,
2,5,1.8274406190287722,30.448549979291712,0.7598566308243727,0.11774293624986373,6,16.599379025063065,0.028141707120452414,0.19962462817569399,1.0,True,
3,4,1.75881263274858,34.13012499992777,0.83898411109721,0.10512726552504312,6,15.664666117555983,0.006186049607122224,0.016880074405568043,1.0,True,
3,5,2.1020200425132134,67.14848331661929,0.7968186901951038,0.11623997504357782,6,18.1548400244513,0.021983524103315014,0.3960603757299183,1.0,True,
3,6,5.791805311102367,61.163322289150074,0.6568381430363864,0.12435814704811046,6,25.0151910725651,0.008738020425158864,0.1291569973379011,1.0,True,
4,5,3.30592832159088,101.27860831654709,0.7543039842597147,0.11308907219490882,6,19.690455732375476,0.002243469564109645,0.06843841908142442,1.0,True,
4,6,6.453995240105232,95.29344728907782,0.6218497827436374,0.12814112793605542,6,41.84651093530334,0.01600824572236542,0.4490447249637784,1.0,True,
4,7,9.537609568572432,26.32130681988008,0.6169457128361238,0.13205154815512993,6,36.92786505190044,0.019160428104594212,0.2888349968548246,1.0,True,
5,6,3.7769167422851373,5.985161027469212,0.7372055740535208,0.1175976253407229,6,19.32269960027907,0.013833903611932107,0.01952771029395653,1.0,True,
5,7,6.565348405821576,74.95730149666699,0.6841773746535651,0.11964187966504931,6,27.33180748081407,0.003240486196092054,0.04738439683023512,1.0,True,
5,8,6.3343271669452825,107.99940292217995,0.6521066412758867,0.12472719695199193,6,19.156993592870748,0.0278691016568626,0.41056933218195657,1.0,True,
6,7,3.1558607172566147,68.97214046919777,0.7538481109273629,0.11470554120698542,6,17.160170663404163,0.03433121044907878,0.14981218442224864,1.0,True,
6,8,3.3979014114419868,102.01424189471071,0.683003003003003,0.11564979549315224,6,20.447019845630425,0.008147035817338538,0.038229943243018406,1.0,True,
6,9,0.28270347875173524,124.11602215258995,0.7360264227642277,0.11829700338913093,6,18.21588471622476,0.003942462178993821,0.004948404195791413,1.0,True,
7,8,4.78580085090425,33.04210142551296,0.6644591611479028,0.12091344193997677,6,22.65051252921267,0.010087854632047892,0.1144705976875931,1.0,True,
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,
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
8,10,8.226583602288494,175.42813022508852,0.5915068162625166,0.1229044134151169,6,28.111420003057543,0.008997663249148741,0.15439288797351725,1.0,True,
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
9,10,5.488028285806731,41.558394272381754,0.5969882593159775,0.11948988234049264,6,38.89573848099908,0.0030407162313759195,0.04107484998318919,1.0,True,
9,11,4.718056434111957,39.84834438838189,0.593742114559677,0.12239484647700946,6,46.81089854115947,0.035258275490363276,0.11274694382482037,1.0,True,
9,12,4.0664516687652705,11.300244475855449,0.6153363453815262,0.12504774785186165,6,23.277303065116303,0.0752860327247449,0.25939502405614967,1.0,True,
10,11,8.48963239412477,1.7100498839998592,0.5888198757763975,0.12435475144629402,6,51.68982317778118,0.008996147539897087,0.2187503499467401,1.0,True,
10,12,7.8510898708654135,30.258149796526293,0.5523974295600593,0.12600876663407296,6,24.040230371790127,0.0067913142930030295,0.19210976651930364,1.0,True,
10,13,7.303425556850936,93.89697482620899,0.48622589531680444,0.12387372192061825,6,40.15734453396082,0.010457065237222635,0.051939983599844905,1.0,True,
11,12,0.684356309096518,28.54809991252644,0.8081153752138841,0.09827968392237502,6,14.074429682972724,0.003170825002365958,0.052994059649638055,1.0,True,
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,
12,13,4.470221622128888,63.638825029682685,0.5394185760039418,0.1291861812905223,6,40.18929295270992,0.016569656651710556,0.06971243680146068,1.0,True,
12,14,7.042432348069883,87.62788785503537,0.5838501763346711,0.13149007038687927,6,46.68047224389145,0.016475747103725697,0.027479170527625274,1.0,True,
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
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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
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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
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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/01_previous_two_batches/small_gicp/B_batch1_quality.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
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
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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
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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
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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
results/01_previous_two_batches/small_gicp/B_batch2_quality.json
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results/01_previous_two_batches/small_gicp/B_batch2_refined.npz
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results/01_previous_two_batches/small_gicp/B_batch2_refined.refinement.json
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results/01_previous_two_batches/small_gicp/batch1_auxiliary_check.json
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{
"role": "auxiliary check only; first-batch RTK is sparse",
"blind_with_respect_to_X": true,
"note": "No AX residual was used to select these pairs",
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results/01_previous_two_batches/small_gicp/extrinsic_batch2.json
-974
View File
@@ -1,974 +0,0 @@
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results/01_previous_two_batches/small_gicp/extrinsic_batch2_refined.json
-604
View File
@@ -1,604 +0,0 @@
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},
{
"pair_index": 77,
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"rotation_deg": 0.9610287581424943
},
{
"pair_index": 78,
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"rotation_deg": 1.1597952394623392
},
{
"pair_index": 79,
"translation_m": 0.016850631999927004,
"rotation_deg": 0.7568718165305058
}
]
}
},
"ground": {
"planes": 38,
"body_origin_height_above_ground_m": 0.2335,
"formula": "d_lidar - (R_X n_lidar)^T t_X - body_height"
},
"linearized_one_sigma": {
"translation_m": [
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],
"rotation_deg": [
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],
"warning": "conditional local estimate; bootstrap is the primary stability check"
},
"weighted_jacobian_condition_number": 6.329566115808833,
"solver_multistart": {
"runs": 12,
"candidates_relative_to_best": [
{
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"rotation_deg": 2.202963019076451e-08
},
{
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"translation_m": 7.896781546182907e-10,
"rotation_deg": 1.0169266187599847e-07
},
{
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"success": true,
"translation_m": 8.217931179403876e-10,
"rotation_deg": 6.93412504585164e-08
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{
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"translation_m": 3.469446951953614e-18,
"rotation_deg": 0.0
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{
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"rotation_deg": 2.7806728416619943e-08
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{
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"translation_m": 2.260359361733417e-10,
"rotation_deg": 2.6418689746833837e-08
},
{
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"translation_m": 7.589395457725227e-10,
"rotation_deg": 4.91609016107675e-08
},
{
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"success": true,
"translation_m": 1.2750789560311927e-10,
"rotation_deg": 7.759775984980414e-10
},
{
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"translation_m": 7.805526908313695e-10,
"rotation_deg": 6.684488070039544e-08
},
{
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"translation_m": 7.763945275712574e-10,
"rotation_deg": 8.931061588988946e-08
},
{
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"translation_m": 9.383630927674663e-10,
"rotation_deg": 1.3000921411943172e-07
},
{
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"success": true,
"translation_m": 6.944401937454179e-10,
"rotation_deg": 7.954648404736881e-08
}
]
},
"bootstrap": {
"runs": 100,
"order": [
"x_m",
"y_m",
"z_m",
"roll_deg",
"pitch_deg",
"yaw_deg"
],
"std": [
0.0017068433472663032,
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],
"p025": [
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0.7193267956198541,
-0.9300082754299475,
1.0287033540941326,
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],
"p975": [
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1.254120304082275,
-0.8275267997610058
]
}
}
results/02_data4_calibration/README.md
-12
View File
@@ -1,12 +0,0 @@
# data4 独立标定结果
data4 含 34 个静止站点，LiDAR 来自逐站 dlog，RTK/IMU 来自独立 rscap。求解不使用手量外参初始化。
```text
translation_m = [1.300376020, -0.001706691, 0.704877045]
RPY_deg_xyz = [-0.791891617, 1.393823210, -0.970742631]
AX RMS = 0.11762 m / 1.24257 deg (26 pairs)
condition = 7.44293
```
该结果用于独立对照，不是当前部署值。`final_extrinsic_data4.json` 与 `consensus/extrinsic.json` 数值相同；前者是便于下游读取的顶层副本。
results/02_data4_calibration/common/ground_planes.csv
-35
View File
@@ -1,35 +0,0 @@
time,nx,ny,nz,d,inliers,rms_m,frame_counter
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1784785506.389296,-0.03393096202185679,-0.007325597743377637,0.9993973311120926,0.9387396500642948,1844,0.01340053385502904,17193
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1 time nx ny nz d inliers rms_m frame_counter
2 1784783825.357129 -0.011572516208853837 -0.01546146293660183 0.9998134926237273 0.9428804652027359 2148 0.011933750988078078 382
3 1784783905.353819 0.0037183584307534687 -0.006818427483323246 0.9999698409738341 0.9412842800288904 1992 0.011942807895967073 1182
4 1784783971.0503054 -0.021709843154394736 -0.005232422217807239 0.999750621139065 0.9451429710867566 1863 0.012080615710528817 1839
5 1784784059.7468228 -0.02414670904491499 -0.0009406084776101358 0.9997079832120939 0.9517260475425733 1921 0.013468410314875789 2726
6 1784784149.2434597 -0.034005828386544125 0.003026503321489513 0.9994170520425345 0.9257219945735469 1673 0.012714432789206961 3621
7 1784784224.2408776 -0.02761369891036776 0.0016288328836576937 0.9996173420544108 0.9001377900125058 1799 0.012615520511386497 4371
8 1784784301.6372502 -0.0071762210837946405 -0.011511959356927467 0.9999079840878965 0.9580809447760092 2113 0.012007730376482893 5145
9 1784784387.733771 -0.010489658730106238 -0.009076163262051764 0.9999037905319524 0.9306898458653136 2187 0.01214615852280608 6006
10 1784784474.9314597 -0.016114135387570262 -0.0509432368134707 0.9985715403834008 0.9072229543504865 1894 0.012012086783846727 6878
11 1784784549.4274275 -0.025174259196536854 -0.013435577824823405 0.9995927880504234 0.9410339772836553 1603 0.01154746446935748 7623
12 1784784614.7244046 -0.03173300872144653 -0.01870285516152855 0.9993213794202 0.932566466561638 1970 0.01233410897082844 8276
13 1784784682.921899 -0.022665842512528424 -0.02998919824936144 0.9992932040054899 0.9145231002636922 1663 0.012948552270457988 8958
14 1784784758.8187964 -0.023688193326187944 -0.030852054660206355 0.9992432237549499 0.9349709939783197 1756 0.013443733500218538 9717
15 1784784836.0155501 -0.018461711654128285 -0.02498001140817507 0.9995174656967467 0.94720244509644 2057 0.013445893726732725 10489
16 1784784921.1126208 -0.01993595874096254 -0.02538449671402936 0.9994789566947642 0.9120981909462803 1822 0.012774262320504949 11340
17 1784784992.709947 -0.017778693539407146 -0.026803117327322167 0.9994826216386005 0.9369057170493221 2114 0.012253841210002203 12056
18 1784785067.6067727 -0.03766905893322114 -0.00624993226014667 0.9992707242513558 0.9491859078478477 1753 0.01368084681318558 12805
19 1784785215.9006598 -0.023255779098430147 -0.030526061005580876 0.9992633928739754 0.9173759052467025 2145 0.012710466955150847 14288
20 1784785296.4990919 -0.014034225033964978 -0.025014032112439084 0.9995885847313253 0.9275558675790446 2445 0.012495377814995792 15094
21 1784785363.1952267 -0.03352240146955635 -0.008711847039715113 0.9993999961581301 0.9543448006240765 1968 0.01391585588879859 15761
22 1784785434.592462 -0.016701702947054253 0.016663838961403298 0.9997216460544089 0.9289121671743757 1857 0.011181698281215124 16475
23 1784785506.389296 -0.03393096202185679 -0.007325597743377637 0.9993973311120926 0.9387396500642948 1844 0.01340053385502904 17193
24 1784785587.5863533 -0.03382019410288933 -0.0007820019558384217 0.9994276276668481 0.9255866795455666 1691 0.012723688174337812 18005
25 1784785681.9825997 -0.03422781555599595 -0.019255467037831406 0.999228544243718 0.9454924962027047 1959 0.01264678059788212 18949
26 1784785815.4779446 -0.0011902245774294716 -0.023262098479360813 0.9997286922659526 0.9523139768255908 2026 0.012446728838862407 20284
27 1784785891.9768085 -0.02758114176328463 0.0022252358991911286 0.9996170911625244 0.9417694614877323 1551 0.012616490996777729 21049
28 1784785967.8726046 -0.031038730802887403 -0.010699305087773895 0.9994609157244643 0.9511405539250901 1512 0.013166899954854165 21808
29 1784786031.5701303 -0.023257481598180085 -0.0214545061132305 0.9994992714940555 0.9380611442094842 1555 0.013339981386836522 22445
30 1784786087.9670725 -0.02720411594210121 -0.012536181034248165 0.9995512894498637 0.942804167293392 1531 0.013246549575843425 23009
31 1784786160.8647907 -0.030839502708575457 0.06473269778477829 0.9974259886879789 1.0783938869067702 1436 0.010501132985089602 23738
32 1784786252.6621523 -0.040972893104105006 -0.02082299858725662 0.9989432540242288 0.9524735117369321 1736 0.012945834939507173 24656
33 1784786319.6581354 -0.029761355495275914 -0.026565272466750618 0.9992039571668294 0.9594371422885729 1571 0.013108184070957877 25326
34 1784786396.7558627 -0.030769194030483185 -0.022645428394942407 0.9992699541522921 0.9756606317668476 1326 0.013202989492489907 26097
35 1784786557.4492514 -0.019983269314458783 -0.016965365794746882 0.9996563636124948 0.9409853928234136 1228 0.013269243263785414 27704
results/02_data4_calibration/consensus/B_consensus.consensus.json
-340
View File
@@ -1,340 +0,0 @@
{
"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": 42,
"accepted_pairs": 26,
"pairs": [
{
"i": 0,
"j": 1,
"open3d_small_translation_m": 0.014276441704401843,
"open3d_small_rotation_deg": 0.61360593819684,
"accepted": false,
"reason": "backend_disagreement"
},
{
"i": 0,
"j": 2,
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"accepted": true,
"reason": ""
},
{
"i": 1,
"j": 2,
"accepted": false,
"reason": "not_in_small_gicp_refined"
},
{
"i": 2,
"j": 3,
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"accepted": true,
"reason": ""
},
{
"i": 2,
"j": 5,
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},
{
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},
{
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"j": 6,
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},
{
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},
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},
{
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{
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},
{
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{
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{
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{
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{
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},
{
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},
{
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},
{
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},
{
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},
{
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"accepted": false,
"reason": "backend_disagreement"
},
{
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results/02_data4_calibration/consensus/B_consensus.npz
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results/02_data4_calibration/consensus/extrinsic.json
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-0.009531330977586527,
0.7011199682224338,
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1.2066688822355272,
-1.2617485460367455
],
"p975": [
1.3082553293462966,
0.009443875945124016,
0.7092373306937458,
-0.5988363907444886,
1.5590218787244785,
-0.7051603064062103
]
}
}
results/02_data4_calibration/open3d_gicp/B_estimation.npz
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results/02_data4_calibration/open3d_gicp/B_quality.csv
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@@ -1,97 +0,0 @@
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
0,1,1.8477087194158957,24.171297449440786,0.8061657032755298,0.10961296014103376,6,2.7038608113687213,0.004225163540003135,0.15304490677206398,1.0,True,
0,2,2.633731568575307,80.09074797031298,0.7489394523717702,0.116305716193008,6,3.0720058333957385,0.02073003109723772,0.12418344306820694,1.0,True,
