calibration/results/reference_data4/open3d_gicp/B_quality.csv

1	i	j	rtk_translation_m	rtk_rotation_deg	heldout_inlier_ratio	heldout_inlier_rmse_m	hessian_rank	hessian_condition	reverse_translation_m	reverse_rotation_deg	multistart_success_rate	accepted	rejection_reasons
2	0	1	1.6721594124489447	24.171297449440814	0.8061657032755298	0.10961296014103396	6	2.7038608113687213	0.004225163540003575	0.1530449067720668	1.0	True
3	0	2	2.0412175279332088	80.09074797031303	0.7489394523717702	0.116305716193008	6	3.0720058333957327	0.02073003109723684	0.12418344306819311	1.0	True
4	0	3	6.30529961936688	79.9158388329924	0.6310283235519265	0.12470979645173097	6	5.235632990817998	0.02154775870989652	0.25399044979598373	1.0	True
5	1	2	1.2843386040405174	55.9194505208722	0.7867383512544803	0.11079021393934946	6	3.282529873989144	0.00768232673944143	0.0508043300468843	1.0	True
6	1	3	5.433888607887495	55.744541383551606	0.6794562317367552	0.11907169138096609	6	4.183386002322132	0.024832409186708038	0.29364088503444125	1.0	True
7	1	4	1.5299424710613851	106.08652205569952	0.6786112833230006	0.1125501582315264	6	3.2941312581877567	0.0077657602443488094	0.07274574571529673	1.0	True
8	2	3	4.340252832276203	0.1749091373206093	0.7586776859504132	0.11541610277862546	6	3.730803369806122	0.007879904085790266	0.11659483159927261	1.0	True
9	2	4	0.2520257253555564	50.1670715348273	0.7854572527608884	0.1098649389241602	6	2.641287751481567	0.017042953274276868	0.09383247792992644	1.0	True
10	2	5	5.8286926576588955	8.735318060700322	0.7074574574574575	0.11912871456224486	6	3.8527093190832513	0.016640250279170064	0.24773491621516538	1.0	True
11	3	4	4.1070657333447205	50.34198067214791	0.6974624291697462	0.11727630888949149	6	3.5010457716923216	0.0121487212194689	0.20793086843827258	1.0	True
12	3	5	2.2886212019715484	8.910227198020936	0.7962985964476462	0.10646082199215787	6	3.037745853837991	0.011008298723512349	0.0821707761041294	1.0	True
13	3	6	2.618668779147775	47.63555775102663	0.8376509054325956	0.10956583416752531	6	3.1930663579156175	0.001222821038315667	0.092075215117626	1.0	True
14	4	5	5.5767898078953735	41.431753474126985	0.6652516676773802	0.12322094568315027	6	4.985227704290953	0.005399786589871835	0.13893507775898076	0.0	False	multistart_instability
15	4	6	6.68811709459501	97.97753842317455	0.04910385465259023	0.15664415071522125	6	4.835889397197473	2.574198069897065	12.647326063758534	0.0	False	heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
16	4	7	6.153247042777442	123.28910472998353	0.020756115641215715	0.16997351387143192	6	17.054474046975617	5.52282870653845	6.186988956437115	0.0	False	heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
17	5	6	2.0562758992403367	56.545784949047565	0.7526921648718901	0.10924852668609375	6	3.289802074469562	0.012374747586500019	0.14461856068328793	1.0	True
18	5	7	0.5812996709001959	81.85735125585653	0.7833561729164071	0.11683079277948678	6	2.8807765869032624	0.013689874812447942	0.20006562776472953	1.0	True
19	5	8	2.6887856969568644	172.47951556359513	0.3979730564825114	0.13180114830799514	6	4.4867592164383865	2.902311115345869	2.1073169352638135	1.0	False	forward_reverse_translation;forward_reverse_rotation
20	6	7	1.9723544820714844	25.311566306808967	0.8497729566094854	0.10415909908074775	6	3.3759361297847534	0.008986805974950147	0.13099479506412062	1.0	True
21	6	8	0.7288530799256238	115.93373061454484	0.7678928928928929	0.1116672507978127	6	3.260920573387359	0.010085391730567652	0.1175283699615622	1.0	True
22	6	9	7.898758206937296	103.90638727582184	0.6071384156199477	0.12594282886521943	6	6.882498483502542	2.7065494720876333	9.167174886516003	1.0	False	forward_reverse_translation;forward_reverse_rotation
23	7	8	2.6747845281541447	90.62216430773587	0.8299748110831234	0.10748525688830211	6	3.0071179226782405	0.00710646197885058	0.1069872847368705	1.0	True
24	7	9	8.06955581661561	78.59482096901287	0.6188509200150206	0.12713205078393502	6	6.716979637303372	6.104542218165768	6.596313811797356	0.0	False	forward_reverse_translation;forward_reverse_rotation;multistart_instability
