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Add LiDAR RTK hand-eye calibration workflow and results

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lichun.qu
2026-07-22 09:31:44 +08:00
commit 62c7ab2e98
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results/open3d_gicp/B_batch2_quality.csv
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i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
0,1,0.503306788400079,13.198324485965863,0.7947725072604066,0.09714510386272111,6,3.1645559924308744,0.00040681040655899406,0.015836974306118006,1.0,True,
0,2,1.1601020961002007,26.306295080591493,0.8196783588704571,0.10111548255452249,6,3.1496351272437915,0.0024786662018318395,0.04305117802148083,1.0,True,
0,3,1.1328421148283978,41.74134818989305,0.8170202208162759,0.10132889132333661,6,2.9636847958606816,0.001763337668740155,0.0152261810177797,1.0,True,
1,2,0.6927979865343085,13.107970594625625,0.7847728726807421,0.08513837010948266,6,2.6465075635845983,0.003621881376895638,0.011153493139183525,1.0,True,
1,3,0.7002295454253883,28.543023703927183,0.7885699962401304,0.09713251502799032,6,2.6341764735488145,0.0014094469663425105,0.02902143941632062,1.0,True,
1,4,0.8045641659338967,57.731023816949346,0.7363658899355479,0.09863727794945644,6,2.7377680197189993,0.011592408190980286,0.17084480097436408,1.0,True,
2,3,0.13949776780243606,15.435053109301553,0.918286915396742,0.07288259780013887,6,2.6383381348446657,0.002273707715582919,0.0026923349652342365,1.0,True,
2,4,0.6701726006967371,44.62305322232371,0.8370341514089079,0.09441127521663696,6,3.0939727970407334,0.0041401597740440875,0.03075174550917053,1.0,True,
2,5,0.8004226998626774,62.96656300910673,0.8235371293623721,0.10626795357026747,6,2.8027866429960917,0.009148796674106823,0.05256412309062332,1.0,True,
3,4,0.5366157827594368,29.188000113022152,0.8850603941513032,0.07613142655207121,6,2.6417590251999084,0.0013904645484531576,0.0259404694028417,1.0,True,
3,5,0.6760093701980526,47.53150989980517,0.8740046236835346,0.09072202522560696,6,2.686157540984516,0.006509933107990933,0.02545212192512678,1.0,True,
3,6,1.4361364806393455,80.09091141471853,0.6795928884308168,0.10271649349323747,6,3.008166890660092,0.00828154435242913,0.026486510290724834,1.0,True,
4,5,0.17861948949299924,18.343509786783002,0.8684444444444445,0.0784387700526441,6,2.6861954442048104,0.0025072579888539386,0.021042298559759365,1.0,True,
4,6,1.5807073315069207,50.90291130169636,0.6781301745000636,0.10313081772493418,6,2.8455217243212387,0.003271195715147848,0.14716032493381534,1.0,True,
4,7,1.7804201387535592,75.18775779751417,0.7873548387096774,0.09891997778736471,6,3.1802938248442474,0.004633577062239209,0.04472721629193465,1.0,True,
5,6,1.5316987521992935,32.55940151491337,0.6911991765311374,0.10152400788085783,6,3.2393513551418907,0.005288907067525738,0.05494235971756111,1.0,True,
5,7,1.6091514152462776,56.844248010731185,0.7747360187719984,0.09121609616459708,6,3.123473300580222,0.00421464356720393,0.015634168997181876,1.0,True,
5,8,1.1872485760158462,85.67585439000777,0.7829477514946712,0.10577559680144696,6,3.109219016133088,0.0033105282814613057,0.030813019102438145,1.0,True,
6,7,1.5692385974903325,24.284846495817817,0.7347979599843075,0.10196810239533251,6,3.458846242963224,0.004020707752206965,0.039850323489805044,1.0,True,
6,8,0.5035712140385419,53.11645287509441,0.7155149934810952,0.10460245111398395,6,3.0180670962260874,0.0072368624874882504,0.0055907688631446776,1.0,True,
6,9,0.8508108569116883,66.44324365209327,0.6825438366919655,0.10495957402394829,6,3.140616320789838,0.00430894236478819,0.13911475434755866,1.0,True,
7,8,1.1230406357307108,28.831606379276582,0.8127890077949531,0.09942756972076687,6,2.9436564519387325,0.008316114154115147,0.01814737917470093,1.0,True,
7,9,0.7186795671679719,42.158397156275456,0.8193873491579367,0.09507291602212191,6,3.5012345051117295,0.006751593996528964,0.029293578235221863,1.0,True,
