{
  "selection_is_X_independent": true,
  "criteria": {
    "min_inlier_ratio": 0.7,
    "max_inlier_rmse_m": 0.13,
    "max_rotation_invariant_error_deg": 0.75,
    "reverse_translation_tolerance_m": 0.05,
    "reverse_rotation_tolerance_deg": 0.5
  },
  "input_pairs": 88,
  "accepted_pairs": 36,
  "pairs": [
    {
      "i": 0,
      "j": 1,
      "heldout_inlier_ratio": 0.7376764924448849,
      "heldout_inlier_rmse_m": 0.11846276711125131,
      "rotation_invariant_error_deg": 0.22129318835960987,
      "reverse_translation_m": 0.007238562624113292,
      "reverse_rotation_deg": 0.02790414903884654,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 0,
      "j": 2,
      "heldout_inlier_ratio": 0.617186536801874,
      "heldout_inlier_rmse_m": 0.12801123590557925,
      "rotation_invariant_error_deg": 0.05387521716778032,
      "reverse_translation_m": 0.006865219918284302,
      "reverse_rotation_deg": 0.20055597955733165,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 0,
      "j": 3,
      "heldout_inlier_ratio": 0.7186066691459031,
      "heldout_inlier_rmse_m": 0.11701588647718943,
      "rotation_invariant_error_deg": 0.6139428026653277,
      "reverse_translation_m": 0.008227849157773135,
      "reverse_rotation_deg": 0.05354665376691754,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 1,
      "j": 2,
      "heldout_inlier_ratio": 0.7423043095866315,
      "heldout_inlier_rmse_m": 0.11327867264180574,
      "rotation_invariant_error_deg": 0.5153890144957902,
      "reverse_translation_m": 0.01880830643908174,
      "reverse_rotation_deg": 0.13698190350335646,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 1,
      "j": 3,
      "heldout_inlier_ratio": 0.8389134554643083,
      "heldout_inlier_rmse_m": 0.10681097771213023,
      "rotation_invariant_error_deg": 0.8200386048726926,
      "reverse_translation_m": 0.0035146019341874887,
      "reverse_rotation_deg": 0.1349785173147079,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 1,
      "j": 4,
      "heldout_inlier_ratio": 0.88,
      "heldout_inlier_rmse_m": 0.10289486740770283,
      "rotation_invariant_error_deg": 1.4021993289498695,
      "reverse_translation_m": 0.006064649004018339,
      "reverse_rotation_deg": 0.061683233541617866,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 2,
      "j": 3,
      "heldout_inlier_ratio": 0.795020120724346,
      "heldout_inlier_rmse_m": 0.10968948046836192,
      "rotation_invariant_error_deg": 0.39800315778882833,
      "reverse_translation_m": 0.006456546110122383,
      "reverse_rotation_deg": 0.030970536985363332,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 2,
      "j": 4,
      "heldout_inlier_ratio": 0.7190493965409979,
      "heldout_inlier_rmse_m": 0.11680954298455397,
      "rotation_invariant_error_deg": 1.019325932632924,
      "reverse_translation_m": 0.005632827193528356,
      "reverse_rotation_deg": 0.03284052493715785,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 2,
      "j": 5,
      "heldout_inlier_ratio": 0.7598566308243727,
      "heldout_inlier_rmse_m": 0.11774293624986373,
      "rotation_invariant_error_deg": 0.35894295476261817,
      "reverse_translation_m": 0.028141707120452414,
      "reverse_rotation_deg": 0.19962462817569399,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 3,
      "j": 4,
      "heldout_inlier_ratio": 0.83898411109721,
      "heldout_inlier_rmse_m": 0.10512726552504312,
      "rotation_invariant_error_deg": 0.5611079985906926,
      "reverse_translation_m": 0.006186049607122224,
      "reverse_rotation_deg": 0.016880074405568043,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 3,
      "j": 5,
      "heldout_inlier_ratio": 0.7968186901951038,
      "heldout_inlier_rmse_m": 0.11623997504357782,
      "rotation_invariant_error_deg": 0.09995299705659022,
      "reverse_translation_m": 0.021983524103315014,
      "reverse_rotation_deg": 0.3960603757299183,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 3,
      "j": 6,
      "heldout_inlier_ratio": 0.6568381430363864,
      "heldout_inlier_rmse_m": 0.12435814704811046,
      "rotation_invariant_error_deg": 0.3065609497310362,
      "reverse_translation_m": 0.008738020425158864,
      "reverse_rotation_deg": 0.1291569973379011,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 4,