0,3,6.923255970100826,79.91583883299243,0.6310283235519265,0.12470979645173065,6,5.235632990817995,0.02154775870989581,0.2539904497958252,1.0,True,
1,2,1.7155362084417105,55.91945052087219,0.7867383512544803,0.11079021393934936,6,3.282529873989152,0.0076823267394430066,0.05080433004685343,1.0,True,
1,3,5.885389341942907,55.74454138355163,0.6794562317367552,0.1190716913809658,6,4.183386002322129,0.024832426027852336,0.29364033194785566,1.0,True,
1,4,2.3031736807956613,106.08652205569953,0.6786112833230006,0.11255015823152649,6,3.2941312581877575,0.007769137931169012,0.07270245476793177,1.0,True,
2,3,4.339151683168145,0.17490913732054883,0.7586776859504132,0.11541610277862563,6,3.730803369806123,0.007879904085793275,0.11659483159946175,1.0,True,
2,4,0.6150408096900305,50.167071534827386,0.7854572527608884,0.1098649389241601,6,2.641287751481569,0.017042953274278242,0.09383247792992147,1.0,True,
2,5,5.894923525501676,8.735318060700383,0.7074574574574575,0.11912871456224478,6,3.8527093190832473,0.016641241123247028,0.24777402858141082,1.0,True,
3,4,3.9735035126146885,50.34198067214791,0.6974624291697462,0.1172763088894914,6,3.5010457716923225,0.012148721219467648,0.2079308684382429,1.0,True,
3,5,2.3619393178889707,8.910227198020932,0.7962985964476462,0.10646082199215777,6,3.0377458538379902,0.011008298723511818,0.08217077610411756,1.0,True,
3,6,2.2300116834828536,47.63555775102664,0.8376509054325956,0.10956583416752592,6,3.1930663579156233,0.001222821038316072,0.09207521511761255,1.0,True,
4,5,5.370771070097231,41.431753474126985,0.6652516676773802,0.12322094568314959,6,4.985227704290952,0.005399786589867114,0.1389350777589359,1.0,True,
4,6,6.142548765456278,97.97753842317456,0.6529585072428186,0.11878586101480827,6,5.324803753668097,0.011377811219747914,0.20418431358287809,1.0,True,
4,7,5.314106070657687,123.28910472998356,0.6964418087472202,0.11691192595448072,6,4.414726450762486,0.017641796253111963,0.10886712169052283,1.0,True,
5,6,1.9357867378988893,56.54578494904757,0.7526921648718901,0.10924852668609378,6,3.289802074469556,0.012374747586501101,0.14461856068326442,1.0,True,
5,7,0.19501559913675365,81.85735125585654,0.7833561729164071,0.11683079277948674,6,2.8807765869032655,0.0136898748124479,0.2000656277647698,1.0,True,
5,8,1.8038807059856978,172.47951556359365,0.7410703250525275,0.11436945722491815,6,3.9768956884456648,0.020336999081352437,0.07548452187379719,1.0,True,
6,7,2.130456053070114,25.311566306808988,0.8497729566094854,0.10415909908074772,6,3.375936129784756,0.008986805974948919,0.1309947950641294,1.0,True,
6,8,0.24494500622098103,115.93373061454483,0.7678928928928929,0.11166725079781287,6,3.2609205733873607,0.010085391730565987,0.11752836996157842,1.0,True,
6,9,8.025985916230132,103.90638727582186,0.6071384156199477,0.12594282886521954,6,6.882498483502561,0.01655440444551025,0.4345945520890901,1.0,True,
7,8,1.9962664218365056,90.62216430773583,0.8299748110831234,0.10748525688830209,6,3.0071179226782414,0.007106461978852689,0.10698728473689886,1.0,True,
7,9,7.8811064994361235,78.59482096901284,0.6188509200150206,0.1271320507839345,6,6.716979637303383,0.026230622734929154,0.28112746782878123,1.0,True,
7,10,7.620696678413973,134.60031955305035,0.5757088027733069,0.1313446077529101,6,5.755535843660075,0.012710332356906473,0.2297418063823675,1.0,True,
8,9,7.803713858547152,12.027343338722998,0.6326834719980131,0.12084265385763356,6,5.539689880493177,0.02518064403521875,0.3859647522318924,1.0,True,
8,10,8.062504137991457,43.97815524531457,0.6163861933423412,0.12936028463965984,6,4.789005902863088,0.011327540721525892,0.17059480981566058,1.0,True,
8,11,11.084531710563947,22.606708130954026,0.5371195721380364,0.13463285672049757,6,5.833003178860405,0.017887959781482814,0.14919899299178907,1.0,True,
9,10,2.04815062353057,56.00549858403758,0.6543345543345543,0.10729272360686735,6,3.3788563349731584,0.008725655639009402,0.02870462611907292,1.0,True,
9,11,4.738677237611319,34.634051469677026,0.5818780055682106,0.11717687815100752,6,3.555986532172074,0.009813025835682346,0.0603546019895227,1.0,True,
9,12,7.170741483679294,16.35622721712263,0.5379123584441162,0.12645695585785732,6,4.882558096197038,0.008862930161052695,0.11566409877698863,1.0,True,
10,11,3.2047552083250137,21.371447114360556,0.7118898623279099,0.1192865608074921,6,3.2202034715576238,0.0029529340190147615,0.0041769080934441144,1.0,True,
10,12,6.291813977735496,39.64927136691496,0.6120311738918656,0.1252565212812615,6,4.691686416856199,0.005686910809265337,0.10204044727301474,1.0,True,
10,13,10.199392557022867,72.41150002956134,0.516551290119572,0.1354903305714049,6,7.346543684414892,0.01356504272158301,0.3255230434099281,1.0,True,
11,12,3.467398797536633,18.277824252554396,0.650555275113579,0.12104882943540958,6,4.612247786063486,0.003583199374499245,0.03300207707174736,1.0,True,
11,13,7.516502113110916,51.04005291520078,0.5698054068172914,0.12858662743221627,6,7.539783468898054,0.016001435752891854,0.11059625579949509,1.0,True,
11,14,3.767517331528496,20.548768889074672,0.6420881321982974,0.12414062948335584,6,4.9522650472668115,0.012369101516230236,0.018705060406060074,1.0,True,
12,13,4.049286119591895,32.762228662646386,0.6972966112450819,0.11680896213116294,6,4.282247993741361,0.011410238767832601,0.04779713993430858,1.0,True,
12,14,0.97948616772873,2.2709446365202806,0.8749086479902558,0.09521299965540617,6,3.309695139564419,0.006159472215773642,0.014929948455572307,1.0,True,
12,15,4.286747470271891,25.863710300929224,0.7022030893897189,0.11797995277580095,6,4.2772327867721325,0.008495008365045943,0.102782991447036,1.0,True,
13,14,4.006260191078547,30.491284026126113,0.6955810147299509,0.1145595612270532,6,3.350289886810732,0.010228664633443074,0.03515966054944097,1.0,True,
13,15,0.9562774815922267,6.898518361717157,0.868300353819945,0.10454213568084784,6,3.243735713395398,0.0023750253827712867,0.010725047644197173,1.0,True,
13,16,3.565173336606111,18.944899794614482,0.7265456392027422,0.10962529664062398,6,3.522751424445623,0.008958927594995584,0.0304143851242741,1.0,True,
14,15,4.019575892829469,23.592765664408944,0.7120070334086913,0.11868441290330693,6,4.620592469502459,0.002571958018982041,0.05506919751152759,1.0,True,
14,16,7.5676649485439835,49.43618382074059,0.5918615984405458,0.12229328437386527,6,7.149509813179243,0.014273957859022303,0.25325650727956367,1.0,True,
14,17,5.910977627463022,0.8461207481731591,0.6694009445687298,0.12443900216431929,6,5.157741429696001,0.017895201000461415,0.10920228290609475,1.0,True,
15,16,3.7301261399251735,25.84341815633164,0.702887537993921,0.11495230769293868,6,3.540289976352534,0.013545291843393993,0.033466251783377816,1.0,True,
15,17,2.2049738368271745,24.438886412582093,0.7429531936901991,0.11679524427533879,6,3.526664394280145,0.00989411002791081,0.07786907370564648,1.0,True,
15,18,4.7000039832559155,3.452521908779401,0.7209645010046886,0.11716134583909153,6,4.125231895423432,0.011654729311847106,0.13683586564190353,1.0,True,
16,17,3.368526196086246,50.282304568913744,0.618922305764411,0.11254196340939995,6,4.068632188828396,0.03104786021350874,0.10375098145235381,1.0,True,
16,18,3.5240348999326185,22.39089624755224,0.6890156918687589,0.11084024896736888,6,4.42116710884217,0.01556225520371614,0.02495881796886513,1.0,True,
16,19,2.146829294717985,30.035090485266103,0.8685060899826,0.10135543575024519,6,2.92007223300188,0.002952251383831446,0.02753369989560042,1.0,True,
17,18,2.640403049812329,27.891408321361506,0.7697708305735859,0.10648049893472207,6,3.7928223564531667,0.010582276181446382,0.039599051949106026,1.0,True,
17,19,3.933985934417215,80.31739505417984,0.6293759512937596,0.1095449771750205,6,3.6483069293931876,0.012240937390583118,0.060306184678878015,1.0,True,
17,20,4.2254212089887,152.98392843416656,0.6014520938674964,0.12300562605352797,6,4.719447385686107,1.3272837904090529,0.4474442011368189,1.0,False,forward_reverse_translation
18,19,2.4460967931915643,52.425986732818345,0.6827314510833881,0.10834806615100012,6,3.5073857685652805,0.012418496053917759,0.11905018881098527,1.0,True,
18,20,6.593931011285688,125.09252011280485,0.5756313809779688,0.1265759478434112,6,5.389095141151797,0.012917057356045326,0.24042373011343365,1.0,True,
18,21,11.793089868757727,175.70238585456048,0.4044519656339495,0.14396876383759685,6,10.041635341774429,0.06610149517267662,0.6118050873537593,1.0,False,forward_reverse_rotation
19,20,6.650720121741557,72.6665333799865,0.6234734541714874,0.12775305804057488,6,5.958603794025073,0.009237066767190358,0.22540488888099894,1.0,True,
19,21,12.053580264031138,123.27639912174077,0.3788200074840963,0.14687803396129923,6,10.170069582593054,0.1645149893124099,1.1204113986936788,1.0,False,forward_reverse_translation;forward_reverse_rotation
19,22,14.836246959975925,128.85294276465592,0.3215252152521525,0.1505833656059155,6,15.25410245430046,0.08605091089946505,0.48945936193054473,1.0,False,heldout_inlier_ratio;forward_reverse_translation
20,21,5.40286046809103,50.60986574175429,0.6596992097884272,0.12147955429086157,6,4.0820327359553845,0.014725537493637062,0.1988422472286775,1.0,True,
20,22,8.200956565000565,56.18640938466938,0.5739414499308958,0.13255415786946786,6,5.328486341352201,0.006040617548520927,0.19706632354687328,1.0,True,
20,23,5.175118275082073,70.79178325235415,0.6456945156330087,0.12075756038041646,6,3.9642702950866386,0.022949011013485506,0.1911210947924365,1.0,True,
21,22,2.8644847627909416,5.57654364291509,0.7716237647919971,0.11632271358541554,6,2.79620153032919,0.00996357879827298,0.15332892195322273,1.0,True,
21,23,1.2936223973175418,20.18191751059984,0.8576224819696593,0.09865676260631216,6,3.0367950693845156,0.0039225733250952055,0.00898487649368532,1.0,True,
21,24,2.3128500583741403,54.59467208208593,0.7715940569126165,0.1136150455355286,6,2.76815824933335,0.007475673605589086,0.042277690012993266,1.0,True,
22,23,3.7194009250537223,14.605373867684753,0.7396689147762109,0.11702962848624102,6,3.4148047250889095,0.01814015943430581,0.11847321816106485,1.0,True,
22,24,4.786117710081478,49.01812843917083,0.6983240223463687,0.11898873157361621,6,3.6334655936865663,0.013438931050857202,0.08244161259412694,1.0,True,
22,25,2.3747421598149763,12.391903814042255,0.736861094407697,0.11586394710110075,6,2.383007054117407,0.018559552524775386,0.0645260279790244,1.0,True,
23,24,1.0880644725336985,34.41275457148609,0.7853164556962026,0.1128725442321241,6,2.409921828847164,0.002195759849115173,0.032112959181416705,1.0,True,
23,25,5.033935954106079,2.213470053642494,0.6881127450980392,0.12303206700403986,6,2.9363727218037994,0.004939188019100004,0.12964064637100806,1.0,True,
23,26,5.765534437288107,40.730927532824346,0.6852618757612667,0.12040544972155913,6,3.0590065093977192,0.006032445250250899,0.14039335223024835,1.0,True,
24,25,6.097212810998921,36.62622462512857,0.677667493796526,0.12346315805814134,6,3.6286524357748307,0.02347922689116974,0.16273859629352566,1.0,True,
24,26,6.852918693116795,6.318172961338249,0.6530209617755857,0.12710147612984257,6,3.5331859775372005,0.013311199903818141,0.18193579850152686,1.0,True,
24,27,7.47982907414204,31.60254826458195,0.6649014778325123,0.1248115961442785,6,4.10006355979974,0.017872821205486625,0.1680556511699705,1.0,True,
25,26,1.2882746074869595,42.944397586466835,0.9127837514934289,0.0958142916589384,6,2.9017658682436953,0.003534148840172682,0.018440169300173608,1.0,True,
25,27,1.7666235781584831,68.22877288971053,0.8510739856801909,0.10418150333394147,6,2.368253417089997,0.006103232696002816,0.13366555345652814,1.0,True,
25,28,2.1807182972588706,88.09106909546726,0.8853518429870751,0.10761251229652005,6,2.6372860976794645,0.003483231665912094,0.0369774420199415,1.0,True,
26,27,0.6269948654714946,25.284375303243706,0.9183867141162515,0.09074909570650921,6,2.8142315359282506,0.00040199505815422204,0.011554314408129918,1.0,True,
26,28,0.9431372257108486,45.14667150900044,0.8853200095170116,0.10604184939655073,6,2.656402027789519,0.007320240476189879,0.12930335868605478,1.0,True,
26,29,1.129925637779203,87.41573662125148,0.7880466815984911,0.10871274240898265,6,3.111957466886604,0.0063952430610542755,0.039517035902874385,1.0,True,
27,28,0.44809323479571145,19.862296205756735,0.9289448669201521,0.0850509551532673,6,2.96325286846982,0.005157655135591474,0.022666807877311387,1.0,True,
27,29,1.160064136065596,62.13136131800778,0.7872365477452019,0.10455513464835667,6,2.9621627623005296,0.011650639607012138,0.1624719134077532,1.0,True,
27,30,4.25412615059095,152.09392556214777,0.04792444029850746,0.15706827084964883,6,3.4115087753552786,2.5641513880069633,2.874944882076104,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
28,29,1.5995723610319212,42.26906511225104,0.8000944621560987,0.1086547547358129,6,3.1466224100058553,0.0011394164967304414,0.02119627748719656,1.0,True,
28,30,4.295353381127667,132.23162935639104,0.042095416276894296,0.16025490727880456,6,4.631028587407634,2.5607552487652696,2.17230408479254,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
28,31,5.754426930327516,158.8421298011293,0.7465330381074466,0.1066966653439246,6,2.402598366822474,0.00635764905956918,0.040016615214377715,1.0,True,
29,30,4.099530130205247,89.96256424413995,0.7248812145092132,0.10870831469083347,6,2.9471223804737057,0.00465638537716095,0.12465763189227934,1.0,True,
29,31,4.890018768530818,116.57306468887772,0.7243012243012243,0.11138751941762699,6,2.7645021322697017,0.004263906321896464,0.046637396086304225,1.0,True,
29,32,4.464737187763289,159.39493219688632,0.6956070563818748,0.1103354081949904,6,3.227012588611917,0.011088061861347823,0.34561739459504637,1.0,True,
30,31,2.3862917603439455,26.61050044473775,0.8185562292643862,0.0961579573295129,6,2.899558208444643,0.004999163455591531,0.0213847958734735,1.0,True,
30,32,1.1507634071714652,69.43236795274659,0.8041343079031521,0.099533431536842,6,2.6146168742247573,0.003171376495143,0.02376737774843464,1.0,True,
30,33,2.4361832484951105,160.7145717128102,0.0824534345711235,0.13003518012314966,6,7.2913036106936,1.3743823383381788,1.9837113244583153,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
31,32,1.2514382602180638,42.82186750800885,0.8157085941946499,0.09925944770258267,6,3.0485411400768245,0.004719596234887584,0.06146741991681224,1.0,True,
31,33,0.641507519046697,134.10407126807203,0.0911563017261764,0.12702324561674966,6,7.541483837366941,2.816294381538612,3.333105317420589,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
32,33,1.4370687242949811,91.2822037600631,0.7569928006609229,0.10008740880870744,6,3.6611044282667207,2.988193350509204,2.696443494598379,1.0,False,forward_reverse_translation;forward_reverse_rotation
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 1.8477087194158957 24.171297449440786 0.8061657032755298 0.10961296014103376 6 2.7038608113687213 0.004225163540003135 0.15304490677206398 1.0 True
3 0 2 2.633731568575307 80.09074797031298 0.7489394523717702 0.116305716193008 6 3.0720058333957385 0.02073003109723772 0.12418344306820694 1.0 True
4 0 3 6.923255970100826 79.91583883299243 0.6310283235519265 0.12470979645173065 6 5.235632990817995 0.02154775870989581 0.2539904497958252 1.0 True
5 1 2 1.7155362084417105 55.91945052087219 0.7867383512544803 0.11079021393934936 6 3.282529873989152 0.0076823267394430066 0.05080433004685343 1.0 True
6 1 3 5.885389341942907 55.74454138355163 0.6794562317367552 0.1190716913809658 6 4.183386002322129 0.024832426027852336 0.29364033194785566 1.0 True
7 1 4 2.3031736807956613 106.08652205569953 0.6786112833230006 0.11255015823152649 6 3.2941312581877575 0.007769137931169012 0.07270245476793177 1.0 True
8 2 3 4.339151683168145 0.17490913732054883 0.7586776859504132 0.11541610277862563 6 3.730803369806123 0.007879904085793275 0.11659483159946175 1.0 True
9 2 4 0.6150408096900305 50.167071534827386 0.7854572527608884 0.1098649389241601 6 2.641287751481569 0.017042953274278242 0.09383247792992147 1.0 True
10 2 5 5.894923525501676 8.735318060700383 0.7074574574574575 0.11912871456224478 6 3.8527093190832473 0.016641241123247028 0.24777402858141082 1.0 True
11 3 4 3.9735035126146885 50.34198067214791 0.6974624291697462 0.1172763088894914 6 3.5010457716923225 0.012148721219467648 0.2079308684382429 1.0 True
12 3 5 2.3619393178889707 8.910227198020932 0.7962985964476462 0.10646082199215777 6 3.0377458538379902 0.011008298723511818 0.08217077610411756 1.0 True
13 3 6 2.2300116834828536 47.63555775102664 0.8376509054325956 0.10956583416752592 6 3.1930663579156233 0.001222821038316072 0.09207521511761255 1.0 True
14 4 5 5.370771070097231 41.431753474126985 0.6652516676773802 0.12322094568314959 6 4.985227704290952 0.005399786589867114 0.1389350777589359 1.0 True
15 4 6 6.142548765456278 97.97753842317456 0.6529585072428186 0.11878586101480827 6 5.324803753668097 0.011377811219747914 0.20418431358287809 1.0 True
16 4 7 5.314106070657687 123.28910472998356 0.6964418087472202 0.11691192595448072 6 4.414726450762486 0.017641796253111963 0.10886712169052283 1.0 True
