{
  "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": 87,
  "accepted_pairs": 42,
  "pairs": [
    {
      "i": 0,
      "j": 1,
      "heldout_inlier_ratio": 0.8061657032755298,
      "heldout_inlier_rmse_m": 0.10961296014103376,
      "rotation_invariant_error_deg": 0.021953694767613996,
      "reverse_translation_m": 0.004225163540003135,
      "reverse_rotation_deg": 0.15304490677206398,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 0,
      "j": 2,
      "heldout_inlier_ratio": 0.7489394523717702,
      "heldout_inlier_rmse_m": 0.116305716193008,
      "rotation_invariant_error_deg": 0.6722513635970557,
      "reverse_translation_m": 0.02073003109723772,
      "reverse_rotation_deg": 0.12418344306820694,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 0,
      "j": 3,
      "heldout_inlier_ratio": 0.6310283235519265,
      "heldout_inlier_rmse_m": 0.12470979645173065,
      "rotation_invariant_error_deg": 0.31955029067046326,
      "reverse_translation_m": 0.02154775870989581,
      "reverse_rotation_deg": 0.2539904497958252,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 1,
      "j": 2,
      "heldout_inlier_ratio": 0.7867383512544803,
      "heldout_inlier_rmse_m": 0.11079021393934936,
      "rotation_invariant_error_deg": 0.6532823847336076,
      "reverse_translation_m": 0.0076823267394430066,
      "reverse_rotation_deg": 0.05080433004685343,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 1,
      "j": 3,
      "heldout_inlier_ratio": 0.6794562317367552,
      "heldout_inlier_rmse_m": 0.1190716913809658,
      "rotation_invariant_error_deg": 0.28968149037614666,
      "reverse_translation_m": 0.024832426027852336,
      "reverse_rotation_deg": 0.29364033194785566,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 1,
      "j": 4,
      "heldout_inlier_ratio": 0.6786112833230006,
      "heldout_inlier_rmse_m": 0.11255015823152649,
      "rotation_invariant_error_deg": 0.2350920621707786,
      "reverse_translation_m": 0.007769137931169012,
      "reverse_rotation_deg": 0.07270245476793177,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 2,
      "j": 3,
      "heldout_inlier_ratio": 0.7586776859504132,
      "heldout_inlier_rmse_m": 0.11541610277862563,
      "rotation_invariant_error_deg": 0.06385020919199477,
      "reverse_translation_m": 0.007879904085793275,
      "reverse_rotation_deg": 0.11659483159946175,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 2,
      "j": 4,
      "heldout_inlier_ratio": 0.7854572527608884,
      "heldout_inlier_rmse_m": 0.1098649389241601,
      "rotation_invariant_error_deg": 0.8714733340458736,
      "reverse_translation_m": 0.017042953274278242,
      "reverse_rotation_deg": 0.09383247792992147,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 2,
      "j": 5,
      "heldout_inlier_ratio": 0.7074574574574575,
      "heldout_inlier_rmse_m": 0.11912871456224478,
      "rotation_invariant_error_deg": 0.18237928888538768,
      "reverse_translation_m": 0.016641241123247028,
      "reverse_rotation_deg": 0.24777402858141082,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 3,
      "j": 4,
      "heldout_inlier_ratio": 0.6974624291697462,
      "heldout_inlier_rmse_m": 0.1172763088894914,
      "rotation_invariant_error_deg": 0.490243673582313,
      "reverse_translation_m": 0.012148721219467648,
      "reverse_rotation_deg": 0.2079308684382429,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 3,
      "j": 5,
      "heldout_inlier_ratio": 0.7962985964476462,
      "heldout_inlier_rmse_m": 0.10646082199215777,
      "rotation_invariant_error_deg": 0.552273782508431,
      "reverse_translation_m": 0.011008298723511818,
      "reverse_rotation_deg": 0.08217077610411756,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 3,
      "j": 6,
      "heldout_inlier_ratio": 0.8376509054325956,
      "heldout_inlier_rmse_m": 0.10956583416752592,
