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

完善 LiDAR–双天线 RTK 手眼标定仓库：补充旧式及多传感器数据导出、small_gicp/Open3D GICP 标定、结果复核与3D可视化流程，并整理三批数据和标定结果说明。

Browse Source
This commit is contained in:
lichun.qu
2026-07-23 18:55:50 +08:00
parent 6b7844a977
commit f72fcb71cc
91 changed files with 39561 additions and 503 deletions
Download Patch File Download Diff File Expand all files Collapse all files
results/02_data4_calibration/small_gicp/B_estimation.npz
BIN
View File
Binary file not shown.
results/02_data4_calibration/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
0,1,1.8477087194158957,24.171297449440786,0.8193962748876044,0.11049677170760565,6,14.01384280930539,0.026680306344951596,0.12400141971813113,1.0,True,
0,2,2.633731568575307,80.09074797031298,0.7525388867463684,0.11492533799497681,6,14.962108606915407,0.0018465318763874656,0.03093450642761156,1.0,True,
0,3,6.923255970100826,79.91583883299243,0.628093901505486,0.12365050970311489,6,23.49058941554809,0.010524333328229862,0.23898233567763014,1.0,True,
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
0,5,8.205074921973447,88.82606603101337,0.6015065913370998,0.12959862169013578,6,26.276485388438196,0.013711901937629547,0.26024107991311357,1.0,True,
1,2,1.7155362084417105,55.91945052087219,0.7981310803891449,0.11167434332282761,6,13.484382276710292,0.050742368484802715,0.5170998105709517,1.0,False,forward_reverse_rotation
1,3,5.885389341942907,55.74454138355163,0.678820988438572,0.12109867185657652,6,27.478714016209608,0.008324315958289934,0.25689852176843175,1.0,True,
1,4,2.3031736807956613,106.08652205569953,0.6772473651580905,0.11157492180388107,6,13.25032679930311,0.00802452890723869,0.011334867255723058,1.0,True,
1,5,7.590375029412286,64.65476858157257,0.618779694923731,0.12786963556791484,6,21.376356908960595,0.012044684321695526,0.5185219918090508,1.0,False,forward_reverse_rotation
1,6,8.114848491620153,8.108983632525,0.6933789087226231,0.12162612003144421,6,23.560279629760274,0.008258211706006158,0.08942722541817279,1.0,True,
2,3,4.339151683168145,0.17490913732054883,0.7609663064208518,0.11583878636897658,6,13.299472485774093,0.00784220284106163,0.01711532312869618,1.0,True,
2,4,0.6150408096900305,50.167071534827386,0.796748976299789,0.11484342359047915,6,12.041666425070249,0.011210942709507262,0.11462542679280045,1.0,True,
2,5,5.894923525501676,8.735318060700383,0.7112112112112112,0.12001317983504071,6,15.619771158055366,0.011298647069299764,0.02158504824207679,1.0,True,
2,6,6.5470565092896145,47.810466888347186,0.7254529329785886,0.11794151013960824,6,22.73936753420594,0.004729020804343234,0.026463705119922912,1.0,True,
2,7,5.848768648120739,73.12203319515616,0.7569187603621987,0.11528530285715083,6,13.439936375510058,0.011994525026310043,0.05882394078371607,1.0,True,
3,4,3.9735035126146885,50.34198067214791,0.6957378664695738,0.11619002437046372,6,17.769677378118345,0.006018969660459514,0.057234124307389854,1.0,True,
3,5,2.3619393178889707,8.910227198020932,0.7989069680784996,0.1077590577814381,6,12.151555874812605,0.01353229173052898,0.06486032517688407,1.0,True,
3,6,2.2300116834828536,47.63555775102664,0.8435613682092555,0.11222309863990207,6,13.914901775514604,0.009512765198853305,0.09743636874085052,1.0,True,
3,7,2.450274232383144,72.94712405783562,0.8651898734177215,0.11184568072686094,6,12.975777248765134,0.010827690226297962,0.12520280777371934,1.0,True,
3,8,1.9936391786054533,163.56928836557165,0.825590155700653,0.10787987267070262,6,12.959410142765178,0.0056088079192386986,0.021536601402145895,1.0,True,
