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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
parent d2aae6177e
commit 6d87b6ba9c
132 changed files with 214 additions and 197832 deletions
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results/reference_data4/small_gicp/B_quality.csv
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i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
0,1,1.6721594124489447,24.171297449440814,0.8193962748876044,0.11049675306366954,6,14.013392649694936,0.026679665410762447,0.12399936190197167,1.0,True,
0,2,2.0412175279332088,80.09074797031303,0.7525388867463684,0.11492533799491883,6,14.962108606929117,0.0018464756299783867,0.03093241101186373,1.0,True,
0,3,6.30529961936688,79.9158388329924,0.628093901505486,0.12365050970311502,6,23.490589415548122,0.010524333328230958,0.23898233567764737,0.5,True,
0,4,2.238422471863255,130.25781950514033,0.693351593625498,0.11485738628517483,6,16.305124521706706,0.003627491377787396,0.0495829610363469,1.0,True,
0,5,7.5269579262553155,88.82606603101335,0.6015065913370998,0.12959859333012305,6,26.27293180169831,0.013710015050868782,0.26025123892797375,1.0,True,
1,2,1.2843386040405174,55.9194505208722,0.7981310803891449,0.11167434332282765,6,13.484382276710306,0.0507423684848027,0.517099810570953,1.0,False,forward_reverse_rotation
1,3,5.433888607887495,55.744541383551606,0.678820988438572,0.12109867185657658,6,27.478714016210855,0.008324315958294127,0.2568985217684905,1.0,True,
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
1,5,7.072560501394692,64.65476858157254,0.618779694923731,0.1278696355679149,6,21.376356908960656,0.012044684321696756,0.5185219918090542,1.0,False,forward_reverse_rotation
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
2,3,4.340252832276203,0.1749091373206093,0.7609663064208518,0.11583878636902087,6,13.299472485717942,0.007842434748069874,0.017111535671962216,1.0,True,
2,4,0.2520257253555564,50.1670715348273,0.796748976299789,0.1148434235904791,6,12.041666425070192,0.011210942709506708,0.11462542679279858,1.0,True,
2,5,5.8286926576588955,8.735318060700322,0.7112112112112112,0.12001318292058727,6,15.618628103418056,0.011299298862678088,0.02158353743310138,1.0,True,
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
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
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
3,5,2.2886212019715484,8.910227198020936,0.7989069680784996,0.10775905778143813,6,12.151555874812614,0.013532537604982006,0.06485728954506689,1.0,True,
3,6,2.618668779147775,47.63555775102663,0.8435613682092555,0.11222309863990189,6,13.914901775514537,0.00951276519885504,0.09743636874086448,1.0,True,
3,7,2.7963089245830335,72.9471240578356,0.8651898734177215,0.11184568072686091,6,12.975777248765162,0.010827690226297664,0.12520280777371842,1.0,True,
3,8,2.6983089912812726,163.5692883655715,0.825590155700653,0.1078798726707026,6,12.959410142765158,0.005608807919239624,0.021536601402144962,1.0,True,
4,5,5.5767898078953735,41.431753474126985,0.6652516676773802,0.12444359189600171,6,17.028714587649738,0.0031552835887398907,0.05824661275042354,1.0,True,
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
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
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
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
5,6,2.0562758992403367,56.545784949047565,0.7604901596732269,0.11101745020162715,6,16.790595774247244,0.01028831511886355,0.031120237309440944,1.0,True,
5,7,0.5812996709001959,81.85735125585653,0.8092687180764918,0.10777871969807898,6,15.203386410549202,0.010579733674272045,0.033334626234333836,1.0,True,
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
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
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
6,7,1.9723544820714844,25.311566306808967,0.8539354187689203,0.10462253085152279,6,12.50291076661203,0.0028433142784691904,0.028424505435071433,1.0,True,
6,8,0.7288530799256238,115.93373061454484,0.7757757757757757,0.11316400028465075,6,15.521747346102574,0.007224674181692249,0.10395594559619384,1.0,True,
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
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
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
7,8,2.6747845281541447,90.62216430773587,0.8340050377833753,0.11132245152738934,6,16.17035077702852,0.004806949653405576,0.020340398656013788,1.0,True,
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
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
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
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
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
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
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
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