      "rotation_invariant_error_deg": 0.24026261153986894,
      "reverse_translation_m": 0.001222821038316072,
      "reverse_rotation_deg": 0.09207521511761255,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 4,
      "j": 5,
      "heldout_inlier_ratio": 0.6652516676773802,
      "heldout_inlier_rmse_m": 0.12322094568314959,
      "rotation_invariant_error_deg": 1.0602492186818964,
      "reverse_translation_m": 0.005399786589867114,
      "reverse_rotation_deg": 0.1389350777589359,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 4,
      "j": 6,
      "heldout_inlier_ratio": 0.6529585072428186,
      "heldout_inlier_rmse_m": 0.11878586101480827,
      "rotation_invariant_error_deg": 0.2660016441779476,
      "reverse_translation_m": 0.011377811219747914,
      "reverse_rotation_deg": 0.20418431358287809,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 4,
      "j": 7,
      "heldout_inlier_ratio": 0.6964418087472202,
      "heldout_inlier_rmse_m": 0.11691192595448072,
      "rotation_invariant_error_deg": 0.25710683125699063,
      "reverse_translation_m": 0.017641796253111963,
      "reverse_rotation_deg": 0.10886712169052283,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 5,
      "j": 6,
      "heldout_inlier_ratio": 0.7526921648718901,
      "heldout_inlier_rmse_m": 0.10924852668609378,
      "rotation_invariant_error_deg": 0.8049600839827704,
      "reverse_translation_m": 0.012374747586501101,
      "reverse_rotation_deg": 0.14461856068326442,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 5,
      "j": 7,
      "heldout_inlier_ratio": 0.7833561729164071,
      "heldout_inlier_rmse_m": 0.11683079277948674,
      "rotation_invariant_error_deg": 0.7937418989475873,
      "reverse_translation_m": 0.0136898748124479,
      "reverse_rotation_deg": 0.2000656277647698,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 5,
      "j": 8,
      "heldout_inlier_ratio": 0.7410703250525275,
      "heldout_inlier_rmse_m": 0.11436945722491815,
      "rotation_invariant_error_deg": 0.4895932719632867,
      "reverse_translation_m": 0.020336999081352437,
      "reverse_rotation_deg": 0.07548452187379719,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 6,
      "j": 7,
      "heldout_inlier_ratio": 0.8497729566094854,
      "heldout_inlier_rmse_m": 0.10415909908074772,
      "rotation_invariant_error_deg": 0.026617733421606005,
      "reverse_translation_m": 0.008986805974948919,
      "reverse_rotation_deg": 0.1309947950641294,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 6,
      "j": 8,
      "heldout_inlier_ratio": 0.7678928928928929,
      "heldout_inlier_rmse_m": 0.11166725079781287,
      "rotation_invariant_error_deg": 0.32815442351947866,
      "reverse_translation_m": 0.010085391730565987,
      "reverse_rotation_deg": 0.11752836996157842,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 6,
      "j": 9,
      "heldout_inlier_ratio": 0.6071384156199477,
      "heldout_inlier_rmse_m": 0.12594282886521954,
      "rotation_invariant_error_deg": 0.06220808914818576,
      "reverse_translation_m": 0.01655440444551025,
      "reverse_rotation_deg": 0.4345945520890901,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 7,
      "j": 8,
      "heldout_inlier_ratio": 0.8299748110831234,
      "heldout_inlier_rmse_m": 0.10748525688830209,
      "rotation_invariant_error_deg": 0.29848794137559764,
      "reverse_translation_m": 0.007106461978852689,
      "reverse_rotation_deg": 0.10698728473689886,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 7,
      "j": 9,
      "heldout_inlier_ratio": 0.6188509200150206,
      "heldout_inlier_rmse_m": 0.1271320507839345,
      "rotation_invariant_error_deg": 0.060817415136170894,
      "reverse_translation_m": 0.026230622734929154,
      "reverse_rotation_deg": 0.28112746782878123,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 7,
