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      "heldout_inlier_ratio": 0.7551430598250177,
      "heldout_inlier_rmse_m": 0.1003246191461096,
      "rotation_invariant_error_deg": 0.09234543926339711,
      "reverse_translation_m": 0.005559091155809675,
      "reverse_rotation_deg": 0.033005318250111694,
      "accepted": true,
      "rejection_reasons": []
    }
  ]
}