25	7	10	8.088675434881791	134.6003195530505	0.04729478766868887	0.16509079956796627	6	8.903210909129099	5.698690438550839	24.43813017288333	0.0	False	heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
26	8	9	7.73033999229505	12.027343338722995	0.6326834719980131	0.12084265385763364	6	5.53968988049318	2.4349995045990127	17.158034002952295	1.0	False	forward_reverse_translation;forward_reverse_rotation
27	8	10	8.378411682322204	43.97815524531458	0.6163861933423412	0.1293602846396598	6	4.789005902863083	0.011327540721531722	0.17059480981566605	0.0	False	multistart_instability
28	8	11	11.214115106391473	22.60670813095403	0.035782503501846426	0.17440177580299876	6	9.744579276034784	1.861364410474017	5.099464012971126	1.0	False	heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation
29	9	10	1.9264207261313253	56.00549858403757	0.6543345543345543	0.10729272360686744	6	3.3788563349731624	1.6360232143180424	5.55466982065639	1.0	False	forward_reverse_translation;forward_reverse_rotation
30	9	11	4.747620352849464	34.63405146967702	0.5818780055682106	0.1171768781510077	6	3.555986532172078	0.00981302583568424	0.06035460198954135	1.0	True
31	9	12	7.208566899019793	16.356227217122623	0.5379123584441162	0.12645695585785705	6	4.882558096197047	0.008862930161051686	0.11566409877698092	1.0	True
32	10	11	3.0731501091601263	21.371447114360553	0.7118898623279099	0.1192865608074921	6	3.220203471557625	0.0029529340190141227	0.004176908093440082	1.0	True
33	10	12	6.011368280631378	39.649271366914945	0.6120311738918656	0.12525652128126136	6	4.691686416856208	0.005686910809247203	0.10204044727299268	1.0	True
34	10	13	9.76425648692991	72.41150002956132	0.516551290119572	0.1354903305714048	6	7.346543684414896	0.013565042721589003	0.32552304340992394	1.0	True
35	11	12	3.3258193587172027	18.277824252554396	0.650555275113579	0.12104882943540898	6	4.612247786063477	0.003583199374507776	0.03300207707174117	1.0	True
36	11	13	7.195203402213438	51.04005291520078	0.5698054068172914	0.1285866274322162	6	7.539783468898048	0.016001435752898144	0.11059625579950419	1.0	True
37	11	14	3.634158560526847	20.548768889074672	0.6420881321982974	0.12414062948335593	6	4.952265047266808	0.012369101516230316	0.01870506040605898	1.0	True
38	12	13	3.8697507070400543	32.762228662646386	0.6972966112450819	0.1168089621311632	6	4.28224799374136	0.01141023876783206	0.04779713993428384	1.0	True
39	12	14	0.9871080784265185	2.2709446365202766	0.8749086479902558	0.09521299965540625	6	3.309695139564422	0.006159472215773367	0.014929948455569534	1.0	True
40	12	15	4.171948395051693	25.86371030092923	0.7022030893897189	0.11797995277580106	6	4.277232786772136	0.008495008365046321	0.10278299144703042	1.0	True
41	13	14	3.7992314627329202	30.491284026126113	0.6955810147299509	0.11455956122705321	6	3.350289886810734	0.01022866463344607	0.03515966054944392	1.0	True
42	13	15	0.9105848166450461	6.898518361717151	0.868300353819945	0.1045421356808481	6	3.2437357133954023	0.002375025382773949	0.01072504764419793	1.0	True
43	13	16	3.4957081323467	18.94489979461447	0.7265456392027422	0.1096252966406241	6	3.5227514244456217	0.008958927594996346	0.03041438512426757	1.0	True
44	14	15	3.8816793634199405	23.592765664408958	0.7120070334086913	0.11868441290330703	6	4.62059246950246	0.002571958018980028	0.055069197511519646	1.0	True
45	14	16	7.29101265002769	49.43618382074057	0.5918615984405458	0.12229328437386515	6	7.149509813179227	0.014273957859025563	0.25325650727957555	1.0	True
46	14	17	5.915950814087913	0.8461207481731609	0.6694009445687298	0.12443900216431925	6	5.1577414296960065	0.0178952010004604	0.10920228290609924	1.0	True
47	15	16	3.579287497246505	25.843418156331627	0.702887537993921	0.11495230769293859	6	3.5402899763525375	0.013545291843396808	0.03346625178333291	1.0	True
48	15	17	2.2400625117908257	24.438886412582114	0.7429531936901991	0.11679524427533863	6	3.5266643942801554	0.009894110027911674	0.07786907370565768	1.0	True