      "j": 10,
      "heldout_inlier_ratio": 0.5757088027733069,
      "heldout_inlier_rmse_m": 0.1313446077529101,
      "rotation_invariant_error_deg": 0.08805329493384306,
      "reverse_translation_m": 0.012710332356906473,
      "reverse_rotation_deg": 0.2297418063823675,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "heldout_rmse"
      ]
    },
    {
      "i": 8,
      "j": 9,
      "heldout_inlier_ratio": 0.6326834719980131,
      "heldout_inlier_rmse_m": 0.12084265385763356,
      "rotation_invariant_error_deg": 0.5779508072572632,
      "reverse_translation_m": 0.02518064403521875,
      "reverse_rotation_deg": 0.3859647522318924,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 8,
      "j": 10,
      "heldout_inlier_ratio": 0.6163861933423412,
      "heldout_inlier_rmse_m": 0.12936028463965984,
      "rotation_invariant_error_deg": 0.22960778579899,
      "reverse_translation_m": 0.011327540721525892,
      "reverse_rotation_deg": 0.17059480981566058,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 8,
      "j": 11,
      "heldout_inlier_ratio": 0.5371195721380364,
      "heldout_inlier_rmse_m": 0.13463285672049757,
      "rotation_invariant_error_deg": 0.1575176157841085,
      "reverse_translation_m": 0.017887959781482814,
      "reverse_rotation_deg": 0.14919899299178907,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "heldout_rmse"
      ]
    },
    {
      "i": 9,
      "j": 10,
      "heldout_inlier_ratio": 0.6543345543345543,
      "heldout_inlier_rmse_m": 0.10729272360686735,
      "rotation_invariant_error_deg": 0.1786491689335179,
      "reverse_translation_m": 0.008725655639009402,
      "reverse_rotation_deg": 0.02870462611907292,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 9,
      "j": 11,
      "heldout_inlier_ratio": 0.5818780055682106,
      "heldout_inlier_rmse_m": 0.11717687815100752,
      "rotation_invariant_error_deg": 0.2635280280577561,
      "reverse_translation_m": 0.009813025835682346,
      "reverse_rotation_deg": 0.0603546019895227,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 9,
      "j": 12,
      "heldout_inlier_ratio": 0.5379123584441162,
      "heldout_inlier_rmse_m": 0.12645695585785732,
      "rotation_invariant_error_deg": 0.5448949372769469,
      "reverse_translation_m": 0.008862930161052695,
      "reverse_rotation_deg": 0.11566409877698863,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 10,
      "j": 11,
      "heldout_inlier_ratio": 0.7118898623279099,
      "heldout_inlier_rmse_m": 0.1192865608074921,
      "rotation_invariant_error_deg": 0.037876295004004135,
      "reverse_translation_m": 0.0029529340190147615,
      "reverse_rotation_deg": 0.0041769080934441144,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 10,
      "j": 12,
      "heldout_inlier_ratio": 0.6120311738918656,
      "heldout_inlier_rmse_m": 0.1252565212812615,
      "rotation_invariant_error_deg": 0.22694248875487233,
      "reverse_translation_m": 0.005686910809265337,
      "reverse_rotation_deg": 0.10204044727301474,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 10,
      "j": 13,
      "heldout_inlier_ratio": 0.516551290119572,
      "heldout_inlier_rmse_m": 0.1354903305714049,
      "rotation_invariant_error_deg": 0.7336960316225429,
      "reverse_translation_m": 0.01356504272158301,
      "reverse_rotation_deg": 0.3255230434099281,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "heldout_rmse"
      ]
    },
    {
      "i": 11,
      "j": 12,
      "heldout_inlier_ratio": 0.650555275113579,
      "heldout_inlier_rmse_m": 0.12104882943540958,
      "rotation_invariant_error_deg": 0.1682852032564881,
      "reverse_translation_m": 0.003583199374499245,
      "reverse_rotation_deg": 0.03300207707174736,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 11,
      "j": 13,
      "heldout_inlier_ratio": 0.5698054068172914,