7,10,0.39293571356254015,58.25702665650087,0.7940216681895313,0.10356080767641777,6,2.817840996766873,0.006883567504360684,0.016492683422577963,1.0,True,
8,9,0.4407680716864947,13.326790776998866,0.8581438392384981,0.09484304022144129,6,3.219825075793889,0.007253035671159373,0.024252719250072975,1.0,True,
8,10,0.968166048306331,29.425420277224287,0.8015356585111921,0.10152298131640612,6,3.7446585062478155,0.0017523919908150464,0.05042176209078739,1.0,True,
8,11,3.0540124804140354,66.34511043540417,0.688687555052221,0.10536230082368817,6,4.696625415382456,0.0036281146181207165,0.013078005975049522,1.0,True,
9,10,0.5276649044820116,16.098629500225417,0.8560606060606061,0.09594368034796862,6,3.2778548903058375,0.010491037599418197,0.0599937188173442,1.0,True,
9,11,2.680593454060616,53.0183196584053,0.6966788735951509,0.10384409271666459,6,4.3419055531595605,0.009543265092514783,0.09977883713501384,1.0,True,
9,12,3.2944321799753977,73.22024906015783,0.6579243162233046,0.10621203405076814,6,4.293885241325807,0.0028782078295197843,0.0743495992598884,1.0,True,
10,11,2.249454986440387,36.91969015817989,0.729195173529046,0.10869447817964137,6,4.322382098282597,0.0028206125960216254,0.014140069566934874,1.0,True,
10,12,2.8783779741216167,57.12161955993242,0.6945982527377876,0.10596349826421764,6,4.493186221276381,0.005660464094292755,0.08952914345108036,1.0,True,
10,13,3.84803303865234,78.07081297783375,0.6530587074494326,0.1098871098886565,6,4.997105968288151,0.009441275754405344,0.06902225135435515,1.0,True,
11,12,0.636223282239137,20.20192940175253,0.865792610250298,0.09248705530398661,6,3.4380496057859116,0.007654923324833218,0.03083951917063289,1.0,True,
11,13,2.0145868546459504,41.151122819653864,0.8217656194003106,0.10443913508460159,6,3.957969004992005,0.0019958122994113434,0.04243931133970266,1.0,True,
11,14,1.2405786051647103,116.67752660647822,0.7462918660287081,0.10754571546972236,6,4.619857754383166,0.0030226348073827927,0.05528144266002643,1.0,True,
12,13,1.5928240921286525,20.949193417901323,0.8347322378531742,0.10791137431619166,6,3.358528082155117,0.0033753816186126483,0.015427430722607398,1.0,True,
12,14,0.6774809171975742,96.47559720472566,0.7626657196969697,0.10926443071446633,6,3.847953795189004,0.0011083901763643633,0.03408686226954418,1.0,True,
12,15,1.8892292086221258,131.14857460490867,0.7404945183111733,0.10470183850479874,6,3.1806996321008576,0.008442575945215317,0.02844707164454242,1.0,True,
13,14,0.9721300146850552,75.52640378682433,0.8138569225293629,0.1125369920515294,6,3.2147734820704015,0.005457899756974233,0.04250371025579654,1.0,True,
13,15,2.426469315960194,110.19938118700728,0.7853886616014026,0.10710393317615087,6,2.4365756135744383,0.0023363953219779758,0.003679886698275418,1.0,True,
13,16,4.157137927296689,135.66277163100625,0.7461059190031153,0.10791684095774041,6,2.2141337125272007,0.0023169831632091926,0.02473862097872449,1.0,True,
14,15,2.176233486689304,34.672977400182965,0.7456694756554307,0.11049010248131722,6,2.3376174680383377,0.0027632919724097076,0.05272762900968177,1.0,True,
14,16,3.79947855245853,60.13636784418198,0.7114577084583084,0.11170286188791147,6,2.479974772421199,0.0043726035924820505,0.11525585711885118,1.0,True,
14,17,6.190474035537447,15.261944565117341,0.6170986278878855,0.11803645680912848,6,5.206426513766648,0.02802927019183766,0.10048860643286558,1.0,True,
15,16,1.7328875589135755,25.463390443999018,0.7687034629476421,0.09834033850996364,6,2.3729567416081196,0.004926598691892943,0.10049788043616295,1.0,True,
15,17,8.352264787019024,19.411032835065622,0.5596902808274586,0.12817180913542037,6,8.442537153126064,0.04660873899639204,0.08128930035257874,1.0,True,
15,18,6.346037230040679,25.592965647994788,0.6134687462217386,0.11861991782546771,6,5.933642175309751,0.006137337753783083,0.040498570689394164,1.0,True,
16,17,9.849975560032544,44.87442327906463,0.589649455234486,0.12715782204597983,6,10.240964391202342,0.016491489842564398,0.29283865924681673,1.0,True,