      "j": 5,
      "heldout_inlier_ratio": 0.7543039842597147,
      "heldout_inlier_rmse_m": 0.11308907219490882,
      "rotation_invariant_error_deg": 0.6735451567644475,
      "reverse_translation_m": 0.002243469564109645,
      "reverse_rotation_deg": 0.06843841908142442,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 4,
      "j": 6,
      "heldout_inlier_ratio": 0.6218497827436374,
      "heldout_inlier_rmse_m": 0.12814112793605542,
      "rotation_invariant_error_deg": 0.8824124946213914,
      "reverse_translation_m": 0.01600824572236542,
      "reverse_rotation_deg": 0.4490447249637784,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 4,
      "j": 7,
      "heldout_inlier_ratio": 0.6169457128361238,
      "heldout_inlier_rmse_m": 0.13205154815512993,
      "rotation_invariant_error_deg": 0.6483931514944921,
      "reverse_translation_m": 0.019160428104594212,
      "reverse_rotation_deg": 0.2888349968548246,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "heldout_rmse"
      ]
    },
    {
      "i": 5,
      "j": 6,
      "heldout_inlier_ratio": 0.7372055740535208,
      "heldout_inlier_rmse_m": 0.1175976253407229,
      "rotation_invariant_error_deg": 0.2042317968981191,
      "reverse_translation_m": 0.013833903611932107,
      "reverse_rotation_deg": 0.01952771029395653,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 5,
      "j": 7,
      "heldout_inlier_ratio": 0.6841773746535651,
      "heldout_inlier_rmse_m": 0.11964187966504931,
      "rotation_invariant_error_deg": 0.021215900847408875,
      "reverse_translation_m": 0.003240486196092054,
      "reverse_rotation_deg": 0.04738439683023512,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 5,
      "j": 8,
      "heldout_inlier_ratio": 0.6521066412758867,
      "heldout_inlier_rmse_m": 0.12472719695199193,
      "rotation_invariant_error_deg": 0.10985986013008642,
      "reverse_translation_m": 0.0278691016568626,
      "reverse_rotation_deg": 0.41056933218195657,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 6,
      "j": 7,
      "heldout_inlier_ratio": 0.7538481109273629,
      "heldout_inlier_rmse_m": 0.11470554120698542,
      "rotation_invariant_error_deg": 0.22461269590162658,
      "reverse_translation_m": 0.03433121044907878,
      "reverse_rotation_deg": 0.14981218442224864,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 6,
      "j": 8,
      "heldout_inlier_ratio": 0.683003003003003,
      "heldout_inlier_rmse_m": 0.11564979549315224,
      "rotation_invariant_error_deg": 0.2949107500817263,
      "reverse_translation_m": 0.008147035817338538,
      "reverse_rotation_deg": 0.038229943243018406,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 6,
      "j": 9,
      "heldout_inlier_ratio": 0.7360264227642277,
      "heldout_inlier_rmse_m": 0.11829700338913093,
      "rotation_invariant_error_deg": 0.31492391923465846,
      "reverse_translation_m": 0.003942462178993821,
      "reverse_rotation_deg": 0.004948404195791413,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 7,
      "j": 8,
      "heldout_inlier_ratio": 0.6644591611479028,
      "heldout_inlier_rmse_m": 0.12091344193997677,
      "rotation_invariant_error_deg": 0.12875763082670488,
      "reverse_translation_m": 0.010087854632047892,
      "reverse_rotation_deg": 0.1144705976875931,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 7,
      "j": 10,
      "heldout_inlier_ratio": 0.8421725239616613,
      "heldout_inlier_rmse_m": 0.10512064341715703,
      "rotation_invariant_error_deg": 1.533012022126627,
      "reverse_translation_m": 0.00590396821278501,
      "reverse_rotation_deg": 0.011716048666689089,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 8,
      "j": 10,
      "heldout_inlier_ratio": 0.5915068162625166,
      "heldout_inlier_rmse_m": 0.1229044134151169,
      "rotation_invariant_error_deg": 1.372500196514551,
      "reverse_translation_m": 0.008997663249148741,
      "reverse_rotation_deg": 0.15439288797351725,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 9,
      "j": 10,
      "heldout_inlier_ratio": 0.5969882593159775,
      "heldout_inlier_rmse_m": 0.11948988234049264,
      "rotation_invariant_error_deg": 1.3666033895688727,
      "reverse_translation_m": 0.0030407162313759195,