17 5 6 1.9357867378988893 56.54578494904757 0.7526921648718901 0.10924852668609378 6 3.289802074469556 0.012374747586501101 0.14461856068326442 1.0 True
18 5 7 0.19501559913675365 81.85735125585654 0.7833561729164071 0.11683079277948674 6 2.8807765869032655 0.0136898748124479 0.2000656277647698 1.0 True
19 5 8 1.8038807059856978 172.47951556359365 0.7410703250525275 0.11436945722491815 6 3.9768956884456648 0.020336999081352437 0.07548452187379719 1.0 True
20 6 7 2.130456053070114 25.311566306808988 0.8497729566094854 0.10415909908074772 6 3.375936129784756 0.008986805974948919 0.1309947950641294 1.0 True
21 6 8 0.24494500622098103 115.93373061454483 0.7678928928928929 0.11166725079781287 6 3.2609205733873607 0.010085391730565987 0.11752836996157842 1.0 True
22 6 9 8.025985916230132 103.90638727582186 0.6071384156199477 0.12594282886521954 6 6.882498483502561 0.01655440444551025 0.4345945520890901 1.0 True
23 7 8 1.9962664218365056 90.62216430773583 0.8299748110831234 0.10748525688830209 6 3.0071179226782414 0.007106461978852689 0.10698728473689886 1.0 True
24 7 9 7.8811064994361235 78.59482096901284 0.6188509200150206 0.1271320507839345 6 6.716979637303383 0.026230622734929154 0.28112746782878123 1.0 True
25 7 10 7.620696678413973 134.60031955305035 0.5757088027733069 0.1313446077529101 6 5.755535843660075 0.012710332356906473 0.2297418063823675 1.0 True
26 8 9 7.803713858547152 12.027343338722998 0.6326834719980131 0.12084265385763356 6 5.539689880493177 0.02518064403521875 0.3859647522318924 1.0 True
27 8 10 8.062504137991457 43.97815524531457 0.6163861933423412 0.12936028463965984 6 4.789005902863088 0.011327540721525892 0.17059480981566058 1.0 True
28 8 11 11.084531710563947 22.606708130954026 0.5371195721380364 0.13463285672049757 6 5.833003178860405 0.017887959781482814 0.14919899299178907 1.0 True
29 9 10 2.04815062353057 56.00549858403758 0.6543345543345543 0.10729272360686735 6 3.3788563349731584 0.008725655639009402 0.02870462611907292 1.0 True
30 9 11 4.738677237611319 34.634051469677026 0.5818780055682106 0.11717687815100752 6 3.555986532172074 0.009813025835682346 0.0603546019895227 1.0 True
31 9 12 7.170741483679294 16.35622721712263 0.5379123584441162 0.12645695585785732 6 4.882558096197038 0.008862930161052695 0.11566409877698863 1.0 True
32 10 11 3.2047552083250137 21.371447114360556 0.7118898623279099 0.1192865608074921 6 3.2202034715576238 0.0029529340190147615 0.0041769080934441144 1.0 True
33 10 12 6.291813977735496 39.64927136691496 0.6120311738918656 0.1252565212812615 6 4.691686416856199 0.005686910809265337 0.10204044727301474 1.0 True
34 10 13 10.199392557022867 72.41150002956134 0.516551290119572 0.1354903305714049 6 7.346543684414892 0.01356504272158301 0.3255230434099281 1.0 True
35 11 12 3.467398797536633 18.277824252554396 0.650555275113579 0.12104882943540958 6 4.612247786063486 0.003583199374499245 0.03300207707174736 1.0 True
36 11 13 7.516502113110916 51.04005291520078 0.5698054068172914 0.12858662743221627 6 7.539783468898054 0.016001435752891854 0.11059625579949509 1.0 True
37 11 14 3.767517331528496 20.548768889074672 0.6420881321982974 0.12414062948335584 6 4.9522650472668115 0.012369101516230236 0.018705060406060074 1.0 True
38 12 13 4.049286119591895 32.762228662646386 0.6972966112450819 0.11680896213116294 6 4.282247993741361 0.011410238767832601 0.04779713993430858 1.0 True
39 12 14 0.97948616772873 2.2709446365202806 0.8749086479902558 0.09521299965540617 6 3.309695139564419 0.006159472215773642 0.014929948455572307 1.0 True
40 12 15 4.286747470271891 25.863710300929224 0.7022030893897189 0.11797995277580095 6 4.2772327867721325 0.008495008365045943 0.102782991447036 1.0 True
41 13 14 4.006260191078547 30.491284026126113 0.6955810147299509 0.1145595612270532 6 3.350289886810732 0.010228664633443074 0.03515966054944097 1.0 True
42 13 15 0.9562774815922267 6.898518361717157 0.868300353819945 0.10454213568084784 6 3.243735713395398 0.0023750253827712867 0.010725047644197173 1.0 True
43 13 16 3.565173336606111 18.944899794614482 0.7265456392027422 0.10962529664062398 6 3.522751424445623 0.008958927594995584 0.0304143851242741 1.0 True
44 14 15 4.019575892829469 23.592765664408944 0.7120070334086913 0.11868441290330693 6 4.620592469502459 0.002571958018982041 0.05506919751152759 1.0 True
45 14 16 7.5676649485439835 49.43618382074059 0.5918615984405458 0.12229328437386527 6 7.149509813179243 0.014273957859022303 0.25325650727956367 1.0 True
46 14 17 5.910977627463022 0.8461207481731591 0.6694009445687298 0.12443900216431929 6 5.157741429696001 0.017895201000461415 0.10920228290609475 1.0 True
47 15 16 3.7301261399251735 25.84341815633164 0.702887537993921 0.11495230769293868 6 3.540289976352534 0.013545291843393993 0.033466251783377816 1.0 True
48 15 17 2.2049738368271745 24.438886412582093 0.7429531936901991 0.11679524427533879 6 3.526664394280145 0.00989411002791081 0.07786907370564648 1.0 True
49 15 18 4.7000039832559155 3.452521908779401 0.7209645010046886 0.11716134583909153 6 4.125231895423432 0.011654729311847106 0.13683586564190353 1.0 True
50 16 17 3.368526196086246 50.282304568913744 0.618922305764411 0.11254196340939995 6 4.068632188828396 0.03104786021350874 0.10375098145235381 1.0 True
51 16 18 3.5240348999326185 22.39089624755224 0.6890156918687589 0.11084024896736888 6 4.42116710884217 0.01556225520371614 0.02495881796886513 1.0 True
52 16 19 2.146829294717985 30.035090485266103 0.8685060899826 0.10135543575024519 6 2.92007223300188 0.002952251383831446 0.02753369989560042 1.0 True
53 17 18 2.640403049812329 27.891408321361506 0.7697708305735859 0.10648049893472207 6 3.7928223564531667 0.010582276181446382 0.039599051949106026 1.0 True
54 17 19 3.933985934417215 80.31739505417984 0.6293759512937596 0.1095449771750205 6 3.6483069293931876 0.012240937390583118 0.060306184678878015 1.0 True
55 17 20 4.2254212089887 152.98392843416656 0.6014520938674964 0.12300562605352797 6 4.719447385686107 1.3272837904090529 0.4474442011368189 1.0 False forward_reverse_translation
56 18 19 2.4460967931915643 52.425986732818345 0.6827314510833881 0.10834806615100012 6 3.5073857685652805 0.012418496053917759 0.11905018881098527 1.0 True
57 18 20 6.593931011285688 125.09252011280485 0.5756313809779688 0.1265759478434112 6 5.389095141151797 0.012917057356045326 0.24042373011343365 1.0 True
58 18 21 11.793089868757727 175.70238585456048 0.4044519656339495 0.14396876383759685 6 10.041635341774429 0.06610149517267662 0.6118050873537593 1.0 False forward_reverse_rotation
59 19 20 6.650720121741557 72.6665333799865 0.6234734541714874 0.12775305804057488 6 5.958603794025073 0.009237066767190358 0.22540488888099894 1.0 True
60 19 21 12.053580264031138 123.27639912174077 0.3788200074840963 0.14687803396129923 6 10.170069582593054 0.1645149893124099 1.1204113986936788 1.0 False forward_reverse_translation;forward_reverse_rotation
61 19 22 14.836246959975925 128.85294276465592 0.3215252152521525 0.1505833656059155 6 15.25410245430046 0.08605091089946505 0.48945936193054473 1.0 False heldout_inlier_ratio;forward_reverse_translation
62 20 21 5.40286046809103 50.60986574175429 0.6596992097884272 0.12147955429086157 6 4.0820327359553845 0.014725537493637062 0.1988422472286775 1.0 True
63 20 22 8.200956565000565 56.18640938466938 0.5739414499308958 0.13255415786946786 6 5.328486341352201 0.006040617548520927 0.19706632354687328 1.0 True
64 20 23 5.175118275082073 70.79178325235415 0.6456945156330087 0.12075756038041646 6 3.9642702950866386 0.022949011013485506 0.1911210947924365 1.0 True
65 21 22 2.8644847627909416 5.57654364291509 0.7716237647919971 0.11632271358541554 6 2.79620153032919 0.00996357879827298 0.15332892195322273 1.0 True
66 21 23 1.2936223973175418 20.18191751059984 0.8576224819696593 0.09865676260631216 6 3.0367950693845156 0.0039225733250952055 0.00898487649368532 1.0 True
67 21 24 2.3128500583741403 54.59467208208593 0.7715940569126165 0.1136150455355286 6 2.76815824933335 0.007475673605589086 0.042277690012993266 1.0 True
68 22 23 3.7194009250537223 14.605373867684753 0.7396689147762109 0.11702962848624102 6 3.4148047250889095 0.01814015943430581 0.11847321816106485 1.0 True
69 22 24 4.786117710081478 49.01812843917083 0.6983240223463687 0.11898873157361621 6 3.6334655936865663 0.013438931050857202 0.08244161259412694 1.0 True
70 22 25 2.3747421598149763 12.391903814042255 0.736861094407697 0.11586394710110075 6 2.383007054117407 0.018559552524775386 0.0645260279790244 1.0 True
71 23 24 1.0880644725336985 34.41275457148609 0.7853164556962026 0.1128725442321241 6 2.409921828847164 0.002195759849115173 0.032112959181416705 1.0 True
72 23 25 5.033935954106079 2.213470053642494 0.6881127450980392 0.12303206700403986 6 2.9363727218037994 0.004939188019100004 0.12964064637100806 1.0 True
73 23 26 5.765534437288107 40.730927532824346 0.6852618757612667 0.12040544972155913 6 3.0590065093977192 0.006032445250250899 0.14039335223024835 1.0 True
74 24 25 6.097212810998921 36.62622462512857 0.677667493796526 0.12346315805814134 6 3.6286524357748307 0.02347922689116974 0.16273859629352566 1.0 True
75 24 26 6.852918693116795 6.318172961338249 0.6530209617755857 0.12710147612984257 6 3.5331859775372005 0.013311199903818141 0.18193579850152686 1.0 True
76 24 27 7.47982907414204 31.60254826458195 0.6649014778325123 0.1248115961442785 6 4.10006355979974 0.017872821205486625 0.1680556511699705 1.0 True
77 25 26 1.2882746074869595 42.944397586466835 0.9127837514934289 0.0958142916589384 6 2.9017658682436953 0.003534148840172682 0.018440169300173608 1.0 True
78 25 27 1.7666235781584831 68.22877288971053 0.8510739856801909 0.10418150333394147 6 2.368253417089997 0.006103232696002816 0.13366555345652814 1.0 True
79 25 28 2.1807182972588706 88.09106909546726 0.8853518429870751 0.10761251229652005 6 2.6372860976794645 0.003483231665912094 0.0369774420199415 1.0 True
80 26 27 0.6269948654714946 25.284375303243706 0.9183867141162515 0.09074909570650921 6 2.8142315359282506 0.00040199505815422204 0.011554314408129918 1.0 True
81 26 28 0.9431372257108486 45.14667150900044 0.8853200095170116 0.10604184939655073 6 2.656402027789519 0.007320240476189879 0.12930335868605478 1.0 True
82 26 29 1.129925637779203 87.41573662125148 0.7880466815984911 0.10871274240898265 6 3.111957466886604 0.0063952430610542755 0.039517035902874385 1.0 True
83 27 28 0.44809323479571145 19.862296205756735 0.9289448669201521 0.0850509551532673 6 2.96325286846982 0.005157655135591474 0.022666807877311387 1.0 True
84 27 29 1.160064136065596 62.13136131800778 0.7872365477452019 0.10455513464835667 6 2.9621627623005296 0.011650639607012138 0.1624719134077532 1.0 True
85 27 30 4.25412615059095 152.09392556214777 0.04792444029850746 0.15706827084964883 6 3.4115087753552786 2.5641513880069633 2.874944882076104 0.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
86 28 29 1.5995723610319212 42.26906511225104 0.8000944621560987 0.1086547547358129 6 3.1466224100058553 0.0011394164967304414 0.02119627748719656 1.0 True
87 28 30 4.295353381127667 132.23162935639104 0.042095416276894296 0.16025490727880456 6 4.631028587407634 2.5607552487652696 2.17230408479254 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
88 28 31 5.754426930327516 158.8421298011293 0.7465330381074466 0.1066966653439246 6 2.402598366822474 0.00635764905956918 0.040016615214377715 1.0 True
89 29 30 4.099530130205247 89.96256424413995 0.7248812145092132 0.10870831469083347 6 2.9471223804737057 0.00465638537716095 0.12465763189227934 1.0 True
90 29 31 4.890018768530818 116.57306468887772 0.7243012243012243 0.11138751941762699 6 2.7645021322697017 0.004263906321896464 0.046637396086304225 1.0 True
91 29 32 4.464737187763289 159.39493219688632 0.6956070563818748 0.1103354081949904 6 3.227012588611917 0.011088061861347823 0.34561739459504637 1.0 True
92 30 31 2.3862917603439455 26.61050044473775 0.8185562292643862 0.0961579573295129 6 2.899558208444643 0.004999163455591531 0.0213847958734735 1.0 True
93 30 32 1.1507634071714652 69.43236795274659 0.8041343079031521 0.099533431536842 6 2.6146168742247573 0.003171376495143 0.02376737774843464 1.0 True
94 30 33 2.4361832484951105 160.7145717128102 0.0824534345711235 0.13003518012314966 6 7.2913036106936 1.3743823383381788 1.9837113244583153 0.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
95 31 32 1.2514382602180638 42.82186750800885 0.8157085941946499 0.09925944770258267 6 3.0485411400768245 0.004719596234887584 0.06146741991681224 1.0 True
96 31 33 0.641507519046697 134.10407126807203 0.0911563017261764 0.12702324561674966 6 7.541483837366941 2.816294381538612 3.333105317420589 0.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
97 32 33 1.4370687242949811 91.2822037600631 0.7569928006609229 0.10008740880870744 6 3.6611044282667207 2.988193350509204 2.696443494598379 1.0 False forward_reverse_translation;forward_reverse_rotation
results/02_data4_calibration/open3d_gicp/B_quality.json
-12004
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results/02_data4_calibration/open3d_gicp/B_refined.npz
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results/02_data4_calibration/open3d_gicp/B_refined.refinement.json
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results/02_data4_calibration/open3d_gicp/extrinsic.json
-414
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@@ -1,414 +0,0 @@
{
"schema_version": 2,
"success": true,
"message": "`ftol` termination condition is satisfied.",
"convention": "T_body_lidar maps raw LiDAR points into rear-axle body frame",
"equation": "A_ij X = X B_ij",
"measured_extrinsic_used_as_initial": false,
"translation_m": [
1.2975484155117711,
-0.0014693441955134902,
0.7052088406121522
],
"rotation_rpy_deg_xyz": [
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-0.9873301733452331
],
"quaternion_xyzw": [
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],
"matrix_4x4": [
[
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],
[
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],
[
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results/02_data4_calibration/small_gicp/B_estimation.npz
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results/02_data4_calibration/small_gicp/B_quality.csv
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@@ -1,156 +0,0 @@
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10,11,3.2047552083250137,21.371447114360556,0.7131414267834794,0.12095106901516857,6,13.404202373771971,0.006897671932212844,0.18540056788520093,1.0,True,
10,12,6.291813977735496,39.64927136691496,0.6117876278616659,0.125002241212049,6,19.806559061723195,0.006509808900811586,0.06742381610992963,1.0,True,
10,13,10.199392557022867,72.41150002956134,0.5244808055380743,0.13689263771908436,6,36.18235272080672,0.0046518429660042555,0.17931102925270673,1.0,True,
10,14,6.819808471778838,41.920216003435236,0.5996858385693572,0.12955691635611957,6,17.916357473627098,0.009593578345611205,0.05753783232412823,1.0,True,
10,15,10.561163834622734,65.51298166784417,0.5048970366649924,0.13966622273060364,6,30.173625507677322,0.006074999657630774,0.04867559411570644,1.0,True,
11,12,3.467398797536633,18.277824252554396,0.6508076728924785,0.12017753597340274,6,15.211760062254479,0.016302173123952383,0.05141023051579345,1.0,True,
11,13,7.516502113110916,51.04005291520078,0.5666710199817161,0.12966061077144844,6,26.14207974844453,0.010250004424021303,0.0630753341579125,1.0,True,
11,14,3.767517331528496,20.548768889074672,0.64271407110666,0.12109534664165014,6,14.04589685067402,0.007610676428698485,0.05350102444543152,1.0,True,
11,15,7.712397127778454,44.141534553483616,0.570479416362689,0.12836105648377344,6,18.857231656557765,0.006898635416764969,0.028532809525243653,1.0,True,
11,16,11.0395297023812,69.98495270981527,0.4761423882857864,0.13515636052103228,6,45.4042112112498,0.037021121414326036,0.5129154434742894,1.0,False,forward_reverse_rotation
12,13,4.049286119591895,32.762228662646386,0.7056733087955325,0.11689859246507509,6,14.509757355016381,0.0020816591744367207,0.08889045467662131,1.0,True,
12,14,0.97948616772873,2.2709446365202806,0.8745432399512789,0.09766069029332589,6,11.857488007889668,0.002473515580842477,0.018069288085025077,1.0,True,
12,15,4.286747470271891,25.863710300929224,0.7033426183844012,0.12103901189560114,6,11.859397045728326,0.022780233796594867,0.04927694758545139,1.0,True,
12,16,7.5836501880550475,51.70712845726087,0.5820235756385069,0.12458133956199553,6,32.351864267271,0.00989839849833309,0.03808519306435704,1.0,True,
12,17,6.351478009829798,1.4248238883471207,0.6542219994988725,0.12658997093251892,6,11.229951110937455,0.019742680150836883,0.07899236042083516,1.0,True,
13,14,4.006260191078547,30.491284026126113,0.6984766461034874,0.11406275231178287,6,13.924718120717541,0.012533581961738958,0.10861604448395465,1.0,True,
13,15,0.9562774815922267,6.898518361717157,0.8794391298650243,0.09903209123829654,6,10.514819201987352,0.006638809913641406,0.04266354358349458,1.0,True,
