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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
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results/small_gicp/B_batch1_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
0,1,4.069460063439237,24.612641616688823,0.7376764924448849,0.11846276711125131,6,14.186383674198092,0.007238562624113292,0.02790414903884654,1.0,True,
0,2,8.883155687691525,14.186041609026283,0.617186536801874,0.12801123590557925,6,36.79061260583155,0.006865219918284302,0.20055597955733165,1.0,True,
0,3,5.800196618465403,50.885974946353855,0.7186066691459031,0.11701588647718943,6,18.363958192984455,0.008227849157773135,0.05354665376691754,1.0,True,
1,2,4.892046307546544,10.426600007662538,0.7423043095866315,0.11327867264180574,6,26.05793878332379,0.01880830643908174,0.13698190350335646,1.0,True,
1,3,1.7315947839093804,26.273333329665036,0.8389134554643083,0.10681097771213023,6,14.956194090958816,0.0035146019341874887,0.1349785173147079,1.0,True,
1,4,1.6946255625760025,60.40345832959281,0.88,0.10289486740770283,6,11.829281279209892,0.006064649004018339,0.061683233541617866,1.0,True,
2,3,3.2805755806518446,36.69993333732758,0.795020120724346,0.10968948046836192,6,23.96630628312886,0.006456546110122383,0.030970536985363332,1.0,True,
2,4,4.866335020594746,70.83005833725535,0.7190493965409979,0.11680954298455397,6,23.730154915082874,0.005632827193528356,0.03284052493715785,1.0,True,
2,5,1.8274406190287722,30.448549979291712,0.7598566308243727,0.11774293624986373,6,16.599379025063065,0.028141707120452414,0.19962462817569399,1.0,True,
3,4,1.75881263274858,34.13012499992777,0.83898411109721,0.10512726552504312,6,15.664666117555983,0.006186049607122224,0.016880074405568043,1.0,True,
3,5,2.1020200425132134,67.14848331661929,0.7968186901951038,0.11623997504357782,6,18.1548400244513,0.021983524103315014,0.3960603757299183,1.0,True,
3,6,5.791805311102367,61.163322289150074,0.6568381430363864,0.12435814704811046,6,25.0151910725651,0.008738020425158864,0.1291569973379011,1.0,True,
4,5,3.30592832159088,101.27860831654709,0.7543039842597147,0.11308907219490882,6,19.690455732375476,0.002243469564109645,0.06843841908142442,1.0,True,
4,6,6.453995240105232,95.29344728907782,0.6218497827436374,0.12814112793605542,6,41.84651093530334,0.01600824572236542,0.4490447249637784,1.0,True,
4,7,9.537609568572432,26.32130681988008,0.6169457128361238,0.13205154815512993,6,36.92786505190044,0.019160428104594212,0.2888349968548246,1.0,True,
5,6,3.7769167422851373,5.985161027469212,0.7372055740535208,0.1175976253407229,6,19.32269960027907,0.013833903611932107,0.01952771029395653,1.0,True,
5,7,6.565348405821576,74.95730149666699,0.6841773746535651,0.11964187966504931,6,27.33180748081407,0.003240486196092054,0.04738439683023512,1.0,True,
5,8,6.3343271669452825,107.99940292217995,0.6521066412758867,0.12472719695199193,6,19.156993592870748,0.0278691016568626,0.41056933218195657,1.0,True,
6,7,3.1558607172566147,68.97214046919777,0.7538481109273629,0.11470554120698542,6,17.160170663404163,0.03433121044907878,0.14981218442224864,1.0,True,
6,8,3.3979014114419868,102.01424189471071,0.683003003003003,0.11564979549315224,6,20.447019845630425,0.008147035817338538,0.038229943243018406,1.0,True,
6,9,0.28270347875173524,124.11602215258995,0.7360264227642277,0.11829700338913093,6,18.21588471622476,0.003942462178993821,0.004948404195791413,1.0,True,
7,8,4.78580085090425,33.04210142551296,0.6644591611479028,0.12091344193997677,6,22.65051252921267,0.010087854632047892,0.1144705976875931,1.0,True,
7,9,2.876695741106431,166.91183737821345,0.6157641864692897,0.12124276796057824,6,31.889839980753695,2.858085971145254,5.202834749913653,1.0,False,forward_reverse_translation;forward_reverse_rotation
7,10,3.5227760858025783,151.5297683494061,0.8421725239616613,0.10512064341715703,6,18.208137447441548,0.00590396821278501,0.011716048666689089,1.0,True,
8,9,3.469611483011297,133.86973595269956,0.5997550520514391,0.12251997518546373,6,26.58434328826198,0.1455308769088698,0.6888512968600221,1.0,False,forward_reverse_translation;forward_reverse_rotation
8,10,8.226583602288494,175.42813022508852,0.5915068162625166,0.1229044134151169,6,28.111420003057543,0.008997663249148741,0.15439288797351725,1.0,True,
8,11,1.865267488778983,173.7180803410843,0.6836137963957513,0.11276660610764273,6,37.61742547586071,0.1113060196402131,0.53316971567076,1.0,False,forward_reverse_translation;forward_reverse_rotation