      "reverse_rotation_deg": 0.04107484998318919,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 9,
      "j": 11,
      "heldout_inlier_ratio": 0.593742114559677,
      "heldout_inlier_rmse_m": 0.12239484647700946,
      "rotation_invariant_error_deg": 0.5873690241468097,
      "reverse_translation_m": 0.035258275490363276,
      "reverse_rotation_deg": 0.11274694382482037,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 9,
      "j": 12,
      "heldout_inlier_ratio": 0.6153363453815262,
      "heldout_inlier_rmse_m": 0.12504774785186165,
      "rotation_invariant_error_deg": 1.7657912052702152,
      "reverse_translation_m": 0.0752860327247449,
      "reverse_rotation_deg": 0.25939502405614967,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant",
        "forward_reverse_translation"
      ]
    },
    {
      "i": 10,
      "j": 11,
      "heldout_inlier_ratio": 0.5888198757763975,
      "heldout_inlier_rmse_m": 0.12435475144629402,
      "rotation_invariant_error_deg": 2.816301517367729,
      "reverse_translation_m": 0.008996147539897087,
      "reverse_rotation_deg": 0.2187503499467401,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 10,
      "j": 12,
      "heldout_inlier_ratio": 0.5523974295600593,
      "heldout_inlier_rmse_m": 0.12600876663407296,
      "rotation_invariant_error_deg": 1.6197354168686005,
      "reverse_translation_m": 0.0067913142930030295,
      "reverse_rotation_deg": 0.19210976651930364,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 10,
      "j": 13,
      "heldout_inlier_ratio": 0.48622589531680444,
      "heldout_inlier_rmse_m": 0.12387372192061825,
      "rotation_invariant_error_deg": 2.7014501288745407,
      "reverse_translation_m": 0.010457065237222635,
      "reverse_rotation_deg": 0.051939983599844905,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 11,
      "j": 12,
      "heldout_inlier_ratio": 0.8081153752138841,
      "heldout_inlier_rmse_m": 0.09827968392237502,
      "rotation_invariant_error_deg": 0.34336809239488275,
      "reverse_translation_m": 0.003170825002365958,
      "reverse_rotation_deg": 0.052994059649638055,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 11,
      "j": 13,
      "heldout_inlier_ratio": 0.4904655770183259,
      "heldout_inlier_rmse_m": 0.13065086109778945,
      "rotation_invariant_error_deg": 0.8681618692259718,
      "reverse_translation_m": 0.03026165336674197,
      "reverse_rotation_deg": 0.022229096602302635,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "heldout_rmse",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 11,
      "j": 14,
      "heldout_inlier_ratio": 0.5502994743918836,
      "heldout_inlier_rmse_m": 0.13363854913882675,
      "rotation_invariant_error_deg": 1.9642842139933663,
      "reverse_translation_m": 0.012728663920096705,
      "reverse_rotation_deg": 0.13777836936248603,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "heldout_rmse",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 12,
      "j": 13,
      "heldout_inlier_ratio": 0.5394185760039418,
      "heldout_inlier_rmse_m": 0.1291861812905223,
      "rotation_invariant_error_deg": 0.23856414168935203,
      "reverse_translation_m": 0.016569656651710556,
      "reverse_rotation_deg": 0.06971243680146068,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 12,
      "j": 14,
      "heldout_inlier_ratio": 0.5838501763346711,
      "heldout_inlier_rmse_m": 0.13149007038687927,
      "rotation_invariant_error_deg": 2.406021322673112,
      "reverse_translation_m": 0.016475747103725697,
      "reverse_rotation_deg": 0.027479170527625274,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "heldout_rmse",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 13,
      "j": 14,
      "heldout_inlier_ratio": 0.6685967722064802,
      "heldout_inlier_rmse_m": 0.11944947118678222,
      "rotation_invariant_error_deg": 3.100556336011195,
      "reverse_translation_m": 0.00889966253307221,
      "reverse_rotation_deg": 0.1868503363813343,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 13,
      "j": 15,
      "heldout_inlier_ratio": 0.6380833851897947,
      "heldout_inlier_rmse_m": 0.12132550246856395,
      "rotation_invariant_error_deg": 1.7572195819347076,
      "reverse_translation_m": 0.011310526444604854,
      "reverse_rotation_deg": 0.11618951108877962,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 14,