4,5,5.370771070097231,41.431753474126985,0.6652516676773802,0.12444356767629798,6,17.0278455355532,0.003155412913416372,0.05824374716659687,1.0,True,
4,6,6.142548765456278,97.97753842317456,0.6551681807021851,0.12030857820705748,6,24.380739297719824,0.011212969141455763,0.08373658947114908,0.5,True,
4,7,5.314106070657687,123.28910472998356,0.696936001976773,0.11799538994568655,6,16.89426071448657,0.00409529177569414,0.0519770010059835,0.5,True,
4,8,5.8981084980454765,146.08873096228052,0.7129198332924737,0.11349036082807595,6,18.616925126379197,0.01249802665331653,0.04549823831834878,1.0,True,
4,9,3.1650365894055956,158.11607430100375,0.6097234068478128,0.11677937926620108,6,25.94675052408701,0.00616984405743089,0.11548555225177864,0.5,True,
5,6,1.9357867378988893,56.54578494904757,0.7604901596732269,0.11101741624951145,6,16.791344333152654,0.01028641250952863,0.031127073736479716,1.0,True,
5,7,0.19501559913675365,81.85735125585654,0.8092687180764918,0.10777871969807898,6,15.20338641054919,0.010579714886860828,0.03333492483252218,1.0,True,
5,8,1.8038807059856978,172.47951556359365,0.7295760721789643,0.11311887218463837,6,17.053462425193878,0.009759205787181369,0.05935114015788255,1.0,True,
5,9,7.881613621164215,160.45217222486949,0.514987714987715,0.13057312144553648,6,36.76355827214787,0.013423709236357283,0.8456480282562385,1.0,False,forward_reverse_rotation
5,10,7.671857805815354,143.54232919109316,0.5442391832766165,0.13173165083201857,6,26.337222871823027,0.00523999417676037,0.17134499262937464,1.0,True,
6,7,2.130456053070114,25.311566306808988,0.8539354187689203,0.10462253085153163,6,12.502910766598342,0.002843314342407394,0.028424505305675103,1.0,True,
6,8,0.24494500622098103,115.93373061454483,0.7757757757757757,0.1131640002846509,6,15.521747346102597,0.007224674181694773,0.10395594559619498,1.0,True,
6,9,8.025985916230132,103.90638727582186,0.6009202835468226,0.1259448851291812,6,28.795189977892573,0.007975110549369148,0.07338758946554978,1.0,True,
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
6,11,11.328882063792355,138.54043874549896,0.4633337584491774,0.13769942152040132,6,58.377014583638996,0.023339879627157865,0.18888808553225306,1.0,True,
7,8,1.9962664218365056,90.62216430773583,0.8340050377833753,0.11132245152738919,6,16.170350777028464,0.004806949653405585,0.02034039865601464,1.0,True,
7,9,7.8811064994361235,78.59482096901284,0.6160971335586432,0.12637042711002067,6,24.17866477904224,0.012112046262530643,0.5927664140170301,1.0,False,forward_reverse_rotation
7,10,7.620696678413973,134.60031955305035,0.5721183607775164,0.13040415535689726,6,20.571872802604858,0.010507785715791607,0.10324111221368969,1.0,True,
7,11,10.356268683459426,113.22887243868989,0.5179098728976762,0.13593896500168,6,36.18276452817704,0.01570096854689765,0.062213006599939585,1.0,True,
7,12,13.76202076313695,94.9510481861355,0.419173636250156,0.14753718360891266,6,89.28960611274712,0.018245717875293024,0.41212759156893974,1.0,True,
8,9,7.803713858547152,12.027343338722998,0.6407549981373402,0.12189583104066963,6,28.06713348388497,0.025170709673794655,0.14112050756711447,1.0,True,
8,10,8.062504137991457,43.97815524531457,0.6075420709986488,0.12933255373443525,6,20.429632894689156,0.01256038832173067,0.12386976869589704,1.0,True,
8,11,11.084531710563947,22.606708130954026,0.5447599643448364,0.13547919137380177,6,27.72840331379869,0.006462771421800638,0.08629803406158434,1.0,True,
8,12,14.350449135419003,4.328883878399632,0.46489164086687307,0.14530908872417966,6,37.958964738084276,0.00955628888567663,0.1112688142308669,1.0,True,
8,13,18.245302761704593,28.43334478424675,0.37832991803278687,0.15442802982944018,6,101.4897081447731,0.027875630486669568,0.37387837894914167,1.0,True,