      "heldout_inlier_rmse_m": 0.12858662743221627,
      "rotation_invariant_error_deg": 0.7985328447718985,
      "reverse_translation_m": 0.016001435752891854,
      "reverse_rotation_deg": 0.11059625579949509,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 11,
      "j": 14,
      "heldout_inlier_ratio": 0.6420881321982974,
      "heldout_inlier_rmse_m": 0.12414062948335584,
      "rotation_invariant_error_deg": 0.9364144322989034,
      "reverse_translation_m": 0.012369101516230236,
      "reverse_rotation_deg": 0.018705060406060074,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 12,
      "j": 13,
      "heldout_inlier_ratio": 0.6972966112450819,
      "heldout_inlier_rmse_m": 0.11680896213116294,
      "rotation_invariant_error_deg": 0.9873386907551591,
      "reverse_translation_m": 0.011410238767832601,
      "reverse_rotation_deg": 0.04779713993430858,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 12,
      "j": 14,
      "heldout_inlier_ratio": 0.8749086479902558,
      "heldout_inlier_rmse_m": 0.09521299965540617,
      "rotation_invariant_error_deg": 0.7228372421050018,
      "reverse_translation_m": 0.006159472215773642,
      "reverse_rotation_deg": 0.014929948455572307,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 12,
      "j": 15,
      "heldout_inlier_ratio": 0.7022030893897189,
      "heldout_inlier_rmse_m": 0.11797995277580095,
      "rotation_invariant_error_deg": 0.3408827465240982,
      "reverse_translation_m": 0.008495008365045943,
      "reverse_rotation_deg": 0.102782991447036,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 13,
      "j": 14,
      "heldout_inlier_ratio": 0.6955810147299509,
      "heldout_inlier_rmse_m": 0.1145595612270532,
      "rotation_invariant_error_deg": 1.7562842773469534,
      "reverse_translation_m": 0.010228664633443074,
      "reverse_rotation_deg": 0.03515966054944097,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 13,
      "j": 15,
      "heldout_inlier_ratio": 0.868300353819945,
      "heldout_inlier_rmse_m": 0.10454213568084784,
      "rotation_invariant_error_deg": 0.6514660625063096,
      "reverse_translation_m": 0.0023750253827712867,
      "reverse_rotation_deg": 0.010725047644197173,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 13,
      "j": 16,
      "heldout_inlier_ratio": 0.7265456392027422,
      "heldout_inlier_rmse_m": 0.10962529664062398,
      "rotation_invariant_error_deg": 0.4847012071219652,
      "reverse_translation_m": 0.008958927594995584,
      "reverse_rotation_deg": 0.0304143851242741,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 14,
      "j": 15,
      "heldout_inlier_ratio": 0.7120070334086913,
      "heldout_inlier_rmse_m": 0.11868441290330693,
      "rotation_invariant_error_deg": 1.1046128571505598,
      "reverse_translation_m": 0.002571958018982041,
      "reverse_rotation_deg": 0.05506919751152759,
      "accepted": false,
      "rejection_reasons": [
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 14,
      "j": 16,
      "heldout_inlier_ratio": 0.5918615984405458,
      "heldout_inlier_rmse_m": 0.12229328437386527,
      "rotation_invariant_error_deg": 1.2404842024499416,
      "reverse_translation_m": 0.014273957859022303,
      "reverse_rotation_deg": 0.25325650727956367,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 14,
      "j": 17,
      "heldout_inlier_ratio": 0.6694009445687298,
      "heldout_inlier_rmse_m": 0.12443900216431929,
      "rotation_invariant_error_deg": 0.4822313558358922,
      "reverse_translation_m": 0.017895201000461415,
      "reverse_rotation_deg": 0.10920228290609475,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 15,
      "j": 16,
      "heldout_inlier_ratio": 0.702887537993921,
      "heldout_inlier_rmse_m": 0.11495230769293868,
      "rotation_invariant_error_deg": 0.1634066191652046,
      "reverse_translation_m": 0.013545291843393993,