9,10,5.488028285806731,41.558394272381754,0.5969882593159775,0.11948988234049264,6,38.89573848099908,0.0030407162313759195,0.04107484998318919,1.0,True,
9,11,4.718056434111957,39.84834438838189,0.593742114559677,0.12239484647700946,6,46.81089854115947,0.035258275490363276,0.11274694382482037,1.0,True,
9,12,4.0664516687652705,11.300244475855449,0.6153363453815262,0.12504774785186165,6,23.277303065116303,0.0752860327247449,0.25939502405614967,1.0,True,
10,11,8.48963239412477,1.7100498839998592,0.5888198757763975,0.12435475144629402,6,51.68982317778118,0.008996147539897087,0.2187503499467401,1.0,True,
10,12,7.8510898708654135,30.258149796526293,0.5523974295600593,0.12600876663407296,6,24.040230371790127,0.0067913142930030295,0.19210976651930364,1.0,True,
10,13,7.303425556850936,93.89697482620899,0.48622589531680444,0.12387372192061825,6,40.15734453396082,0.010457065237222635,0.051939983599844905,1.0,True,
11,12,0.684356309096518,28.54809991252644,0.8081153752138841,0.09827968392237502,6,14.074429682972724,0.003170825002365958,0.052994059649638055,1.0,True,
11,13,4.983180422136547,92.18692494220912,0.4904655770183259,0.13065086109778945,6,59.94917005604024,0.03026165336674197,0.022229096602302635,1.0,True,
11,14,7.513058208926106,116.17598776756182,0.5502994743918836,0.13363854913882675,6,76.59552817138297,0.012728663920096705,0.13777836936248603,1.0,True,
12,13,4.470221622128888,63.638825029682685,0.5394185760039418,0.1291861812905223,6,40.18929295270992,0.016569656651710556,0.06971243680146068,1.0,True,
12,14,7.042432348069883,87.62788785503537,0.5838501763346711,0.13149007038687927,6,46.68047224389145,0.016475747103725697,0.027479170527625274,1.0,True,
12,15,9.425648786798952,64.11974003309916,0.512344920771404,0.13771827771927672,6,83.08102250810028,0.1594220156320846,0.7727589642419826,1.0,False,forward_reverse_translation;forward_reverse_rotation
13,14,2.6059162757855927,23.989062825352686,0.6685967722064802,0.11944947118678222,6,17.494241627788213,0.00889966253307221,0.1868503363813343,1.0,True,
13,15,4.985522367267706,0.4809150034164723,0.6380833851897947,0.12132550246856395,6,19.285114979899365,0.011310526444604854,0.11618951108877962,1.0,True,
13,16,5.330126890587504,0.570225046299944,0.5094008523439458,0.12969283093489314,6,23.287780580490335,0.01929138406979036,0.6381307294537529,1.0,False,forward_reverse_rotation
14,15,2.3845573265941185,23.508147821936216,0.7915233415233415,0.11297936021484274,6,14.802453343324077,0.04714013527415902,0.5990777245962995,1.0,False,forward_reverse_rotation
14,16,7.871327660405588,24.55928787165262,0.515650129902264,0.1258655742770286,6,27.98905523695805,0.019790578845351906,0.2492103704468241,1.0,True,
14,17,6.334147330965719,0.13339551798522414,0.6016802569804793,0.12195151942370595,6,25.851285634799194,0.01939980613812204,0.1992615163030762,1.0,True,
15,16,10.188241681839806,1.051140049716416,0.4590676165479315,0.13331101566670972,6,37.36189113980903,0.03193705319987942,0.25820325147713563,1.0,True,
15,17,8.639041695194567,23.641543339921444,0.5389415876185721,0.1297159188720241,6,23.825996467364362,0.007152603768137945,0.01099978555369691,1.0,True,
15,18,9.620687246763701,76.25281000098852,0.5202642612120442,0.13378678930694327,6,39.71428865706424,0.023698091864950893,0.7026335973530661,1.0,False,forward_reverse_rotation
16,17,1.5531467972267479,24.69268338963786,0.7229415461973602,0.10903876418375444,6,27.565368871601265,0.004743603748938733,0.03110066538977425,1.0,True,
16,18,0.5677742310084086,77.30395005070493,0.75774251343742,0.10672872147965808,6,23.961833593584473,0.00729627345064471,0.5370128665073076,1.0,False,forward_reverse_rotation
16,19,2.9811390265794215,109.91770005034847,0.624375,0.11606003815798548,6,43.92870457834769,0.00942822069733503,0.10349184268425643,1.0,True,
17,18,0.98603936348044,52.61126666106708,0.8035782747603833,0.11258525838778834,6,10.5263751279628,0.04456291633933312,0.40754887525204303,1.0,True,
17,19,3.326868398717413,85.22501666071064,0.667207589564349,0.1151980232980854,6,37.82913063903142,0.002550382605456025,0.05599236133477508,1.0,True,
17,20,1.702964560097507,146.95247656520317,0.6696552595024624,0.11181113630432839,6,22.83917826847431,0.009851652453759501,0.030403861001117326,1.0,True,