9,10,2.04815062353057,56.00549858403758,0.6576312576312576,0.10693844153477818,6,15.957672354569297,0.0038184479242649575,0.016135929192430513,0.5,True,
9,11,4.738677237611319,34.634051469677026,0.5883320678309288,0.11815838246331245,6,21.526672921842792,0.008866435423074387,0.05039949658393549,1.0,True,
9,12,7.170741483679294,16.35622721712263,0.5413589364844904,0.12469816852157387,6,38.0354745717217,0.03403608365914784,0.249719392637206,1.0,True,
9,13,10.733928030180744,16.40600144552375,0.5075728649611811,0.13356609480985904,6,50.3483756147633,0.0053243668825205025,0.1401976908512776,1.0,True,
9,14,7.8912187855633125,14.085282580602351,0.5416463116756228,0.12859551377809317,6,26.721469573230642,0.011377143482081005,0.045883349808202654,1.0,True,
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
102 20 21 5.40286046809103 50.60986574175429 0.6607188376242672 0.12214671257866079 6 14.082798146569438 0.01471691635641488 0.0747935794181239 1.0 True
103 20 22 8.200956565000565 56.18640938466938 0.576328684508104 0.13245799460807672 6 16.034011252149995 0.02165175771302933 0.4612076789897289 1.0 True
104 20 23 5.175118275082073 70.79178325235415 0.6451819579702717 0.12102263178677423 6 12.511468996120387 0.018249896901851893 0.12115759970382113 1.0 True
105 20 24 4.710308396362637 105.20453782384023 0.7383177570093458 0.11441422046802802 6 12.152737785424229 0.009011279667019194 0.06430292411421322 1.0 True
106 20 25 8.226491803107123 68.57831319871164 0.6182822702159718 0.12791257682460647 6 29.104161441720954 0.014703530260578728 0.32055535743282454 1.0 True
107 21 22 2.8644847627909416 5.57654364291509 0.7740636818348177 0.11564788773425824 6 12.209574213097333 0.0065184199045192235 0.06991965908247275 1.0 True
108 21 23 1.2936223973175418 20.18191751059984 0.862223327530465 0.10307116830776755 6 11.124499228103288 0.0026785916987678697 0.01879221122979615 1.0 True
109 21 24 2.3128500583741403 54.59467208208593 0.7795265676152102 0.11182158240581822 6 15.934013426145448 0.003491995501356654 0.0374256510953578 1.0 True
110 21 25 3.793272903723766 17.968447456957346 0.7340892465252378 0.12002239056891174 6 16.57216298005221 0.037735058311297705 0.2878144229712423 1.0 True
111 21 26 4.631707245574304 60.912845043424184 0.7147358216190014 0.11997311573294966 6 17.372315653280065 0.012351932089198563 0.10379217190868555 1.0 True
112 22 23 3.7194009250537223 14.605373867684753 0.7408951563458002 0.11726725109752717 6 12.610213323576254 0.009206244303295173 0.09601986001481369 1.0 True
113 22 24 4.786117710081478 49.01812843917083 0.6936064556176288 0.11914624513148218 6 13.20338761495324 0.006090737153726605 0.027557138417491776 1.0 True
114 22 25 2.3747421598149763 12.391903814042255 0.7356584485868911 0.11474070552638106 6 16.673633938013044 0.0019617091597581428 0.011643770804738128 1.0 True
115 22 26 2.381693697571969 55.336301400509086 0.7422594142259414 0.11765221626900083 6 18.880420396501957 0.007814937371704293 0.039342553564881436 1.0 True
116 22 27 2.9603952927690247 80.62067670375279 0.7254925373134329 0.11870181965154768 6 21.309389349405485 0.018241823604788005 0.08279236858582419 1.0 True
117 23 24 1.0880644725336985 34.41275457148609 0.7884810126582279 0.10662565692629543 6 10.611199681165669 0.001882338148224756 0.020239211377623818 1.0 True
118 23 25 5.033935954106079 2.213470053642494 0.6843137254901961 0.12171091934898426 6 15.150809064137142 0.014639828785635214 0.2046006298281892 1.0 True
119 23 26 5.765534437288107 40.730927532824346 0.6772228989037758 0.12237954766026346 6 16.382334072569904 0.04518647006837157 0.20367965681897066 1.0 True
