Add LiDAR RTK hand-eye calibration workflow and results
This commit is contained in:
lichun.qu
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i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
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0,1,4.069460063439237,24.612641616688823,0.7376764924448849,0.11846276711125131,6,14.186383674198092,0.007238562624113292,0.02790414903884654,1.0,True,
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0,2,8.883155687691525,14.186041609026283,0.617186536801874,0.12801123590557925,6,36.79061260583155,0.006865219918284302,0.20055597955733165,1.0,True,
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0,3,5.800196618465403,50.885974946353855,0.7186066691459031,0.11701588647718943,6,18.363958192984455,0.008227849157773135,0.05354665376691754,1.0,True,
|
||||
1,2,4.892046307546544,10.426600007662538,0.7423043095866315,0.11327867264180574,6,26.05793878332379,0.01880830643908174,0.13698190350335646,1.0,True,
|
||||
1,3,1.7315947839093804,26.273333329665036,0.8389134554643083,0.10681097771213023,6,14.956194090958816,0.0035146019341874887,0.1349785173147079,1.0,True,
|
||||
1,4,1.6946255625760025,60.40345832959281,0.88,0.10289486740770283,6,11.829281279209892,0.006064649004018339,0.061683233541617866,1.0,True,
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||||
2,3,3.2805755806518446,36.69993333732758,0.795020120724346,0.10968948046836192,6,23.96630628312886,0.006456546110122383,0.030970536985363332,1.0,True,
|
||||
2,4,4.866335020594746,70.83005833725535,0.7190493965409979,0.11680954298455397,6,23.730154915082874,0.005632827193528356,0.03284052493715785,1.0,True,
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||||
2,5,1.8274406190287722,30.448549979291712,0.7598566308243727,0.11774293624986373,6,16.599379025063065,0.028141707120452414,0.19962462817569399,1.0,True,
|
||||
3,4,1.75881263274858,34.13012499992777,0.83898411109721,0.10512726552504312,6,15.664666117555983,0.006186049607122224,0.016880074405568043,1.0,True,
|
||||
3,5,2.1020200425132134,67.14848331661929,0.7968186901951038,0.11623997504357782,6,18.1548400244513,0.021983524103315014,0.3960603757299183,1.0,True,
|
||||
3,6,5.791805311102367,61.163322289150074,0.6568381430363864,0.12435814704811046,6,25.0151910725651,0.008738020425158864,0.1291569973379011,1.0,True,
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||||
4,5,3.30592832159088,101.27860831654709,0.7543039842597147,0.11308907219490882,6,19.690455732375476,0.002243469564109645,0.06843841908142442,1.0,True,
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||||
4,6,6.453995240105232,95.29344728907782,0.6218497827436374,0.12814112793605542,6,41.84651093530334,0.01600824572236542,0.4490447249637784,1.0,True,
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||||
4,7,9.537609568572432,26.32130681988008,0.6169457128361238,0.13205154815512993,6,36.92786505190044,0.019160428104594212,0.2888349968548246,1.0,True,
|
||||
5,6,3.7769167422851373,5.985161027469212,0.7372055740535208,0.1175976253407229,6,19.32269960027907,0.013833903611932107,0.01952771029395653,1.0,True,
|
||||
5,7,6.565348405821576,74.95730149666699,0.6841773746535651,0.11964187966504931,6,27.33180748081407,0.003240486196092054,0.04738439683023512,1.0,True,
|
||||
5,8,6.3343271669452825,107.99940292217995,0.6521066412758867,0.12472719695199193,6,19.156993592870748,0.0278691016568626,0.41056933218195657,1.0,True,
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||||
6,7,3.1558607172566147,68.97214046919777,0.7538481109273629,0.11470554120698542,6,17.160170663404163,0.03433121044907878,0.14981218442224864,1.0,True,
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||||
6,8,3.3979014114419868,102.01424189471071,0.683003003003003,0.11564979549315224,6,20.447019845630425,0.008147035817338538,0.038229943243018406,1.0,True,
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6,9,0.28270347875173524,124.11602215258995,0.7360264227642277,0.11829700338913093,6,18.21588471622476,0.003942462178993821,0.004948404195791413,1.0,True,
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||||
7,8,4.78580085090425,33.04210142551296,0.6644591611479028,0.12091344193997677,6,22.65051252921267,0.010087854632047892,0.1144705976875931,1.0,True,
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||||
7,9,2.876695741106431,166.91183737821345,0.6157641864692897,0.12124276796057824,6,31.889839980753695,2.858085971145254,5.202834749913653,1.0,False,forward_reverse_translation;forward_reverse_rotation
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7,10,3.5227760858025783,151.5297683494061,0.8421725239616613,0.10512064341715703,6,18.208137447441548,0.00590396821278501,0.011716048666689089,1.0,True,
|
||||
8,9,3.469611483011297,133.86973595269956,0.5997550520514391,0.12251997518546373,6,26.58434328826198,0.1455308769088698,0.6888512968600221,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
||||
8,10,8.226583602288494,175.42813022508852,0.5915068162625166,0.1229044134151169,6,28.111420003057543,0.008997663249148741,0.15439288797351725,1.0,True,
|
||||
8,11,1.865267488778983,173.7180803410843,0.6836137963957513,0.11276660610764273,6,37.61742547586071,0.1113060196402131,0.53316971567076,1.0,False,forward_reverse_translation;forward_reverse_rotation
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||||
9,10,5.488028285806731,41.558394272381754,0.5969882593159775,0.11948988234049264,6,38.89573848099908,0.0030407162313759195,0.04107484998318919,1.0,True,
|
||||
9,11,4.718056434111957,39.84834438838189,0.593742114559677,0.12239484647700946,6,46.81089854115947,0.035258275490363276,0.11274694382482037,1.0,True,
|
||||
9,12,4.0664516687652705,11.300244475855449,0.6153363453815262,0.12504774785186165,6,23.277303065116303,0.0752860327247449,0.25939502405614967,1.0,True,