18,19,3.0423123591285863,32.61374999964355,0.7803049555273189,0.10890373850857962,6,14.866928278077225,0.0027074586252039488,0.03345524421318835,1.0,True,
18,20,1.0853574230860805,94.34120990413592,0.7890203137053227,0.110891959946164,6,9.73093989119612,0.07641393239305394,0.480643469622101,1.0,True,
18,21,0.7190584934612743,134.43032499953063,0.7686106562539362,0.1151576675189467,6,11.132461972272983,0.012325022302827005,0.06184414805686676,1.0,True,
19,20,1.9962827272376449,61.72745990449234,0.7206177800100452,0.11075109929370276,6,18.593207910714877,0.06755956873701982,0.6275145294718035,1.0,False,forward_reverse_rotation
19,21,3.133843614009462,101.81657499988698,0.6599384615384616,0.1100348641166372,6,24.889550971173787,0.032753113036640115,0.1570816751009414,1.0,True,
19,22,3.558853688535236,131.87013333415302,0.6354319180087847,0.11655958277402616,6,35.20679617831266,0.011678083327496752,0.14115606360994692,1.0,True,
20,21,1.4312693216245356,40.08911509539463,0.8091622059006598,0.10860060068735904,6,9.844983425406634,0.004342811149796408,0.43079835067471983,1.0,True,
20,22,2.8745434122269677,70.1426734296607,0.7075518262586377,0.11619246575360609,6,10.41692741032582,0.03233653011234762,0.3501326921447133,1.0,True,
20,23,2.368927629183393,88.7954400941961,0.7127672722778395,0.11187552234677736,6,10.890181651202985,0.0036477332397017036,0.03588537530780425,1.0,True,
21,22,1.9888588003695142,30.053558334266054,0.7451905626134301,0.11103160300292489,6,9.138865693353942,0.007025231148999399,0.031656114821116355,1.0,True,
21,23,1.9477165743251885,48.70632499880147,0.7537566650508968,0.1091762180475198,6,10.033043192754391,0.0026262958914527778,0.05939834892732321,1.0,True,
21,24,3.76075382790461,86.89547500633407,0.7108181370133071,0.1147630411233105,6,12.077810466162274,0.002611195084459223,0.042823121286843194,1.0,True,
22,23,0.8778876913955667,18.652766664535406,0.8809323561215908,0.09065520084082093,6,9.426617095196006,0.00074030291113835,0.005760006892562891,1.0,True,
22,24,2.2510479983846268,56.84191667206801,0.7459386832783681,0.1116686389188481,6,10.471980698049531,0.010212372381123916,0.01461127103474581,1.0,True,
22,25,3.452614527841686,105.36038662410485,0.6250595521676989,0.10935727133461083,6,47.514851436189325,0.013489723519689117,0.0723917800582207,1.0,True,
23,24,1.8212773036309853,38.18915000753262,0.7936138977244923,0.11107653584131949,6,10.660643490600723,0.008437497431588122,0.2765568737620497,1.0,True,
23,25,2.999856552735995,86.70761995956946,0.6337826553739712,0.11196536842375276,6,43.84810300726168,0.02359951283541323,0.10308564406068685,1.0,True,
23,26,1.7088514993141615,157.34900000166795,0.6073053892215569,0.11004156310392302,6,52.70992994760862,0.013062761031411258,0.0548185753269731,1.0,True,
24,25,1.2059352225587747,48.51846995203683,0.7898629804777495,0.11080878069613129,6,17.323052863790767,0.024355899665769485,0.10833606018329535,1.0,True,
24,26,1.1958827550030364,119.15984999413537,0.7515217920623326,0.10216449744519186,6,27.478293204817643,0.010967953426658109,0.044641472084512177,1.0,True,
24,27,3.786115539231191,149.59794999698258,0.6259589210591437,0.11074683701330018,6,26.105827828207687,0.04374270593226806,0.34168251600562055,1.0,True,
25,26,1.8270495459501794,70.64138004209858,0.8273774189718628,0.10613402567174812,6,17.478877580241615,0.018863132797671257,0.12251687299132978,1.0,True,
25,27,4.741885618180033,101.07948004494568,0.6236883367506936,0.11275084173352168,6,26.65509822252546,0.005757137825848521,0.2558617834036415,1.0,True,
25,28,3.8640843382258447,141.59343004213218,0.5871679316888045,0.11732003715351383,6,52.15762909847497,1.0486443236448235,4.536374847153588,1.0,False,forward_reverse_translation;forward_reverse_rotation
26,27,2.939444415707082,30.43810000284707,0.6585129571324776,0.10848902314415616,6,30.227639491425478,0.002959097196576797,0.043581628031778105,1.0,True,
26,28,2.285770454773634,70.95205000003368,0.6648410525062507,0.11120026543063653,6,45.565898082132684,0.012512803173543077,0.11122589391716618,1.0,True,
26,29,3.6568094249627374,131.92299999999997,0.5895513507080804,0.11693751976202812,6,62.1400238672027,2.7672344834891307,9.168367379205225,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
27,28,2.3764785758716087,40.513949997186636,0.7954517962985364,0.10154002419986238,6,26.01517111533084,0.019135551099374308,0.08227568287606397,1.0,True,