16,18,7.9099649541476005,0.12957520399577063,0.6441329694864798,0.11977657776801591,6,7.973620675877663,0.01581702082704062,0.07681086634765077,1.0,True,
16,19,6.609737623005951,34.172763646089344,0.642055375405338,0.11922626532224312,6,5.690723701436521,0.01936736899083179,0.22155509936605944,1.0,True,
17,18,2.081596655954183,45.003998483060414,0.761206687666586,0.10248796635270672,6,4.778521884225018,0.003602819302929225,0.04280787772842571,1.0,True,
17,19,4.34928579963815,79.047186925154,0.6654080389768575,0.10560001932239894,6,4.647516519431804,0.015683211248127868,0.18051709633786264,1.0,True,
17,20,4.4206846692505035,169.37257900760153,0.6377810007251632,0.11215519048187066,6,5.178731668470772,0.016926609942259613,0.20634229894075337,1.0,True,
18,19,3.459222336215112,34.04318844209358,0.7556208482370976,0.10994458141969204,6,3.594858191146124,0.004654350735545165,0.12873243616635754,1.0,True,
18,20,4.94806857498194,124.36858052454107,0.6686517992904207,0.11525187440612464,6,4.510107356424666,0.022993775653731053,0.1013964892640344,1.0,True,
18,21,6.5847443121227816,175.25342056617163,0.5905541093343251,0.1262853354637165,6,5.942345924349615,0.021857815102479028,0.4259066161744867,1.0,True,
19,20,3.031758915138065,90.32539208244746,0.7420998980632009,0.12052023632629244,6,3.3463968507926847,0.012566250876576632,0.08500209892702067,1.0,True,
19,21,3.732423384308353,141.21023212407198,0.6515019319456562,0.12055764747498063,6,4.076270140910382,0.007120603737667027,0.05561876226347328,1.0,True,
19,22,6.37255124464243,175.13200822775684,0.5905501782985226,0.12548545004843537,6,5.705777346141328,0.005772061596466365,0.10356450735473072,1.0,True,
20,21,2.057726146362386,50.884840041624386,0.7791517249907258,0.1109933103332085,6,3.525554312141476,0.004882992437392809,0.09954673132586826,1.0,True,
20,22,4.388457127616061,94.54259968980386,0.6575290550783224,0.11893104898070972,6,4.203674621017558,0.005511015274661758,0.13108161960065734,1.0,True,
20,23,8.256548639868363,126.4903843444735,0.5799237611181702,0.12732395079162134,6,6.120182481367245,0.02421237470645105,0.2728497258921342,1.0,True,
21,22,2.665930009787955,43.65775964817948,0.7379804721295267,0.11301282071283571,6,4.252070885311591,0.005342970038949662,0.023692959917636515,1.0,True,
21,23,6.670349114267683,75.60554430284907,0.6154133001864512,0.11796945645750438,6,5.503558762374886,0.021862964848253088,0.18671115674675795,1.0,True,
21,24,4.0761181240750135,118.87493116884215,0.6688601936925751,0.11271893154362743,6,4.6072424136923145,0.017882487871653564,0.11231417140662198,1.0,True,
22,23,4.005228418650323,31.947784654669576,0.7269494538989077,0.11696827793053062,6,3.9354343956207307,0.036708381465019306,0.17149160359500737,1.0,True,
22,24,1.4231800329066895,75.21717152066267,0.7625269567423569,0.11122908154278312,6,2.9923801902407035,0.033708002403797385,0.18898419347187523,1.0,True,
22,25,0.9824487562406952,165.63918634111403,0.7063042657606644,0.1109686247290255,6,3.260862218157852,0.0237546710240931,0.20388046327310663,1.0,True,
23,24,2.6253440212817054,43.26938686599312,0.785377057547531,0.11259637754562075,6,3.1689777161216344,0.008388924730327863,0.09824473511740778,1.0,True,
23,25,4.30404511575867,133.69140168644446,0.682445260093659,0.11585305930039552,6,4.459805342354154,0.03262070035564156,0.26820774135203534,1.0,True,
23,26,6.580252552934289,159.52196102005493,0.6190717727618564,0.1225437625254746,6,4.748664745468758,0.020450511219618477,0.11876511292532045,1.0,True,
24,25,2.0155105379126432,90.4220148204513,0.7662452591656131,0.10751986617832841,6,3.2073569479179214,0.020801978066425954,0.11499836231449187,1.0,True,
24,26,4.344602404326578,157.20865211395216,0.7051298290056998,0.11713046861462412,6,4.0423396253765445,0.02866879831073192,0.14020373652670878,1.0,True,
24,27,4.194437499675352,171.65485957819877,0.7231216797369087,0.11332956637109663,6,3.5737137574022637,0.0391123663878616,0.31745415833557195,1.0,True,