120 23 27 6.392376191887118 66.01530283606805 0.6637469586374696 0.12340951265232122 6 20.64383986204732 0.010626193556947957 1.1817079481882757 1.0 False forward_reverse_rotation
121 23 28 6.631292861991925 85.8775990418248 0.6720351390922401 0.12122778564083748 6 19.20657067904157 0.043540468687755365 0.26051478047218213 1.0 True
122 24 25 6.097212810998921 36.62622462512857 0.6764267990074442 0.12367636388755719 6 21.50176872604179 0.035816405766439664 0.2046504337319023 1.0 True
123 24 26 6.852918693116795 6.318172961338249 0.6524044389642417 0.12740232296321938 6 21.753053297058692 0.062038641373543625 0.12012273822228971 1.0 True
124 24 27 7.47982907414204 31.60254826458195 0.6546798029556651 0.12425657449629145 6 26.295019203914197 0.05403266260962086 0.2126374478532415 1.0 True
125 24 28 7.71913193400284 51.4648444703387 0.6614377470355731 0.12010155595807545 6 20.98500095492876 0.049490676797893776 0.25138526875505346 1.0 True
126 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
127 25 26 1.2882746074869595 42.944397586466835 0.9137395459976105 0.08148336624555251 6 16.56293455758718 0.0032405549728505064 0.006669174585592186 1.0 True
128 25 27 1.7666235781584831 68.22877288971053 0.8596658711217183 0.1096145882030974 6 22.188153380460985 0.010624789877375215 0.04475651255674721 1.0 True
129 25 28 2.1807182972588706 88.09106909546726 0.8839157491622786 0.10490699814192792 6 16.17217948348072 0.00283419137499405 0.01585308444597649 1.0 True
130 25 29 1.118287177357716 130.36013420771832 0.7857227558401518 0.10954358768244267 6 20.132087187715307 0.003247718742817276 0.01654235380830592 1.0 True
131 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
132 26 27 0.6269948654714946 25.284375303243706 0.9188612099644128 0.07520973241900301 6 20.799051531446562 0.0009920873307779914 0.005485007138529723 1.0 True
133 26 28 0.9431372257108486 45.14667150900044 0.9182726623840114 0.07611768518866212 6 21.99541958409829 0.004984978187527545 0.01173507098896779 1.0 True
134 26 29 1.129925637779203 87.41573662125148 0.7856890251090416 0.10851393061782179 6 24.280602674778656 0.002586732426991948 0.12205883610743135 1.0 True
135 26 30 4.786676837961511 177.3783008654109 0.7634835395750642 0.10495724850674527 6 34.80647378548578 0.008489213184554775 0.021733210949123293 1.0 True
136 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
137 27 28 0.44809323479571145 19.862296205756735 0.9281131178707225 0.07220943509634768 6 20.093208902964978 0.0023003913248606234 0.001591751329336308 1.0 True
138 27 29 1.160064136065596 62.13136131800778 0.7871188037207112 0.10966659884725236 6 24.009650087098436 0.005134403698947268 0.02434844099203523 1.0 True
139 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
140 27 31 5.542871649427442 178.70442600700352 0.7592097617664149 0.10539218018667602 6 48.70669958381899 0.0020939062619997405 0.027400662783563425 1.0 True
141 27 32 4.8829350360277 138.47370648510565 0.7480278422273782 0.10408734715846867 6 42.21510199826003 0.004407463145306061 0.03490543724836902 1.0 True
142 28 29 1.5995723610319212 42.26906511225104 0.787814381863266 0.10901449493832843 6 25.913625419675043 0.01570175790237609 0.03569660498137675 1.0 True
143 28 30 4.295353381127667 132.23162935639104 0.7791159962581852 0.10438560755009844 6 36.501677925790155 0.01170149615735483 0.047047156693309715 1.0 True
144 28 31 5.754426930327516 158.8421298011293 0.7449015266285981 0.10668967013687296 6 48.04636971250818 0.024421374377245158 0.6810283060803514 0.5 False forward_reverse_rotation