49	15	18	4.6956742726068	3.452521908779405	0.7209645010046886	0.11716134583909138	6	4.125231895423439	0.01165472931184747	0.13683586564190106	1.0	True
50	16	17	2.956793995513645	50.28230456891372	0.618922305764411	0.11254196340940027	6	4.068632188828398	0.031047860213503222	0.10375098145236057	1.0	True
51	16	18	3.369822545690391	22.390896247552213	0.6890156918687589	0.11084024896736888	6	4.421167108842175	0.01556225520373068	0.02495881796885156	1.0	True
52	16	19	2.313038703742191	30.035090485266096	0.8685060899826	0.10135543575024479	6	2.9200722330018793	0.0029522513838272538	0.02753369989558306	1.0	True
53	17	18	2.517968959880004	27.89140832136152	0.7697708305735859	0.10648049893472189	6	3.792822356453168	0.010582276181446961	0.03959905194910384	1.0	True
54	17	19	3.518310045065406	80.31739505417983	0.6293759512937596	0.10954497717502036	6	3.648306929393189	0.012240937390578075	0.06030618467886912	1.0	True
55	17	20	3.4199679241812992	152.98392843416642	0.6014520938674964	0.12300562605352787	6	4.719447385686111	0.03231013197809958	0.12856862709639913	0.0	False	multistart_instability
56	18	19	2.0416624616211574	52.42598673281832	0.6827314510833881	0.10834806615100022	6	3.5073857685652805	0.012418496053909043	0.11905018881087433	1.0	True
57	18	20	5.836864764777489	125.0925201128049	0.5756313809779688	0.1265759478434111	6	5.389095141151799	0.012917057356044254	0.2404237301134517	0.0	False	multistart_instability
58	18	21	10.84206419743439	175.70238585457497	0.2352252017703723	0.15182541744787395	6	9.65894418804011	0.2039286327273425	0.13690658217533308	0.0	False	heldout_inlier_ratio;forward_reverse_translation;multistart_instability
59	19	20	6.120105723142265	72.6665333799865	0.6234734541714874	0.1277530580405749	6	5.958603794025071	0.009237066767190974	0.22540488888103255	1.0	True
60	19	21	11.201089261967727	123.27639912174082	0.3788200074840963	0.1468780339612994	6	10.170069582593085	4.607025297377655	2.696881779819613	1.0	False	forward_reverse_translation;forward_reverse_rotation
61	19	22	13.962230939038237	128.85294276465584	0.17798277982779828	0.15985830060250797	6	11.806596815871064	2.332292389085354	2.4044448240559984	0.0	False	heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
62	20	21	5.091648376409225	50.60986574175432	0.6596992097884272	0.12147955429086157	6	4.082032735955382	0.014725537493639118	0.19884224722867958	1.0	True
63	20	22	7.842914217245693	56.186409384669375	0.5739414499308958	0.13255415786946775	6	5.3284863413522086	0.006040617548523686	0.19706632354686843	1.0	True
64	20	23	4.953146569484805	70.79178325235414	0.6456945156330087	0.12075756038041646	6	3.9642702950866346	0.02294901101348451	0.19112109479244785	1.0	True
65	21	22	2.836151129858731	5.576543642915048	0.7716237647919971	0.1163227135854156	6	2.7962015303291894	0.009963578798274064	0.1533289219532281	1.0	True
66	21	23	1.4635995041292513	20.181917510599828	0.8576224819696593	0.09865676260631218	6	3.036795069384516	0.00392257332509571	0.00898487649366286	1.0	True
67	21	24	2.7001854883863183	54.59467208208592	0.7715940569126165	0.11361504553552869	6	2.7681582493333527	0.007475673605592584	0.04227769001294981	1.0	True
68	22	23	3.806551883906871	14.605373867684776	0.7396689147762109	0.11702962848624102	6	3.414804725088913	0.018140159434305195	0.1184732181610567	1.0	True
69	22	24	4.999470711928798	49.01812843917085	0.6983240223463687	0.11898873157361631	6	3.633465593686572	1.9214516862996405	12.118772315210817	1.0	False	forward_reverse_translation;forward_reverse_rotation
70	22	25	2.281002791409386	12.391903814042275	0.736861094407697	0.1158639471011007	6	2.383007054117406	0.01855955252477569	0.06452602797902846	1.0	True
71	23	24	1.2663665558774873	34.41275457148608	0.7853164556962026	0.11287254423109305	6	2.4099218288471635	0.002195759849349955	0.03211295915781923	1.0	True
72	23	25	5.050865141821003	2.213470053642503	0.6881127450980392	0.12303206700403985	6	2.936372721803798	0.004939188019097873	0.12964064637099942	1.0	True
73	23	26	5.595299803053147	40.730927532824325	0.6852618757612667	0.12040544972155913	6	3.059006509397719	0.006032445250251169	0.14039335223022864	1.0	True