25,26,2.340922525153354,66.78663729350096,0.8146752104535746,0.1067005622933313,6,2.8555177924942416,0.015155094735859666,0.09937091691588736,1.0,True,
25,27,2.187150933555911,97.92312560134954,0.8480552070263488,0.10282262567757873,6,2.8008487935140383,0.020178532297188766,0.14259764688967286,1.0,True,
25,28,6.688406442287195,171.26720999836604,0.6516274978006786,0.11571138405667894,6,3.5101673009694134,0.012932261164889271,0.1340627397278959,1.0,True,
26,27,0.6349061963265976,31.136488307848563,0.8667504714016342,0.10966038141955464,6,2.9297274048756186,0.0016799531047772863,0.021489450960699312,1.0,True,
26,28,5.008419104260455,121.94615270813352,0.7044824981113069,0.11528623479803272,6,2.991781333569699,0.011526585390891731,0.12425176309998268,1.0,True,
26,29,2.224643201350574,145.73622267800252,0.713654161930024,0.11136018082941974,6,3.2605126809731075,0.0026952303885011083,0.026655596724504224,1.0,True,
27,28,5.622863551235285,90.80966440028486,0.7058971457311706,0.1123767383226778,6,3.2376046779603893,0.004853942846193662,0.04151426276015074,1.0,True,
27,29,2.458639091699311,114.59973437015381,0.7564328960645812,0.11469589052522192,6,3.205131133212321,0.012664149059349924,0.06847473063899887,1.0,True,
27,30,2.614522132166758,143.98503586800658,0.7694542698332492,0.10812761282109745,6,3.5636250205999853,0.029100131201629794,0.2714584305620497,1.0,True,
28,29,5.5254251571777075,23.790069969868927,0.6751737207833228,0.11779777341629802,6,4.576892329120707,0.02178556321929983,0.16690946122682282,1.0,True,
28,30,6.682895390289165,53.17537146772172,0.6491205871188156,0.12153627244194264,6,5.217063769204219,0.03128065038149053,0.11076032475862632,1.0,True,
28,31,11.27338119162288,23.882243944837096,0.5547279383916173,0.13098667045941628,6,8.538477868201968,0.007811024872033181,0.25693805699014277,1.0,True,
29,30,1.1998189814142899,29.3853014978528,0.8093424727088093,0.11457686827315132,6,2.757583581977887,0.011632920497220726,0.07792616982135933,1.0,True,
29,31,5.755712819539279,0.09217397496817598,0.7190982776089159,0.1179079898277715,6,4.190353867263325,0.010102013331328315,0.05295397679545269,1.0,True,
29,32,7.3497160995478215,44.7412737155501,0.683451384417257,0.12293657670032715,6,4.583568719289398,0.015683401555203327,0.1727804303986473,1.0,True,
30,31,4.592128513798009,29.29312752288462,0.7552004058853374,0.1130974670000902,6,3.6871413543680527,0.010357085925134528,0.12088315402655661,1.0,True,
30,32,6.2188831730504885,74.12657521340287,0.7014059073906874,0.11707558829895812,6,4.009905097582674,0.044382968752358344,0.22757601248033596,1.0,True,
30,33,7.344850966128434,112.7430048900433,0.6023929471032745,0.12334051659083738,6,4.260065691019417,0.002643716461244746,0.05342399356841621,1.0,True,
31,32,1.7043840283934533,44.83344769051828,0.785355810063055,0.11197405173054666,6,3.256332960817364,0.017947904056538493,0.11867936940390052,1.0,True,
31,33,3.3472002644811774,83.44987736715868,0.6260366926363408,0.11401170513833872,6,3.204107721135536,0.005088227871807909,0.05996016929359153,1.0,True,
31,34,3.311630046755356,133.49479301359594,0.6536974685122833,0.11166700866683012,6,3.289691648920709,0.01957685602042411,0.06586346108113965,1.0,True,
32,33,1.9394369188755196,38.61642967664041,0.7442187300370512,0.11487243540634488,6,2.5670787340169654,0.00371510987119075,0.04386474659625542,1.0,True,
32,34,2.1435446082722334,88.6613453230776,0.7408722109533469,0.1145103812359268,6,2.7396880211128143,0.0033854042879271646,0.04345206885157784,1.0,True,
32,35,3.1027737257249126,119.84526039487966,0.8249047681597268,0.10651397196801952,6,2.6908216879663684,0.014229552741777998,0.06789311177543367,1.0,True,
33,34,0.5704890065278277,50.0449156464372,0.8265015479876161,0.1079360614731508,6,3.0056080815747785,0.005517776656180037,0.04447304678975396,1.0,True,
33,35,2.3843314966611664,81.22883071823928,0.7029487179487179,0.11079043369762126,6,2.804837502264682,0.0045321280438173584,0.02066446888667937,1.0,True,
33,36,3.5605240220038255,106.66041349586102,0.612932138284251,0.11677728789370431,6,3.2326527799764184,0.011704878383874686,0.04254924292122366,1.0,True,