27,29,4.061689152213973,101.48489999715295,0.7446499818643453,0.1104935519181424,6,32.698094109014136,0.015390416284740782,0.08645102756020058,1.0,True,
27,30,5.033742765789926,178.61309998505533,0.583363515634432,0.11446907648011068,6,105.65813856703667,0.017491035693048888,0.22327775856236398,0.0,False,multistart_instability
28,29,1.7860052935263149,60.970949999966315,0.8317879220161674,0.10401467258245657,6,16.856539687156317,0.007126704551442278,0.059447117802805614,1.0,True,
28,30,7.378510482049102,138.09914998778677,0.540360873694207,0.1217315596532435,6,243.03186464572013,0.02476143939627759,0.2783665026489561,1.0,True,
28,31,8.396001985859645,161.15751666826222,0.5051186318198242,0.12667907013046822,6,145.12677311467613,0.01381623315543165,0.08866229443960012,1.0,True,
29,30,8.925911734961222,77.12819998782052,0.5223065970574277,0.12780035193537048,6,94.88866430179526,0.06232017355575957,1.955625956099923,1.0,False,forward_reverse_rotation
29,31,9.936139535050964,100.18656666829587,0.49440231130371975,0.12866710903574613,6,130.4988571288183,0.047123741889749056,0.2295904679982487,1.0,True,
29,32,9.719184595429152,159.1482027457047,0.49802134548507015,0.12675987702934546,6,49.64602672737782,0.0323736334045635,0.06974950067660468,0.0,False,multistart_instability
30,31,1.0176267260390144,23.058366680475352,0.8480586608967424,0.09667505139943416,6,22.5712438700004,0.01573204986385798,0.04061482397026774,1.0,True,
30,32,0.8427696971904044,82.02000275788396,0.867680517303317,0.0986734040048058,6,23.367311395821964,0.002023273028745447,0.014811950864385802,1.0,True,
30,33,1.1320092061720382,147.1799498371321,0.7995722941665676,0.10006346131537393,6,41.688755802373954,0.00887908049317058,0.048438711468841336,1.0,True,
31,32,0.2771314063233405,58.9616360774086,0.8486026731470231,0.09714101002609693,6,27.412782801978597,0.012921368358244189,0.05809273577687571,1.0,True,
31,33,0.5409306841643147,124.12158315665668,0.07871263259402121,0.14967084978243636,6,33.0912130689722,2.900706563387122,12.11541439568944,1.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
31,34,0.9901318542574941,155.5976733552555,0.7813404050144648,0.09211161518215291,6,17.31754498769328,3.351107529092291,8.098567652508597,0.0,False,forward_reverse_translation;forward_reverse_rotation;multistart_instability
32,33,0.38765596924480794,65.15994707924807,0.8592699327569645,0.08972486966187442,6,22.68434781952533,0.0035725430520846596,0.009168450597030125,1.0,True,
32,34,1.0327853226589305,96.63603727784675,0.8328530259365994,0.09815070141607997,6,23.927327238925002,0.04150636593087017,1.4498937658029205,1.0,False,forward_reverse_rotation
32,35,1.1947451269258382,131.6892972449946,0.8031309297912713,0.09391797152520207,6,30.896133075774756,0.007719527793580684,0.006042163579184511,0.0,False,multistart_instability
33,34,0.7453275493729801,31.47609019859864,0.8676435549201811,0.0964383255266311,6,26.835745049910184,0.02602048161602559,1.951142742234491,1.0,False,forward_reverse_rotation
33,35,1.0924186931915323,66.52935016574651,0.8329018592610026,0.09179860947142506,6,17.934600324801995,0.0072384331805243046,0.028209706778456432,1.0,True,
33,36,3.335020341384374,123.21987515531416,0.760797342192691,0.09861359027653524,6,26.32312350297475,0.0022735557932631,0.12221117701824208,1.0,True,
34,35,0.6186130964444055,35.05325996714787,0.8649093904448105,0.0788491357224537,6,23.02575456989985,0.0032110784907267375,0.015379666997505564,1.0,True,
34,36,3.114273556969299,91.74378495671547,0.7729789590254706,0.09845381444357724,6,36.91664640012635,0.011794412591703963,0.006135949966801849,1.0,True,
34,37,2.8155528331227235,126.08390993626574,0.722881252293017,0.09759501600127507,6,42.82845764024001,0.024742240312777743,0.08718512569927171,1.0,True,
35,36,2.4989423629184655,56.69052498956759,0.7695298262665533,0.09495386680108024,6,27.978829086780696,0.006644101856716534,0.038610475450088305,1.0,True,
35,37,2.2182956249874577,91.03064996911786,0.7217727327617437,0.10621413586570766,6,32.52725359303394,0.04503438705750094,1.5781812743250268,1.0,False,forward_reverse_rotation
36,37,0.5129211474320938,34.34012497955026,0.8785082174462705,0.08834636280188386,6,23.324824248042262,0.003787237363253161,0.027331592166342466,1.0,True,