      "reverse_rotation_deg": 0.033466251783377816,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 15,
      "j": 17,
      "heldout_inlier_ratio": 0.7429531936901991,
      "heldout_inlier_rmse_m": 0.11679524427533879,
      "rotation_invariant_error_deg": 0.05085197471169067,
      "reverse_translation_m": 0.00989411002791081,
      "reverse_rotation_deg": 0.07786907370564648,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 15,
      "j": 18,
      "heldout_inlier_ratio": 0.7209645010046886,
      "heldout_inlier_rmse_m": 0.11716134583909153,
      "rotation_invariant_error_deg": 0.26477152026834405,
      "reverse_translation_m": 0.011654729311847106,
      "reverse_rotation_deg": 0.13683586564190353,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 16,
      "j": 17,
      "heldout_inlier_ratio": 0.618922305764411,
      "heldout_inlier_rmse_m": 0.11254196340939995,
      "rotation_invariant_error_deg": 0.05549924909793447,
      "reverse_translation_m": 0.03104786021350874,
      "reverse_rotation_deg": 0.10375098145235381,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 16,
      "j": 18,
      "heldout_inlier_ratio": 0.6890156918687589,
      "heldout_inlier_rmse_m": 0.11084024896736888,
      "rotation_invariant_error_deg": 0.06628387310021466,
      "reverse_translation_m": 0.01556225520371614,
      "reverse_rotation_deg": 0.02495881796886513,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 16,
      "j": 19,
      "heldout_inlier_ratio": 0.8685060899826,
      "heldout_inlier_rmse_m": 0.10135543575024519,
      "rotation_invariant_error_deg": 0.3152201090321789,
      "reverse_translation_m": 0.002952251383831446,
      "reverse_rotation_deg": 0.02753369989560042,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 17,
      "j": 18,
      "heldout_inlier_ratio": 0.7697708305735859,
      "heldout_inlier_rmse_m": 0.10648049893472207,
      "rotation_invariant_error_deg": 0.2007356143443637,
      "reverse_translation_m": 0.010582276181446382,
      "reverse_rotation_deg": 0.039599051949106026,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 17,
      "j": 19,
      "heldout_inlier_ratio": 0.6293759512937596,
      "heldout_inlier_rmse_m": 0.1095449771750205,
      "rotation_invariant_error_deg": 0.25455213438723945,
      "reverse_translation_m": 0.012240937390583118,
      "reverse_rotation_deg": 0.060306184678878015,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 18,
      "j": 19,
      "heldout_inlier_ratio": 0.6827314510833881,
      "heldout_inlier_rmse_m": 0.10834806615100012,
      "rotation_invariant_error_deg": 0.45437520989985103,
      "reverse_translation_m": 0.012418496053917759,
      "reverse_rotation_deg": 0.11905018881098527,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 18,
      "j": 20,
      "heldout_inlier_ratio": 0.5756313809779688,
      "heldout_inlier_rmse_m": 0.1265759478434112,
      "rotation_invariant_error_deg": 0.5067750738975718,
      "reverse_translation_m": 0.012917057356045326,
      "reverse_rotation_deg": 0.24042373011343365,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 19,
      "j": 20,
      "heldout_inlier_ratio": 0.6234734541714874,
      "heldout_inlier_rmse_m": 0.12775305804057488,
      "rotation_invariant_error_deg": 0.038058886117724455,
      "reverse_translation_m": 0.009237066767190358,
      "reverse_rotation_deg": 0.22540488888099894,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 20,
      "j": 21,
      "heldout_inlier_ratio": 0.6596992097884272,
      "heldout_inlier_rmse_m": 0.12147955429086157,
      "rotation_invariant_error_deg": 0.33308699073502623,
      "reverse_translation_m": 0.014725537493637062,
      "reverse_rotation_deg": 0.1988422472286775,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 20,
      "j": 22,
      "heldout_inlier_ratio": 0.5739414499308958,
      "heldout_inlier_rmse_m": 0.13255415786946786,