13,16,3.565173336606111,18.944899794614482,0.7273073505141552,0.10958532316684438,6,19.40505650408657,0.005441055528592516,0.12519365495730794,1.0,True,
13,17,2.967150651379281,31.337404774299262,0.7130265716137395,0.11779895987026284,6,12.816390530620689,0.013263327701592687,0.16221305155705806,1.0,True,
13,18,5.249882044431148,3.4459964529377567,0.7019876443728176,0.11940768524727291,6,25.985486690964983,0.008995185113784413,0.05198334813202341,1.0,True,
14,15,4.019575892829469,23.592765664408944,0.7035920622959055,0.12189498753760801,6,10.295943232842452,0.010817230757509965,0.008099442158890762,0.5,True,
14,16,7.5676649485439835,49.43618382074059,0.5923489278752436,0.12241126089476961,6,33.65365690477826,0.003104373432332903,0.13386003286196627,1.0,True,
14,17,5.910977627463022,0.8461207481731591,0.6687795177728063,0.12452036369759786,6,8.95305147071513,0.01159286549234958,0.10132041390926738,1.0,True,
14,18,8.548241724186095,27.045287573188347,0.6196476790536196,0.12845393182350578,6,17.805505225184664,0.010070495463159433,0.13041926369959572,1.0,True,
14,19,9.249254057266956,79.47127430600668,0.5845660749506904,0.12584132662356784,6,30.335272352492872,0.016830803029542436,0.2574761671757917,1.0,True,
15,16,3.7301261399251735,25.84341815633164,0.7032674772036475,0.11602216892855616,6,22.696890954829907,0.0009988867448423883,0.09036168134112703,1.0,True,
15,17,2.2049738368271745,24.438886412582093,0.7489009568140678,0.11923375870790391,6,6.944925131742929,0.02582458487951314,0.095039680889365,1.0,True,
15,18,4.7000039832559155,3.452521908779401,0.7165438713998661,0.11783922962071142,6,19.334165264487982,0.009354386824208725,0.17478401338848865,1.0,True,
15,19,5.238340351181781,55.87850864159773,0.6924358974358974,0.11506895717743916,6,20.41712608461488,0.012497900854287812,0.3255615001296644,1.0,True,
15,20,2.0380809160783224,128.5450420215843,0.6751867872591427,0.11901811643083532,6,27.381712286843808,0.007126007329084919,0.09473387178666172,1.0,True,
16,17,3.368526196086246,50.282304568913744,0.6284461152882206,0.1113618900510703,6,25.184005110635376,0.015370940622322818,0.07520125332617648,1.0,True,
16,18,3.5240348999326185,22.39089624755224,0.6921281286473868,0.10919235768364483,6,39.42922894015919,0.005355462743716769,0.03654303027439279,1.0,True,
16,19,2.146829294717985,30.035090485266103,0.8880188913745961,0.0968346861370537,6,11.70909430755386,0.006745004702225108,0.04851926363283949,1.0,True,
16,20,4.728364693236263,102.70162386525263,0.6307301587301587,0.12362874516637085,6,35.70048091760535,0.007128919591300971,0.10475436005961275,1.0,True,
16,21,10.094336026449797,153.311489607007,0.40465918895599656,0.14174574821871383,6,57.2667389243621,0.01442382622115287,0.2621394134233604,1.0,True,
17,18,2.640403049812329,27.891408321361506,0.7665916015366274,0.11462276561713726,6,9.759321661407776,0.003676908482849856,0.03455537183665902,1.0,True,
17,19,3.933985934417215,80.31739505417984,0.645738203957382,0.11467441399973681,6,29.93502749301381,0.002658154417044598,0.03997293849541112,1.0,True,
17,20,4.2254212089887,152.98392843416656,0.6031375599636977,0.12542519992547976,6,27.708613247812377,4.543486491493239,1.5708713272202308,0.5,False,forward_reverse_translation;forward_reverse_rotation
17,21,9.21529677253323,156.40620582407942,0.4672368255565338,0.13751533766984328,6,32.19730123852794,0.13403735422224766,1.1805230479043929,0.5,False,forward_reverse_translation;forward_reverse_rotation
17,22,11.781237287606983,150.82966218116434,0.4255952380952381,0.1417851723285674,6,38.71155142811069,0.01638337185583796,0.14112774930143776,1.0,True,
18,19,2.4460967931915643,52.425986732818345,0.6999343401181878,0.10876407223187468,6,36.919102980185954,0.0029722527816906422,0.028553700929610463,1.0,True,
18,20,6.593931011285688,125.09252011280485,0.5796614723267061,0.12778176089815,6,32.46060078153023,0.0849644734357879,0.24110896992060843,1.0,False,forward_reverse_translation
18,21,11.793089868757727,175.70238585456048,0.42345743296016664,0.14463219993853524,6,41.677643204951686,0.008594432490503082,0.044791316017877565,1.0,True,
18,22,14.40479158879449,178.72107050256645,0.35586914688903143,0.14801012931814386,6,118.81863294454718,0.05364920712348454,0.15560820359743163,1.0,True,
18,23,11.744734461596845,164.11569663484164,0.3967277486910995,0.14073241205403209,6,67.8157115569044,0.0379980141073483,0.09667096210106078,1.0,True,
19,20,6.650720121741557,72.6665333799865,0.6260444787247719,0.12668491637849374,6,25.97982149253148,0.022781715838261912,0.19834674514582162,1.0,True,
19,21,12.053580264031138,123.27639912174077,0.3952850193339154,0.1421446220617431,6,61.553005632745744,0.01796074748252817,0.16263425635632095,1.0,True,
19,22,14.836246959975925,128.85294276465592,0.3237392373923739,0.15069330869045588,6,75.70505048512227,0.2579934626807855,1.1847082611411373,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
19,23,11.740810561661805,143.45831663234065,0.37768025078369905,0.1432975121556299,6,38.93505210462392,0.07411982241929344,0.4458370864472602,1.0,True,
19,24,11.093516369446519,177.87107120383473,0.43504761904761907,0.13924446561169374,6,41.93660606132572,0.04258350776081339,0.7879276702809055,0.5,False,forward_reverse_rotation
20,21,5.40286046809103,50.60986574175429,0.6607188376242672,0.12214671257866079,6,14.082798146569438,0.01471691635641488,0.0747935794181239,1.0,True,
20,22,8.200956565000565,56.18640938466938,0.576328684508104,0.13245799460807672,6,16.034011252149995,0.02165175771302933,0.4612076789897289,1.0,True,
20,23,5.175118275082073,70.79178325235415,0.6451819579702717,0.12102263178677423,6,12.511468996120387,0.018249896901851893,0.12115759970382113,1.0,True,
20,24,4.710308396362637,105.20453782384023,0.7383177570093458,0.11441422046802802,6,12.152737785424229,0.009011279667019194,0.06430292411421322,1.0,True,
20,25,8.226491803107123,68.57831319871164,0.6182822702159718,0.12791257682460647,6,29.104161441720954,0.014703530260578728,0.32055535743282454,1.0,True,
21,22,2.8644847627909416,5.57654364291509,0.7740636818348177,0.11564788773425824,6,12.209574213097333,0.0065184199045192235,0.06991965908247275,1.0,True,
21,23,1.2936223973175418,20.18191751059984,0.862223327530465,0.10307116830776755,6,11.124499228103288,0.0026785916987678697,0.01879221122979615,1.0,True,
21,24,2.3128500583741403,54.59467208208593,0.7795265676152102,0.11182158240581822,6,15.934013426145448,0.003491995501356654,0.0374256510953578,1.0,True,
21,25,3.793272903723766,17.968447456957346,0.7340892465252378,0.12002239056891174,6,16.57216298005221,0.037735058311297705,0.2878144229712423,1.0,True,
21,26,4.631707245574304,60.912845043424184,0.7147358216190014,0.11997311573294966,6,17.372315653280065,0.012351932089198563,0.10379217190868555,1.0,True,
22,23,3.7194009250537223,14.605373867684753,0.7408951563458002,0.11726725109752717,6,12.610213323576254,0.009206244303295173,0.09601986001481369,1.0,True,
22,24,4.786117710081478,49.01812843917083,0.6936064556176288,0.11914624513148218,6,13.20338761495324,0.006090737153726605,0.027557138417491776,1.0,True,
22,25,2.3747421598149763,12.391903814042255,0.7356584485868911,0.11474070552638106,6,16.673633938013044,0.0019617091597581428,0.011643770804738128,1.0,True,
22,26,2.381693697571969,55.336301400509086,0.7422594142259414,0.11765221626900083,6,18.880420396501957,0.007814937371704293,0.039342553564881436,1.0,True,
22,27,2.9603952927690247,80.62067670375279,0.7254925373134329,0.11870181965154768,6,21.309389349405485,0.018241823604788005,0.08279236858582419,1.0,True,
23,24,1.0880644725336985,34.41275457148609,0.7884810126582279,0.10662565692629543,6,10.611199681165669,0.001882338148224756,0.020239211377623818,1.0,True,
23,25,5.033935954106079,2.213470053642494,0.6843137254901961,0.12171091934898426,6,15.150809064137142,0.014639828785635214,0.2046006298281892,1.0,True,
23,26,5.765534437288107,40.730927532824346,0.6772228989037758,0.12237954766026346,6,16.382334072569904,0.04518647006837157,0.20367965681897066,1.0,True,
23,27,6.392376191887118,66.01530283606805,0.6637469586374696,0.12340951265232122,6,20.64383986204732,0.010626193556947957,1.1817079481882757,1.0,False,forward_reverse_rotation
23,28,6.631292861991925,85.8775990418248,0.6720351390922401,0.12122778564083748,6,19.20657067904157,0.043540468687755365,0.26051478047218213,1.0,True,
24,25,6.097212810998921,36.62622462512857,0.6764267990074442,0.12367636388755719,6,21.50176872604179,0.035816405766439664,0.2046504337319023,1.0,True,
24,26,6.852918693116795,6.318172961338249,0.6524044389642417,0.12740232296321938,6,21.753053297058692,0.062038641373543625,0.12012273822228971,1.0,True,
24,27,7.47982907414204,31.60254826458195,0.6546798029556651,0.12425657449629145,6,26.295019203914197,0.05403266260962086,0.2126374478532415,1.0,True,
24,28,7.71913193400284,51.4648444703387,0.6614377470355731,0.12010155595807545,6,20.98500095492876,0.049490676797893776,0.25138526875505346,1.0,True,
24,29,7.213852273638132,93.73390958258973,0.6620579958399608,0.12331341986261203,6,28.045882177977884,0.08010108996241684,0.7934458070763889,1.0,False,forward_reverse_translation;forward_reverse_rotation
25,26,1.2882746074869595,42.944397586466835,0.9137395459976105,0.08148336624555251,6,16.56293455758718,0.0032405549728505064,0.006669174585592186,1.0,True,
25,27,1.7666235781584831,68.22877288971053,0.8596658711217183,0.1096145882030974,6,22.188153380460985,0.010624789877375215,0.04475651255674721,1.0,True,
25,28,2.1807182972588706,88.09106909546726,0.8839157491622786,0.10490699814192792,6,16.17217948348072,0.00283419137499405,0.01585308444597649,1.0,True,
25,29,1.118287177357716,130.36013420771832,0.7857227558401518,0.10954358768244267,6,20.132087187715307,0.003247718742817276,0.01654235380830592,1.0,True,
25,30,5.200639419572971,139.6773015481418,0.05061061531235322,0.1582745227634446,6,186.52424080569466,2.4401001990983833,2.63047633237589,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
26,27,0.6269948654714946,25.284375303243706,0.9188612099644128,0.07520973241900301,6,20.799051531446562,0.0009920873307779914,0.005485007138529723,1.0,True,
26,28,0.9431372257108486,45.14667150900044,0.9182726623840114,0.07611768518866212,6,21.99541958409829,0.004984978187527545,0.01173507098896779,1.0,True,
26,29,1.129925637779203,87.41573662125148,0.7856890251090416,0.10851393061782179,6,24.280602674778656,0.002586732426991948,0.12205883610743135,1.0,True,
26,30,4.786676837961511,177.3783008654109,0.7634835395750642,0.10495724850674527,6,34.80647378548578,0.008489213184554775,0.021733210949123293,1.0,True,
26,31,5.900105669197046,156.01119868987135,0.7374054682955207,0.1073752166304431,6,38.310555401782544,3.545322953478412,6.459518815762061,1.0,False,forward_reverse_translation;forward_reverse_rotation
27,28,0.44809323479571145,19.862296205756735,0.9281131178707225,0.07220943509634768,6,20.093208902964978,0.0023003913248606234,0.001591751329336308,1.0,True,
27,29,1.160064136065596,62.13136131800778,0.7871188037207112,0.10966659884725236,6,24.009650087098436,0.005134403698947268,0.02434844099203523,1.0,True,
27,30,4.25412615059095,152.09392556214777,0.7922108208955224,0.10147035321534553,6,32.52026042532504,2.795897032209197,3.237329131939042,1.0,False,forward_reverse_translation;forward_reverse_rotation
27,31,5.542871649427442,178.70442600700352,0.7592097617664149,0.10539218018667602,6,48.70669958381899,0.0020939062619997405,0.027400662783563425,1.0,True,
27,32,4.8829350360277,138.47370648510565,0.7480278422273782,0.10408734715846867,6,42.21510199826003,0.004407463145306061,0.03490543724836902,1.0,True,
28,29,1.5995723610319212,42.26906511225104,0.787814381863266,0.10901449493832843,6,25.913625419675043,0.01570175790237609,0.03569660498137675,1.0,True,
28,30,4.295353381127667,132.23162935639104,0.7791159962581852,0.10438560755009844,6,36.501677925790155,0.01170149615735483,0.047047156693309715,1.0,True,
28,31,5.754426930327516,158.8421298011293,0.7449015266285981,0.10668967013687296,6,48.04636971250818,0.024421374377245158,0.6810283060803514,0.5,False,forward_reverse_rotation
28,32,5.013331477001236,158.33600269086247,0.7309213587715216,0.1081318944415262,6,52.23779663520043,0.10324080390042788,0.9479198721286788,1.0,False,forward_reverse_translation;forward_reverse_rotation
28,33,5.317102997899902,67.05379893079937,0.6692465836255895,0.10871806386783629,6,54.67376255043738,0.13259351588266985,0.659391929056215,1.0,False,forward_reverse_translation;forward_reverse_rotation
29,30,4.099530130205247,89.96256424413995,0.7320662880982732,0.10929719051930432,6,30.745355096911158,0.005463604154015333,0.018583483487870766,1.0,True,
29,31,4.890018768530818,116.57306468887772,0.7254562254562255,0.11323336570178015,6,49.09678922599757,0.0050777995851252426,0.07265894091769333,1.0,True,
29,32,4.464737187763289,159.39493219688632,0.695837657096737,0.10999820041072961,6,72.25486343140591,0.011220553177198233,0.14599088546526143,1.0,True,
29,33,4.34670323578768,109.32286404305042,0.6382698298586149,0.11215583949685817,6,72.66655529463955,0.018977478007060265,0.05615608666616428,1.0,True,
30,31,2.3862917603439455,26.61050044473775,0.8286237272623269,0.0964659694513182,6,41.03513305025223,0.018905314487385798,0.08632503464137033,1.0,True,
30,32,1.1507634071714652,69.43236795274659,0.8065326633165829,0.09815063400019142,6,35.25635856167173,0.007341509941520892,0.023973741904832375,1.0,True,
30,33,2.4361832484951105,160.7145717128102,0.6965239055641239,0.10032655671840386,6,47.08947384000088,2.6257249086936962,3.1197630566421646,1.0,False,forward_reverse_translation;forward_reverse_rotation
31,32,1.2514382602180638,42.82186750800885,0.8146841206602162,0.09914628416022417,6,34.33173181492779,0.06936877058296162,0.45703051311645637,1.0,True,
31,33,0.641507519046697,134.10407126807203,0.7551430598250177,0.1003246191461096,6,28.537349904719164,0.005559091155811048,0.0330053182501105,1.0,True,
32,33,1.4370687242949811,91.2822037600631,0.043432078366576185,0.1661924920133195,6,88.4956235178996,0.946171384319174,3.5092968853566924,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
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 1.8477087194158957 24.171297449440786 0.8193962748876044 0.11049677170760565 6 14.01384280930539 0.026680306344951596 0.12400141971813113 1.0 True
3 0 2 2.633731568575307 80.09074797031298 0.7525388867463684 0.11492533799497681 6 14.962108606915407 0.0018465318763874656 0.03093450642761156 1.0 True
4 0 3 6.923255970100826 79.91583883299243 0.628093901505486 0.12365050970311489 6 23.49058941554809 0.010524333328229862 0.23898233567763014 1.0 True
5 0 4 2.952974950373882 130.25781950514033 0.693351593625498 0.11485738628517483 6 16.30512452170669 2.3214755241040135 1.4768350244766943 1.0 False forward_reverse_translation;forward_reverse_rotation
6 0 5 8.205074921973447 88.82606603101337 0.6015065913370998 0.12959862169013578 6 26.276485388438196 0.013711901937629547 0.26024107991311357 1.0 True
7 1 2 1.7155362084417105 55.91945052087219 0.7981310803891449 0.11167434332282761 6 13.484382276710292 0.050742368484802715 0.5170998105709517 1.0 False forward_reverse_rotation
8 1 3 5.885389341942907 55.74454138355163 0.678820988438572 0.12109867185657652 6 27.478714016209608 0.008324315958289934 0.25689852176843175 1.0 True
9 1 4 2.3031736807956613 106.08652205569953 0.6772473651580905 0.11157492180388107 6 13.25032679930311 0.00802452890723869 0.011334867255723058 1.0 True
10 1 5 7.590375029412286 64.65476858157257 0.618779694923731 0.12786963556791484 6 21.376356908960595 0.012044684321695526 0.5185219918090508 1.0 False forward_reverse_rotation
11 1 6 8.114848491620153 8.108983632525 0.6933789087226231 0.12162612003144421 6 23.560279629760274 0.008258211706006158 0.08942722541817279 1.0 True
12 2 3 4.339151683168145 0.17490913732054883 0.7609663064208518 0.11583878636897658 6 13.299472485774093 0.00784220284106163 0.01711532312869618 1.0 True
13 2 4 0.6150408096900305 50.167071534827386 0.796748976299789 0.11484342359047915 6 12.041666425070249 0.011210942709507262 0.11462542679280045 1.0 True
14 2 5 5.894923525501676 8.735318060700383 0.7112112112112112 0.12001317983504071 6 15.619771158055366 0.011298647069299764 0.02158504824207679 1.0 True
15 2 6 6.5470565092896145 47.810466888347186 0.7254529329785886 0.11794151013960824 6 22.73936753420594 0.004729020804343234 0.026463705119922912 1.0 True
16 2 7 5.848768648120739 73.12203319515616 0.7569187603621987 0.11528530285715083 6 13.439936375510058 0.011994525026310043 0.05882394078371607 1.0 True
17 3 4 3.9735035126146885 50.34198067214791 0.6957378664695738 0.11619002437046372 6 17.769677378118345 0.006018969660459514 0.057234124307389854 1.0 True
18 3 5 2.3619393178889707 8.910227198020932 0.7989069680784996 0.1077590577814381 6 12.151555874812605 0.01353229173052898 0.06486032517688407 1.0 True
19 3 6 2.2300116834828536 47.63555775102664 0.8435613682092555 0.11222309863990207 6 13.914901775514604 0.009512765198853305 0.09743636874085052 1.0 True
20 3 7 2.450274232383144 72.94712405783562 0.8651898734177215 0.11184568072686094 6 12.975777248765134 0.010827690226297962 0.12520280777371934 1.0 True
