calibration/results/small_gicp/B_batch1_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	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