      "rotation_invariant_error_deg": 0.49226728584470436,
      "reverse_translation_m": 0.006040617548520927,
      "reverse_rotation_deg": 0.19706632354687328,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "heldout_rmse"
      ]
    },
    {
      "i": 20,
      "j": 23,
      "heldout_inlier_ratio": 0.6456945156330087,
      "heldout_inlier_rmse_m": 0.12075756038041646,
      "rotation_invariant_error_deg": 0.40978574449533767,
      "reverse_translation_m": 0.022949011013485506,
      "reverse_rotation_deg": 0.1911210947924365,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 21,
      "j": 22,
      "heldout_inlier_ratio": 0.7716237647919971,
      "heldout_inlier_rmse_m": 0.11632271358541554,
      "rotation_invariant_error_deg": 0.2029947674039514,
      "reverse_translation_m": 0.00996357879827298,
      "reverse_rotation_deg": 0.15332892195322273,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 21,
      "j": 23,
      "heldout_inlier_ratio": 0.8576224819696593,
      "heldout_inlier_rmse_m": 0.09865676260631216,
      "rotation_invariant_error_deg": 0.08196486868098773,
      "reverse_translation_m": 0.0039225733250952055,
      "reverse_rotation_deg": 0.00898487649368532,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 21,
      "j": 24,
      "heldout_inlier_ratio": 0.7715940569126165,
      "heldout_inlier_rmse_m": 0.1136150455355286,
      "rotation_invariant_error_deg": 0.49417528129087884,
      "reverse_translation_m": 0.007475673605589086,
      "reverse_rotation_deg": 0.042277690012993266,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 22,
      "j": 23,
      "heldout_inlier_ratio": 0.7396689147762109,
      "heldout_inlier_rmse_m": 0.11702962848624102,
      "rotation_invariant_error_deg": 0.07221906147911383,
      "reverse_translation_m": 0.01814015943430581,
      "reverse_rotation_deg": 0.11847321816106485,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 22,
      "j": 24,
      "heldout_inlier_ratio": 0.6983240223463687,
      "heldout_inlier_rmse_m": 0.11898873157361621,
      "rotation_invariant_error_deg": 0.6434012981205939,
      "reverse_translation_m": 0.013438931050857202,
      "reverse_rotation_deg": 0.08244161259412694,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 22,
      "j": 25,
      "heldout_inlier_ratio": 0.736861094407697,
      "heldout_inlier_rmse_m": 0.11586394710110075,
      "rotation_invariant_error_deg": 0.19913456977449506,
      "reverse_translation_m": 0.018559552524775386,
      "reverse_rotation_deg": 0.0645260279790244,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 23,
      "j": 24,
      "heldout_inlier_ratio": 0.7853164556962026,
      "heldout_inlier_rmse_m": 0.1128725442321241,
      "rotation_invariant_error_deg": 0.5709657470244167,
      "reverse_translation_m": 0.002195759849115173,
      "reverse_rotation_deg": 0.032112959181416705,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 23,
      "j": 25,
      "heldout_inlier_ratio": 0.6881127450980392,
      "heldout_inlier_rmse_m": 0.12303206700403986,
      "rotation_invariant_error_deg": 2.3734594630006525,
      "reverse_translation_m": 0.004939188019100004,
      "reverse_rotation_deg": 0.12964064637100806,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio",
        "rotation_conjugacy_invariant"
      ]
    },
    {
      "i": 23,
      "j": 26,
      "heldout_inlier_ratio": 0.6852618757612667,
      "heldout_inlier_rmse_m": 0.12040544972155913,
      "rotation_invariant_error_deg": 0.1574826892383996,
      "reverse_translation_m": 0.006032445250250899,
      "reverse_rotation_deg": 0.14039335223024835,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 24,
      "j": 25,
      "heldout_inlier_ratio": 0.677667493796526,
      "heldout_inlier_rmse_m": 0.12346315805814134,
      "rotation_invariant_error_deg": 0.10001483417661916,