21 3 8 1.9936391786054533 163.56928836557165 0.825590155700653 0.10787987267070262 6 12.959410142765178 0.0056088079192386986 0.021536601402145895 1.0 True
22 4 5 5.370771070097231 41.431753474126985 0.6652516676773802 0.12444356767629798 6 17.0278455355532 0.003155412913416372 0.05824374716659687 1.0 True
23 4 6 6.142548765456278 97.97753842317456 0.6551681807021851 0.12030857820705748 6 24.380739297719824 0.011212969141455763 0.08373658947114908 0.5 True
24 4 7 5.314106070657687 123.28910472998356 0.696936001976773 0.11799538994568655 6 16.89426071448657 0.00409529177569414 0.0519770010059835 0.5 True
25 4 8 5.8981084980454765 146.08873096228052 0.7129198332924737 0.11349036082807595 6 18.616925126379197 0.01249802665331653 0.04549823831834878 1.0 True
26 4 9 3.1650365894055956 158.11607430100375 0.6097234068478128 0.11677937926620108 6 25.94675052408701 0.00616984405743089 0.11548555225177864 0.5 True
27 5 6 1.9357867378988893 56.54578494904757 0.7604901596732269 0.11101741624951145 6 16.791344333152654 0.01028641250952863 0.031127073736479716 1.0 True
28 5 7 0.19501559913675365 81.85735125585654 0.8092687180764918 0.10777871969807898 6 15.20338641054919 0.010579714886860828 0.03333492483252218 1.0 True
29 5 8 1.8038807059856978 172.47951556359365 0.7295760721789643 0.11311887218463837 6 17.053462425193878 0.009759205787181369 0.05935114015788255 1.0 True
30 5 9 7.881613621164215 160.45217222486949 0.514987714987715 0.13057312144553648 6 36.76355827214787 0.013423709236357283 0.8456480282562385 1.0 False forward_reverse_rotation
31 5 10 7.671857805815354 143.54232919109316 0.5442391832766165 0.13173165083201857 6 26.337222871823027 0.00523999417676037 0.17134499262937464 1.0 True
32 6 7 2.130456053070114 25.311566306808988 0.8539354187689203 0.10462253085153163 6 12.502910766598342 0.002843314342407394 0.028424505305675103 1.0 True
33 6 8 0.24494500622098103 115.93373061454483 0.7757757757757757 0.1131640002846509 6 15.521747346102597 0.007224674181694773 0.10395594559619498 1.0 True
34 6 9 8.025985916230132 103.90638727582186 0.6009202835468226 0.1259448851291812 6 28.795189977892573 0.007975110549369148 0.07338758946554978 1.0 True
35 6 10 8.303463402700086 159.91188585985975 0.5363513347275187 0.13083118553166714 6 31.167661263990606 1.7146158775247784 14.688249303878628 1.0 False forward_reverse_translation;forward_reverse_rotation
36 6 11 11.328882063792355 138.54043874549896 0.4633337584491774 0.13769942152040132 6 58.377014583638996 0.023339879627157865 0.18888808553225306 1.0 True
37 7 8 1.9962664218365056 90.62216430773583 0.8340050377833753 0.11132245152738919 6 16.170350777028464 0.004806949653405585 0.02034039865601464 1.0 True
38 7 9 7.8811064994361235 78.59482096901284 0.6160971335586432 0.12637042711002067 6 24.17866477904224 0.012112046262530643 0.5927664140170301 1.0 False forward_reverse_rotation
39 7 10 7.620696678413973 134.60031955305035 0.5721183607775164 0.13040415535689726 6 20.571872802604858 0.010507785715791607 0.10324111221368969 1.0 True
40 7 11 10.356268683459426 113.22887243868989 0.5179098728976762 0.13593896500168 6 36.18276452817704 0.01570096854689765 0.062213006599939585 1.0 True
41 7 12 13.76202076313695 94.9510481861355 0.419173636250156 0.14753718360891266 6 89.28960611274712 0.018245717875293024 0.41212759156893974 1.0 True
42 8 9 7.803713858547152 12.027343338722998 0.6407549981373402 0.12189583104066963 6 28.06713348388497 0.025170709673794655 0.14112050756711447 1.0 True
43 8 10 8.062504137991457 43.97815524531457 0.6075420709986488 0.12933255373443525 6 20.429632894689156 0.01256038832173067 0.12386976869589704 1.0 True
44 8 11 11.084531710563947 22.606708130954026 0.5447599643448364 0.13547919137380177 6 27.72840331379869 0.006462771421800638 0.08629803406158434 1.0 True
45 8 12 14.350449135419003 4.328883878399632 0.46489164086687307 0.14530908872417966 6 37.958964738084276 0.00955628888567663 0.1112688142308669 1.0 True
46 8 13 18.245302761704593 28.43334478424675 0.37832991803278687 0.15442802982944018 6 101.4897081447731 0.027875630486669568 0.37387837894914167 1.0 True
47 9 10 2.04815062353057 56.00549858403758 0.6576312576312576 0.10693844153477818 6 15.957672354569297 0.0038184479242649575 0.016135929192430513 0.5 True
48 9 11 4.738677237611319 34.634051469677026 0.5883320678309288 0.11815838246331245 6 21.526672921842792 0.008866435423074387 0.05039949658393549 1.0 True
49 9 12 7.170741483679294 16.35622721712263 0.5413589364844904 0.12469816852157387 6 38.0354745717217 0.03403608365914784 0.249719392637206 1.0 True
50 9 13 10.733928030180744 16.40600144552375 0.5075728649611811 0.13356609480985904 6 50.3483756147633 0.0053243668825205025 0.1401976908512776 1.0 True
51 9 14 7.8912187855633125 14.085282580602351 0.5416463116756228 0.12859551377809317 6 26.721469573230642 0.011377143482081005 0.045883349808202654 1.0 True
52 10 11 3.2047552083250137 21.371447114360556 0.7131414267834794 0.12095106901516857 6 13.404202373771971 0.006897671932212844 0.18540056788520093 1.0 True
53 10 12 6.291813977735496 39.64927136691496 0.6117876278616659 0.125002241212049 6 19.806559061723195 0.006509808900811586 0.06742381610992963 1.0 True
54 10 13 10.199392557022867 72.41150002956134 0.5244808055380743 0.13689263771908436 6 36.18235272080672 0.0046518429660042555 0.17931102925270673 1.0 True
55 10 14 6.819808471778838 41.920216003435236 0.5996858385693572 0.12955691635611957 6 17.916357473627098 0.009593578345611205 0.05753783232412823 1.0 True
56 10 15 10.561163834622734 65.51298166784417 0.5048970366649924 0.13966622273060364 6 30.173625507677322 0.006074999657630774 0.04867559411570644 1.0 True
57 11 12 3.467398797536633 18.277824252554396 0.6508076728924785 0.12017753597340274 6 15.211760062254479 0.016302173123952383 0.05141023051579345 1.0 True
58 11 13 7.516502113110916 51.04005291520078 0.5666710199817161 0.12966061077144844 6 26.14207974844453 0.010250004424021303 0.0630753341579125 1.0 True
59 11 14 3.767517331528496 20.548768889074672 0.64271407110666 0.12109534664165014 6 14.04589685067402 0.007610676428698485 0.05350102444543152 1.0 True
60 11 15 7.712397127778454 44.141534553483616 0.570479416362689 0.12836105648377344 6 18.857231656557765 0.006898635416764969 0.028532809525243653 1.0 True
61 11 16 11.0395297023812 69.98495270981527 0.4761423882857864 0.13515636052103228 6 45.4042112112498 0.037021121414326036 0.5129154434742894 1.0 False forward_reverse_rotation
62 12 13 4.049286119591895 32.762228662646386 0.7056733087955325 0.11689859246507509 6 14.509757355016381 0.0020816591744367207 0.08889045467662131 1.0 True
63 12 14 0.97948616772873 2.2709446365202806 0.8745432399512789 0.09766069029332589 6 11.857488007889668 0.002473515580842477 0.018069288085025077 1.0 True
64 12 15 4.286747470271891 25.863710300929224 0.7033426183844012 0.12103901189560114 6 11.859397045728326 0.022780233796594867 0.04927694758545139 1.0 True
65 12 16 7.5836501880550475 51.70712845726087 0.5820235756385069 0.12458133956199553 6 32.351864267271 0.00989839849833309 0.03808519306435704 1.0 True
66 12 17 6.351478009829798 1.4248238883471207 0.6542219994988725 0.12658997093251892 6 11.229951110937455 0.019742680150836883 0.07899236042083516 1.0 True
67 13 14 4.006260191078547 30.491284026126113 0.6984766461034874 0.11406275231178287 6 13.924718120717541 0.012533581961738958 0.10861604448395465 1.0 True
68 13 15 0.9562774815922267 6.898518361717157 0.8794391298650243 0.09903209123829654 6 10.514819201987352 0.006638809913641406 0.04266354358349458 1.0 True
69 13 16 3.565173336606111 18.944899794614482 0.7273073505141552 0.10958532316684438 6 19.40505650408657 0.005441055528592516 0.12519365495730794 1.0 True
70 13 17 2.967150651379281 31.337404774299262 0.7130265716137395 0.11779895987026284 6 12.816390530620689 0.013263327701592687 0.16221305155705806 1.0 True
71 13 18 5.249882044431148 3.4459964529377567 0.7019876443728176 0.11940768524727291 6 25.985486690964983 0.008995185113784413 0.05198334813202341 1.0 True
72 14 15 4.019575892829469 23.592765664408944 0.7035920622959055 0.12189498753760801 6 10.295943232842452 0.010817230757509965 0.008099442158890762 0.5 True
73 14 16 7.5676649485439835 49.43618382074059 0.5923489278752436 0.12241126089476961 6 33.65365690477826 0.003104373432332903 0.13386003286196627 1.0 True
74 14 17 5.910977627463022 0.8461207481731591 0.6687795177728063 0.12452036369759786 6 8.95305147071513 0.01159286549234958 0.10132041390926738 1.0 True
75 14 18 8.548241724186095 27.045287573188347 0.6196476790536196 0.12845393182350578 6 17.805505225184664 0.010070495463159433 0.13041926369959572 1.0 True
76 14 19 9.249254057266956 79.47127430600668 0.5845660749506904 0.12584132662356784 6 30.335272352492872 0.016830803029542436 0.2574761671757917 1.0 True
77 15 16 3.7301261399251735 25.84341815633164 0.7032674772036475 0.11602216892855616 6 22.696890954829907 0.0009988867448423883 0.09036168134112703 1.0 True
78 15 17 2.2049738368271745 24.438886412582093 0.7489009568140678 0.11923375870790391 6 6.944925131742929 0.02582458487951314 0.095039680889365 1.0 True
79 15 18 4.7000039832559155 3.452521908779401 0.7165438713998661 0.11783922962071142 6 19.334165264487982 0.009354386824208725 0.17478401338848865 1.0 True
80 15 19 5.238340351181781 55.87850864159773 0.6924358974358974 0.11506895717743916 6 20.41712608461488 0.012497900854287812 0.3255615001296644 1.0 True
81 15 20 2.0380809160783224 128.5450420215843 0.6751867872591427 0.11901811643083532 6 27.381712286843808 0.007126007329084919 0.09473387178666172 1.0 True
82 16 17 3.368526196086246 50.282304568913744 0.6284461152882206 0.1113618900510703 6 25.184005110635376 0.015370940622322818 0.07520125332617648 1.0 True
83 16 18 3.5240348999326185 22.39089624755224 0.6921281286473868 0.10919235768364483 6 39.42922894015919 0.005355462743716769 0.03654303027439279 1.0 True
84 16 19 2.146829294717985 30.035090485266103 0.8880188913745961 0.0968346861370537 6 11.70909430755386 0.006745004702225108 0.04851926363283949 1.0 True
85 16 20 4.728364693236263 102.70162386525263 0.6307301587301587 0.12362874516637085 6 35.70048091760535 0.007128919591300971 0.10475436005961275 1.0 True
86 16 21 10.094336026449797 153.311489607007 0.40465918895599656 0.14174574821871383 6 57.2667389243621 0.01442382622115287 0.2621394134233604 1.0 True
87 17 18 2.640403049812329 27.891408321361506 0.7665916015366274 0.11462276561713726 6 9.759321661407776 0.003676908482849856 0.03455537183665902 1.0 True
88 17 19 3.933985934417215 80.31739505417984 0.645738203957382 0.11467441399973681 6 29.93502749301381 0.002658154417044598 0.03997293849541112 1.0 True
89 17 20 4.2254212089887 152.98392843416656 0.6031375599636977 0.12542519992547976 6 27.708613247812377 4.543486491493239 1.5708713272202308 0.5 False forward_reverse_translation;forward_reverse_rotation
90 17 21 9.21529677253323 156.40620582407942 0.4672368255565338 0.13751533766984328 6 32.19730123852794 0.13403735422224766 1.1805230479043929 0.5 False forward_reverse_translation;forward_reverse_rotation
91 17 22 11.781237287606983 150.82966218116434 0.4255952380952381 0.1417851723285674 6 38.71155142811069 0.01638337185583796 0.14112774930143776 1.0 True
92 18 19 2.4460967931915643 52.425986732818345 0.6999343401181878 0.10876407223187468 6 36.919102980185954 0.0029722527816906422 0.028553700929610463 1.0 True
93 18 20 6.593931011285688 125.09252011280485 0.5796614723267061 0.12778176089815 6 32.46060078153023 0.0849644734357879 0.24110896992060843 1.0 False forward_reverse_translation
94 18 21 11.793089868757727 175.70238585456048 0.42345743296016664 0.14463219993853524 6 41.677643204951686 0.008594432490503082 0.044791316017877565 1.0 True
95 18 22 14.40479158879449 178.72107050256645 0.35586914688903143 0.14801012931814386 6 118.81863294454718 0.05364920712348454 0.15560820359743163 1.0 True
96 18 23 11.744734461596845 164.11569663484164 0.3967277486910995 0.14073241205403209 6 67.8157115569044 0.0379980141073483 0.09667096210106078 1.0 True
97 19 20 6.650720121741557 72.6665333799865 0.6260444787247719 0.12668491637849374 6 25.97982149253148 0.022781715838261912 0.19834674514582162 1.0 True
98 19 21 12.053580264031138 123.27639912174077 0.3952850193339154 0.1421446220617431 6 61.553005632745744 0.01796074748252817 0.16263425635632095 1.0 True
99 19 22 14.836246959975925 128.85294276465592 0.3237392373923739 0.15069330869045588 6 75.70505048512227 0.2579934626807855 1.1847082611411373 1.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
100 19 23 11.740810561661805 143.45831663234065 0.37768025078369905 0.1432975121556299 6 38.93505210462392 0.07411982241929344 0.4458370864472602 1.0 True
101 19 24 11.093516369446519 177.87107120383473 0.43504761904761907 0.13924446561169374 6 41.93660606132572 0.04258350776081339 0.7879276702809055 0.5 False forward_reverse_rotation
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results/02_data4_calibration/small_gicp/B_quality.json
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results/02_data4_calibration/small_gicp/B_refined.npz
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results/02_data4_calibration/small_gicp/B_refined.refinement.json
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results/02_data4_calibration/small_gicp/extrinsic.json
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results/03_comparison/README.md
-7
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@@ -1,7 +0,0 @@
# 跨批比较
- `extrinsic_difference.json`：data4 X 相对历史部署 X 的严格 SE(3) 差，约 `1.592 cm / 0.234°`。
- `old_extrinsic_on_data4.json`：历史部署 X 在 data4 B 上的残差，约 `0.11953 m / 1.24836°`。
- `data4_extrinsic_on_previous_batch2.json`：data4 X 在历史第二批 B 上的残差，约 `0.07931 m / 0.98926°`。
两套 X 的跨批表现接近，而 data4 自身估计残差更高；因此维持历史部署值，data4 只作为候选。
results/03_comparison/data4_extrinsic_on_previous_batch2.json
-298
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@@ -1,298 +0,0 @@
{
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results/03_comparison/extrinsic_difference.json
-43
View File
@@ -1,43 +0,0 @@
{
"convention": "delta = inverse(reference) @ candidate",
"reference": "results\\01_previous_two_batches\\final_extrinsic_deployment.json",
"candidate": "results\\02_data4_calibration\\consensus\\extrinsic.json",
"candidate_minus_reference_translation_xyz_m": [
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],
"candidate_minus_reference_rpy_xyz_deg": [
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],
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results/03_comparison/old_extrinsic_on_data4.json
-207
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@@ -1,207 +0,0 @@
{
"role": "auxiliary check only; first-batch RTK is sparse",
"blind_with_respect_to_X": true,
"note": "No AX residual was used to select these pairs",
"stations": 34,
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results/README.md
+3 -19
View File
@@ -1,21 +1,5 @@
# 结果目录
# results目录
本目录只归档轻量标定产物，不包含原始 dlog、rscap、逐帧 NPZ 或完整点云。
`reference_data4/`是本仓库附带的精简参考结果。新的运行结果应写到仓库外目录或`outputs/`，不要覆盖参考结果。
| 目录 | 内容 | 使用建议 |
|---|---|---|
| `01_previous_two_batches/` | 第二批求解、第一批辅助复核的历史部署结果；含 Open3D、small_gicp、consensus B、质量和灵敏度文件 | 当前部署基线 |
| `02_data4_calibration/` | data4 的 Open3D、small_gicp、consensus B 和独立 X | 候选/稳定性证据 |
| `03_comparison/` | 两套 X 的 SE(3) 差以及互换批次后的 AX 残差 | 跨批判断依据 |
最终部署文件是 `01_previous_two_batches/final_extrinsic_deployment.json`。`02_data4_calibration/final_extrinsic_data4.json` 不应在没有新增独立证据时覆盖它。
常见文件：
- `B_*_estimation.npz`：后端原始运动对 B。
- `B_*_quality.json/csv`：配准和 Hessian/信息矩阵质量。
- `B_*_refined.npz`：X 无关筛选后的 B。
- `B_*_consensus.npz` 或 `consensus/B_consensus.npz`：双后端认可的 B。
- `extrinsic*.json`：由对应 B 和地面约束求出的 X。
- `*_check.json`：把给定 X 应用于另一批 B 的残差，不是重新求 X。
- `ground_planes*.csv`：每站地面平面参数。
参考结果保留最终矩阵、共识B、两后端精筛B、逐对CSV/筛选审计和地面平面；未保留原始点云、逐帧combined数据、冗长的初筛JSON和带本机绝对路径的过程文件。
results/reference_data4/README.md
+23
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@@ -0,0 +1,23 @@
# data4参考结果
推荐下游只读取`final_T_RTK_lidar.json`，其方向为：
```text
p_RTK = T_RTK_lidar · p_lidar
```
```text
translation_m = [1.638179350, -0.240844799, 0.084481236]
RPY_deg_xyz = [-0.817167459, 1.323288119, -22.104163318]
```
| 路径 | 内容 |
|---|---|
| `final_T_RTK_lidar.json` | 唯一推荐使用的最终外参 |
| `summary.json` | 最终残差、条件数和两后端差异摘要 |
| `common/ground_planes.csv` | 34站地面RANSAC平面 |
| `open3d_gicp/` | Open3D精筛B、精筛审计、逐对质量CSV和独立X |
| `small_gicp/` | small_gicp对应产物 |
| `consensus/` | 两后端共同认可的25对B、共识审计和最终X原始求解记录 |
`z=0.084481 m`依赖RTK参考点离地`0.8535 m`，不是平面AX=XB独立观测值。当前AX RMS约`0.100207 m / 1.252794°`，结果适合算法联调和继续验证，不应据此单独宣称逐帧GT达到±3 cm。
results/reference_data4/common/ground_planes.csv
+35
View File
@@ -0,0 +1,35 @@
time,nx,ny,nz,d,inliers,rms_m,frame_counter
1784783825.357129,-0.0071009788712051635,-0.01614775434066578,0.9998444009588814,0.9449714797885561,2216,0.01353681235386204,382
1784783905.353819,0.0037577953662433442,-0.00645689216229629,0.999972093369405,0.9404093678203617,1992,0.01182484680356077,1182