145 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
146 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
147 29 30 4.099530130205247 89.96256424413995 0.7320662880982732 0.10929719051930432 6 30.745355096911158 0.005463604154015333 0.018583483487870766 1.0 True
148 29 31 4.890018768530818 116.57306468887772 0.7254562254562255 0.11323336570178015 6 49.09678922599757 0.0050777995851252426 0.07265894091769333 1.0 True
149 29 32 4.464737187763289 159.39493219688632 0.695837657096737 0.10999820041072961 6 72.25486343140591 0.011220553177198233 0.14599088546526143 1.0 True
150 29 33 4.34670323578768 109.32286404305042 0.6382698298586149 0.11215583949685817 6 72.66655529463955 0.018977478007060265 0.05615608666616428 1.0 True
151 30 31 2.3862917603439455 26.61050044473775 0.8286237272623269 0.0964659694513182 6 41.03513305025223 0.018905314487385798 0.08632503464137033 1.0 True
152 30 32 1.1507634071714652 69.43236795274659 0.8065326633165829 0.09815063400019142 6 35.25635856167173 0.007341509941520892 0.023973741904832375 1.0 True
153 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
154 31 32 1.2514382602180638 42.82186750800885 0.8146841206602162 0.09914628416022417 6 34.33173181492779 0.06936877058296162 0.45703051311645637 1.0 True
155 31 33 0.641507519046697 134.10407126807203 0.7551430598250177 0.1003246191461096 6 28.537349904719164 0.005559091155811048 0.0330053182501105 1.0 True
156 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
results/02_data4_calibration/small_gicp/B_quality.json
+19969
View File
File diff suppressed because it is too large Load Diff
results/02_data4_calibration/small_gicp/B_refined.npz
BIN
View File
Binary file not shown.
results/02_data4_calibration/small_gicp/B_refined.refinement.json
+1666
View File
File diff suppressed because it is too large Load Diff
results/02_data4_calibration/small_gicp/extrinsic.json
+489
View File
@@ -0,0 +1,489 @@
{
"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": [
1.2944883843818025,
-0.0008838118010001346,
0.7058442435591689
],
"rotation_rpy_deg_xyz": [
-0.7159364624845366,
1.3526878670674298,
-0.975972089807914
],
"quaternion_xyzw": [
-0.006146489369094902,
0.011856702812467925,
-0.008442354678834595,
0.999875175166545
],
"matrix_4x4": [
[
0.9995762904917872,
0.016736847531056993,
0.02381422728959523,
1.2944883843818025
],
[
-0.01702835592221438,
0.9997818946318248,
0.01209124728823738,
-0.0008838118010001346
],
[
-0.023606663916460907,
-0.01249164125009491,
0.9996432785337048,
0.7058442435591689
],
[
0.0,
0.0,
0.0,
1.0
]
],
"estimation": {
"stations": 34,
"pairs": 57,
"residuals": {
"pairs": 57,
"translation_m": {
"rms": 0.1544348214275169,
"median": 0.0705120546692258,
"p90": 0.2796247931030114,
"p95": 0.38830732511177307,
"max": 0.42173620405868173
},
"rotation_deg": {
"rms": 1.6127366820434261,
"median": 0.7802394472449041,
"p90": 2.0427026963913084,
"p95": 4.139878905679253,
"max": 4.927876933555878
},
"per_pair": [
{
"pair_index": 0,
"translation_m": 0.04921586129986855,
"rotation_deg": 0.7802394472449041
},
{
"pair_index": 1,
"translation_m": 0.06022467069161827,
"rotation_deg": 0.8076387678918286
},
{
"pair_index": 2,
"translation_m": 0.05733334031955927,
"rotation_deg": 0.3801287351167008
},
{
"pair_index": 3,
"translation_m": 0.10178704595686662,
"rotation_deg": 0.23294290596786388
},
{
"pair_index": 4,
"translation_m": 0.0950710667744258,
"rotation_deg": 0.8441747973849835
},
{
"pair_index": 5,
"translation_m": 0.1482159791451249,
"rotation_deg": 0.681326797444399
},
{
"pair_index": 6,
"translation_m": 0.02325894326521952,
"rotation_deg": 0.6033104606942519
},
{
"pair_index": 7,