      "j": 16,
      "heldout_inlier_ratio": 0.515650129902264,
      "heldout_inlier_rmse_m": 0.1258655742770286,
      "rotation_invariant_error_deg": 2.611164330468249,
      "reverse_translation_m": 0.019790578845351906,
      "reverse_rotation_deg": 0.2492103704468241,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 14,
      "j": 17,
      "heldout_inlier_ratio": 0.6016802569804793,
      "heldout_inlier_rmse_m": 0.12195151942370595,
      "rotation_invariant_error_deg": 1.8287537251768642,
      "reverse_translation_m": 0.01939980613812204,
      "reverse_rotation_deg": 0.1992615163030762,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 15,
      "j": 16,
      "heldout_inlier_ratio": 0.4590676165479315,
      "heldout_inlier_rmse_m": 0.13331101566670972,
      "rotation_invariant_error_deg": 1.063713413194106,
      "reverse_translation_m": 0.03193705319987942,
      "reverse_rotation_deg": 0.25820325147713563,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "heldout_rmse",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 15,
      "j": 17,
      "heldout_inlier_ratio": 0.5389415876185721,
      "heldout_inlier_rmse_m": 0.1297159188720241,
      "rotation_invariant_error_deg": 0.2970277425809975,
      "reverse_translation_m": 0.007152603768137945,
      "reverse_rotation_deg": 0.01099978555369691,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 16,
      "j": 17,
      "heldout_inlier_ratio": 0.7229415461973602,
      "heldout_inlier_rmse_m": 0.10903876418375444,
      "rotation_invariant_error_deg": 0.5676723399175714,
      "reverse_translation_m": 0.004743603748938733,
      "reverse_rotation_deg": 0.03110066538977425,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 16,
      "j": 19,
      "heldout_inlier_ratio": 0.624375,
      "heldout_inlier_rmse_m": 0.11606003815798548,
      "rotation_invariant_error_deg": 0.6904622746451992,
      "reverse_translation_m": 0.00942822069733503,
      "reverse_rotation_deg": 0.10349184268425643,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 17,
      "j": 18,
      "heldout_inlier_ratio": 0.8035782747603833,
      "heldout_inlier_rmse_m": 0.11258525838778834,
      "rotation_invariant_error_deg": 0.09547136626898833,
      "reverse_translation_m": 0.04456291633933312,
      "reverse_rotation_deg": 0.40754887525204303,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 17,
      "j": 19,
      "heldout_inlier_ratio": 0.667207589564349,
      "heldout_inlier_rmse_m": 0.1151980232980854,
      "rotation_invariant_error_deg": 0.1944742305347944,
      "reverse_translation_m": 0.002550382605456025,
      "reverse_rotation_deg": 0.05599236133477508,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 17,
      "j": 20,
      "heldout_inlier_ratio": 0.6696552595024624,
      "heldout_inlier_rmse_m": 0.11181113630432839,
      "rotation_invariant_error_deg": 0.2612547291574856,
      "reverse_translation_m": 0.009851652453759501,
      "reverse_rotation_deg": 0.030403861001117326,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 18,
      "j": 19,
      "heldout_inlier_ratio": 0.7803049555273189,
      "heldout_inlier_rmse_m": 0.10890373850857962,
      "rotation_invariant_error_deg": 0.1051307780703894,
      "reverse_translation_m": 0.0027074586252039488,
      "reverse_rotation_deg": 0.03345524421318835,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 18,
      "j": 20,
      "heldout_inlier_ratio": 0.7890203137053227,
      "heldout_inlier_rmse_m": 0.110891959946164,
      "rotation_invariant_error_deg": 0.14242757521709848,
      "reverse_translation_m": 0.07641393239305394,
      "reverse_rotation_deg": 0.480643469622101,
      "accepted": false,
      "rejection_reasons": [
        "forward_reverse_translation"
      ]
    },
    {
      "i": 18,
      "j": 21,
      "heldout_inlier_ratio": 0.7686106562539362,
      "heldout_inlier_rmse_m": 0.1151576675189467,
      "rotation_invariant_error_deg": 0.5355548047097614,
      "reverse_translation_m": 0.012325022302827005,
      "reverse_rotation_deg": 0.06184414805686676,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 19,
      "j": 21,
      "heldout_inlier_ratio": 0.6599384615384616,
      "heldout_inlier_rmse_m": 0.1100348641166372,