1784783971.0503054,-0.021571557237587136,-0.004187980739348835,0.9997585352152151,0.9464426916222599,1922,0.01241302113439391,1839
1784784059.7468228,-0.02328381206588687,0.004386003115594592,0.999719274132669,0.9506398743758987,1825,0.013207042662497559,2726
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results/reference_data4/consensus/B_consensus.consensus.json
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results/reference_data4/consensus/B_consensus.npz
BIN
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results/reference_data4/consensus/extrinsic_rtk_lidar.json
+266
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{
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results/reference_data4/final_T_RTK_lidar.json
+300
View File
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results/reference_data4/open3d_gicp/B_quality.csv
+97
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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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10,12,6.011368280631378,39.649271366914945,0.6120311738918656,0.12525652128126136,6,4.691686416856208,0.005686910809247203,0.10204044727299268,1.0,True,
10,13,9.76425648692991,72.41150002956132,0.516551290119572,0.1354903305714048,6,7.346543684414896,0.013565042721589003,0.32552304340992394,1.0,True,
11,12,3.3258193587172027,18.277824252554396,0.650555275113579,0.12104882943540898,6,4.612247786063477,0.003583199374507776,0.03300207707174117,1.0,True,
11,13,7.195203402213438,51.04005291520078,0.5698054068172914,0.1285866274322162,6,7.539783468898048,0.016001435752898144,0.11059625579950419,1.0,True,
11,14,3.634158560526847,20.548768889074672,0.6420881321982974,0.12414062948335593,6,4.952265047266808,0.012369101516230316,0.01870506040605898,1.0,True,
12,13,3.8697507070400543,32.762228662646386,0.6972966112450819,0.1168089621311632,6,4.28224799374136,0.01141023876783206,0.04779713993428384,1.0,True,
12,14,0.9871080784265185,2.2709446365202766,0.8749086479902558,0.09521299965540625,6,3.309695139564422,0.006159472215773367,0.014929948455569534,1.0,True,
12,15,4.171948395051693,25.86371030092923,0.7022030893897189,0.11797995277580106,6,4.277232786772136,0.008495008365046321,0.10278299144703042,1.0,True,
13,14,3.7992314627329202,30.491284026126113,0.6955810147299509,0.11455956122705321,6,3.350289886810734,0.01022866463344607,0.03515966054944392,1.0,True,
13,15,0.9105848166450461,6.898518361717151,0.868300353819945,0.1045421356808481,6,3.2437357133954023,0.002375025382773949,0.01072504764419793,1.0,True,
13,16,3.4957081323467,18.94489979461447,0.7265456392027422,0.1096252966406241,6,3.5227514244456217,0.008958927594996346,0.03041438512426757,1.0,True,
14,15,3.8816793634199405,23.592765664408958,0.7120070334086913,0.11868441290330703,6,4.62059246950246,0.002571958018980028,0.055069197511519646,1.0,True,
14,16,7.29101265002769,49.43618382074057,0.5918615984405458,0.12229328437386515,6,7.149509813179227,0.014273957859025563,0.25325650727957555,1.0,True,
14,17,5.915950814087913,0.8461207481731609,0.6694009445687298,0.12443900216431925,6,5.1577414296960065,0.0178952010004604,0.10920228290609924,1.0,True,
15,16,3.579287497246505,25.843418156331627,0.702887537993921,0.11495230769293859,6,3.5402899763525375,0.013545291843396808,0.03346625178333291,1.0,True,
15,17,2.2400625117908257,24.438886412582114,0.7429531936901991,0.11679524427533863,6,3.5266643942801554,0.009894110027911674,0.07786907370565768,1.0,True,
15,18,4.6956742726068,3.452521908779405,0.7209645010046886,0.11716134583909138,6,4.125231895423439,0.01165472931184747,0.13683586564190106,1.0,True,
16,17,2.956793995513645,50.28230456891372,0.618922305764411,0.11254196340940027,6,4.068632188828398,0.031047860213503222,0.10375098145236057,1.0,True,
16,18,3.369822545690391,22.390896247552213,0.6890156918687589,0.11084024896736888,6,4.421167108842175,0.01556225520373068,0.02495881796885156,1.0,True,
16,19,2.313038703742191,30.035090485266096,0.8685060899826,0.10135543575024479,6,2.9200722330018793,0.0029522513838272538,0.02753369989558306,1.0,True,
17,18,2.517968959880004,27.89140832136152,0.7697708305735859,0.10648049893472189,6,3.792822356453168,0.010582276181446961,0.03959905194910384,1.0,True,
17,19,3.518310045065406,80.31739505417983,0.6293759512937596,0.10954497717502036,6,3.648306929393189,0.012240937390578075,0.06030618467886912,1.0,True,
17,20,3.4199679241812992,152.98392843416642,0.6014520938674964,0.12300562605352787,6,4.719447385686111,0.03231013197809958,0.12856862709639913,0.0,False,multistart_instability
18,19,2.0416624616211574,52.42598673281832,0.6827314510833881,0.10834806615100022,6,3.5073857685652805,0.012418496053909043,0.11905018881087433,1.0,True,
18,20,5.836864764777489,125.0925201128049,0.5756313809779688,0.1265759478434111,6,5.389095141151799,0.012917057356044254,0.2404237301134517,0.0,False,multistart_instability
18,21,10.84206419743439,175.70238585457497,0.2352252017703723,0.15182541744787395,6,9.65894418804011,0.2039286327273425,0.13690658217533308,0.0,False,heldout_inlier_ratio;forward_reverse_translation;multistart_instability
19,20,6.120105723142265,72.6665333799865,0.6234734541714874,0.1277530580405749,6,5.958603794025071,0.009237066767190974,0.22540488888103255,1.0,True,
19,21,11.201089261967727,123.27639912174082,0.3788200074840963,0.1468780339612994,6,10.170069582593085,4.607025297377655,2.696881779819613,1.0,False,forward_reverse_translation;forward_reverse_rotation
19,22,13.962230939038237,128.85294276465584,0.17798277982779828,0.15985830060250797,6,11.806596815871064,2.332292389085354,2.4044448240559984,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
20,21,5.091648376409225,50.60986574175432,0.6596992097884272,0.12147955429086157,6,4.082032735955382,0.014725537493639118,0.19884224722867958,1.0,True,
20,22,7.842914217245693,56.186409384669375,0.5739414499308958,0.13255415786946775,6,5.3284863413522086,0.006040617548523686,0.19706632354686843,1.0,True,
20,23,4.953146569484805,70.79178325235414,0.6456945156330087,0.12075756038041646,6,3.9642702950866346,0.02294901101348451,0.19112109479244785,1.0,True,
21,22,2.836151129858731,5.576543642915048,0.7716237647919971,0.1163227135854156,6,2.7962015303291894,0.009963578798274064,0.1533289219532281,1.0,True,
21,23,1.4635995041292513,20.181917510599828,0.8576224819696593,0.09865676260631218,6,3.036795069384516,0.00392257332509571,0.00898487649366286,1.0,True,
21,24,2.7001854883863183,54.59467208208592,0.7715940569126165,0.11361504553552869,6,2.7681582493333527,0.007475673605592584,0.04227769001294981,1.0,True,
22,23,3.806551883906871,14.605373867684776,0.7396689147762109,0.11702962848624102,6,3.414804725088913,0.018140159434305195,0.1184732181610567,1.0,True,
22,24,4.999470711928798,49.01812843917085,0.6983240223463687,0.11898873157361631,6,3.633465593686572,1.9214516862996405,12.118772315210817,1.0,False,forward_reverse_translation;forward_reverse_rotation
22,25,2.281002791409386,12.391903814042275,0.736861094407697,0.1158639471011007,6,2.383007054117406,0.01855955252477569,0.06452602797902846,1.0,True,
23,24,1.2663665558774873,34.41275457148608,0.7853164556962026,0.11287254423109305,6,2.4099218288471635,0.002195759849349955,0.03211295915781923,1.0,True,
23,25,5.050865141821003,2.213470053642503,0.6881127450980392,0.12303206700403985,6,2.936372721803798,0.004939188019097873,0.12964064637099942,1.0,True,
23,26,5.595299803053147,40.730927532824325,0.6852618757612667,0.12040544972155913,6,3.059006509397719,0.006032445250251169,0.14039335223022864,1.0,True,
24,25,6.316196707646632,36.626224625128586,0.677667493796526,0.1234631580581415,6,3.6286524357748364,0.023479226891170584,0.16273859629355136,1.0,True,
24,26,6.840027061556236,6.318172961338242,0.6530209617755857,0.12710147612984235,6,3.5331859775372023,0.013311199903813952,0.18193579850150715,1.0,True,
24,27,7.477875812552711,31.60254826458195,0.6649014778325123,0.12481159614427853,6,4.10006355979974,0.01787282120544869,0.1680556511623414,1.0,True,
25,26,1.433673687807028,42.944397586466835,0.9127837514934289,0.09581429165893823,6,2.9017658682436958,0.0035341488401767693,0.018440169300164816,1.0,True,
25,27,1.973107678535245,68.22877288971054,0.8510739856801909,0.10418150333394123,6,2.3682534170899983,0.006103232696003387,0.13366555345654282,1.0,True,
25,28,2.578633669986193,88.09106909546726,0.8853518429870751,0.10761251229651997,6,2.6372860976794636,0.0034832316659127254,0.03697744201993421,1.0,True,
26,27,0.6711664435459649,25.284375303243706,0.9183867141162515,0.09074909570650827,6,2.8142315359282533,0.00040199505815399084,0.011554314408123986,1.0,True,
26,28,1.202247282991071,45.146671509000434,0.8853200095170116,0.1060418493965508,6,2.65640202778952,0.007320240476184076,0.12930335868606002,1.0,True,
26,29,0.8313560685788559,87.41573662125148,0.7880466815984911,0.10871274240898261,6,3.111957466886598,0.006395243061058376,0.039517035902872893,1.0,True,
27,28,0.6147316450225401,19.862296205756735,0.9289448669201521,0.08505095515326752,6,2.9632528684698194,0.005157655135593023,0.02266680787731125,1.0,True,
27,29,0.7540837235696874,62.13136131800778,0.7872365477452019,0.1045551346483567,6,2.9621627623005304,0.011650639607012715,0.16247191340775555,1.0,True,
27,30,5.07252652550922,152.0939255621477,0.03871268656716418,0.16956979514477974,6,145.85449900829832,4.5477385995336626,37.97511303619642,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
28,29,1.3242039147826599,42.26906511225104,0.8000944621560987,0.10865475473581254,6,3.146622410005858,0.001139416496730335,0.02119627748722763,1.0,True,
28,30,5.091487440029177,132.23162935639098,0.7721000935453695,0.10815845248211022,6,2.292141242686861,0.004462522533166182,0.03583195432667579,1.0,True,
28,31,6.538757407908195,158.84212980112872,0.7465330381074466,0.10669666534392452,6,2.40259836682247,0.0063576490595817345,0.04001661521442668,1.0,True,
29,30,4.767831371266539,89.96256424413991,0.7248812145092132,0.10870831469083345,6,2.947122380473709,0.004656385377159087,0.12465763189228557,0.0,False,multistart_instability
29,31,5.715598450796842,116.57306468887764,0.7243012243012243,0.11138751941762652,6,2.7645021322697088,0.0042639063218924715,0.04663739608639213,0.0,False,multistart_instability
29,32,5.281749147864957,159.39493219688646,0.32491640724086246,0.14745892800230104,6,2.8081088899077167,4.8118414680497805,1.8382424276135385,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
30,31,2.604154101624297,26.610500444737717,0.8185562292643862,0.09615795732951272,6,2.899558208444641,0.0049991634555749285,0.021384795873435915,1.0,True,
30,32,1.69105635082049,69.43236795274656,0.8041343079031521,0.09953343153684206,6,2.614616874224757,0.0031713764951448154,0.023767377748422268,1.0,True,
30,33,3.2411277385703925,160.7145717128097,0.05469213429825602,0.15997514255683,6,6.323554164510002,5.32763716297551,13.705863888332022,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
31,32,0.9137201114724802,42.82186750800884,0.8157085941946499,0.09925944770258255,6,3.048541140076824,0.004719596234885736,0.06146741991683861,1.0,True,
31,33,1.4965271484681508,134.10407126807198,0.760345235280208,0.09698073659477859,6,2.550150787416455,0.0019366659831763946,0.026538404789073603,1.0,True,
32,33,1.9169426499676907,91.28220376006315,0.7569928006609229,0.10008740880870787,6,3.6611044282667184,2.9881933505092046,2.6964434945984053,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
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 1.6721594124489447 24.171297449440814 0.8061657032755298 0.10961296014103396 6 2.7038608113687213 0.004225163540003575 0.1530449067720668 1.0 True
3 0 2 2.0412175279332088 80.09074797031303 0.7489394523717702 0.116305716193008 6 3.0720058333957327 0.02073003109723684 0.12418344306819311 1.0 True
4 0 3 6.30529961936688 79.9158388329924 0.6310283235519265 0.12470979645173097 6 5.235632990817998 0.02154775870989652 0.25399044979598373 1.0 True
5 1 2 1.2843386040405174 55.9194505208722 0.7867383512544803 0.11079021393934946 6 3.282529873989144 0.00768232673944143 0.0508043300468843 1.0 True
6 1 3 5.433888607887495 55.744541383551606 0.6794562317367552 0.11907169138096609 6 4.183386002322132 0.024832409186708038 0.29364088503444125 1.0 True
7 1 4 1.5299424710613851 106.08652205569952 0.6786112833230006 0.1125501582315264 6 3.2941312581877567 0.0077657602443488094 0.07274574571529673 1.0 True
8 2 3 4.340252832276203 0.1749091373206093 0.7586776859504132 0.11541610277862546 6 3.730803369806122 0.007879904085790266 0.11659483159927261 1.0 True
9 2 4 0.2520257253555564 50.1670715348273 0.7854572527608884 0.1098649389241602 6 2.641287751481567 0.017042953274276868 0.09383247792992644 1.0 True
10 2 5 5.8286926576588955 8.735318060700322 0.7074574574574575 0.11912871456224486 6 3.8527093190832513 0.016640250279170064 0.24773491621516538 1.0 True
11 3 4 4.1070657333447205 50.34198067214791 0.6974624291697462 0.11727630888949149 6 3.5010457716923216 0.0121487212194689 0.20793086843827258 1.0 True
12 3 5 2.2886212019715484 8.910227198020936 0.7962985964476462 0.10646082199215787 6 3.037745853837991 0.011008298723512349 0.0821707761041294 1.0 True
13 3 6 2.618668779147775 47.63555775102663 0.8376509054325956 0.10956583416752531 6 3.1930663579156175 0.001222821038315667 0.092075215117626 1.0 True
14 4 5 5.5767898078953735 41.431753474126985 0.6652516676773802 0.12322094568315027 6 4.985227704290953 0.005399786589871835 0.13893507775898076 0.0 False multistart_instability
15 4 6 6.68811709459501 97.97753842317455 0.04910385465259023 0.15664415071522125 6 4.835889397197473 2.574198069897065 12.647326063758534 0.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
16 4 7 6.153247042777442 123.28910472998353 0.020756115641215715 0.16997351387143192 6 17.054474046975617 5.52282870653845 6.186988956437115 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
17 5 6 2.0562758992403367 56.545784949047565 0.7526921648718901 0.10924852668609375 6 3.289802074469562 0.012374747586500019 0.14461856068328793 1.0 True
18 5 7 0.5812996709001959 81.85735125585653 0.7833561729164071 0.11683079277948678 6 2.8807765869032624 0.013689874812447942 0.20006562776472953 1.0 True
19 5 8 2.6887856969568644 172.47951556359513 0.3979730564825114 0.13180114830799514 6 4.4867592164383865 2.902311115345869 2.1073169352638135 1.0 False forward_reverse_translation;forward_reverse_rotation
20 6 7 1.9723544820714844 25.311566306808967 0.8497729566094854 0.10415909908074775 6 3.3759361297847534 0.008986805974950147 0.13099479506412062 1.0 True
21 6 8 0.7288530799256238 115.93373061454484 0.7678928928928929 0.1116672507978127 6 3.260920573387359 0.010085391730567652 0.1175283699615622 1.0 True
22 6 9 7.898758206937296 103.90638727582184 0.6071384156199477 0.12594282886521943 6 6.882498483502542 2.7065494720876333 9.167174886516003 1.0 False forward_reverse_translation;forward_reverse_rotation
23 7 8 2.6747845281541447 90.62216430773587 0.8299748110831234 0.10748525688830211 6 3.0071179226782405 0.00710646197885058 0.1069872847368705 1.0 True
24 7 9 8.06955581661561 78.59482096901287 0.6188509200150206 0.12713205078393502 6 6.716979637303372 6.104542218165768 6.596313811797356 0.0 False forward_reverse_translation;forward_reverse_rotation;multistart_instability
25 7 10 8.088675434881791 134.6003195530505 0.04729478766868887 0.16509079956796627 6 8.903210909129099 5.698690438550839 24.43813017288333 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
26 8 9 7.73033999229505 12.027343338722995 0.6326834719980131 0.12084265385763364 6 5.53968988049318 2.4349995045990127 17.158034002952295 1.0 False forward_reverse_translation;forward_reverse_rotation
27 8 10 8.378411682322204 43.97815524531458 0.6163861933423412 0.1293602846396598 6 4.789005902863083 0.011327540721531722 0.17059480981566605 0.0 False multistart_instability
28 8 11 11.214115106391473 22.60670813095403 0.035782503501846426 0.17440177580299876 6 9.744579276034784 1.861364410474017 5.099464012971126 1.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
29 9 10 1.9264207261313253 56.00549858403757 0.6543345543345543 0.10729272360686744 6 3.3788563349731624 1.6360232143180424 5.55466982065639 1.0 False forward_reverse_translation;forward_reverse_rotation
30 9 11 4.747620352849464 34.63405146967702 0.5818780055682106 0.1171768781510077 6 3.555986532172078 0.00981302583568424 0.06035460198954135 1.0 True
31 9 12 7.208566899019793 16.356227217122623 0.5379123584441162 0.12645695585785705 6 4.882558096197047 0.008862930161051686 0.11566409877698092 1.0 True
32 10 11 3.0731501091601263 21.371447114360553 0.7118898623279099 0.1192865608074921 6 3.220203471557625 0.0029529340190141227 0.004176908093440082 1.0 True
33 10 12 6.011368280631378 39.649271366914945 0.6120311738918656 0.12525652128126136 6 4.691686416856208 0.005686910809247203 0.10204044727299268 1.0 True
34 10 13 9.76425648692991 72.41150002956132 0.516551290119572 0.1354903305714048 6 7.346543684414896 0.013565042721589003 0.32552304340992394 1.0 True