34,35,2.9403442697824866,31.183915071802076,0.7198829665436968,0.11381984857774002,6,3.296185466097946,0.015242618456135898,0.1219677981121258,1.0,True,
34,36,4.102710388907318,56.61549784942384,0.6450260449752255,0.11677131628998773,6,3.6854553885932066,0.0029445631740664846,0.0910859237401823,1.0,True,
34,37,3.6865711881345757,30.12086856551724,0.6870731404445548,0.11846537329500156,6,4.5399964456315365,0.013941395463696922,0.12307688004234886,1.0,True,
35,36,1.2045561534352058,25.431582777621774,0.811216429699842,0.11156358795429076,6,2.5821119008039335,0.003966448406861189,0.11486278330291146,1.0,True,
35,37,6.084062615492111,1.063046506284832,0.6916945230136282,0.12226449151266647,6,3.9062079497745845,0.012490325532322776,0.1588294259454204,1.0,True,
36,37,7.2781244258509386,26.494629283906598,0.6406009244992296,0.123972843683949,6,4.59789964279208,0.011995188628592031,0.19550165133048591,1.0,True,
1 i j rtk_translation_m rtk_rotation_deg heldout_inlier_ratio heldout_inlier_rmse_m hessian_rank hessian_condition reverse_translation_m reverse_rotation_deg multistart_success_rate accepted rejection_reasons
2 0 1 0.503306788400079 13.198324485965863 0.7947725072604066 0.09714510386272111 6 3.1645559924308744 0.00040681040655899406 0.015836974306118006 1.0 True
3 0 2 1.1601020961002007 26.306295080591493 0.8196783588704571 0.10111548255452249 6 3.1496351272437915 0.0024786662018318395 0.04305117802148083 1.0 True
4 0 3 1.1328421148283978 41.74134818989305 0.8170202208162759 0.10132889132333661 6 2.9636847958606816 0.001763337668740155 0.0152261810177797 1.0 True
5 1 2 0.6927979865343085 13.107970594625625 0.7847728726807421 0.08513837010948266 6 2.6465075635845983 0.003621881376895638 0.011153493139183525 1.0 True
6 1 3 0.7002295454253883 28.543023703927183 0.7885699962401304 0.09713251502799032 6 2.6341764735488145 0.0014094469663425105 0.02902143941632062 1.0 True
7 1 4 0.8045641659338967 57.731023816949346 0.7363658899355479 0.09863727794945644 6 2.7377680197189993 0.011592408190980286 0.17084480097436408 1.0 True
8 2 3 0.13949776780243606 15.435053109301553 0.918286915396742 0.07288259780013887 6 2.6383381348446657 0.002273707715582919 0.0026923349652342365 1.0 True
9 2 4 0.6701726006967371 44.62305322232371 0.8370341514089079 0.09441127521663696 6 3.0939727970407334 0.0041401597740440875 0.03075174550917053 1.0 True
10 2 5 0.8004226998626774 62.96656300910673 0.8235371293623721 0.10626795357026747 6 2.8027866429960917 0.009148796674106823 0.05256412309062332 1.0 True
11 3 4 0.5366157827594368 29.188000113022152 0.8850603941513032 0.07613142655207121 6 2.6417590251999084 0.0013904645484531576 0.0259404694028417 1.0 True
12 3 5 0.6760093701980526 47.53150989980517 0.8740046236835346 0.09072202522560696 6 2.686157540984516 0.006509933107990933 0.02545212192512678 1.0 True
13 3 6 1.4361364806393455 80.09091141471853 0.6795928884308168 0.10271649349323747 6 3.008166890660092 0.00828154435242913 0.026486510290724834 1.0 True
14 4 5 0.17861948949299924 18.343509786783002 0.8684444444444445 0.0784387700526441 6 2.6861954442048104 0.0025072579888539386 0.021042298559759365 1.0 True
15 4 6 1.5807073315069207 50.90291130169636 0.6781301745000636 0.10313081772493418 6 2.8455217243212387 0.003271195715147848 0.14716032493381534 1.0 True
16 4 7 1.7804201387535592 75.18775779751417 0.7873548387096774 0.09891997778736471 6 3.1802938248442474 0.004633577062239209 0.04472721629193465 1.0 True
17 5 6 1.5316987521992935 32.55940151491337 0.6911991765311374 0.10152400788085783 6 3.2393513551418907 0.005288907067525738 0.05494235971756111 1.0 True
18 5 7 1.6091514152462776 56.844248010731185 0.7747360187719984 0.09121609616459708 6 3.123473300580222 0.00421464356720393 0.015634168997181876 1.0 True
19 5 8 1.1872485760158462 85.67585439000777 0.7829477514946712 0.10577559680144696 6 3.109219016133088 0.0033105282814613057 0.030813019102438145 1.0 True