1 i j rtk_translation_m rtk_rotation_deg heldout_inlier_ratio heldout_inlier_rmse_m hessian_rank hessian_condition reverse_translation_m reverse_rotation_deg multistart_success_rate accepted rejection_reasons
2 0 1 4.069460063439237 24.612641616688823 0.7376764924448849 0.11846276711125131 6 14.186383674198092 0.007238562624113292 0.02790414903884654 1.0 True
3 0 2 8.883155687691525 14.186041609026283 0.617186536801874 0.12801123590557925 6 36.79061260583155 0.006865219918284302 0.20055597955733165 1.0 True
4 0 3 5.800196618465403 50.885974946353855 0.7186066691459031 0.11701588647718943 6 18.363958192984455 0.008227849157773135 0.05354665376691754 1.0 True
5 1 2 4.892046307546544 10.426600007662538 0.7423043095866315 0.11327867264180574 6 26.05793878332379 0.01880830643908174 0.13698190350335646 1.0 True
6 1 3 1.7315947839093804 26.273333329665036 0.8389134554643083 0.10681097771213023 6 14.956194090958816 0.0035146019341874887 0.1349785173147079 1.0 True
7 1 4 1.6946255625760025 60.40345832959281 0.88 0.10289486740770283 6 11.829281279209892 0.006064649004018339 0.061683233541617866 1.0 True
8 2 3 3.2805755806518446 36.69993333732758 0.795020120724346 0.10968948046836192 6 23.96630628312886 0.006456546110122383 0.030970536985363332 1.0 True
9 2 4 4.866335020594746 70.83005833725535 0.7190493965409979 0.11680954298455397 6 23.730154915082874 0.005632827193528356 0.03284052493715785 1.0 True
10 2 5 1.8274406190287722 30.448549979291712 0.7598566308243727 0.11774293624986373 6 16.599379025063065 0.028141707120452414 0.19962462817569399 1.0 True
11 3 4 1.75881263274858 34.13012499992777 0.83898411109721 0.10512726552504312 6 15.664666117555983 0.006186049607122224 0.016880074405568043 1.0 True
12 3 5 2.1020200425132134 67.14848331661929 0.7968186901951038 0.11623997504357782 6 18.1548400244513 0.021983524103315014 0.3960603757299183 1.0 True
13 3 6 5.791805311102367 61.163322289150074 0.6568381430363864 0.12435814704811046 6 25.0151910725651 0.008738020425158864 0.1291569973379011 1.0 True
14 4 5 3.30592832159088 101.27860831654709 0.7543039842597147 0.11308907219490882 6 19.690455732375476 0.002243469564109645 0.06843841908142442 1.0 True
15 4 6 6.453995240105232 95.29344728907782 0.6218497827436374 0.12814112793605542 6 41.84651093530334 0.01600824572236542 0.4490447249637784 1.0 True
16 4 7 9.537609568572432 26.32130681988008 0.6169457128361238 0.13205154815512993 6 36.92786505190044 0.019160428104594212 0.2888349968548246 1.0 True
17 5 6 3.7769167422851373 5.985161027469212 0.7372055740535208 0.1175976253407229 6 19.32269960027907 0.013833903611932107 0.01952771029395653 1.0 True
18 5 7 6.565348405821576 74.95730149666699 0.6841773746535651 0.11964187966504931 6 27.33180748081407 0.003240486196092054 0.04738439683023512 1.0 True
19 5 8 6.3343271669452825 107.99940292217995 0.6521066412758867 0.12472719695199193 6 19.156993592870748 0.0278691016568626 0.41056933218195657 1.0 True
20 6 7 3.1558607172566147 68.97214046919777 0.7538481109273629 0.11470554120698542 6 17.160170663404163 0.03433121044907878 0.14981218442224864 1.0 True
21 6 8 3.3979014114419868 102.01424189471071 0.683003003003003 0.11564979549315224 6 20.447019845630425 0.008147035817338538 0.038229943243018406 1.0 True
22 6 9 0.28270347875173524 124.11602215258995 0.7360264227642277 0.11829700338913093 6 18.21588471622476 0.003942462178993821 0.004948404195791413 1.0 True
23 7 8 4.78580085090425 33.04210142551296 0.6644591611479028 0.12091344193997677 6 22.65051252921267 0.010087854632047892 0.1144705976875931 1.0 True
24 7 9 2.876695741106431 166.91183737821345 0.6157641864692897 0.12124276796057824 6 31.889839980753695 2.858085971145254 5.202834749913653 1.0 False forward_reverse_translation;forward_reverse_rotation
25 7 10 3.5227760858025783 151.5297683494061 0.8421725239616613 0.10512064341715703 6 18.208137447441548 0.00590396821278501 0.011716048666689089 1.0 True
26 8 9 3.469611483011297 133.86973595269956 0.5997550520514391 0.12251997518546373 6 26.58434328826198 0.1455308769088698 0.6888512968600221 1.0 False forward_reverse_translation;forward_reverse_rotation
27 8 10 8.226583602288494 175.42813022508852 0.5915068162625166 0.1229044134151169 6 28.111420003057543 0.008997663249148741 0.15439288797351725 1.0 True
28 8 11 1.865267488778983 173.7180803410843 0.6836137963957513 0.11276660610764273 6 37.61742547586071 0.1113060196402131 0.53316971567076 1.0 False forward_reverse_translation;forward_reverse_rotation