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results/reference_data4/open3d_gicp/extrinsic_rtk_lidar.json
+346
View File
@@ -0,0 +1,346 @@
{
"schema_version": 1,
"success": true,
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"equation": "A_RTK_ij X = X B_LiDAR_ij",
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"z_axis": "up",
"yaw_enu_deg": "90 - rawHeadingDeg"
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results/reference_data4/small_gicp/B_quality.csv
+156
View File
@@ -0,0 +1,156 @@
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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3,4,4.1070657333447205,50.34198067214791,0.6957378664695738,0.11619002437046365,6,17.76967737811838,3.222808271854619,15.590678196925943,1.0,False,forward_reverse_translation;forward_reverse_rotation
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5,9,7.501939677383991,160.45217222486954,0.3361179361179361,0.13367797847230906,6,83.15270070161475,5.255898884183195,7.177742907146106,0.5,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
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10,12,6.011368280631378,39.649271366914945,0.6117876278616659,0.1250022412120491,6,19.806559061723252,0.006509808900810373,0.0674238161099294,1.0,True,
10,13,9.76425648692991,72.41150002956132,0.5244808055380743,0.1368926377190841,6,36.182352720806286,0.004651842966001154,0.17931102925270942,1.0,True,
10,14,6.554187411792988,41.92021600343522,0.5996858385693572,0.12955691635611982,6,17.916357473627126,0.009593578345611885,0.0575378323241282,1.0,True,
10,15,10.1706917218607,65.51298166784419,0.5048970366649924,0.13966622273060353,6,30.173625507677606,0.006074999657627903,0.048675594115713976,1.0,True,
11,12,3.3258193587172027,18.277824252554396,0.6508076728924785,0.12017753597340275,6,15.211760062254436,0.016302173123952872,0.05141023051579196,1.0,True,
11,13,7.195203402213438,51.04005291520078,0.5666710199817161,0.12966061077144855,6,26.1420797484443,0.010250004424021028,0.06307533415790957,1.0,True,
11,14,3.634158560526847,20.548768889074672,0.64271407110666,0.12109534664165013,6,14.045896850674039,0.0076106764286992265,0.053501024445426364,1.0,True,
11,15,7.446972831184529,44.14153455348363,0.570479416362689,0.12836105648415896,6,18.857231663145765,0.006898635427401595,0.028532809464236104,1.0,True,
11,16,10.651790397923806,69.98495270981525,0.47336531178995206,0.13436934972977357,6,42.57049752296035,0.03569532774909474,0.4066994385898772,1.0,True,
12,13,3.8697507070400543,32.762228662646386,0.7056733087955325,0.1168985924651875,6,14.509757354686162,0.0020816591736723326,0.08889045468170857,1.0,True,
12,14,0.9871080784265185,2.2709446365202766,0.8745432399512789,0.09766070609034913,6,11.857755748379178,0.0024736851957500175,0.01806957610594206,1.0,True,
12,15,4.171948395051693,25.86371030092923,0.7033426183844012,0.1210390118956012,6,11.859397045728281,0.02278023379659275,0.04927694758545221,1.0,True,
12,16,7.331699780686257,51.70712845726085,0.5820235756385069,0.1245813395619955,6,32.351864267271324,0.009898398498331785,0.03808519306435069,1.0,True,
12,17,6.344245780495681,1.4248238883471156,0.6542219994988725,0.12658997017247905,6,11.229930872030522,0.019742666743374927,0.07899239993213694,1.0,True,
13,14,3.7992314627329202,30.491284026126113,0.6984766461034874,0.11406275275916469,6,13.924716870947337,0.012533601308866885,0.10861598809330086,1.0,True,
13,15,0.9105848166450461,6.898518361717151,0.8794391298650243,0.0990320912382964,6,10.514819201987361,0.006638809913640662,0.04266354358349535,1.0,True,
13,16,3.4957081323467,18.94489979461447,0.7273073505141552,0.10958532316684444,6,19.405056504086563,0.005441055528599314,0.12519365495729431,1.0,True,
13,17,2.9366461487378266,31.337404774299262,0.7130265716137395,0.11779895987026272,6,12.816390530620648,0.013263327701592529,0.16221305155705523,1.0,True,
13,18,5.248032013425982,3.445996452937746,0.7019876443728176,0.11940768524727288,6,25.985486690964827,0.008995185112868311,0.05198334816510605,1.0,True,
14,15,3.8816793634199405,23.592765664408958,0.7089927153981411,0.11692319124843933,6,10.742828632896593,0.09073157715426228,0.8466374858545868,0.5,False,forward_reverse_translation;forward_reverse_rotation
14,16,7.29101265002769,49.43618382074057,0.5923489278752436,0.12241125802320883,6,33.653658158107916,0.003104270324855819,0.13386021564092,1.0,True,
14,17,5.915950814087913,0.8461207481731609,0.6687795177728063,0.12452036369781098,6,8.953051466023156,0.011592867275090568,0.10132037554601482,1.0,True,
14,18,8.433581718971825,27.04528757318836,0.6196476790536196,0.12845389972151766,6,17.805501350543512,0.010071755472376367,0.13041952825792016,1.0,True,
14,19,9.056542482242314,79.47127430600666,0.5845660749506904,0.12584132662356765,6,30.335272352492893,0.016830803029543952,0.25747616717579747,1.0,True,
15,16,3.579287497246505,25.843418156331627,0.7032674772036475,0.1160221689285562,6,22.696890954829914,0.0009988867448377137,0.0903616813411077,1.0,True,
15,17,2.2400625117908257,24.438886412582114,0.7489009568140678,0.11923375870790395,6,6.944925131742929,0.02582458487951321,0.09503968088936432,1.0,True,
15,18,4.6956742726068,3.452521908779405,0.7165438713998661,0.1178392296206422,6,19.334165264362177,0.009354386824150452,0.1747840133793935,1.0,True,
15,19,5.176369821469625,55.87850864159772,0.6924358974358974,0.11506895717743917,6,20.417126084614868,0.012497900854286311,0.3255615001296683,1.0,True,
15,20,1.1877416357686716,128.54504202158432,0.6751867872591427,0.11901811643083532,6,27.381712286843683,2.670174543103617,1.9448445706434312,1.0,False,forward_reverse_translation;forward_reverse_rotation
16,17,2.956793995513645,50.28230456891372,0.6284461152882206,0.11136186275509914,6,25.18428705575399,0.015372505619716304,0.0751987172187524,1.0,True,
16,18,3.369822545690391,22.390896247552213,0.6921281286473868,0.10919235768364494,6,39.42922894015897,0.005355462743716019,0.036543030274398446,1.0,True,
16,19,2.313038703742191,30.035090485266096,0.8880188913745961,0.09683468613705355,6,11.709094307553842,0.006745004702224827,0.04851926363284082,1.0,True,
16,20,4.242518045976368,102.70162386525263,0.36698412698412697,0.13430062225326117,6,102.05441227788522,1.6194077849835204,3.5461435258834046,1.0,False,forward_reverse_translation;forward_reverse_rotation
16,21,9.189957911290794,153.31148960700713,0.23764328854924197,0.14863424676851908,6,75.99451631707726,0.01721606559516444,0.561012451825117,0.5,False,heldout_inlier_ratio;forward_reverse_rotation
17,18,2.517968959880004,27.89140832136152,0.7665916015366274,0.11462271017395576,6,9.759734204828526,0.003677259621955875,0.03455865038654393,1.0,True,
17,19,3.518310045065406,80.31739505417983,0.645738203957382,0.11467441399973677,6,29.935027493013713,0.002657916871055147,0.03996637099866608,1.0,True,
17,20,3.4199679241812992,152.98392843416642,0.2749902761571373,0.1378092692558536,6,36.98799912625142,0.9962499249666478,0.8583377913930432,0.5,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
17,21,8.339875108212771,156.4062058240796,0.4672368255565338,0.13751533768592306,6,32.19730139309397,3.7101311942981123,2.4525134629880094,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
17,22,10.944066586184825,150.8296621811644,0.4255952380952381,0.14178517078123323,6,38.71138397815585,1.8838258929727458,2.643696557684808,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
18,19,2.0416624616211574,52.42598673281832,0.6999343401181878,0.10876407223187459,6,36.91910298018587,0.0029722527816906435,0.028553700929610345,1.0,True,
18,20,5.836864764777489,125.0925201128049,0.5796614723267061,0.12778176089815013,6,32.46060078153021,0.08496447343578362,0.24110896992060832,0.5,False,forward_reverse_translation
18,21,10.84206419743439,175.70238585457497,0.23118979432439468,0.15492240575842026,6,95.57603256530417,0.3127879752995947,1.8359225701448998,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
18,22,13.461930516546937,178.72107050264088,0.20872354073123797,0.1539528469442395,6,158.96979855906298,5.509854679183967,5.400016950581102,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
18,23,10.787990019880349,164.1156966348418,0.3967277486910995,0.14073241205403234,6,67.81571155690442,0.037998014107336324,0.09667096210109852,1.0,True,
19,20,6.120105723142265,72.6665333799865,0.6260444787247719,0.1266849163783949,6,25.979821491778758,0.02278172414929769,0.1983479736758361,1.0,True,
19,21,11.201089261967727,123.27639912174082,0.22215292503430212,0.15090955425182226,6,96.8936157485445,2.289236102137041,0.9775110057344923,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
19,22,13.962230939038237,128.85294276465584,0.1883148831488315,0.1538013519108862,6,137.2212791172918,1.512900854675742,1.7779489198947585,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
19,23,10.877481155608614,143.45831663234054,0.37768025078369905,0.1432975121556297,6,38.93505210462377,2.6484748594978824,0.9762972275431752,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
19,24,10.384369483528566,177.87107120381796,0.43504761904761907,0.1392444656116938,6,41.9366060613255,0.04258350776081601,0.7879276702809289,1.0,False,forward_reverse_rotation
20,21,5.091648376409225,50.60986574175432,0.6607188376242672,0.12214671257866083,6,14.082798146569486,0.014717307768564562,0.07480162341419787,1.0,True,
20,22,7.842914217245693,56.186409384669375,0.576328684508104,0.13245799460807808,6,16.034011252152304,0.021651469263481868,0.4612054468064915,1.0,True,
20,23,4.953146569484805,70.79178325235414,0.6451819579702717,0.1210226317867539,6,12.51146899612653,0.018249896901540018,0.12115759970964086,1.0,True,
20,24,4.806112840058592,105.20453782384023,0.7383177570093458,0.11441422046802803,6,12.152737785424252,0.009011280440944078,0.06430292826078875,1.0,True,
20,25,7.7432318481763245,68.57831319871164,0.6182822702159718,0.12791257682460658,6,29.104161441720713,0.01470353026057929,0.3205553574328468,1.0,True,
21,22,2.836151129858731,5.576543642915048,0.7740636818348177,0.11564789267022943,6,12.209471497858695,0.006518431057241462,0.06991931948827856,1.0,True,
21,23,1.4635995041292513,20.181917510599828,0.862223327530465,0.10307112004551743,6,11.124777032517395,0.002678668765812511,0.01879593375546071,1.0,True,
21,24,2.7001854883863183,54.59467208208592,0.7795265676152102,0.11182158240581809,6,15.934013426145448,0.003491995501354943,0.037425651095358885,1.0,True,
21,25,3.6513937480713023,17.968447456957325,0.7340892465252378,0.12002239056891176,6,16.572162980052227,0.03773466739435234,0.28781074838303833,1.0,True,
21,26,4.368847767445087,60.912845043424156,0.7147358216190014,0.11997311573294335,6,17.3723156532691,0.01216183417643751,0.10312122071404906,1.0,True,
22,23,3.806551883906871,14.605373867684776,0.7408951563458002,0.1172672510975272,6,12.610213323576234,0.009206244303296198,0.0960198600148152,1.0,True,
22,24,4.999470711928798,49.01812843917085,0.6936064556176288,0.11914624513148228,6,13.20338761495324,0.006090737153725476,0.02755713841749006,1.0,True,
22,25,2.281002791409386,12.391903814042275,0.7356584485868911,0.11474070552638106,6,16.673633938013026,0.001961709159757097,0.011643770804742994,1.0,True,
22,26,1.990287035474152,55.33630140050909,0.7422594142259414,0.11765221626900067,6,18.880420396501982,0.007814937371704422,0.03934255356487579,1.0,True,
22,27,2.5532406896142295,80.6206767037528,0.7254925373134329,0.11870181965154772,6,21.309389349405333,0.018241823604788293,0.08279236858581901,1.0,True,
23,24,1.2663665558774873,34.41275457148608,0.7884810126582279,0.10662565692629541,6,10.611199681165658,0.0018823381482244372,0.020239211377623904,1.0,True,
23,25,5.050865141821003,2.213470053642503,0.6843137254901961,0.1217109193489842,6,15.15080906413716,0.01463985673592735,0.20460048921133533,1.0,True,
23,26,5.595299803053147,40.730927532824325,0.6772228989037758,0.12237954766026346,6,16.382334072569808,0.04518647006837217,0.20367965681897174,1.0,True,
23,27,6.240759831138249,66.01530283606803,0.6637469586374696,0.12340951265232125,6,20.64383986204704,0.010626193556947943,1.1817079481882706,1.0,False,forward_reverse_rotation
23,28,6.598772106458927,85.87759904182478,0.6720351390922401,0.12122778564083768,6,19.206570679040215,0.043540468662592216,0.2605147805386839,0.5,True,
24,25,6.316196707646632,36.626224625128586,0.6764267990074442,0.12367636388755723,6,21.50176872604184,0.03581640576644142,0.20465043373191275,1.0,True,
24,26,6.840027061556236,6.318172961338242,0.6524044389642417,0.12740222503880924,6,21.75476709306229,0.0620474433075452,0.12014838295938772,1.0,True,
24,27,7.477875812552711,31.60254826458195,0.6546798029556651,0.12425657449629156,6,26.295019203914542,0.05403266260961897,0.2126374478532295,1.0,True,
24,28,7.81303641449596,51.464844470338676,0.6614377470355731,0.12010155595807544,6,20.985000954928537,0.04949067679791638,0.25138526875322614,0.5,True,
24,29,7.4949096209288655,93.73390958258972,0.047106325706594884,0.16491171897379944,6,28.651559198797667,0.8785910837751835,4.6775880176920355,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
25,26,1.433673687807028,42.944397586466835,0.9137395459976105,0.08148335762110498,6,16.56285514245561,0.003236736725553251,0.006670817258604747,1.0,True,
25,27,1.973107678535245,68.22877288971054,0.8596658711217183,0.10961458820309757,6,22.188153380460914,0.010624789877375612,0.04475651255675051,1.0,True,
25,28,2.578633669986193,88.09106909546726,0.8839157491622786,0.10490699814192775,6,16.172179483480598,0.0028341913749953818,0.01585308444597317,1.0,True,
25,29,1.4869736566208207,130.3601342077183,0.7857227558401518,0.10954358768244278,6,20.132087187715292,0.0032477187428175502,0.016542353808297643,1.0,True,
25,30,5.843711828111692,139.6773015481418,0.05061061531235322,0.15827452276344428,6,186.52424080569762,2.4401001990983646,2.630476332375907,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
26,27,0.6711664435459649,25.284375303243706,0.9188612099644128,0.07520973241900301,6,20.799051531446725,0.00099208733077853,0.005485007138530622,1.0,True,
26,28,1.202247282991071,45.146671509000434,0.9182726623840114,0.07611768518866213,6,21.995419584098137,0.004984978187528897,0.011735070988964648,1.0,True,
26,29,0.8313560685788559,87.41573662125148,0.7856890251090416,0.1085139306178217,6,24.280602674778585,0.002586732426994246,0.12205883610742861,1.0,True,
26,30,5.554376083336843,177.37830086539105,0.7634835395750642,0.10495724850674515,6,34.80647378548566,0.008489213184549637,0.021733210949119494,1.0,True,
26,31,6.5424104132673175,156.01119868987084,0.7374054682955207,0.10737521663044328,6,38.310555401782864,0.007807741115783734,0.04372865220115068,0.5,True,
27,28,0.6147316450225401,19.862296205756735,0.9281131178707225,0.07220941715117642,6,20.092791877654474,0.002300778353404822,0.001589714984734129,1.0,True,
27,29,0.7540837235696874,62.13136131800778,0.7871188037207112,0.10966659884725233,6,24.009650087098127,0.005134403698946511,0.024348440992038003,1.0,True,
27,30,5.07252652550922,152.0939255621477,0.7922108208955224,0.10147035321534549,6,32.52026042532519,0.007488026390185518,0.03860522829819172,1.0,True,
27,31,6.285022243874859,178.7044260068885,0.7592097617664149,0.10539218018667616,6,48.70669958381935,0.0020937297862771895,0.027401753528281184,1.0,True,
27,32,5.778763736289045,138.47370648510574,0.7480278422273782,0.10408734715846861,6,42.21510199826032,0.004407463145301957,0.03490543724835993,0.5,True,
28,29,1.3242039147826599,42.26906511225104,0.787814381863266,0.10901449493832827,6,25.9136254196751,0.01570175790237293,0.035696604981368125,1.0,True,
28,30,5.091487440029177,132.23162935639098,0.7791159962581852,0.1043856075500982,6,36.50167792578953,0.011701496185342901,0.047047156803733815,1.0,True,
28,31,6.538757407908195,158.84212980112872,0.7449015266285981,0.10668967013687278,6,48.04636971250768,0.02442137437725171,0.6810283060803413,1.0,False,forward_reverse_rotation
28,32,5.963604730984572,158.33600269086236,0.7252210330386226,0.11213192172123396,6,59.78207706090093,0.01795092616246746,0.05811390678775167,0.0,False,multistart_instability
28,33,5.80807626014008,67.05379893079936,0.6692465836255895,0.10871806386783625,6,54.67376255043743,0.132593515882677,0.6593919290562373,0.5,False,forward_reverse_translation;forward_reverse_rotation
29,30,4.767831371266539,89.96256424413991,0.7320662880982732,0.10929719051930432,6,30.745355096911858,0.005463604154020641,0.01858348348785812,1.0,True,
29,31,5.715598450796842,116.57306468887764,0.7254562254562255,0.11323336570178014,6,49.09678922599784,0.005077799585122041,0.07265894091769737,1.0,True,
29,32,5.281749147864957,159.39493219688646,0.33356393404819557,0.1449978595558761,6,111.7227195582132,0.3588603464467423,0.15715476414253352,1.0,False,heldout_inlier_ratio;forward_reverse_translation
29,33,4.779166013738703,109.3228640430504,0.2850467289719626,0.13990657628540273,6,178.4302458902832,0.39012209563155037,0.27153598748575447,0.0,False,backend_not_converged;heldout_inlier_ratio;forward_reverse_translation;multistart_instability