20 6 7 1.5692385974903325 24.284846495817817 0.7347979599843075 0.10196810239533251 6 3.458846242963224 0.004020707752206965 0.039850323489805044 1.0 True
21 6 8 0.5035712140385419 53.11645287509441 0.7155149934810952 0.10460245111398395 6 3.0180670962260874 0.0072368624874882504 0.0055907688631446776 1.0 True
22 6 9 0.8508108569116883 66.44324365209327 0.6825438366919655 0.10495957402394829 6 3.140616320789838 0.00430894236478819 0.13911475434755866 1.0 True
23 7 8 1.1230406357307108 28.831606379276582 0.8127890077949531 0.09942756972076687 6 2.9436564519387325 0.008316114154115147 0.01814737917470093 1.0 True
24 7 9 0.7186795671679719 42.158397156275456 0.8193873491579367 0.09507291602212191 6 3.5012345051117295 0.006751593996528964 0.029293578235221863 1.0 True
25 7 10 0.39293571356254015 58.25702665650087 0.7940216681895313 0.10356080767641777 6 2.817840996766873 0.006883567504360684 0.016492683422577963 1.0 True
26 8 9 0.4407680716864947 13.326790776998866 0.8581438392384981 0.09484304022144129 6 3.219825075793889 0.007253035671159373 0.024252719250072975 1.0 True
27 8 10 0.968166048306331 29.425420277224287 0.8015356585111921 0.10152298131640612 6 3.7446585062478155 0.0017523919908150464 0.05042176209078739 1.0 True
28 8 11 3.0540124804140354 66.34511043540417 0.688687555052221 0.10536230082368817 6 4.696625415382456 0.0036281146181207165 0.013078005975049522 1.0 True
29 9 10 0.5276649044820116 16.098629500225417 0.8560606060606061 0.09594368034796862 6 3.2778548903058375 0.010491037599418197 0.0599937188173442 1.0 True
30 9 11 2.680593454060616 53.0183196584053 0.6966788735951509 0.10384409271666459 6 4.3419055531595605 0.009543265092514783 0.09977883713501384 1.0 True
31 9 12 3.2944321799753977 73.22024906015783 0.6579243162233046 0.10621203405076814 6 4.293885241325807 0.0028782078295197843 0.0743495992598884 1.0 True
32 10 11 2.249454986440387 36.91969015817989 0.729195173529046 0.10869447817964137 6 4.322382098282597 0.0028206125960216254 0.014140069566934874 1.0 True
33 10 12 2.8783779741216167 57.12161955993242 0.6945982527377876 0.10596349826421764 6 4.493186221276381 0.005660464094292755 0.08952914345108036 1.0 True
34 10 13 3.84803303865234 78.07081297783375 0.6530587074494326 0.1098871098886565 6 4.997105968288151 0.009441275754405344 0.06902225135435515 1.0 True
35 11 12 0.636223282239137 20.20192940175253 0.865792610250298 0.09248705530398661 6 3.4380496057859116 0.007654923324833218 0.03083951917063289 1.0 True
36 11 13 2.0145868546459504 41.151122819653864 0.8217656194003106 0.10443913508460159 6 3.957969004992005 0.0019958122994113434 0.04243931133970266 1.0 True
37 11 14 1.2405786051647103 116.67752660647822 0.7462918660287081 0.10754571546972236 6 4.619857754383166 0.0030226348073827927 0.05528144266002643 1.0 True
38 12 13 1.5928240921286525 20.949193417901323 0.8347322378531742 0.10791137431619166 6 3.358528082155117 0.0033753816186126483 0.015427430722607398 1.0 True
39 12 14 0.6774809171975742 96.47559720472566 0.7626657196969697 0.10926443071446633 6 3.847953795189004 0.0011083901763643633 0.03408686226954418 1.0 True
40 12 15 1.8892292086221258 131.14857460490867 0.7404945183111733 0.10470183850479874 6 3.1806996321008576 0.008442575945215317 0.02844707164454242 1.0 True
41 13 14 0.9721300146850552 75.52640378682433 0.8138569225293629 0.1125369920515294 6 3.2147734820704015 0.005457899756974233 0.04250371025579654 1.0 True
42 13 15 2.426469315960194 110.19938118700728 0.7853886616014026 0.10710393317615087 6 2.4365756135744383 0.0023363953219779758 0.003679886698275418 1.0 True
43 13 16 4.157137927296689 135.66277163100625 0.7461059190031153 0.10791684095774041 6 2.2141337125272007 0.0023169831632091926 0.02473862097872449 1.0 True
44 14 15 2.176233486689304 34.672977400182965 0.7456694756554307 0.11049010248131722 6 2.3376174680383377 0.0027632919724097076 0.05272762900968177 1.0 True
45 14 16 3.79947855245853 60.13636784418198 0.7114577084583084 0.11170286188791147 6 2.479974772421199 0.0043726035924820505 0.11525585711885118 1.0 True