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10,11,8.48963239412477,1.7100498839998592,0.5888198757763975,0.12435475144629402,6,51.68982317778118,0.008996147539897087,0.2187503499467401,1.0,True,
|
||||
10,12,7.8510898708654135,30.258149796526293,0.5523974295600593,0.12600876663407296,6,24.040230371790127,0.0067913142930030295,0.19210976651930364,1.0,True,
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||||
10,13,7.303425556850936,93.89697482620899,0.48622589531680444,0.12387372192061825,6,40.15734453396082,0.010457065237222635,0.051939983599844905,1.0,True,
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||||
11,12,0.684356309096518,28.54809991252644,0.8081153752138841,0.09827968392237502,6,14.074429682972724,0.003170825002365958,0.052994059649638055,1.0,True,
|
||||
11,13,4.983180422136547,92.18692494220912,0.4904655770183259,0.13065086109778945,6,59.94917005604024,0.03026165336674197,0.022229096602302635,1.0,True,
|
||||
11,14,7.513058208926106,116.17598776756182,0.5502994743918836,0.13363854913882675,6,76.59552817138297,0.012728663920096705,0.13777836936248603,1.0,True,
|
||||
12,13,4.470221622128888,63.638825029682685,0.5394185760039418,0.1291861812905223,6,40.18929295270992,0.016569656651710556,0.06971243680146068,1.0,True,
|
||||
12,14,7.042432348069883,87.62788785503537,0.5838501763346711,0.13149007038687927,6,46.68047224389145,0.016475747103725697,0.027479170527625274,1.0,True,
|
||||
12,15,9.425648786798952,64.11974003309916,0.512344920771404,0.13771827771927672,6,83.08102250810028,0.1594220156320846,0.7727589642419826,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
||||
13,14,2.6059162757855927,23.989062825352686,0.6685967722064802,0.11944947118678222,6,17.494241627788213,0.00889966253307221,0.1868503363813343,1.0,True,
|
||||
13,15,4.985522367267706,0.4809150034164723,0.6380833851897947,0.12132550246856395,6,19.285114979899365,0.011310526444604854,0.11618951108877962,1.0,True,
|
||||
13,16,5.330126890587504,0.570225046299944,0.5094008523439458,0.12969283093489314,6,23.287780580490335,0.01929138406979036,0.6381307294537529,1.0,False,forward_reverse_rotation
|
||||
14,15,2.3845573265941185,23.508147821936216,0.7915233415233415,0.11297936021484274,6,14.802453343324077,0.04714013527415902,0.5990777245962995,1.0,False,forward_reverse_rotation
|
||||
14,16,7.871327660405588,24.55928787165262,0.515650129902264,0.1258655742770286,6,27.98905523695805,0.019790578845351906,0.2492103704468241,1.0,True,
|
||||
14,17,6.334147330965719,0.13339551798522414,0.6016802569804793,0.12195151942370595,6,25.851285634799194,0.01939980613812204,0.1992615163030762,1.0,True,
|
||||
15,16,10.188241681839806,1.051140049716416,0.4590676165479315,0.13331101566670972,6,37.36189113980903,0.03193705319987942,0.25820325147713563,1.0,True,
|
||||
15,17,8.639041695194567,23.641543339921444,0.5389415876185721,0.1297159188720241,6,23.825996467364362,0.007152603768137945,0.01099978555369691,1.0,True,
|
||||
15,18,9.620687246763701,76.25281000098852,0.5202642612120442,0.13378678930694327,6,39.71428865706424,0.023698091864950893,0.7026335973530661,1.0,False,forward_reverse_rotation
|
||||
16,17,1.5531467972267479,24.69268338963786,0.7229415461973602,0.10903876418375444,6,27.565368871601265,0.004743603748938733,0.03110066538977425,1.0,True,
|
||||
16,18,0.5677742310084086,77.30395005070493,0.75774251343742,0.10672872147965808,6,23.961833593584473,0.00729627345064471,0.5370128665073076,1.0,False,forward_reverse_rotation
|
||||
16,19,2.9811390265794215,109.91770005034847,0.624375,0.11606003815798548,6,43.92870457834769,0.00942822069733503,0.10349184268425643,1.0,True,
|
||||
17,18,0.98603936348044,52.61126666106708,0.8035782747603833,0.11258525838778834,6,10.5263751279628,0.04456291633933312,0.40754887525204303,1.0,True,
|
||||
17,19,3.326868398717413,85.22501666071064,0.667207589564349,0.1151980232980854,6,37.82913063903142,0.002550382605456025,0.05599236133477508,1.0,True,
|
||||
17,20,1.702964560097507,146.95247656520317,0.6696552595024624,0.11181113630432839,6,22.83917826847431,0.009851652453759501,0.030403861001117326,1.0,True,
|
||||
18,19,3.0423123591285863,32.61374999964355,0.7803049555273189,0.10890373850857962,6,14.866928278077225,0.0027074586252039488,0.03345524421318835,1.0,True,
|
||||
18,20,1.0853574230860805,94.34120990413592,0.7890203137053227,0.110891959946164,6,9.73093989119612,0.07641393239305394,0.480643469622101,1.0,True,
|
||||
18,21,0.7190584934612743,134.43032499953063,0.7686106562539362,0.1151576675189467,6,11.132461972272983,0.012325022302827005,0.06184414805686676,1.0,True,
|
||||
19,20,1.9962827272376449,61.72745990449234,0.7206177800100452,0.11075109929370276,6,18.593207910714877,0.06755956873701982,0.6275145294718035,1.0,False,forward_reverse_rotation
|
||||
19,21,3.133843614009462,101.81657499988698,0.6599384615384616,0.1100348641166372,6,24.889550971173787,0.032753113036640115,0.1570816751009414,1.0,True,
|
||||
19,22,3.558853688535236,131.87013333415302,0.6354319180087847,0.11655958277402616,6,35.20679617831266,0.011678083327496752,0.14115606360994692,1.0,True,
|
||||
20,21,1.4312693216245356,40.08911509539463,0.8091622059006598,0.10860060068735904,6,9.844983425406634,0.004342811149796408,0.43079835067471983,1.0,True,
|
||||
20,22,2.8745434122269677,70.1426734296607,0.7075518262586377,0.11619246575360609,6,10.41692741032582,0.03233653011234762,0.3501326921447133,1.0,True,
|
||||
20,23,2.368927629183393,88.7954400941961,0.7127672722778395,0.11187552234677736,6,10.890181651202985,0.0036477332397017036,0.03588537530780425,1.0,True,
|
||||
21,22,1.9888588003695142,30.053558334266054,0.7451905626134301,0.11103160300292489,6,9.138865693353942,0.007025231148999399,0.031656114821116355,1.0,True,
|
||||