30,31,2.604154101624297,26.610500444737717,0.8286237272623269,0.09646596945131831,6,41.03513305025278,0.018905314487389895,0.08632503464138006,1.0,True,
30,32,1.69105635082049,69.43236795274656,0.8065326633165829,0.09815063400019147,6,35.25635856167186,0.007341509941520377,0.023973741904830165,1.0,True,
30,33,3.2411277385703925,160.7145717128097,0.09253766757622493,0.15464713396746754,6,31.157195533215592,1.0417523955000538,7.5233256615684665,1.0,False,backend_not_converged;heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
31,32,0.9137201114724802,42.82186750800884,0.8146841206602162,0.09914628416022428,6,34.3317318149268,0.0693687705829607,0.45703051311645604,1.0,True,
31,33,1.4965271484681508,134.10407126807198,0.7551430598250177,0.1003246191461096,6,28.537349904719445,0.005559091155809675,0.033005318250111694,1.0,True,
32,33,1.9169426499676907,91.28220376006315,0.7585270860380031,0.0987597723287551,6,32.396623704761396,2.8694889670610495,5.798276157700327,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
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 1.6721594124489447 24.171297449440814 0.8193962748876044 0.11049675306366954 6 14.013392649694936 0.026679665410762447 0.12399936190197167 1.0 True
3 0 2 2.0412175279332088 80.09074797031303 0.7525388867463684 0.11492533799491883 6 14.962108606929117 0.0018464756299783867 0.03093241101186373 1.0 True
4 0 3 6.30529961936688 79.9158388329924 0.628093901505486 0.12365050970311502 6 23.490589415548122 0.010524333328230958 0.23898233567764737 0.5 True
5 0 4 2.238422471863255 130.25781950514033 0.693351593625498 0.11485738628517483 6 16.305124521706706 0.003627491377787396 0.0495829610363469 1.0 True
6 0 5 7.5269579262553155 88.82606603101335 0.6015065913370998 0.12959859333012305 6 26.27293180169831 0.013710015050868782 0.26025123892797375 1.0 True
7 1 2 1.2843386040405174 55.9194505208722 0.7981310803891449 0.11167434332282765 6 13.484382276710306 0.0507423684848027 0.517099810570953 1.0 False forward_reverse_rotation
8 1 3 5.433888607887495 55.744541383551606 0.678820988438572 0.12109867185657658 6 27.478714016210855 0.008324315958294127 0.2568985217684905 1.0 True
9 1 4 1.5299424710613851 106.08652205569952 0.6772473651580905 0.1115749218038809 6 13.250326799303036 3.109603769112268 6.665689673243039 1.0 False forward_reverse_translation;forward_reverse_rotation
10 1 5 7.072560501394692 64.65476858157254 0.618779694923731 0.1278696355679149 6 21.376356908960656 0.012044684321696756 0.5185219918090542 1.0 False forward_reverse_rotation
11 1 6 8.049825623399226 8.10898363252498 0.02911760982402836 0.16814699881028172 6 51.15739724954147 2.3526085660101135 12.54864815902537 0.0 False backend_not_converged;heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
12 2 3 4.340252832276203 0.1749091373206093 0.7609663064208518 0.11583878636902087 6 13.299472485717942 0.007842434748069874 0.017111535671962216 1.0 True
13 2 4 0.2520257253555564 50.1670715348273 0.796748976299789 0.1148434235904791 6 12.041666425070192 0.011210942709506708 0.11462542679279858 1.0 True
14 2 5 5.8286926576588955 8.735318060700322 0.7112112112112112 0.12001318292058727 6 15.618628103418056 0.011299298862678088 0.02158353743310138 1.0 True
15 2 6 6.928094074716812 47.810466888347236 0.058659571772456606 0.1689308471089219 6 22.346184538451386 2.376212271528816 4.191297741726165 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
16 2 7 6.405228405426323 73.1220331951562 0.05777324320877439 0.16763553481687163 6 11.228331216247241 2.3764975144091216 1.7142235592052535 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
17 3 4 4.1070657333447205 50.34198067214791 0.6957378664695738 0.11619002437046365 6 17.76967737811838 3.222808271854619 15.590678196925943 1.0 False forward_reverse_translation;forward_reverse_rotation
18 3 5 2.2886212019715484 8.910227198020936 0.7989069680784996 0.10775905778143813 6 12.151555874812614 0.013532537604982006 0.06485728954506689 1.0 True
19 3 6 2.618668779147775 47.63555775102663 0.8435613682092555 0.11222309863990189 6 13.914901775514537 0.00951276519885504 0.09743636874086448 1.0 True
20 3 7 2.7963089245830335 72.9471240578356 0.8651898734177215 0.11184568072686091 6 12.975777248765162 0.010827690226297664 0.12520280777371842 1.0 True
21 3 8 2.6983089912812726 163.5692883655715 0.825590155700653 0.1078798726707026 6 12.959410142765158 0.005608807919239624 0.021536601402144962 1.0 True
22 4 5 5.5767898078953735 41.431753474126985 0.6652516676773802 0.12444359189600171 6 17.028714587649738 0.0031552835887398907 0.05824661275042354 1.0 True
23 4 6 6.68811709459501 97.97753842317455 0.03891480481217775 0.16130442983218543 6 53.12725754116488 5.386834276571879 3.248443974085464 1.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
24 4 7 6.153247042777442 123.28910472998353 0.01717321472695824 0.16597934102353687 6 197.50040966862915 1.8946664283973234 13.38395621317346 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
25 4 8 6.802787549686365 146.08873096228075 0.7129198332924737 0.11349036082807593 6 18.616925126379055 4.094017521116411 1.0439112418969816 1.0 False forward_reverse_translation;forward_reverse_rotation
26 4 9 3.018117089902297 158.11607430100386 0.3323991714390155 0.13218238008205907 6 82.91588951856485 0.17404817666776692 0.7491904391974432 1.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
27 5 6 2.0562758992403367 56.545784949047565 0.7604901596732269 0.11101745020162715 6 16.790595774247244 0.01028831511886355 0.031120237309440944 1.0 True
28 5 7 0.5812996709001959 81.85735125585653 0.8092687180764918 0.10777871969807898 6 15.203386410549202 0.010579733674272045 0.033334626234333836 1.0 True
29 5 8 2.6887856969568644 172.47951556359513 0.40909652700531457 0.13021927164196687 6 88.03642906190348 2.282274682790372 1.1841285568948536 1.0 False forward_reverse_translation;forward_reverse_rotation
30 5 9 7.501939677383991 160.45217222486954 0.3361179361179361 0.13367797847230906 6 83.15270070161475 5.255898884183195 7.177742907146106 0.5 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
31 5 10 7.507648391453363 143.54232919109307 0.5442391832766165 0.13173165083201846 6 26.337222871823244 4.175333583746659 14.054946454556381 1.0 False forward_reverse_translation;forward_reverse_rotation
32 6 7 1.9723544820714844 25.311566306808967 0.8539354187689203 0.10462253085152279 6 12.50291076661203 0.0028433142784691904 0.028424505435071433 1.0 True
33 6 8 0.7288530799256238 115.93373061454484 0.7757757757757757 0.11316400028465075 6 15.521747346102574 0.007224674181692249 0.10395594559619384 1.0 True
34 6 9 7.898758206937296 103.90638727582184 0.6009202835468226 0.1259448851291812 6 28.795189977892598 4.270523553799638 1.1342776748452013 0.5 False forward_reverse_translation;forward_reverse_rotation
35 6 10 8.382165572419371 159.91188585985944 0.048837495386886455 0.16976022756819517 6 33.03889916791793 8.842801960353667 9.008466157678757 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
36 6 11 11.12084001821623 138.54043874549885 0.026144624410151765 0.1725705028585339 6 71.57462790292871 2.4153309235424008 10.273490365819672 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
37 7 8 2.6747845281541447 90.62216430773587 0.8340050377833753 0.11132245152738934 6 16.17035077702852 0.004806949653405576 0.020340398656013788 1.0 True
38 7 9 8.06955581661561 78.59482096901287 0.6160971335586432 0.12637042722943573 6 24.178664977065605 4.367245914434154 12.796681469446304 1.0 False forward_reverse_translation;forward_reverse_rotation
39 7 10 8.088675434881791 134.6003195530505 0.04890429614956048 0.17569950505457485 6 17.12714594442953 9.4426170895353 17.952544168886714 0.0 False backend_not_converged;heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
40 7 11 10.488793105910844 113.2288724386899 0.03723199383746309 0.16334679446297104 6 88.61274561425562 7.5280305092863244 55.909263646297305 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
41 7 12 13.79542539595065 94.95104818613552 0.023342903507676944 0.1706723033660903 6 71.17833596146563 5.060797550499477 27.755426788516992 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
42 8 9 7.73033999229505 12.027343338722995 0.6407549981373402 0.12189583104066957 6 28.06713348388492 2.3076573667891433 3.487290408239611 1.0 False forward_reverse_translation;forward_reverse_rotation
43 8 10 8.378411682322204 43.97815524531458 0.6075420709986488 0.12933255488441212 6 20.429633989572718 4.865121579871581 2.927465091074779 1.0 False forward_reverse_translation;forward_reverse_rotation
44 8 11 11.214115106391473 22.60670813095403 0.03922067999490641 0.16246238376196148 6 54.700772476792416 2.594876837596059 7.9735312612345846 0.0 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
45 8 12 14.373410961212507 4.328883878399634 0.023529411764705882 0.1707990278738782 6 65.92814703722017 0.7170106443431138 1.1046762967347212 0.5 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
46 8 13 18.141079267476005 28.43334478424675 0.020491803278688523 0.1759614106055459 6 128.98300559552638 1.9608884223852157 1.569223825596656 0.0 False backend_not_converged;heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
47 9 10 1.9264207261313253 56.00549858403757 0.6576312576312576 0.1069384415347781 6 15.95767235456931 1.6379095873833018 4.808769928108965 1.0 False forward_reverse_translation;forward_reverse_rotation
48 9 11 4.747620352849464 34.63405146967702 0.5883320678309288 0.11815838246331258 6 21.526672921842795 2.059598786777497 11.82652375960602 1.0 False forward_reverse_translation;forward_reverse_rotation
49 9 12 7.208566899019793 16.356227217122623 0.5413589364844904 0.12469816852190199 6 38.03547459177405 1.1412129496099401 4.794166723137469 1.0 False forward_reverse_translation;forward_reverse_rotation
50 9 13 10.706998136562337 16.406001445523756 0.015145729922362225 0.16400783300033744 6 309.6688821904962 3.999785287368469 12.657822343539058 0.5 False heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
51 9 14 7.911071381405571 14.085282580602351 0.5416463116756228 0.12859551377809345 6 26.721469573230685 0.011377143482079926 0.04588334980819398 1.0 True
52 10 11 3.0731501091601263 21.371447114360553 0.7131414267834794 0.12095106901516853 6 13.404202373771934 0.006897671932216771 0.18540056788520015 1.0 True
53 10 12 6.011368280631378 39.649271366914945 0.6117876278616659 0.1250022412120491 6 19.806559061723252 0.006509808900810373 0.0674238161099294 1.0 True
54 10 13 9.76425648692991 72.41150002956132 0.5244808055380743 0.1368926377190841 6 36.182352720806286 0.004651842966001154 0.17931102925270942 1.0 True
55 10 14 6.554187411792988 41.92021600343522 0.5996858385693572 0.12955691635611982 6 17.916357473627126 0.009593578345611885 0.0575378323241282 1.0 True
56 10 15 10.1706917218607 65.51298166784419 0.5048970366649924 0.13966622273060353 6 30.173625507677606 0.006074999657627903 0.048675594115713976 1.0 True
57 11 12 3.3258193587172027 18.277824252554396 0.6508076728924785 0.12017753597340275 6 15.211760062254436 0.016302173123952872 0.05141023051579196 1.0 True
58 11 13 7.195203402213438 51.04005291520078 0.5666710199817161 0.12966061077144855 6 26.1420797484443 0.010250004424021028 0.06307533415790957 1.0 True
59 11 14 3.634158560526847 20.548768889074672 0.64271407110666 0.12109534664165013 6 14.045896850674039 0.0076106764286992265 0.053501024445426364 1.0 True
60 11 15 7.446972831184529 44.14153455348363 0.570479416362689 0.12836105648415896 6 18.857231663145765 0.006898635427401595 0.028532809464236104 1.0 True
61 11 16 10.651790397923806 69.98495270981525 0.47336531178995206 0.13436934972977357 6 42.57049752296035 0.03569532774909474 0.4066994385898772 1.0 True
62 12 13 3.8697507070400543 32.762228662646386 0.7056733087955325 0.1168985924651875 6 14.509757354686162 0.0020816591736723326 0.08889045468170857 1.0 True
63 12 14 0.9871080784265185 2.2709446365202766 0.8745432399512789 0.09766070609034913 6 11.857755748379178 0.0024736851957500175 0.01806957610594206 1.0 True
64 12 15 4.171948395051693 25.86371030092923 0.7033426183844012 0.1210390118956012 6 11.859397045728281 0.02278023379659275 0.04927694758545221 1.0 True
65 12 16 7.331699780686257 51.70712845726085 0.5820235756385069 0.1245813395619955 6 32.351864267271324 0.009898398498331785 0.03808519306435069 1.0 True
66 12 17 6.344245780495681 1.4248238883471156 0.6542219994988725 0.12658997017247905 6 11.229930872030522 0.019742666743374927 0.07899239993213694 1.0 True
67 13 14 3.7992314627329202 30.491284026126113 0.6984766461034874 0.11406275275916469 6 13.924716870947337 0.012533601308866885 0.10861598809330086 1.0 True
68 13 15 0.9105848166450461 6.898518361717151 0.8794391298650243 0.0990320912382964 6 10.514819201987361 0.006638809913640662 0.04266354358349535 1.0 True
69 13 16 3.4957081323467 18.94489979461447 0.7273073505141552 0.10958532316684444 6 19.405056504086563 0.005441055528599314 0.12519365495729431 1.0 True
70 13 17 2.9366461487378266 31.337404774299262 0.7130265716137395 0.11779895987026272 6 12.816390530620648 0.013263327701592529 0.16221305155705523 1.0 True
71 13 18 5.248032013425982 3.445996452937746 0.7019876443728176 0.11940768524727288 6 25.985486690964827 0.008995185112868311 0.05198334816510605 1.0 True
72 14 15 3.8816793634199405 23.592765664408958 0.7089927153981411 0.11692319124843933 6 10.742828632896593 0.09073157715426228 0.8466374858545868 0.5 False forward_reverse_translation;forward_reverse_rotation
73 14 16 7.29101265002769 49.43618382074057 0.5923489278752436 0.12241125802320883 6 33.653658158107916 0.003104270324855819 0.13386021564092 1.0 True
74 14 17 5.915950814087913 0.8461207481731609 0.6687795177728063 0.12452036369781098 6 8.953051466023156 0.011592867275090568 0.10132037554601482 1.0 True
75 14 18 8.433581718971825 27.04528757318836 0.6196476790536196 0.12845389972151766 6 17.805501350543512 0.010071755472376367 0.13041952825792016 1.0 True
76 14 19 9.056542482242314 79.47127430600666 0.5845660749506904 0.12584132662356765 6 30.335272352492893 0.016830803029543952 0.25747616717579747 1.0 True
77 15 16 3.579287497246505 25.843418156331627 0.7032674772036475 0.1160221689285562 6 22.696890954829914 0.0009988867448377137 0.0903616813411077 1.0 True
78 15 17 2.2400625117908257 24.438886412582114 0.7489009568140678 0.11923375870790395 6 6.944925131742929 0.02582458487951321 0.09503968088936432 1.0 True
79 15 18 4.6956742726068 3.452521908779405 0.7165438713998661 0.1178392296206422 6 19.334165264362177 0.009354386824150452 0.1747840133793935 1.0 True
80 15 19 5.176369821469625 55.87850864159772 0.6924358974358974 0.11506895717743917 6 20.417126084614868 0.012497900854286311 0.3255615001296683 1.0 True
81 15 20 1.1877416357686716 128.54504202158432 0.6751867872591427 0.11901811643083532 6 27.381712286843683 2.670174543103617 1.9448445706434312 1.0 False forward_reverse_translation;forward_reverse_rotation
82 16 17 2.956793995513645 50.28230456891372 0.6284461152882206 0.11136186275509914 6 25.18428705575399 0.015372505619716304 0.0751987172187524 1.0 True
83 16 18 3.369822545690391 22.390896247552213 0.6921281286473868 0.10919235768364494 6 39.42922894015897 0.005355462743716019 0.036543030274398446 1.0 True
84 16 19 2.313038703742191 30.035090485266096 0.8880188913745961 0.09683468613705355 6 11.709094307553842 0.006745004702224827 0.04851926363284082 1.0 True
85 16 20 4.242518045976368 102.70162386525263 0.36698412698412697 0.13430062225326117 6 102.05441227788522 1.6194077849835204 3.5461435258834046 1.0 False forward_reverse_translation;forward_reverse_rotation
86 16 21 9.189957911290794 153.31148960700713 0.23764328854924197 0.14863424676851908 6 75.99451631707726 0.01721606559516444 0.561012451825117 0.5 False heldout_inlier_ratio;forward_reverse_rotation
87 17 18 2.517968959880004 27.89140832136152 0.7665916015366274 0.11462271017395576 6 9.759734204828526 0.003677259621955875 0.03455865038654393 1.0 True
88 17 19 3.518310045065406 80.31739505417983 0.645738203957382 0.11467441399973677 6 29.935027493013713 0.002657916871055147 0.03996637099866608 1.0 True
89 17 20 3.4199679241812992 152.98392843416642 0.2749902761571373 0.1378092692558536 6 36.98799912625142 0.9962499249666478 0.8583377913930432 0.5 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
90 17 21 8.339875108212771 156.4062058240796 0.4672368255565338 0.13751533768592306 6 32.19730139309397 3.7101311942981123 2.4525134629880094 0.0 False forward_reverse_translation;forward_reverse_rotation;multistart_instability
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results/reference_data4/small_gicp/B_refined.npz
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results/reference_data4/small_gicp/B_refined.refinement.json
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results/reference_data4/small_gicp/extrinsic_rtk_lidar.json
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results/reference_data4/summary.json
+48
View File
@@ -0,0 +1,48 @@
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