46 14 17 6.190474035537447 15.261944565117341 0.6170986278878855 0.11803645680912848 6 5.206426513766648 0.02802927019183766 0.10048860643286558 1.0 True
47 15 16 1.7328875589135755 25.463390443999018 0.7687034629476421 0.09834033850996364 6 2.3729567416081196 0.004926598691892943 0.10049788043616295 1.0 True
48 15 17 8.352264787019024 19.411032835065622 0.5596902808274586 0.12817180913542037 6 8.442537153126064 0.04660873899639204 0.08128930035257874 1.0 True
49 15 18 6.346037230040679 25.592965647994788 0.6134687462217386 0.11861991782546771 6 5.933642175309751 0.006137337753783083 0.040498570689394164 1.0 True
50 16 17 9.849975560032544 44.87442327906463 0.589649455234486 0.12715782204597983 6 10.240964391202342 0.016491489842564398 0.29283865924681673 1.0 True
51 16 18 7.9099649541476005 0.12957520399577063 0.6441329694864798 0.11977657776801591 6 7.973620675877663 0.01581702082704062 0.07681086634765077 1.0 True
52 16 19 6.609737623005951 34.172763646089344 0.642055375405338 0.11922626532224312 6 5.690723701436521 0.01936736899083179 0.22155509936605944 1.0 True
53 17 18 2.081596655954183 45.003998483060414 0.761206687666586 0.10248796635270672 6 4.778521884225018 0.003602819302929225 0.04280787772842571 1.0 True
54 17 19 4.34928579963815 79.047186925154 0.6654080389768575 0.10560001932239894 6 4.647516519431804 0.015683211248127868 0.18051709633786264 1.0 True
55 17 20 4.4206846692505035 169.37257900760153 0.6377810007251632 0.11215519048187066 6 5.178731668470772 0.016926609942259613 0.20634229894075337 1.0 True
56 18 19 3.459222336215112 34.04318844209358 0.7556208482370976 0.10994458141969204 6 3.594858191146124 0.004654350735545165 0.12873243616635754 1.0 True
57 18 20 4.94806857498194 124.36858052454107 0.6686517992904207 0.11525187440612464 6 4.510107356424666 0.022993775653731053 0.1013964892640344 1.0 True
58 18 21 6.5847443121227816 175.25342056617163 0.5905541093343251 0.1262853354637165 6 5.942345924349615 0.021857815102479028 0.4259066161744867 1.0 True
59 19 20 3.031758915138065 90.32539208244746 0.7420998980632009 0.12052023632629244 6 3.3463968507926847 0.012566250876576632 0.08500209892702067 1.0 True
60 19 21 3.732423384308353 141.21023212407198 0.6515019319456562 0.12055764747498063 6 4.076270140910382 0.007120603737667027 0.05561876226347328 1.0 True
61 19 22 6.37255124464243 175.13200822775684 0.5905501782985226 0.12548545004843537 6 5.705777346141328 0.005772061596466365 0.10356450735473072 1.0 True
62 20 21 2.057726146362386 50.884840041624386 0.7791517249907258 0.1109933103332085 6 3.525554312141476 0.004882992437392809 0.09954673132586826 1.0 True
63 20 22 4.388457127616061 94.54259968980386 0.6575290550783224 0.11893104898070972 6 4.203674621017558 0.005511015274661758 0.13108161960065734 1.0 True
64 20 23 8.256548639868363 126.4903843444735 0.5799237611181702 0.12732395079162134 6 6.120182481367245 0.02421237470645105 0.2728497258921342 1.0 True
65 21 22 2.665930009787955 43.65775964817948 0.7379804721295267 0.11301282071283571 6 4.252070885311591 0.005342970038949662 0.023692959917636515 1.0 True
66 21 23 6.670349114267683 75.60554430284907 0.6154133001864512 0.11796945645750438 6 5.503558762374886 0.021862964848253088 0.18671115674675795 1.0 True
67 21 24 4.0761181240750135 118.87493116884215 0.6688601936925751 0.11271893154362743 6 4.6072424136923145 0.017882487871653564 0.11231417140662198 1.0 True
68 22 23 4.005228418650323 31.947784654669576 0.7269494538989077 0.11696827793053062 6 3.9354343956207307 0.036708381465019306 0.17149160359500737 1.0 True
69 22 24 1.4231800329066895 75.21717152066267 0.7625269567423569 0.11122908154278312 6 2.9923801902407035 0.033708002403797385 0.18898419347187523 1.0 True
70 22 25 0.9824487562406952 165.63918634111403 0.7063042657606644 0.1109686247290255 6 3.260862218157852 0.0237546710240931 0.20388046327310663 1.0 True
71 23 24 2.6253440212817054 43.26938686599312 0.785377057547531 0.11259637754562075 6 3.1689777161216344 0.008388924730327863 0.09824473511740778 1.0 True