29 9 10 5.488028285806731 41.558394272381754 0.5969882593159775 0.11948988234049264 6 38.89573848099908 0.0030407162313759195 0.04107484998318919 1.0 True
30 9 11 4.718056434111957 39.84834438838189 0.593742114559677 0.12239484647700946 6 46.81089854115947 0.035258275490363276 0.11274694382482037 1.0 True
31 9 12 4.0664516687652705 11.300244475855449 0.6153363453815262 0.12504774785186165 6 23.277303065116303 0.0752860327247449 0.25939502405614967 1.0 True
32 10 11 8.48963239412477 1.7100498839998592 0.5888198757763975 0.12435475144629402 6 51.68982317778118 0.008996147539897087 0.2187503499467401 1.0 True
33 10 12 7.8510898708654135 30.258149796526293 0.5523974295600593 0.12600876663407296 6 24.040230371790127 0.0067913142930030295 0.19210976651930364 1.0 True
34 10 13 7.303425556850936 93.89697482620899 0.48622589531680444 0.12387372192061825 6 40.15734453396082 0.010457065237222635 0.051939983599844905 1.0 True
35 11 12 0.684356309096518 28.54809991252644 0.8081153752138841 0.09827968392237502 6 14.074429682972724 0.003170825002365958 0.052994059649638055 1.0 True
36 11 13 4.983180422136547 92.18692494220912 0.4904655770183259 0.13065086109778945 6 59.94917005604024 0.03026165336674197 0.022229096602302635 1.0 True
37 11 14 7.513058208926106 116.17598776756182 0.5502994743918836 0.13363854913882675 6 76.59552817138297 0.012728663920096705 0.13777836936248603 1.0 True
38 12 13 4.470221622128888 63.638825029682685 0.5394185760039418 0.1291861812905223 6 40.18929295270992 0.016569656651710556 0.06971243680146068 1.0 True
39 12 14 7.042432348069883 87.62788785503537 0.5838501763346711 0.13149007038687927 6 46.68047224389145 0.016475747103725697 0.027479170527625274 1.0 True
40 12 15 9.425648786798952 64.11974003309916 0.512344920771404 0.13771827771927672 6 83.08102250810028 0.1594220156320846 0.7727589642419826 1.0 False forward_reverse_translation;forward_reverse_rotation
41 13 14 2.6059162757855927 23.989062825352686 0.6685967722064802 0.11944947118678222 6 17.494241627788213 0.00889966253307221 0.1868503363813343 1.0 True
42 13 15 4.985522367267706 0.4809150034164723 0.6380833851897947 0.12132550246856395 6 19.285114979899365 0.011310526444604854 0.11618951108877962 1.0 True
43 13 16 5.330126890587504 0.570225046299944 0.5094008523439458 0.12969283093489314 6 23.287780580490335 0.01929138406979036 0.6381307294537529 1.0 False forward_reverse_rotation
44 14 15 2.3845573265941185 23.508147821936216 0.7915233415233415 0.11297936021484274 6 14.802453343324077 0.04714013527415902 0.5990777245962995 1.0 False forward_reverse_rotation
45 14 16 7.871327660405588 24.55928787165262 0.515650129902264 0.1258655742770286 6 27.98905523695805 0.019790578845351906 0.2492103704468241 1.0 True
46 14 17 6.334147330965719 0.13339551798522414 0.6016802569804793 0.12195151942370595 6 25.851285634799194 0.01939980613812204 0.1992615163030762 1.0 True
47 15 16 10.188241681839806 1.051140049716416 0.4590676165479315 0.13331101566670972 6 37.36189113980903 0.03193705319987942 0.25820325147713563 1.0 True
48 15 17 8.639041695194567 23.641543339921444 0.5389415876185721 0.1297159188720241 6 23.825996467364362 0.007152603768137945 0.01099978555369691 1.0 True
49 15 18 9.620687246763701 76.25281000098852 0.5202642612120442 0.13378678930694327 6 39.71428865706424 0.023698091864950893 0.7026335973530661 1.0 False forward_reverse_rotation
50 16 17 1.5531467972267479 24.69268338963786 0.7229415461973602 0.10903876418375444 6 27.565368871601265 0.004743603748938733 0.03110066538977425 1.0 True
51 16 18 0.5677742310084086 77.30395005070493 0.75774251343742 0.10672872147965808 6 23.961833593584473 0.00729627345064471 0.5370128665073076 1.0 False forward_reverse_rotation
52 16 19 2.9811390265794215 109.91770005034847 0.624375 0.11606003815798548 6 43.92870457834769 0.00942822069733503 0.10349184268425643 1.0 True
53 17 18 0.98603936348044 52.61126666106708 0.8035782747603833 0.11258525838778834 6 10.5263751279628 0.04456291633933312 0.40754887525204303 1.0 True
54 17 19 3.326868398717413 85.22501666071064 0.667207589564349 0.1151980232980854 6 37.82913063903142 0.002550382605456025 0.05599236133477508 1.0 True
55 17 20 1.702964560097507 146.95247656520317 0.6696552595024624 0.11181113630432839 6 22.83917826847431 0.009851652453759501 0.030403861001117326 1.0 True