      "rotation_invariant_error_deg": 0.4312561690399832,
      "reverse_translation_m": 0.032753113036640115,
      "reverse_rotation_deg": 0.1570816751009414,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 19,
      "j": 22,
      "heldout_inlier_ratio": 0.6354319180087847,
      "heldout_inlier_rmse_m": 0.11655958277402616,
      "rotation_invariant_error_deg": 0.07883692056142877,
      "reverse_translation_m": 0.011678083327496752,
      "reverse_rotation_deg": 0.14115606360994692,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 20,
      "j": 21,
      "heldout_inlier_ratio": 0.8091622059006598,
      "heldout_inlier_rmse_m": 0.10860060068735904,
      "rotation_invariant_error_deg": 0.41475298745175593,
      "reverse_translation_m": 0.004342811149796408,
      "reverse_rotation_deg": 0.43079835067471983,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 20,
      "j": 22,
      "heldout_inlier_ratio": 0.7075518262586377,
      "heldout_inlier_rmse_m": 0.11619246575360609,
      "rotation_invariant_error_deg": 0.02899683656265495,
      "reverse_translation_m": 0.03233653011234762,
      "reverse_rotation_deg": 0.3501326921447133,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 20,
      "j": 23,
      "heldout_inlier_ratio": 0.7127672722778395,
      "heldout_inlier_rmse_m": 0.11187552234677736,
      "rotation_invariant_error_deg": 0.458954798970467,
      "reverse_translation_m": 0.0036477332397017036,
      "reverse_rotation_deg": 0.03588537530780425,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 21,
      "j": 22,
      "heldout_inlier_ratio": 0.7451905626134301,
      "heldout_inlier_rmse_m": 0.11103160300292489,
      "rotation_invariant_error_deg": 0.3376592434798411,
      "reverse_translation_m": 0.007025231148999399,
      "reverse_rotation_deg": 0.031656114821116355,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 21,
      "j": 23,
      "heldout_inlier_ratio": 0.7537566650508968,
      "heldout_inlier_rmse_m": 0.1091762180475198,
      "rotation_invariant_error_deg": 0.8484840788940673,
      "reverse_translation_m": 0.0026262958914527778,
      "reverse_rotation_deg": 0.05939834892732321,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 21,
      "j": 24,
      "heldout_inlier_ratio": 0.7108181370133071,
      "heldout_inlier_rmse_m": 0.1147630411233105,
      "rotation_invariant_error_deg": 0.5773226964492437,
      "reverse_translation_m": 0.002611195084459223,
      "reverse_rotation_deg": 0.042823121286843194,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 22,
      "j": 23,
      "heldout_inlier_ratio": 0.8809323561215908,
      "heldout_inlier_rmse_m": 0.09065520084082093,
      "rotation_invariant_error_deg": 0.48878987709370847,
      "reverse_translation_m": 0.00074030291113835,
      "reverse_rotation_deg": 0.005760006892562891,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 22,
      "j": 24,
      "heldout_inlier_ratio": 0.7459386832783681,
      "heldout_inlier_rmse_m": 0.1116686389188481,
      "rotation_invariant_error_deg": 0.18333668895100175,
      "reverse_translation_m": 0.010212372381123916,
      "reverse_rotation_deg": 0.01461127103474581,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 22,
      "j": 25,
      "heldout_inlier_ratio": 0.6250595521676989,
      "heldout_inlier_rmse_m": 0.10935727133461083,
      "rotation_invariant_error_deg": 0.1445410856306779,
      "reverse_translation_m": 0.013489723519689117,
      "reverse_rotation_deg": 0.0723917800582207,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 23,
      "j": 24,
      "heldout_inlier_ratio": 0.7936138977244923,
      "heldout_inlier_rmse_m": 0.11107653584131949,
      "rotation_invariant_error_deg": 0.28931844309565236,
      "reverse_translation_m": 0.008437497431588122,
      "reverse_rotation_deg": 0.2765568737620497,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 23,
      "j": 25,
      "heldout_inlier_ratio": 0.6337826553739712,
      "heldout_inlier_rmse_m": 0.11196536842375276,
      "rotation_invariant_error_deg": 0.34887197704915707,
      "reverse_translation_m": 0.02359951283541323,
      "reverse_rotation_deg": 0.10308564406068685,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 23,
      "j": 26,
      "heldout_inlier_ratio": 0.6073053892215569,
      "heldout_inlier_rmse_m": 0.11004156310392302,