72 23 25 4.30404511575867 133.69140168644446 0.682445260093659 0.11585305930039552 6 4.459805342354154 0.03262070035564156 0.26820774135203534 1.0 True
73 23 26 6.580252552934289 159.52196102005493 0.6190717727618564 0.1225437625254746 6 4.748664745468758 0.020450511219618477 0.11876511292532045 1.0 True
74 24 25 2.0155105379126432 90.4220148204513 0.7662452591656131 0.10751986617832841 6 3.2073569479179214 0.020801978066425954 0.11499836231449187 1.0 True
75 24 26 4.344602404326578 157.20865211395216 0.7051298290056998 0.11713046861462412 6 4.0423396253765445 0.02866879831073192 0.14020373652670878 1.0 True
76 24 27 4.194437499675352 171.65485957819877 0.7231216797369087 0.11332956637109663 6 3.5737137574022637 0.0391123663878616 0.31745415833557195 1.0 True
77 25 26 2.340922525153354 66.78663729350096 0.8146752104535746 0.1067005622933313 6 2.8555177924942416 0.015155094735859666 0.09937091691588736 1.0 True
78 25 27 2.187150933555911 97.92312560134954 0.8480552070263488 0.10282262567757873 6 2.8008487935140383 0.020178532297188766 0.14259764688967286 1.0 True
79 25 28 6.688406442287195 171.26720999836604 0.6516274978006786 0.11571138405667894 6 3.5101673009694134 0.012932261164889271 0.1340627397278959 1.0 True
80 26 27 0.6349061963265976 31.136488307848563 0.8667504714016342 0.10966038141955464 6 2.9297274048756186 0.0016799531047772863 0.021489450960699312 1.0 True
81 26 28 5.008419104260455 121.94615270813352 0.7044824981113069 0.11528623479803272 6 2.991781333569699 0.011526585390891731 0.12425176309998268 1.0 True
82 26 29 2.224643201350574 145.73622267800252 0.713654161930024 0.11136018082941974 6 3.2605126809731075 0.0026952303885011083 0.026655596724504224 1.0 True
83 27 28 5.622863551235285 90.80966440028486 0.7058971457311706 0.1123767383226778 6 3.2376046779603893 0.004853942846193662 0.04151426276015074 1.0 True
84 27 29 2.458639091699311 114.59973437015381 0.7564328960645812 0.11469589052522192 6 3.205131133212321 0.012664149059349924 0.06847473063899887 1.0 True
85 27 30 2.614522132166758 143.98503586800658 0.7694542698332492 0.10812761282109745 6 3.5636250205999853 0.029100131201629794 0.2714584305620497 1.0 True
86 28 29 5.5254251571777075 23.790069969868927 0.6751737207833228 0.11779777341629802 6 4.576892329120707 0.02178556321929983 0.16690946122682282 1.0 True
87 28 30 6.682895390289165 53.17537146772172 0.6491205871188156 0.12153627244194264 6 5.217063769204219 0.03128065038149053 0.11076032475862632 1.0 True
88 28 31 11.27338119162288 23.882243944837096 0.5547279383916173 0.13098667045941628 6 8.538477868201968 0.007811024872033181 0.25693805699014277 1.0 True
89 29 30 1.1998189814142899 29.3853014978528 0.8093424727088093 0.11457686827315132 6 2.757583581977887 0.011632920497220726 0.07792616982135933 1.0 True
90 29 31 5.755712819539279 0.09217397496817598 0.7190982776089159 0.1179079898277715 6 4.190353867263325 0.010102013331328315 0.05295397679545269 1.0 True
91 29 32 7.3497160995478215 44.7412737155501 0.683451384417257 0.12293657670032715 6 4.583568719289398 0.015683401555203327 0.1727804303986473 1.0 True
92 30 31 4.592128513798009 29.29312752288462 0.7552004058853374 0.1130974670000902 6 3.6871413543680527 0.010357085925134528 0.12088315402655661 1.0 True
93 30 32 6.2188831730504885 74.12657521340287 0.7014059073906874 0.11707558829895812 6 4.009905097582674 0.044382968752358344 0.22757601248033596 1.0 True
94 30 33 7.344850966128434 112.7430048900433 0.6023929471032745 0.12334051659083738 6 4.260065691019417 0.002643716461244746 0.05342399356841621 1.0 True
95 31 32 1.7043840283934533 44.83344769051828 0.785355810063055 0.11197405173054666 6 3.256332960817364 0.017947904056538493 0.11867936940390052 1.0 True
96 31 33 3.3472002644811774 83.44987736715868 0.6260366926363408 0.11401170513833872 6 3.204107721135536 0.005088227871807909 0.05996016929359153 1.0 True
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