"translation_m": 0.07474087499522525,
"rotation_deg": 0.6507288891948437
},
{
"pair_index": 8,
"translation_m": 0.18825515016508942,
"rotation_deg": 0.26486292076967255
},
{
"pair_index": 9,
"translation_m": 0.04309283328904936,
"rotation_deg": 0.13788972833567684
},
{
"pair_index": 10,
"translation_m": 0.04634466299044426,
"rotation_deg": 0.727856852897771
},
{
"pair_index": 11,
"translation_m": 0.043890799917503956,
"rotation_deg": 0.7033085139548623
},
{
"pair_index": 12,
"translation_m": 0.06569153273548976,
"rotation_deg": 0.8215251942968772
},
{
"pair_index": 13,
"translation_m": 0.05085505830053342,
"rotation_deg": 0.5703942163369722
},
{
"pair_index": 14,
"translation_m": 0.08080041374696341,
"rotation_deg": 0.7042489825699358
},
{
"pair_index": 15,
"translation_m": 0.028283768727744116,
"rotation_deg": 0.5815552521395532
},
{
"pair_index": 16,
"translation_m": 0.034152028863445455,
"rotation_deg": 1.0076363281960339
},
{
"pair_index": 17,
"translation_m": 0.10661935094245772,
"rotation_deg": 0.585736616100307
},
{
"pair_index": 18,
"translation_m": 0.0705120546692258,
"rotation_deg": 0.8052707169746115
},
{
"pair_index": 19,
"translation_m": 0.06442322486081886,
"rotation_deg": 2.1113003980243557
},
{
"pair_index": 20,
"translation_m": 0.058531034305082885,
"rotation_deg": 0.5873890947329841
},
{
"pair_index": 21,
"translation_m": 0.06915436202628812,
"rotation_deg": 0.4455496836075116
},
{
"pair_index": 22,
"translation_m": 0.1484005911609239,
"rotation_deg": 1.9969708953026104
},
{
"pair_index": 23,
"translation_m": 0.10429385187976488,
"rotation_deg": 0.12781289285231975
},
{
"pair_index": 24,
"translation_m": 0.06859842051942554,
"rotation_deg": 0.3198403871694416
},
{
"pair_index": 25,
"translation_m": 0.037990236699121674,
"rotation_deg": 0.631070403868711
},
{
"pair_index": 26,
"translation_m": 0.03189885614531801,
"rotation_deg": 0.7541329389301039
},
{
"pair_index": 27,
"translation_m": 0.07672961622319935,
"rotation_deg": 1.5806114049925588
},
{
"pair_index": 28,
"translation_m": 0.069983101896218,
"rotation_deg": 0.4729689795147634
},
{
"pair_index": 29,
"translation_m": 0.016135065100391668,
"rotation_deg": 0.3789407761818106
},
{
"pair_index": 30,
"translation_m": 0.07432095926140471,
"rotation_deg": 1.8120862981058055
},
{
"pair_index": 31,
"translation_m": 0.17890921343127023,
"rotation_deg": 3.97184190714068
},
{
"pair_index": 32,
"translation_m": 0.2459042707502872,
"rotation_deg": 4.617881335971262
},
{
"pair_index": 33,
"translation_m": 0.06334407979243162,
"rotation_deg": 0.8238155509065317
},
{
"pair_index": 34,
"translation_m": 0.07743513463604834,
"rotation_deg": 4.0203782981062535
},
{
"pair_index": 35,
"translation_m": 0.15971289980951447,
"rotation_deg": 4.84466491195667
},
{
"pair_index": 36,
"translation_m": 0.13395086756218255,
"rotation_deg": 4.927876933555878
},
{
"pair_index": 37,
"translation_m": 0.06599998782040693,
"rotation_deg": 1.9960824610834838
},
{
"pair_index": 38,
"translation_m": 0.04503412561992633,
"rotation_deg": 1.279332716204477
},
{
"pair_index": 39,
"translation_m": 0.11215573119400024,
"rotation_deg": 0.5578231171630792
},
{
"pair_index": 40,
"translation_m": 0.05509905448014895,
"rotation_deg": 0.6608982729619334
},
{
"pair_index": 41,
"translation_m": 0.007272665876828039,
"rotation_deg": 1.2124341117031159
},
{
"pair_index": 42,
"translation_m": 0.055811383114362484,
"rotation_deg": 0.8153248357421402
},
{
"pair_index": 43,
"translation_m": 0.03138324591270751,
"rotation_deg": 1.2136591021205085
},
{
"pair_index": 44,
"translation_m": 0.13982233632280833,
"rotation_deg": 1.2089791291543672
},
{