21,23,1.9477165743251885,48.70632499880147,0.7537566650508968,0.1091762180475198,6,10.033043192754391,0.0026262958914527778,0.05939834892732321,1.0,True,
|
||||
21,24,3.76075382790461,86.89547500633407,0.7108181370133071,0.1147630411233105,6,12.077810466162274,0.002611195084459223,0.042823121286843194,1.0,True,
|
||||
22,23,0.8778876913955667,18.652766664535406,0.8809323561215908,0.09065520084082093,6,9.426617095196006,0.00074030291113835,0.005760006892562891,1.0,True,
|
||||
22,24,2.2510479983846268,56.84191667206801,0.7459386832783681,0.1116686389188481,6,10.471980698049531,0.010212372381123916,0.01461127103474581,1.0,True,
|
||||
22,25,3.452614527841686,105.36038662410485,0.6250595521676989,0.10935727133461083,6,47.514851436189325,0.013489723519689117,0.0723917800582207,1.0,True,
|
||||
23,24,1.8212773036309853,38.18915000753262,0.7936138977244923,0.11107653584131949,6,10.660643490600723,0.008437497431588122,0.2765568737620497,1.0,True,
|
||||
23,25,2.999856552735995,86.70761995956946,0.6337826553739712,0.11196536842375276,6,43.84810300726168,0.02359951283541323,0.10308564406068685,1.0,True,
|
||||
23,26,1.7088514993141615,157.34900000166795,0.6073053892215569,0.11004156310392302,6,52.70992994760862,0.013062761031411258,0.0548185753269731,1.0,True,
|
||||
24,25,1.2059352225587747,48.51846995203683,0.7898629804777495,0.11080878069613129,6,17.323052863790767,0.024355899665769485,0.10833606018329535,1.0,True,
|
||||
24,26,1.1958827550030364,119.15984999413537,0.7515217920623326,0.10216449744519186,6,27.478293204817643,0.010967953426658109,0.044641472084512177,1.0,True,
|
||||
24,27,3.786115539231191,149.59794999698258,0.6259589210591437,0.11074683701330018,6,26.105827828207687,0.04374270593226806,0.34168251600562055,1.0,True,
|
||||
25,26,1.8270495459501794,70.64138004209858,0.8273774189718628,0.10613402567174812,6,17.478877580241615,0.018863132797671257,0.12251687299132978,1.0,True,
|
||||
25,27,4.741885618180033,101.07948004494568,0.6236883367506936,0.11275084173352168,6,26.65509822252546,0.005757137825848521,0.2558617834036415,1.0,True,
|
||||
25,28,3.8640843382258447,141.59343004213218,0.5871679316888045,0.11732003715351383,6,52.15762909847497,1.0486443236448235,4.536374847153588,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
||||
26,27,2.939444415707082,30.43810000284707,0.6585129571324776,0.10848902314415616,6,30.227639491425478,0.002959097196576797,0.043581628031778105,1.0,True,
|
||||
26,28,2.285770454773634,70.95205000003368,0.6648410525062507,0.11120026543063653,6,45.565898082132684,0.012512803173543077,0.11122589391716618,1.0,True,
|
||||
26,29,3.6568094249627374,131.92299999999997,0.5895513507080804,0.11693751976202812,6,62.1400238672027,2.7672344834891307,9.168367379205225,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
||||
27,28,2.3764785758716087,40.513949997186636,0.7954517962985364,0.10154002419986238,6,26.01517111533084,0.019135551099374308,0.08227568287606397,1.0,True,
|
||||
27,29,4.061689152213973,101.48489999715295,0.7446499818643453,0.1104935519181424,6,32.698094109014136,0.015390416284740782,0.08645102756020058,1.0,True,
|
||||
27,30,5.033742765789926,178.61309998505533,0.583363515634432,0.11446907648011068,6,105.65813856703667,0.017491035693048888,0.22327775856236398,0.0,False,multistart_instability
|
||||
28,29,1.7860052935263149,60.970949999966315,0.8317879220161674,0.10401467258245657,6,16.856539687156317,0.007126704551442278,0.059447117802805614,1.0,True,
|
||||
28,30,7.378510482049102,138.09914998778677,0.540360873694207,0.1217315596532435,6,243.03186464572013,0.02476143939627759,0.2783665026489561,1.0,True,
|
||||
28,31,8.396001985859645,161.15751666826222,0.5051186318198242,0.12667907013046822,6,145.12677311467613,0.01381623315543165,0.08866229443960012,1.0,True,
|
||||
29,30,8.925911734961222,77.12819998782052,0.5223065970574277,0.12780035193537048,6,94.88866430179526,0.06232017355575957,1.955625956099923,1.0,False,forward_reverse_rotation
|
||||
29,31,9.936139535050964,100.18656666829587,0.49440231130371975,0.12866710903574613,6,130.4988571288183,0.047123741889749056,0.2295904679982487,1.0,True,
|
||||
29,32,9.719184595429152,159.1482027457047,0.49802134548507015,0.12675987702934546,6,49.64602672737782,0.0323736334045635,0.06974950067660468,0.0,False,multistart_instability
|
||||
30,31,1.0176267260390144,23.058366680475352,0.8480586608967424,0.09667505139943416,6,22.5712438700004,0.01573204986385798,0.04061482397026774,1.0,True,
|
||||
30,32,0.8427696971904044,82.02000275788396,0.867680517303317,0.0986734040048058,6,23.367311395821964,0.002023273028745447,0.014811950864385802,1.0,True,
|
||||
30,33,1.1320092061720382,147.1799498371321,0.7995722941665676,0.10006346131537393,6,41.688755802373954,0.00887908049317058,0.048438711468841336,1.0,True,
|
||||
31,32,0.2771314063233405,58.9616360774086,0.8486026731470231,0.09714101002609693,6,27.412782801978597,0.012921368358244189,0.05809273577687571,1.0,True,
|
||||
31,33,0.5409306841643147,124.12158315665668,0.07871263259402121,0.14967084978243636,6,33.0912130689722,2.900706563387122,12.11541439568944,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
|
||||
31,34,0.9901318542574941,155.5976733552555,0.7813404050144648,0.09211161518215291,6,17.31754498769328,3.351107529092291,8.098567652508597,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
||||
32,33,0.38765596924480794,65.15994707924807,0.8592699327569645,0.08972486966187442,6,22.68434781952533,0.0035725430520846596,0.009168450597030125,1.0,True,
|
||||
32,34,1.0327853226589305,96.63603727784675,0.8328530259365994,0.09815070141607997,6,23.927327238925002,0.04150636593087017,1.4498937658029205,1.0,False,forward_reverse_rotation
|
||||
32,35,1.1947451269258382,131.6892972449946,0.8031309297912713,0.09391797152520207,6,30.896133075774756,0.007719527793580684,0.006042163579184511,0.0,False,multistart_instability