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
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
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
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
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
9,14,7.911071381405571,14.085282580602351,0.5416463116756228,0.12859551377809345,6,26.721469573230685,0.011377143482079926,0.04588334980819398,1.0,True,
10,11,3.0731501091601263,21.371447114360553,0.7131414267834794,0.12095106901516853,6,13.404202373771934,0.006897671932216771,0.18540056788520015,1.0,True,
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
91 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
92 18 19 2.0416624616211574 52.42598673281832 0.6999343401181878 0.10876407223187459 6 36.91910298018587 0.0029722527816906435 0.028553700929610345 1.0 True
93 18 20 5.836864764777489 125.0925201128049 0.5796614723267061 0.12778176089815013 6 32.46060078153021 0.08496447343578362 0.24110896992060832 0.5 False forward_reverse_translation
94 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
95 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
96 18 23 10.787990019880349 164.1156966348418 0.3967277486910995 0.14073241205403234 6 67.81571155690442 0.037998014107336324 0.09667096210109852 1.0 True
97 19 20 6.120105723142265 72.6665333799865 0.6260444787247719 0.1266849163783949 6 25.979821491778758 0.02278172414929769 0.1983479736758361 1.0 True
98 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
99 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
100 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
101 19 24 10.384369483528566 177.87107120381796 0.43504761904761907 0.1392444656116938 6 41.9366060613255 0.04258350776081601 0.7879276702809289 1.0 False forward_reverse_rotation
102 20 21 5.091648376409225 50.60986574175432 0.6607188376242672 0.12214671257866083 6 14.082798146569486 0.014717307768564562 0.07480162341419787 1.0 True
103 20 22 7.842914217245693 56.186409384669375 0.576328684508104 0.13245799460807808 6 16.034011252152304 0.021651469263481868 0.4612054468064915 1.0 True
104 20 23 4.953146569484805 70.79178325235414 0.6451819579702717 0.1210226317867539 6 12.51146899612653 0.018249896901540018 0.12115759970964086 1.0 True
105 20 24 4.806112840058592 105.20453782384023 0.7383177570093458 0.11441422046802803 6 12.152737785424252 0.009011280440944078 0.06430292826078875 1.0 True
106 20 25 7.7432318481763245 68.57831319871164 0.6182822702159718 0.12791257682460658 6 29.104161441720713 0.01470353026057929 0.3205553574328468 1.0 True
107 21 22 2.836151129858731 5.576543642915048 0.7740636818348177 0.11564789267022943 6 12.209471497858695 0.006518431057241462 0.06991931948827856 1.0 True
108 21 23 1.4635995041292513 20.181917510599828 0.862223327530465 0.10307112004551743 6 11.124777032517395 0.002678668765812511 0.01879593375546071 1.0 True
109 21 24 2.7001854883863183 54.59467208208592 0.7795265676152102 0.11182158240581809 6 15.934013426145448 0.003491995501354943 0.037425651095358885 1.0 True
110 21 25 3.6513937480713023 17.968447456957325 0.7340892465252378 0.12002239056891176 6 16.572162980052227 0.03773466739435234 0.28781074838303833 1.0 True
111 21 26 4.368847767445087 60.912845043424156 0.7147358216190014 0.11997311573294335 6 17.3723156532691 0.01216183417643751 0.10312122071404906 1.0 True
112 22 23 3.806551883906871 14.605373867684776 0.7408951563458002 0.1172672510975272 6 12.610213323576234 0.009206244303296198 0.0960198600148152 1.0 True
113 22 24 4.999470711928798 49.01812843917085 0.6936064556176288 0.11914624513148228 6 13.20338761495324 0.006090737153725476 0.02755713841749006 1.0 True
114 22 25 2.281002791409386 12.391903814042275 0.7356584485868911 0.11474070552638106 6 16.673633938013026 0.001961709159757097 0.011643770804742994 1.0 True
115 22 26 1.990287035474152 55.33630140050909 0.7422594142259414 0.11765221626900067 6 18.880420396501982 0.007814937371704422 0.03934255356487579 1.0 True
116 22 27 2.5532406896142295 80.6206767037528 0.7254925373134329 0.11870181965154772 6 21.309389349405333 0.018241823604788293 0.08279236858581901 1.0 True
117 23 24 1.2663665558774873 34.41275457148608 0.7884810126582279 0.10662565692629541 6 10.611199681165658 0.0018823381482244372 0.020239211377623904 1.0 True
118 23 25 5.050865141821003 2.213470053642503 0.6843137254901961 0.1217109193489842 6 15.15080906413716 0.01463985673592735 0.20460048921133533 1.0 True
119 23 26 5.595299803053147 40.730927532824325 0.6772228989037758 0.12237954766026346 6 16.382334072569808 0.04518647006837217 0.20367965681897174 1.0 True
120 23 27 6.240759831138249 66.01530283606803 0.6637469586374696 0.12340951265232125 6 20.64383986204704 0.010626193556947943 1.1817079481882706 1.0 False forward_reverse_rotation
121 23 28 6.598772106458927 85.87759904182478 0.6720351390922401 0.12122778564083768 6 19.206570679040215 0.043540468662592216 0.2605147805386839 0.5 True