      "rotation_invariant_error_deg": 0.02254863953950803,
      "reverse_translation_m": 0.013062761031411258,
      "reverse_rotation_deg": 0.0548185753269731,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 24,
      "j": 25,
      "heldout_inlier_ratio": 0.7898629804777495,
      "heldout_inlier_rmse_m": 0.11080878069613129,
      "rotation_invariant_error_deg": 0.04235638050610646,
      "reverse_translation_m": 0.024355899665769485,
      "reverse_rotation_deg": 0.10833606018329535,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 24,
      "j": 26,
      "heldout_inlier_ratio": 0.7515217920623326,
      "heldout_inlier_rmse_m": 0.10216449744519186,
      "rotation_invariant_error_deg": 0.31382903080792346,
      "reverse_translation_m": 0.010967953426658109,
      "reverse_rotation_deg": 0.044641472084512177,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 24,
      "j": 27,
      "heldout_inlier_ratio": 0.6259589210591437,
      "heldout_inlier_rmse_m": 0.11074683701330018,
      "rotation_invariant_error_deg": 0.027078877546159674,
      "reverse_translation_m": 0.04374270593226806,
      "reverse_rotation_deg": 0.34168251600562055,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 25,
      "j": 26,
      "heldout_inlier_ratio": 0.8273774189718628,
      "heldout_inlier_rmse_m": 0.10613402567174812,
      "rotation_invariant_error_deg": 0.3634949100457163,
      "reverse_translation_m": 0.018863132797671257,
      "reverse_rotation_deg": 0.12251687299132978,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 25,
      "j": 27,
      "heldout_inlier_ratio": 0.6236883367506936,
      "heldout_inlier_rmse_m": 0.11275084173352168,
      "rotation_invariant_error_deg": 0.07173503222149691,
      "reverse_translation_m": 0.005757137825848521,
      "reverse_rotation_deg": 0.2558617834036415,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 26,
      "j": 27,
      "heldout_inlier_ratio": 0.6585129571324776,
      "heldout_inlier_rmse_m": 0.10848902314415616,
      "rotation_invariant_error_deg": 0.3200021847104608,
      "reverse_translation_m": 0.002959097196576797,
      "reverse_rotation_deg": 0.043581628031778105,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 26,
      "j": 28,
      "heldout_inlier_ratio": 0.6648410525062507,
      "heldout_inlier_rmse_m": 0.11120026543063653,
      "rotation_invariant_error_deg": 0.4424633543158478,
      "reverse_translation_m": 0.012512803173543077,
      "reverse_rotation_deg": 0.11122589391716618,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 27,
      "j": 28,
      "heldout_inlier_ratio": 0.7954517962985364,
      "heldout_inlier_rmse_m": 0.10154002419986238,
      "rotation_invariant_error_deg": 0.18277895623498353,
      "reverse_translation_m": 0.019135551099374308,
      "reverse_rotation_deg": 0.08227568287606397,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 27,
      "j": 29,
      "heldout_inlier_ratio": 0.7446499818643453,
      "heldout_inlier_rmse_m": 0.1104935519181424,
      "rotation_invariant_error_deg": 0.05019706664897683,
      "reverse_translation_m": 0.015390416284740782,
      "reverse_rotation_deg": 0.08645102756020058,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 28,
      "j": 29,
      "heldout_inlier_ratio": 0.8317879220161674,
      "heldout_inlier_rmse_m": 0.10401467258245657,
      "rotation_invariant_error_deg": 0.2248090151088249,
      "reverse_translation_m": 0.007126704551442278,
      "reverse_rotation_deg": 0.059447117802805614,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 28,
      "j": 30,
      "heldout_inlier_ratio": 0.540360873694207,
      "heldout_inlier_rmse_m": 0.1217315596532435,
      "rotation_invariant_error_deg": 0.07684932677659617,
      "reverse_translation_m": 0.02476143939627759,
      "reverse_rotation_deg": 0.2783665026489561,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 28,
      "j": 31,
      "heldout_inlier_ratio": 0.5051186318198242,
      "heldout_inlier_rmse_m": 0.12667907013046822,
      "rotation_invariant_error_deg": 0.24795246285512462,
      "reverse_translation_m": 0.01381623315543165,
      "reverse_rotation_deg": 0.08866229443960012,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 29,
      "j": 31,
      "heldout_inlier_ratio": 0.49440231130371975,