56 18 19 3.0423123591285863 32.61374999964355 0.7803049555273189 0.10890373850857962 6 14.866928278077225 0.0027074586252039488 0.03345524421318835 1.0 True
57 18 20 1.0853574230860805 94.34120990413592 0.7890203137053227 0.110891959946164 6 9.73093989119612 0.07641393239305394 0.480643469622101 1.0 True
58 18 21 0.7190584934612743 134.43032499953063 0.7686106562539362 0.1151576675189467 6 11.132461972272983 0.012325022302827005 0.06184414805686676 1.0 True
59 19 20 1.9962827272376449 61.72745990449234 0.7206177800100452 0.11075109929370276 6 18.593207910714877 0.06755956873701982 0.6275145294718035 1.0 False forward_reverse_rotation
60 19 21 3.133843614009462 101.81657499988698 0.6599384615384616 0.1100348641166372 6 24.889550971173787 0.032753113036640115 0.1570816751009414 1.0 True
61 19 22 3.558853688535236 131.87013333415302 0.6354319180087847 0.11655958277402616 6 35.20679617831266 0.011678083327496752 0.14115606360994692 1.0 True
62 20 21 1.4312693216245356 40.08911509539463 0.8091622059006598 0.10860060068735904 6 9.844983425406634 0.004342811149796408 0.43079835067471983 1.0 True
63 20 22 2.8745434122269677 70.1426734296607 0.7075518262586377 0.11619246575360609 6 10.41692741032582 0.03233653011234762 0.3501326921447133 1.0 True
64 20 23 2.368927629183393 88.7954400941961 0.7127672722778395 0.11187552234677736 6 10.890181651202985 0.0036477332397017036 0.03588537530780425 1.0 True
65 21 22 1.9888588003695142 30.053558334266054 0.7451905626134301 0.11103160300292489 6 9.138865693353942 0.007025231148999399 0.031656114821116355 1.0 True
66 21 23 1.9477165743251885 48.70632499880147 0.7537566650508968 0.1091762180475198 6 10.033043192754391 0.0026262958914527778 0.05939834892732321 1.0 True
67 21 24 3.76075382790461 86.89547500633407 0.7108181370133071 0.1147630411233105 6 12.077810466162274 0.002611195084459223 0.042823121286843194 1.0 True
68 22 23 0.8778876913955667 18.652766664535406 0.8809323561215908 0.09065520084082093 6 9.426617095196006 0.00074030291113835 0.005760006892562891 1.0 True
69 22 24 2.2510479983846268 56.84191667206801 0.7459386832783681 0.1116686389188481 6 10.471980698049531 0.010212372381123916 0.01461127103474581 1.0 True
70 22 25 3.452614527841686 105.36038662410485 0.6250595521676989 0.10935727133461083 6 47.514851436189325 0.013489723519689117 0.0723917800582207 1.0 True
71 23 24 1.8212773036309853 38.18915000753262 0.7936138977244923 0.11107653584131949 6 10.660643490600723 0.008437497431588122 0.2765568737620497 1.0 True
72 23 25 2.999856552735995 86.70761995956946 0.6337826553739712 0.11196536842375276 6 43.84810300726168 0.02359951283541323 0.10308564406068685 1.0 True
73 23 26 1.7088514993141615 157.34900000166795 0.6073053892215569 0.11004156310392302 6 52.70992994760862 0.013062761031411258 0.0548185753269731 1.0 True
74 24 25 1.2059352225587747 48.51846995203683 0.7898629804777495 0.11080878069613129 6 17.323052863790767 0.024355899665769485 0.10833606018329535 1.0 True
75 24 26 1.1958827550030364 119.15984999413537 0.7515217920623326 0.10216449744519186 6 27.478293204817643 0.010967953426658109 0.044641472084512177 1.0 True
76 24 27 3.786115539231191 149.59794999698258 0.6259589210591437 0.11074683701330018 6 26.105827828207687 0.04374270593226806 0.34168251600562055 1.0 True
77 25 26 1.8270495459501794 70.64138004209858 0.8273774189718628 0.10613402567174812 6 17.478877580241615 0.018863132797671257 0.12251687299132978 1.0 True
78 25 27 4.741885618180033 101.07948004494568 0.6236883367506936 0.11275084173352168 6 26.65509822252546 0.005757137825848521 0.2558617834036415 1.0 True
79 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
80 26 27 2.939444415707082 30.43810000284707 0.6585129571324776 0.10848902314415616 6 30.227639491425478 0.002959097196576797 0.043581628031778105 1.0 True
81 26 28 2.285770454773634 70.95205000003368 0.6648410525062507 0.11120026543063653 6 45.565898082132684 0.012512803173543077 0.11122589391716618 1.0 True
82 26 29 3.6568094249627374 131.92299999999997 0.5895513507080804 0.11693751976202812 6 62.1400238672027 2.7672344834891307 9.168367379205225 0.0 False forward_reverse_translation;forward_reverse_rotation;multistart_instability
83 27 28 2.3764785758716087 40.513949997186636 0.7954517962985364 0.10154002419986238 6 26.01517111533084 0.019135551099374308 0.08227568287606397 1.0 True