122 24 25 6.316196707646632 36.626224625128586 0.6764267990074442 0.12367636388755723 6 21.50176872604184 0.03581640576644142 0.20465043373191275 1.0 True
123 24 26 6.840027061556236 6.318172961338242 0.6524044389642417 0.12740222503880924 6 21.75476709306229 0.0620474433075452 0.12014838295938772 1.0 True
124 24 27 7.477875812552711 31.60254826458195 0.6546798029556651 0.12425657449629156 6 26.295019203914542 0.05403266260961897 0.2126374478532295 1.0 True
125 24 28 7.81303641449596 51.464844470338676 0.6614377470355731 0.12010155595807544 6 20.985000954928537 0.04949067679791638 0.25138526875322614 0.5 True
126 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
127 25 26 1.433673687807028 42.944397586466835 0.9137395459976105 0.08148335762110498 6 16.56285514245561 0.003236736725553251 0.006670817258604747 1.0 True
128 25 27 1.973107678535245 68.22877288971054 0.8596658711217183 0.10961458820309757 6 22.188153380460914 0.010624789877375612 0.04475651255675051 1.0 True
129 25 28 2.578633669986193 88.09106909546726 0.8839157491622786 0.10490699814192775 6 16.172179483480598 0.0028341913749953818 0.01585308444597317 1.0 True
130 25 29 1.4869736566208207 130.3601342077183 0.7857227558401518 0.10954358768244278 6 20.132087187715292 0.0032477187428175502 0.016542353808297643 1.0 True
131 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
132 26 27 0.6711664435459649 25.284375303243706 0.9188612099644128 0.07520973241900301 6 20.799051531446725 0.00099208733077853 0.005485007138530622 1.0 True
133 26 28 1.202247282991071 45.146671509000434 0.9182726623840114 0.07611768518866213 6 21.995419584098137 0.004984978187528897 0.011735070988964648 1.0 True
134 26 29 0.8313560685788559 87.41573662125148 0.7856890251090416 0.1085139306178217 6 24.280602674778585 0.002586732426994246 0.12205883610742861 1.0 True
135 26 30 5.554376083336843 177.37830086539105 0.7634835395750642 0.10495724850674515 6 34.80647378548566 0.008489213184549637 0.021733210949119494 1.0 True
136 26 31 6.5424104132673175 156.01119868987084 0.7374054682955207 0.10737521663044328 6 38.310555401782864 0.007807741115783734 0.04372865220115068 0.5 True
137 27 28 0.6147316450225401 19.862296205756735 0.9281131178707225 0.07220941715117642 6 20.092791877654474 0.002300778353404822 0.001589714984734129 1.0 True
138 27 29 0.7540837235696874 62.13136131800778 0.7871188037207112 0.10966659884725233 6 24.009650087098127 0.005134403698946511 0.024348440992038003 1.0 True
139 27 30 5.07252652550922 152.0939255621477 0.7922108208955224 0.10147035321534549 6 32.52026042532519 0.007488026390185518 0.03860522829819172 1.0 True
140 27 31 6.285022243874859 178.7044260068885 0.7592097617664149 0.10539218018667616 6 48.70669958381935 0.0020937297862771895 0.027401753528281184 1.0 True
141 27 32 5.778763736289045 138.47370648510574 0.7480278422273782 0.10408734715846861 6 42.21510199826032 0.004407463145301957 0.03490543724835993 0.5 True
142 28 29 1.3242039147826599 42.26906511225104 0.787814381863266 0.10901449493832827 6 25.9136254196751 0.01570175790237293 0.035696604981368125 1.0 True
143 28 30 5.091487440029177 132.23162935639098 0.7791159962581852 0.1043856075500982 6 36.50167792578953 0.011701496185342901 0.047047156803733815 1.0 True
144 28 31 6.538757407908195 158.84212980112872 0.7449015266285981 0.10668967013687278 6 48.04636971250768 0.02442137437725171 0.6810283060803413 1.0 False forward_reverse_rotation
145 28 32 5.963604730984572 158.33600269086236 0.7252210330386226 0.11213192172123396 6 59.78207706090093 0.01795092616246746 0.05811390678775167 0.0 False multistart_instability
146 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
147 29 30 4.767831371266539 89.96256424413991 0.7320662880982732 0.10929719051930432 6 30.745355096911858 0.005463604154020641 0.01858348348785812 1.0 True
148 29 31 5.715598450796842 116.57306468887764 0.7254562254562255 0.11323336570178014 6 49.09678922599784 0.005077799585122041 0.07265894091769737 1.0 True
149 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
150 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
151 30 31 2.604154101624297 26.610500444737717 0.8286237272623269 0.09646596945131831 6 41.03513305025278 0.018905314487389895 0.08632503464138006 1.0 True
152 30 32 1.69105635082049 69.43236795274656 0.8065326633165829 0.09815063400019147 6 35.25635856167186 0.007341509941520377 0.023973741904830165 1.0 True
153 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
154 31 32 0.9137201114724802 42.82186750800884 0.8146841206602162 0.09914628416022428 6 34.3317318149268 0.0693687705829607 0.45703051311645604 1.0 True
155 31 33 1.4965271484681508 134.10407126807198 0.7551430598250177 0.1003246191461096 6 28.537349904719445 0.005559091155809675 0.033005318250111694 1.0 True
156 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