|
||||
33,34,0.7453275493729801,31.47609019859864,0.8676435549201811,0.0964383255266311,6,26.835745049910184,0.02602048161602559,1.951142742234491,1.0,False,forward_reverse_rotation
|
||||
33,35,1.0924186931915323,66.52935016574651,0.8329018592610026,0.09179860947142506,6,17.934600324801995,0.0072384331805243046,0.028209706778456432,1.0,True,
|
||||
33,36,3.335020341384374,123.21987515531416,0.760797342192691,0.09861359027653524,6,26.32312350297475,0.0022735557932631,0.12221117701824208,1.0,True,
|
||||
34,35,0.6186130964444055,35.05325996714787,0.8649093904448105,0.0788491357224537,6,23.02575456989985,0.0032110784907267375,0.015379666997505564,1.0,True,
|
||||
34,36,3.114273556969299,91.74378495671547,0.7729789590254706,0.09845381444357724,6,36.91664640012635,0.011794412591703963,0.006135949966801849,1.0,True,
|
||||
34,37,2.8155528331227235,126.08390993626574,0.722881252293017,0.09759501600127507,6,42.82845764024001,0.024742240312777743,0.08718512569927171,1.0,True,
|
||||
35,36,2.4989423629184655,56.69052498956759,0.7695298262665533,0.09495386680108024,6,27.978829086780696,0.006644101856716534,0.038610475450088305,1.0,True,
|
||||
35,37,2.2182956249874577,91.03064996911786,0.7217727327617437,0.10621413586570766,6,32.52725359303394,0.04503438705750094,1.5781812743250268,1.0,False,forward_reverse_rotation
|
||||
36,37,0.5129211474320938,34.34012497955026,0.8785082174462705,0.08834636280188386,6,23.324824248042262,0.003787237363253161,0.027331592166342466,1.0,True,
|
||||
|
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,176 @@
|
||||
i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
|
||||
0,1,0.503306788400079,13.198324485965863,0.8131655372700871,0.09008834340898543,6,11.429289586039127,0.0005504552049968047,0.0032916777115618487,1.0,True,
|
||||
0,2,1.1601020961002007,26.306295080591493,0.8167658604533367,0.09980570916927256,6,11.00789089021616,0.00205395151868756,0.012799633971915293,1.0,True,
|
||||
0,3,1.1328421148283978,41.74134818989305,0.81441508497705,0.10115686777955255,6,13.837529680361882,0.01247476852224996,0.1726729736128094,1.0,True,
|
||||
0,4,1.0129799192122786,70.92934830291522,0.7761963190184049,0.10269905695661055,6,12.888313335228592,0.019300920937430674,0.12217052794626229,1.0,True,
|
||||
0,5,0.9014321094792815,89.27285808969826,0.7735100978813034,0.10986502690369805,6,24.919203290408266,0.0278108340699398,0.2717481445912482,1.0,True,
|
||||
1,2,0.6927979865343085,13.107970594625625,0.7850287907869482,0.08649388452503427,6,11.757459931907107,0.001960394451155616,0.002128143929965857,1.0,True,
|
||||
1,3,0.7002295454253883,28.543023703927183,0.7901992730918661,0.09109387779670658,6,12.066030386554463,0.004906057223105903,0.018773640398341965,1.0,True,
|
||||
1,4,0.8045641659338967,57.731023816949346,0.7439266236985622,0.09680131928922782,6,12.860596463339792,0.020081946886066578,1.2340284819813434,1.0,False,forward_reverse_rotation
|
||||
1,5,0.7829726518389362,76.07453360373235,0.7313806483915384,0.10148815288043825,6,12.782489568272775,0.016729134900242502,0.06734086907642674,1.0,True,
|
||||
1,6,0.7843480712672012,108.63393511864574,0.6214689265536724,0.10742176387842234,6,26.39069479810122,0.0027238824581310127,0.04004688680398286,1.0,True,
|
||||
2,3,0.13949776780243606,15.435053109301553,0.9176300578034682,0.07082931569628453,6,11.740335220665598,0.0016419682635548487,0.0015051284247814798,1.0,True,
|
||||
2,4,0.6701726006967371,44.62305322232371,0.840540189585768,0.08212714345330237,6,12.917292889611646,0.0015059170263523442,0.004861145455894842,1.0,True,
|
||||
2,5,0.8004226998626774,62.96656300910673,0.8300970873786407,0.0931389934573794,6,15.74858194202481,0.002555949510569182,0.008486377461290648,1.0,True,
|
||||
2,6,1.3845111356101025,95.5259645240201,0.6495130297446696,0.10354826871538153,6,15.262952717632835,0.008359384079660144,0.07441619593698878,1.0,True,
|
||||
2,7,2.161304865409727,119.81081101983789,0.8143257302921169,0.09968516416989152,6,30.540416925007207,0.013121403719342412,0.05039604031914888,1.0,True,
|
||||
3,4,0.5366157827594368,29.188000113022152,0.8855689764780674,0.07250679559229746,6,11.672391892657863,0.0006574625393083392,0.0008548453445728261,1.0,True,
|
||||
3,5,0.6760093701980526,47.53150989980517,0.8759311584895967,0.08543306637795112,6,15.073465050917047,0.0011073394938326227,0.004974962253885575,1.0,True,
|
||||
3,6,1.4361364806393455,80.09091141471853,0.678819891780469,0.10239967326707564,6,23.156860004682848,0.002691305620040523,0.027681404773136364,1.0,True,
|
||||
3,7,2.1008551524156123,104.37575791053635,0.7961101683853283,0.10180989325686585,6,29.756525470837225,0.023292005056525338,0.174639961337377,1.0,True,
|
||||
3,8,1.3108481779402037,133.20736428981294,0.11556480999479438,0.1433106939673773,6,147.35707874920627,1.368389528072986,15.0277123732284,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
|
||||
4,5,0.17861948949299924,18.343509786783002,0.8685714285714285,0.07604325543622346,6,12.370184068840063,0.003904582263467037,0.011742002375313174,1.0,True,
|
||||
4,6,1.5807073315069207,50.90291130169636,0.6822060883963826,0.10567824422734254,6,18.163522769519293,0.011923922180697284,0.08008579261790838,1.0,True,
|
||||
4,7,1.7804201387535592,75.18775779751417,0.7963870967741935,0.10178391918503964,6,25.315987799570973,0.034377900701078094,0.11532260919614924,1.0,True,
|
||||
4,8,1.2818497736845669,104.01936417679076,0.7430850379518847,0.10189238984319506,6,25.19640114706588,0.034977663635135596,1.5753470469755222,1.0,False,forward_reverse_rotation
|
||||
4,9,1.5141865499370524,117.34615495378958,0.0841833440929632,0.15176056899798168,6,84.88516221869183,3.340127368239112,6.177861200193235,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
||||