      "heldout_inlier_rmse_m": 0.12866710903574613,
      "rotation_invariant_error_deg": 0.010020066816991857,
      "reverse_translation_m": 0.047123741889749056,
      "reverse_rotation_deg": 0.2295904679982487,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 30,
      "j": 31,
      "heldout_inlier_ratio": 0.8480586608967424,
      "heldout_inlier_rmse_m": 0.09667505139943416,
      "rotation_invariant_error_deg": 0.36709925472124993,
      "reverse_translation_m": 0.01573204986385798,
      "reverse_rotation_deg": 0.04061482397026774,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 30,
      "j": 32,
      "heldout_inlier_ratio": 0.867680517303317,
      "heldout_inlier_rmse_m": 0.0986734040048058,
      "rotation_invariant_error_deg": 2.641534885952595,
      "reverse_translation_m": 0.002023273028745447,
      "reverse_rotation_deg": 0.014811950864385802,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 30,
      "j": 33,
      "heldout_inlier_ratio": 0.7995722941665676,
      "heldout_inlier_rmse_m": 0.10006346131537393,
      "rotation_invariant_error_deg": 0.04190651915672561,
      "reverse_translation_m": 0.00887908049317058,
      "reverse_rotation_deg": 0.048438711468841336,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 31,
      "j": 32,
      "heldout_inlier_ratio": 0.8486026731470231,
      "heldout_inlier_rmse_m": 0.09714101002609693,
      "rotation_invariant_error_deg": 2.999438414097348,
      "reverse_translation_m": 0.012921368358244189,
      "reverse_rotation_deg": 0.05809273577687571,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 32,
      "j": 33,
      "heldout_inlier_ratio": 0.8592699327569645,
      "heldout_inlier_rmse_m": 0.08972486966187442,
      "rotation_invariant_error_deg": 2.5869888325237724,
      "reverse_translation_m": 0.0035725430520846596,
      "reverse_rotation_deg": 0.009168450597030125,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 33,
      "j": 35,
      "heldout_inlier_ratio": 0.8329018592610026,
      "heldout_inlier_rmse_m": 0.09179860947142506,
      "rotation_invariant_error_deg": 0.5315276710855841,
      "reverse_translation_m": 0.0072384331805243046,
      "reverse_rotation_deg": 0.028209706778456432,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 33,
      "j": 36,
      "heldout_inlier_ratio": 0.760797342192691,
      "heldout_inlier_rmse_m": 0.09861359027653524,
      "rotation_invariant_error_deg": 1.069142055809408,
      "reverse_translation_m": 0.0022735557932631,
      "reverse_rotation_deg": 0.12221117701824208,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 34,
      "j": 35,
      "heldout_inlier_ratio": 0.8649093904448105,
      "heldout_inlier_rmse_m": 0.0788491357224537,
      "rotation_invariant_error_deg": 0.5291819610871329,
      "reverse_translation_m": 0.0032110784907267375,
      "reverse_rotation_deg": 0.015379666997505564,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 34,
      "j": 36,
      "heldout_inlier_ratio": 0.7729789590254706,
      "heldout_inlier_rmse_m": 0.09845381444357724,
      "rotation_invariant_error_deg": 1.1023555366274849,
      "reverse_translation_m": 0.011794412591703963,
      "reverse_rotation_deg": 0.006135949966801849,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 34,
      "j": 37,
      "heldout_inlier_ratio": 0.722881252293017,
      "heldout_inlier_rmse_m": 0.09759501600127507,
      "rotation_invariant_error_deg": 0.6297249481365981,
      "reverse_translation_m": 0.024742240312777743,
      "reverse_rotation_deg": 0.08718512569927171,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 35,
      "j": 36,
      "heldout_inlier_ratio": 0.7695298262665533,
      "heldout_inlier_rmse_m": 0.09495386680108024,
      "rotation_invariant_error_deg": 0.5500753965157372,
      "reverse_translation_m": 0.006644101856716534,
      "reverse_rotation_deg": 0.038610475450088305,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 36,
      "j": 37,
      "heldout_inlier_ratio": 0.8785082174462705,
      "heldout_inlier_rmse_m": 0.08834636280188386,
      "rotation_invariant_error_deg": 1.761508789593698,
      "reverse_translation_m": 0.003787237363253161,
      "reverse_rotation_deg": 0.027331592166342466,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    }
  ]
}