74	24	25	6.316196707646632	36.626224625128586	0.677667493796526	0.1234631580581415	6	3.6286524357748364	0.023479226891170584	0.16273859629355136	1.0	True
75	24	26	6.840027061556236	6.318172961338242	0.6530209617755857	0.12710147612984235	6	3.5331859775372023	0.013311199903813952	0.18193579850150715	1.0	True
76	24	27	7.477875812552711	31.60254826458195	0.6649014778325123	0.12481159614427853	6	4.10006355979974	0.01787282120544869	0.1680556511623414	1.0	True
77	25	26	1.433673687807028	42.944397586466835	0.9127837514934289	0.09581429165893823	6	2.9017658682436958	0.0035341488401767693	0.018440169300164816	1.0	True
78	25	27	1.973107678535245	68.22877288971054	0.8510739856801909	0.10418150333394123	6	2.3682534170899983	0.006103232696003387	0.13366555345654282	1.0	True
79	25	28	2.578633669986193	88.09106909546726	0.8853518429870751	0.10761251229651997	6	2.6372860976794636	0.0034832316659127254	0.03697744201993421	1.0	True
80	26	27	0.6711664435459649	25.284375303243706	0.9183867141162515	0.09074909570650827	6	2.8142315359282533	0.00040199505815399084	0.011554314408123986	1.0	True
81	26	28	1.202247282991071	45.146671509000434	0.8853200095170116	0.1060418493965508	6	2.65640202778952	0.007320240476184076	0.12930335868606002	1.0	True
82	26	29	0.8313560685788559	87.41573662125148	0.7880466815984911	0.10871274240898261	6	3.111957466886598	0.006395243061058376	0.039517035902872893	1.0	True
83	27	28	0.6147316450225401	19.862296205756735	0.9289448669201521	0.08505095515326752	6	2.9632528684698194	0.005157655135593023	0.02266680787731125	1.0	True
84	27	29	0.7540837235696874	62.13136131800778	0.7872365477452019	0.1045551346483567	6	2.9621627623005304	0.011650639607012715	0.16247191340775555	1.0	True
85	27	30	5.07252652550922	152.0939255621477	0.03871268656716418	0.16956979514477974	6	145.85449900829832	4.5477385995336626	37.97511303619642	0.0	False	heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
86	28	29	1.3242039147826599	42.26906511225104	0.8000944621560987	0.10865475473581254	6	3.146622410005858	0.001139416496730335	0.02119627748722763	1.0	True
87	28	30	5.091487440029177	132.23162935639098	0.7721000935453695	0.10815845248211022	6	2.292141242686861	0.004462522533166182	0.03583195432667579	1.0	True
88	28	31	6.538757407908195	158.84212980112872	0.7465330381074466	0.10669666534392452	6	2.40259836682247	0.0063576490595817345	0.04001661521442668	1.0	True
89	29	30	4.767831371266539	89.96256424413991	0.7248812145092132	0.10870831469083345	6	2.947122380473709	0.004656385377159087	0.12465763189228557	0.0	False	multistart_instability
90	29	31	5.715598450796842	116.57306468887764	0.7243012243012243	0.11138751941762652	6	2.7645021322697088	0.0042639063218924715	0.04663739608639213	0.0	False	multistart_instability
91	29	32	5.281749147864957	159.39493219688646	0.32491640724086246	0.14745892800230104	6	2.8081088899077167	4.8118414680497805	1.8382424276135385	1.0	False	heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation
92	30	31	2.604154101624297	26.610500444737717	0.8185562292643862	0.09615795732951272	6	2.899558208444641	0.0049991634555749285	0.021384795873435915	1.0	True
93	30	32	1.69105635082049	69.43236795274656	0.8041343079031521	0.09953343153684206	6	2.614616874224757	0.0031713764951448154	0.023767377748422268	1.0	True
94	30	33	3.2411277385703925	160.7145717128097	0.05469213429825602	0.15997514255683	6	6.323554164510002	5.32763716297551	13.705863888332022	0.0	False	heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
95	31	32	0.9137201114724802	42.82186750800884	0.8157085941946499	0.09925944770258255	6	3.048541140076824	0.004719596234885736	0.06146741991683861	1.0	True
96	31	33	1.4965271484681508	134.10407126807198	0.760345235280208	0.09698073659477859	6	2.550150787416455	0.0019366659831763946	0.026538404789073603	1.0	True
97	32	33	1.9169426499676907	91.28220376006315	0.7569928006609229	0.10008740880870787	6	3.6611044282667184	2.9881933505092046	2.6964434945984053	0.0	False	forward_reverse_translation;forward_reverse_rotation;multistart_instability