5,6,1.5316987521992935,32.55940151491337,0.6864384971693258,0.10315026388508003,6,11.505426214947052,0.002552272421554712,0.013899678900349944,1.0,True,
|
||||
5,7,1.6091514152462776,56.844248010731185,0.8104549602398644,0.09862238510016193,6,16.517299930207333,0.0037398303757535147,0.02129636862756259,1.0,True,
|
||||
5,8,1.1872485760158462,85.67585439000777,0.7806082661814401,0.10305777405801758,6,17.737819341361416,0.0056799616182010805,0.026182015145595202,1.0,True,
|
||||
5,9,1.380208837139288,99.00264516700663,0.7946777980693973,0.10313535699942489,6,14.147499646203187,0.06270036555847405,0.33857191756776234,1.0,True,
|
||||
5,10,1.7506315276318887,115.10127466723206,0.7847418443359877,0.10018431236036145,6,21.425526326745782,0.005291671170548772,0.044796841001461946,1.0,True,
|
||||
6,7,1.5692385974903325,24.284846495817817,0.7380672159016608,0.1046107504689679,6,13.947054238965462,0.010178220865611676,0.026255002379027764,1.0,True,
|
||||
6,8,0.5035712140385419,53.11645287509441,0.7026075619295958,0.10337241424878332,6,21.232848227388097,0.017447450845101884,0.1292664848366822,1.0,True,
|
||||
6,9,0.8508108569116883,66.44324365209327,0.6714210939544621,0.10949604778423808,6,34.21205543097956,0.09491078892598759,0.32255986251320673,1.0,False,forward_reverse_translation
|
||||
6,10,1.3331914459292633,82.5418731523187,0.6619427982478743,0.10510077922086615,6,31.101566437428897,0.003562383894956786,0.04536548719264196,1.0,True,
|
||||
6,11,3.16887584646763,119.46156331049859,0.638006230529595,0.1061575017783152,6,31.943306843588733,0.0059304520508679575,0.05963953472442965,1.0,True,
|
||||
7,8,1.1230406357307108,28.831606379276582,0.8040692297529396,0.09680052952350976,6,22.21980394474879,0.008328073875015064,0.06350723756646647,1.0,True,
|
||||
7,9,0.7186795671679719,42.158397156275456,0.8274764620076913,0.09296346258223728,6,22.096355228992984,0.0076981468910999155,0.020277033650542,1.0,True,
|
||||
7,10,0.39293571356254015,58.25702665650087,0.7992429186790236,0.10479299924479576,6,30.246845596558646,0.04240408437264065,1.1111803590641476,1.0,False,forward_reverse_rotation
|
||||
7,11,2.4544901278439815,95.17671681468076,0.7502523977788995,0.1028589368143411,6,19.931284665592216,0.005620519728387707,0.0303880139721275,1.0,True,
|
||||
7,12,3.0905023273107046,115.3786462164333,0.7054418372441338,0.10706084863640537,6,10.761985004268995,0.004629206980441498,0.07009059694702204,1.0,True,
|
||||
8,9,0.4407680716864947,13.326790776998866,0.8539132734003173,0.09158655960119419,6,31.292808872701826,0.0036696927581956673,0.014909075167693285,1.0,True,
|
||||
8,10,0.968166048306331,29.425420277224287,0.7989328474752733,0.09757506446655329,6,25.45934970841849,0.008689580645481346,0.052297435035790506,1.0,True,
|
||||
8,11,3.0540124804140354,66.34511043540417,0.6854158802063672,0.10755838259974337,6,42.46956117899474,0.00234148729464824,0.061662020462905004,1.0,True,
|
||||
8,12,3.652970846697932,86.5470398371567,0.6485376477909147,0.11031208403019,6,30.049664340525695,0.013830104055554564,0.11563630256710061,1.0,True,
|
||||
8,13,4.357531202056024,107.49623325505803,0.622879241516966,0.1149201207874094,6,27.04257772502661,0.005835943764379069,0.23887217550290574,1.0,True,
|
||||
9,10,0.5276649044820116,16.098629500225417,0.8486154649947754,0.09691837979566219,6,22.577834737399076,0.007052114296262031,0.2907164943632002,1.0,True,
|
||||
9,11,2.680593454060616,53.0183196584053,0.6963000378835712,0.10535088240045436,6,39.530571540955094,0.0034527207661208545,0.020238883727394828,1.0,True,
|
||||
9,12,3.2944321799753977,73.22024906015783,0.6584238791057825,0.10587631557960675,6,33.498316372288826,0.009482405807021465,0.07225186033919398,1.0,True,
|
||||
9,13,4.1147924441994315,94.16944247805917,0.621557336004006,0.11335203160746431,6,32.6975845279655,0.009011781776631502,0.0416830306778097,1.0,True,
|
||||
9,14,3.748520283907519,169.69584626488452,0.048890560361037984,0.15557197380465354,6,51.54107837707314,1.0864076801076206,7.184564913859941,0.5,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
|
||||
10,11,2.249454986440387,36.91969015817989,0.7156362731683045,0.10422606491110974,6,45.45254669271086,0.004301999273657816,0.02361974788713562,1.0,True,
|
||||
10,12,2.8783779741216167,57.12161955993242,0.692875599852344,0.10691573133186853,6,39.11010182412513,0.004231594662123499,0.01872424915403812,1.0,True,
|
||||
10,13,3.84803303865234,78.07081297783375,0.6594721262950173,0.10871022234744057,6,43.1464607017966,0.006980776690426113,0.21408921607631748,1.0,True,
|
||||
10,14,3.3834992499807997,153.59721676465847,0.062245276028158575,0.15570919185507412,6,59.4104405367878,0.09444016841800375,2.8556589503073977,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
||||
10,15,1.4957886147833104,171.72980583515965,0.6232518545542989,0.10969245891269987,6,43.00146365447724,3.0001452916434883,4.8522273147326915,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
||||
11,12,0.636223282239137,20.20192940175253,0.8688915375446961,0.08660981428891965,6,18.033297623211222,0.005089530929434581,0.03170796903435614,1.0,True,
|
||||
11,13,2.0145868546459504,41.151122819653864,0.8021741727392188,0.10650327571539893,6,18.339724002801702,0.04485533499047456,0.27313934813876123,1.0,True,
|
||||
11,14,1.2405786051647103,116.67752660647822,0.7455741626794259,0.11063741423489376,6,20.694961222671232,0.007044503253911164,0.40985193451245056,1.0,True,
|
||||
11,15,1.4202907399288436,151.3505040066613,0.7466415272213057,0.10329430650455694,6,27.704214205277534,0.13203399207663835,1.4478079414864902,0.5,False,forward_reverse_translation;forward_reverse_rotation
|
||||
11,16,2.7368971716016928,176.81389445065594,0.78639603721155,0.10318237166131629,6,34.658693494341755,0.008767229441137649,0.032548654712657686,1.0,True,