84 27 29 4.061689152213973 101.48489999715295 0.7446499818643453 0.1104935519181424 6 32.698094109014136 0.015390416284740782 0.08645102756020058 1.0 True
85 27 30 5.033742765789926 178.61309998505533 0.583363515634432 0.11446907648011068 6 105.65813856703667 0.017491035693048888 0.22327775856236398 0.0 False multistart_instability
86 28 29 1.7860052935263149 60.970949999966315 0.8317879220161674 0.10401467258245657 6 16.856539687156317 0.007126704551442278 0.059447117802805614 1.0 True
87 28 30 7.378510482049102 138.09914998778677 0.540360873694207 0.1217315596532435 6 243.03186464572013 0.02476143939627759 0.2783665026489561 1.0 True
88 28 31 8.396001985859645 161.15751666826222 0.5051186318198242 0.12667907013046822 6 145.12677311467613 0.01381623315543165 0.08866229443960012 1.0 True
89 29 30 8.925911734961222 77.12819998782052 0.5223065970574277 0.12780035193537048 6 94.88866430179526 0.06232017355575957 1.955625956099923 1.0 False forward_reverse_rotation
90 29 31 9.936139535050964 100.18656666829587 0.49440231130371975 0.12866710903574613 6 130.4988571288183 0.047123741889749056 0.2295904679982487 1.0 True
91 29 32 9.719184595429152 159.1482027457047 0.49802134548507015 0.12675987702934546 6 49.64602672737782 0.0323736334045635 0.06974950067660468 0.0 False multistart_instability
92 30 31 1.0176267260390144 23.058366680475352 0.8480586608967424 0.09667505139943416 6 22.5712438700004 0.01573204986385798 0.04061482397026774 1.0 True
93 30 32 0.8427696971904044 82.02000275788396 0.867680517303317 0.0986734040048058 6 23.367311395821964 0.002023273028745447 0.014811950864385802 1.0 True
94 30 33 1.1320092061720382 147.1799498371321 0.7995722941665676 0.10006346131537393 6 41.688755802373954 0.00887908049317058 0.048438711468841336 1.0 True
95 31 32 0.2771314063233405 58.9616360774086 0.8486026731470231 0.09714101002609693 6 27.412782801978597 0.012921368358244189 0.05809273577687571 1.0 True
96 31 33 0.5409306841643147 124.12158315665668 0.07871263259402121 0.14967084978243636 6 33.0912130689722 2.900706563387122 12.11541439568944 1.0 False heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
97 31 34 0.9901318542574941 155.5976733552555 0.7813404050144648 0.09211161518215291 6 17.31754498769328 3.351107529092291 8.098567652508597 0.0 False forward_reverse_translation;forward_reverse_rotation;multistart_instability
98 32 33 0.38765596924480794 65.15994707924807 0.8592699327569645 0.08972486966187442 6 22.68434781952533 0.0035725430520846596 0.009168450597030125 1.0 True
99 32 34 1.0327853226589305 96.63603727784675 0.8328530259365994 0.09815070141607997 6 23.927327238925002 0.04150636593087017 1.4498937658029205 1.0 False forward_reverse_rotation
100 32 35 1.1947451269258382 131.6892972449946 0.8031309297912713 0.09391797152520207 6 30.896133075774756 0.007719527793580684 0.006042163579184511 0.0 False multistart_instability
101 33 34 0.7453275493729801 31.47609019859864 0.8676435549201811 0.0964383255266311 6 26.835745049910184 0.02602048161602559 1.951142742234491 1.0 False forward_reverse_rotation
102 33 35 1.0924186931915323 66.52935016574651 0.8329018592610026 0.09179860947142506 6 17.934600324801995 0.0072384331805243046 0.028209706778456432 1.0 True
103 33 36 3.335020341384374 123.21987515531416 0.760797342192691 0.09861359027653524 6 26.32312350297475 0.0022735557932631 0.12221117701824208 1.0 True
104 34 35 0.6186130964444055 35.05325996714787 0.8649093904448105 0.0788491357224537 6 23.02575456989985 0.0032110784907267375 0.015379666997505564 1.0 True
105 34 36 3.114273556969299 91.74378495671547 0.7729789590254706 0.09845381444357724 6 36.91664640012635 0.011794412591703963 0.006135949966801849 1.0 True
106 34 37 2.8155528331227235 126.08390993626574 0.722881252293017 0.09759501600127507 6 42.82845764024001 0.024742240312777743 0.08718512569927171 1.0 True
107 35 36 2.4989423629184655 56.69052498956759 0.7695298262665533 0.09495386680108024 6 27.978829086780696 0.006644101856716534 0.038610475450088305 1.0 True
108 35 37 2.2182956249874577 91.03064996911786 0.7217727327617437 0.10621413586570766 6 32.52725359303394 0.04503438705750094 1.5781812743250268 1.0 False forward_reverse_rotation
109 36 37 0.5129211474320938 34.34012497955026 0.8785082174462705 0.08834636280188386 6 23.324824248042262 0.003787237363253161 0.027331592166342466 1.0 True