"pair_index": 45,
"translation_m": 0.42173620405868173,
"rotation_deg": 1.126390973143559
},
{
"pair_index": 46,
"translation_m": 0.027936086071527602,
"rotation_deg": 0.5561027320483051
},
{
"pair_index": 47,
"translation_m": 0.08146548874814821,
"rotation_deg": 1.5984131745791201
},
{
"pair_index": 48,
"translation_m": 0.40597723810744263,
"rotation_deg": 1.3479854285502366
},
{
"pair_index": 49,
"translation_m": 0.3864154920341234,
"rotation_deg": 0.6215042157245596
},
{
"pair_index": 50,
"translation_m": 0.18945577362130134,
"rotation_deg": 0.596177211598774
},
{
"pair_index": 51,
"translation_m": 0.37813335218979344,
"rotation_deg": 1.0668602650100487
},
{
"pair_index": 52,
"translation_m": 0.330205576632098,
"rotation_deg": 0.40979383494055255
},
{
"pair_index": 53,
"translation_m": 0.39587465742237204,
"rotation_deg": 0.7934150366951904
},
{
"pair_index": 54,
"translation_m": 0.060998991546499626,
"rotation_deg": 0.9224390837063629
},
{
"pair_index": 55,
"translation_m": 0.0952510183208545,
"rotation_deg": 0.8616718556937568
},
{
"pair_index": 56,
"translation_m": 0.10976329201195999,
"rotation_deg": 0.5415573303416338
}
]
}
},
"ground": {
"planes": 34,
"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": [
0.006072210871275005,
0.0060852661675311025,
0.005465720025368553
],
"rotation_deg": [
0.06255688904352227,
0.06213349734715941,
0.13055508827073753
],
"warning": "conditional local estimate; bootstrap is the primary stability check"
},
"weighted_jacobian_condition_number": 6.040138286165465,
"solver_multistart": {
"runs": 12,
"candidates_relative_to_best": [
{
"cost": 324.2098227991519,
"success": true,
"translation_m": 5.570266299009551e-09,
"rotation_deg": 1.4455049406405054e-07
},
{
"cost": 324.20982279914983,
"success": true,
"translation_m": 0.0,
"rotation_deg": 0.0
},
{
"cost": 324.20982279915165,
"success": true,
"translation_m": 5.216823166795417e-09,
"rotation_deg": 1.973338877475283e-07
},
{
"cost": 324.20982279915034,
"success": true,
"translation_m": 1.3901066622882166e-09,
"rotation_deg": 6.335210062786435e-08
},
{
"cost": 324.20982279914995,
"success": true,
"translation_m": 3.578733410578741e-10,
"rotation_deg": 6.852733510041159e-09
},
{
"cost": 324.20982279914983,
"success": true,
"translation_m": 6.594966941115627e-10,
"rotation_deg": 2.2216701960527812e-08
},
{
"cost": 324.20982279914983,
"success": true,
"translation_m": 2.1650538139486925e-09,
"rotation_deg": 3.6255288379996055e-08
},
{
"cost": 324.2098227991501,
"success": true,
"translation_m": 1.5027981325208515e-09,
"rotation_deg": 6.326578543393082e-08
},
{
"cost": 324.20982279914983,
"success": true,
"translation_m": 6.094320168262204e-10,
"rotation_deg": 1.025130160040861e-08
},
{
"cost": 324.2098227991552,
"success": true,
"translation_m": 1.057266183614633e-08,
"rotation_deg": 3.643863231629731e-07
},
{
"cost": 324.20982279915063,
"success": true,
"translation_m": 3.9489601150102006e-09,
"rotation_deg": 1.359274031832874e-07
},
{
"cost": 324.20982279914983,
"success": true,
"translation_m": 6.276644321676319e-10,
"rotation_deg": 2.14493230752589e-08
}
]
},
"bootstrap": {
"runs": 100,
"order": [
"x_m",
"y_m",
"z_m",
"roll_deg",
"pitch_deg",
"yaw_deg"
],
"std": [
0.003048001100427371,
0.0025869752895426976,
0.0014870952541001317,
0.09174691854497609,
0.06502786700039134,
0.11777557058586356
],
"p025": [
1.2892012505330883,
-0.0051467048024525786,
0.7035478241042927,
-0.8634755073850175,
1.2139289883714506,
-1.173046710195043
],
"p975": [
1.2997598841406142,
0.005003259375615847,
0.7090711194920217,
-0.48035430043405547,
1.4534667429791082,
-0.7593758945747364
]
}
}