|
||||
12,13,1.5928240921286525,20.949193417901323,0.8217283366828231,0.10684146627686454,6,16.400323597466677,0.01763325318199382,0.09467538550034012,1.0,True,
|
||||
12,14,0.6774809171975742,96.47559720472566,0.7611268939393939,0.10826784336909262,6,10.635638995146312,0.0015931090432955832,0.024585439481643892,1.0,True,
|
||||
12,15,1.8892292086221258,131.14857460490867,0.7324469325868906,0.11113399174419211,6,19.970471882560926,0.0024416100752998565,0.009279978214820864,1.0,True,
|
||||
12,16,3.349436875941103,156.6119650489076,0.7500298864315601,0.10525785108693746,6,30.70828038440084,0.0024719134275639418,0.013160987022490347,1.0,True,
|
||||
12,17,6.51378754358264,111.73754176984298,0.6198434030618207,0.1221546776649581,6,23.54160456185754,0.013538123192296372,0.06236055877935909,1.0,True,
|
||||
13,14,0.9721300146850552,75.52640378682433,0.8278562107011508,0.10919246415865995,6,12.723402368483741,0.0049872211162087675,0.02566897887278044,1.0,True,
|
||||
13,15,2.426469315960194,110.19938118700728,0.7886616014026885,0.10800229196760061,6,13.66454080002457,0.0038816141140735755,0.020030260506224723,1.0,True,
|
||||
13,16,4.157137927296689,135.66277163100625,0.7477833692786964,0.10901310110319071,6,21.034367079780026,0.0024107551433002806,0.01470679715840447,1.0,True,
|
||||
13,17,6.347445048137873,90.78834835194164,0.6122042632935114,0.12126385638135445,6,27.550293797111443,0.010111269848200304,1.6132660739833655,1.0,False,forward_reverse_rotation
|
||||
13,18,4.26917989710959,135.79234683500215,0.6756988719960765,0.1140499722068077,6,13.668694297489541,0.010188526275029454,0.05757819838859875,1.0,True,
|
||||
14,15,2.176233486689304,34.672977400182965,0.7415730337078652,0.11426627617931512,6,13.437209845730706,0.009280638111078932,0.07287904157175247,1.0,True,
|
||||
14,16,3.79947855245853,60.13636784418198,0.7130173965206958,0.11194096137848975,6,36.60672565292038,0.0004016408999195087,0.020284570842973915,1.0,True,
|
||||
14,17,6.190474035537447,15.261944565117341,0.6118212736015011,0.11991020962112661,6,17.152314443231333,0.020151321868834806,0.2079666531947748,1.0,True,
|
||||
14,18,4.170672674565236,60.26594304817776,0.6756292203806016,0.1138218459710723,6,11.041435170572107,0.023698120255922432,0.1321697884270417,1.0,True,
|
||||
14,19,3.9999134794649294,94.30913149027137,0.6699172941612147,0.112413086617321,6,9.748384934395327,0.018186549996561333,1.2493862686891326,1.0,False,forward_reverse_rotation
|
||||
15,16,1.7328875589135755,25.463390443999018,0.7714218177520388,0.10015132538295435,6,21.49868629780701,0.007439481433750378,0.036349268136368934,1.0,True,
|
||||
15,17,8.352264787019024,19.411032835065622,0.5587657459840518,0.12832496127520593,6,38.53228682833441,0.005430301274456062,0.06530638270069017,1.0,True,
|
||||
15,18,6.346037230040679,25.592965647994788,0.615040502962157,0.11840729454457544,6,21.032065383701333,0.012871328625232324,0.037753566213482644,1.0,True,
|
||||
15,19,5.607512178689573,59.636154090088375,0.6234350309955026,0.11735435665832353,6,16.270394372537467,0.007833445352022574,0.016491686030251827,1.0,True,
|
||||
15,20,8.633248754322691,149.96154617253603,0.5562658304185261,0.13192141621005607,6,26.944324835385952,0.023510650105734523,0.673469393155776,1.0,False,forward_reverse_rotation
|
||||
16,17,9.849975560032544,44.87442327906463,0.5900047370914259,0.1265936504427481,6,90.52736834449948,0.011296955150750666,0.21501790849158783,1.0,True,
|
||||
16,18,7.9099649541476005,0.12957520399577063,0.6471098982882659,0.12019779875781794,6,38.44752656622707,0.016821400599454826,0.06522344447557246,1.0,True,
|
||||
16,19,6.609737623005951,34.172763646089344,0.6280868046894488,0.12242728727104996,6,33.04590657073916,0.06745241310870236,1.6183598806956783,1.0,False,forward_reverse_rotation
|
||||
16,20,9.541288639020653,124.49815572853673,0.5791883197228409,0.127436475456937,6,40.945151692592816,2.599521231663455,5.87323656621683,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
||||
16,21,9.407850320517097,175.38299577015903,0.49424730531670097,0.13389808634231865,6,45.28912477989511,0.04478742358365585,0.10475809279093058,1.0,True,
|
||||
17,18,2.081596655954183,45.003998483060414,0.7629028349890962,0.10358638519274684,6,18.62989302843653,0.007136146106563684,0.13887814859043496,1.0,True,
|
||||
17,19,4.34928579963815,79.047186925154,0.6728380024360536,0.10727518915463004,6,33.81541258417489,0.0017207670327870018,0.035486867252565536,1.0,True,
|
||||
17,20,4.4206846692505035,169.37257900760153,0.6354846507130771,0.11168219002675635,6,38.40506040461897,0.020290214498459216,0.2831192364677464,1.0,True,
|
||||
17,21,6.400116212709096,139.7425809507742,0.5695348561959995,0.1231813524465837,6,57.78224861663297,0.009859208985419086,0.31053558178227947,1.0,True,
|
||||
17,22,8.798226453379533,96.08482130259475,0.5459048079246195,0.1287223998113377,6,62.758312260043155,0.03194615937469955,0.5773515871730924,1.0,False,forward_reverse_rotation
|
||||
18,19,3.459222336215112,34.04318844209358,0.7562595809913132,0.11139160446923307,6,9.605522638453952,0.013156152321531143,0.09121207325672914,1.0,True,
|
||||
18,20,4.94806857498194,124.36858052454107,0.6668778509883426,0.1149564835181103,6,18.76442873201715,0.0076759006397633354,0.11713903044228172,1.0,True,
|
||||
18,21,6.5847443121227816,175.25342056617163,0.5977438948803768,0.12625086545570646,6,26.666713369082085,0.021119392446408227,0.18202979634982344,1.0,True,
|
||||
18,22,9.20681259274594,141.08881978565523,0.5286220871327254,0.13561310095446666,6,65.22594013516775,0.03713510940704989,0.6483189610135184,1.0,False,forward_reverse_rotation
|
||||
18,23,13.164275822166362,109.14103513098563,0.47146496815286626,0.14168298172295804,6,112.91469628781756,0.01208598984738065,0.6082838532521024,1.0,False,forward_reverse_rotation
|
||||
19,20,3.031758915138065,90.32539208244746,0.7409531090723751,0.11651827109675585,6,10.060869835729363,0.0051743650857167135,0.07263138471648796,1.0,True,
|
||||
19,21,3.732423384308353,141.21023212407198,0.6563629565000623,0.12291187901196955,6,15.339627619255575,0.0075358808329252175,0.06620678153945667,1.0,True,
|
||||
19,22,6.37255124464243,175.13200822775684,0.5891492613346918,0.12519472268444526,6,28.30213785955742,0.010212573357042046,0.11056129275235052,1.0,True,
|
||||
19,23,10.37094757900695,143.1842235730793,0.4984627209838586,0.13443006540917718,6,96.22322799212152,0.02229275506707497,0.2903847316754494,1.0,True,
|
||||
19,24,7.752290899896264,99.91483670708607,0.5732565579014716,0.1300803661721533,6,45.37964984018865,0.07078749161909308,0.6582469262123747,1.0,False,forward_reverse_rotation
|
||||
20,21,2.057726146362386,50.884840041624386,0.7808828984790405,0.11119787612354914,6,10.584324886965474,0.0031476308503252674,0.022487168529706673,1.0,True,
|
||||
20,22,4.388457127616061,94.54259968980386,0.6557604850934815,0.11898674179731801,6,16.883756700029306,0.008500396323601164,0.06463449106814506,1.0,True,
|
||||
20,23,8.256548639868363,126.4903843444735,0.5833545108005083,0.12863144503040289,6,48.7242741462686,0.013890482176493085,0.14514813799569015,1.0,True,
|
||||
20,24,5.797339988732605,169.75977121046614,0.6348521385962685,0.11831053318180502,6,31.671029215629257,0.00725649124030166,0.27346756317921195,1.0,True,
|
||||
20,25,3.9584300095978864,99.81821396908215,0.7094296865164296,0.11461231093244224,6,16.207076145397426,0.005999722474434507,0.07369423294061743,1.0,True,
|
||||
21,22,2.665930009787955,43.65775964817948,0.7387220368310469,0.11520069835112393,6,16.025252253059314,0.0021484382611444506,0.09312757978022868,1.0,True,
|
||||
21,23,6.670349114267683,75.60554430284907,0.6238657551274084,0.11987801174807478,6,32.271874238810035,0.007927242611182222,0.08795608522524892,1.0,True,
|
||||
21,24,4.0761181240750135,118.87493116884215,0.6712192699279861,0.11172772070549726,6,21.556821129992922,0.04673963175312233,0.22273623714194987,1.0,True,
|
||||
21,25,2.626640779558244,150.70305401070652,0.699310174919931,0.11234398811200015,6,15.335715959290205,0.018678960705618183,0.1734016933410122,1.0,True,
|
||||
21,26,2.086425835169367,83.91641671720558,0.7166481550043194,0.11091971646336789,6,12.109452825928004,0.00977162867106615,0.0631934229127065,1.0,True,
|
||||
22,23,4.005228418650323,31.947784654669576,0.7252984505969012,0.11644876240570266,6,17.935878140214236,0.013002087545984397,0.11470841251550605,1.0,True,
|
||||
22,24,1.4231800329066895,75.21717152066267,0.7555499175440822,0.1089594430160029,6,14.427403734239578,0.0044919719825295985,0.008669004448985662,1.0,True,
|
||||
22,25,0.9824487562406952,165.63918634111403,0.7088209387190134,0.11165869814478939,6,23.409617344710625,0.005265657588642687,0.10195131255569051,1.0,True,
|
||||
22,26,3.0743977770984916,127.57417636538506,0.6831820474029249,0.11509847268437542,6,18.05320621935197,0.010313466929779696,0.02189018950989812,1.0,True,
|
||||
22,27,3.054692363582515,96.43768805753649,0.712325317889966,0.11297739003609018,6,14.570486778570737,0.006473104665270118,0.07627008321159866,1.0,True,
|
||||
23,24,2.6253440212817054,43.26938686599312,0.787546254944494,0.11112536909525574,6,13.667766137918514,0.003984385308883342,0.012875657690538275,1.0,True,
|
||||
23,25,4.30404511575867,133.69140168644446,0.6839640551828883,0.11561487899989795,6,40.22316701306096,0.009663940236368565,0.2587163051792124,1.0,True,
|
||||
23,26,6.580252552934289,159.52196102005493,0.6214811057570377,0.12356096223549605,6,59.18789907295204,0.03346639663911815,0.040359288659068966,1.0,True,
|
||||
23,27,6.261292051742304,128.3854727122061,0.6439154109155375,0.11883308044324468,6,48.252953818047224,0.01363202571969651,0.268813724284828,1.0,True,
|
||||
23,28,10.83543880539923,37.57580831192121,0.5551750380517504,0.13104613123848732,6,44.00847715074386,0.01592501575703795,0.1925228188054137,1.0,True,
|
||||
24,25,2.0155105379126432,90.4220148204513,0.7610619469026548,0.10446971824743242,6,22.29894236104597,0.01721789520038266,0.09266069416139829,1.0,True,
|
||||
24,26,4.344602404326578,157.20865211395216,0.6986700443318556,0.11795525471114342,6,30.354013262701024,0.0239438468814135,0.2700005297192175,1.0,True,
|
||||
24,27,4.194437499675352,171.65485957819877,0.7233746521629142,0.11505806966234582,6,24.218829066684407,0.0071603040929797065,0.1144565168286882,1.0,True,
|
||||
24,28,8.235813904401468,80.84519517791432,0.618522741669834,0.1218895746871147,6,34.55835443937473,0.008956300116613691,0.24319664279778394,1.0,True,
|
||||
24,29,2.7255497122534083,57.0551252080454,0.7635993899339095,0.11147922533242269,6,11.572525725181164,0.02246832420061709,0.4519372330281508,1.0,True,
|
||||
25,26,2.340922525153354,66.78663729350096,0.8176906646563639,0.1076748622762494,6,10.194320056407282,0.011727583881002021,0.04299213457608308,1.0,True,
|
||||
25,27,2.187150933555911,97.92312560134954,0.8508155583437892,0.10177690901936605,6,9.447407214356089,0.004921098494284399,0.04722324529000337,1.0,True,
|
||||
25,28,6.688406442287195,171.26720999836604,0.6552720874701521,0.1158307449607044,6,16.856702471098828,0.010027166778796438,0.069841684352646,1.0,True,
|
||||
25,29,1.411474020521721,147.47714002849685,0.7434442763489663,0.11227320270489505,6,19.207346965238134,0.005744598995027529,0.30413185830684,1.0,True,
|
||||
25,30,0.5324917816481396,118.09183853064393,0.7986111111111112,0.1061010900656728,6,14.995080416656407,0.004651476537899485,0.06337779258524685,1.0,True,
|
||||
26,27,0.6349061963265976,31.136488307848563,0.8835952231301069,0.10164781558403184,6,8.741658683232068,0.0010243697887392141,0.04630474119881922,1.0,True,
|
||||
26,28,5.008419104260455,121.94615270813352,0.7013346764039284,0.1156303654422143,6,10.39669408260953,0.016692399239017493,0.1408617368634082,1.0,True,
|
||||
26,29,2.224643201350574,145.73622267800252,0.7255273462170014,0.11343814488049828,6,14.171918272295303,0.0030631045126193056,0.10499072900350268,1.0,True,
|
||||
26,30,2.6736935848107626,175.1215241758588,0.7273877292852625,0.11178149175643984,6,20.18904245623208,0.002906139936114469,0.06343916895540856,1.0,True,
|
||||
26,31,6.867005915953627,145.82839665297058,0.6099962135554714,0.12348129729633385,6,43.35600938855713,0.011230201352754812,0.02547666380871279,1.0,True,
|
||||
27,28,5.622863551235285,90.80966440028486,0.7116811266188859,0.11387091842867321,6,10.816842555490693,0.011430300098438593,0.17858658887118406,1.0,True,
|
||||
27,29,2.458639091699311,114.59973437015381,0.7588294651866802,0.10898351788466304,6,11.452504275483305,0.002552411031283606,0.096053889700167,1.0,True,
|
||||
27,30,2.614522132166758,143.98503586800658,0.7699595755432036,0.10809432324457112,6,19.384788093934308,0.006419845852952349,0.09683669503892821,1.0,True,
|
||||
27,31,6.500901961576647,114.69190834512194,0.6407864885303756,0.12195597170279295,6,45.71099685307573,0.03203829198983217,0.21314212616538905,1.0,True,
|
||||
27,32,8.204840364723921,69.85846065460369,0.6120722798923491,0.12793570356778294,6,50.652407095458955,0.02476270066797521,0.18953242722457034,1.0,True,
|
||||
28,29,5.5254251571777075,23.790069969868927,0.6751737207833228,0.11816626627973714,6,15.58130572797597,0.0036062245918322845,0.04228106700822467,1.0,True,
|
||||
28,30,6.682895390289165,53.17537146772172,0.6476021763887132,0.12162303323930705,6,19.56745364015458,0.036760870155111036,0.061189777619461184,1.0,True,
|
||||
28,31,11.27338119162288,23.882243944837096,0.558515338972352,0.1324943729180927,6,46.74937334475135,0.011294835537302048,0.22869636591571527,1.0,True,
|
||||
28,32,12.874594603353637,20.951203745681177,0.5356867779204108,0.13793317141107478,6,47.36276875018484,0.009260784922164039,0.4736145985672847,1.0,True,
|
||||
28,33,13.796424177198949,59.567633422321585,0.49968659897204465,0.13776776698165452,6,59.65569689133837,0.03480709552965627,0.1328751318540718,1.0,True,
|
||||
29,30,1.1998189814142899,29.3853014978528,0.8126428027418127,0.11465616151168853,6,9.73882704495904,0.059123063905753705,0.35885997079417975,1.0,True,
|
||||
29,31,5.755712819539279,0.09217397496817598,0.7178318135764944,0.11831514282300001,6,19.572443598172608,0.03055388488044922,0.16788276176822323,1.0,True,
|
||||
29,32,7.3497160995478215,44.7412737155501,0.6866709594333548,0.12344589693451308,6,19.69654687402097,0.01847461637742171,0.10764991453418553,1.0,True,
|
||||
29,33,8.359102419083325,83.35770339219052,0.6151911468812877,0.12607024585552623,6,19.321252328369155,0.005640558537625966,0.060018922799470055,1.0,True,
|
||||
29,34,8.008340805017072,133.40261903862776,0.6489454636216149,0.1229782406905996,6,19.361211916752247,0.024951598645873194,0.20519725330906424,1.0,True,
|
||||
30,31,4.592128513798009,29.29312752288462,0.76103500761035,0.11418966560335815,6,16.756236396505788,0.010805499433410783,0.0764328342532002,1.0,True,
|
||||
30,32,6.2188831730504885,74.12657521340287,0.7051463949438926,0.11749249261595905,6,20.554466965332146,0.009422682577629085,0.037900377279079585,1.0,True,
|
||||
30,33,7.344850966128434,112.7430048900433,0.6064231738035264,0.12368925274094972,6,20.291143104650924,0.0147669225762263,0.09037435316445036,1.0,True,
|
||||
30,34,7.0347870411064095,162.78792053648075,0.6427946506686664,0.12352381867411776,6,21.47516866844496,3.1821548176867474,2.4099911828321603,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
||||
30,35,9.281470813161304,166.02816439171798,0.690784364483562,0.12252550482763978,6,16.634587270964886,0.009824737708452339,0.14818916841264132,1.0,True,
|
||||
31,32,1.7043840283934533,44.83344769051828,0.7959078625659504,0.10965414855273443,6,12.882067962817517,0.009608345699366565,0.04073745185785107,1.0,True,
|
||||
31,33,3.3472002644811774,83.44987736715868,0.636089469716009,0.11810494837446742,6,13.701242758091343,0.01055590691460776,0.06271370554561609,1.0,True,
|
||||
31,34,3.311630046755356,133.49479301359594,0.6599326599326599,0.11513164519765848,6,15.199690471396346,0.002580333972310516,0.03476275200242535,1.0,True,
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]
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||||
}
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||||
},
|
||||
"ground": {
|
||||
"planes": 38,
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||||
"body_origin_height_above_ground_m": 0.2335,
|
||||
"formula": "d_lidar - (R_X n_lidar)^T t_X - body_height"
|
||||
},
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||||
"linearized_one_sigma": {
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||||
"translation_m": [
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||||
"warning": "conditional local estimate; bootstrap is the primary stability check"
|
||||
},
|
||||
"weighted_jacobian_condition_number": 6.329566115808833,
|
||||
"solver_multistart": {
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||||
"runs": 12,
|
||||
"candidates_relative_to_best": [
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||||
{
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
}
|
||||
]
|
||||
},
|
||||
"bootstrap": {
|
||||
"runs": 100,
|
||||
"order": [
|
||||
"x_m",
|
||||
"y_m",
|
||||
"z_m",
|
||||
"roll_deg",
|
||||
"pitch_deg",
|
||||
"yaw_deg"
|
||||
],
|
||||
"std": [
|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
"p975": [
|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
]
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user