      "reverse_translation_m": 0.02347922689116974,
      "reverse_rotation_deg": 0.16273859629352566,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 24,
      "j": 26,
      "heldout_inlier_ratio": 0.6530209617755857,
      "heldout_inlier_rmse_m": 0.12710147612984257,
      "rotation_invariant_error_deg": 0.7149536911782102,
      "reverse_translation_m": 0.013311199903818141,
      "reverse_rotation_deg": 0.18193579850152686,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 24,
      "j": 27,
      "heldout_inlier_ratio": 0.6649014778325123,
      "heldout_inlier_rmse_m": 0.1248115961442785,
      "rotation_invariant_error_deg": 0.5126580224866935,
      "reverse_translation_m": 0.017872821205486625,
      "reverse_rotation_deg": 0.1680556511699705,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 25,
      "j": 26,
      "heldout_inlier_ratio": 0.9127837514934289,
      "heldout_inlier_rmse_m": 0.0958142916589384,
      "rotation_invariant_error_deg": 0.054012386376783184,
      "reverse_translation_m": 0.003534148840172682,
      "reverse_rotation_deg": 0.018440169300173608,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 25,
      "j": 27,
      "heldout_inlier_ratio": 0.8510739856801909,
      "heldout_inlier_rmse_m": 0.10418150333394147,
      "rotation_invariant_error_deg": 0.24124343828054862,
      "reverse_translation_m": 0.006103232696002816,
      "reverse_rotation_deg": 0.13366555345652814,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 25,
      "j": 28,
      "heldout_inlier_ratio": 0.8853518429870751,
      "heldout_inlier_rmse_m": 0.10761251229652005,
      "rotation_invariant_error_deg": 0.31032271091986274,
      "reverse_translation_m": 0.003483231665912094,
      "reverse_rotation_deg": 0.0369774420199415,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 26,
      "j": 27,
      "heldout_inlier_ratio": 0.9183867141162515,
      "heldout_inlier_rmse_m": 0.09074909570650921,
      "rotation_invariant_error_deg": 0.15492424092203905,
      "reverse_translation_m": 0.00040199505815422204,
      "reverse_rotation_deg": 0.011554314408129918,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 26,
      "j": 28,
      "heldout_inlier_ratio": 0.8853200095170116,
      "heldout_inlier_rmse_m": 0.10604184939655073,
      "rotation_invariant_error_deg": 0.2535175622408232,
      "reverse_translation_m": 0.007320240476189879,
      "reverse_rotation_deg": 0.12930335868605478,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 26,
      "j": 29,
      "heldout_inlier_ratio": 0.7880466815984911,
      "heldout_inlier_rmse_m": 0.10871274240898265,
      "rotation_invariant_error_deg": 0.6273264323501735,
      "reverse_translation_m": 0.0063952430610542755,
      "reverse_rotation_deg": 0.039517035902874385,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 27,
      "j": 28,
      "heldout_inlier_ratio": 0.9289448669201521,
      "heldout_inlier_rmse_m": 0.0850509551532673,
      "rotation_invariant_error_deg": 0.06642597183531862,
      "reverse_translation_m": 0.005157655135591474,
      "reverse_rotation_deg": 0.022666807877311387,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 27,
      "j": 29,
      "heldout_inlier_ratio": 0.7872365477452019,
      "heldout_inlier_rmse_m": 0.10455513464835667,
      "rotation_invariant_error_deg": 0.4661735027920457,
      "reverse_translation_m": 0.011650639607012138,
      "reverse_rotation_deg": 0.1624719134077532,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 28,
      "j": 29,
      "heldout_inlier_ratio": 0.8000944621560987,
      "heldout_inlier_rmse_m": 0.1086547547358129,
      "rotation_invariant_error_deg": 0.3806425437120353,
      "reverse_translation_m": 0.0011394164967304414,
      "reverse_rotation_deg": 0.02119627748719656,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 28,
      "j": 31,
      "heldout_inlier_ratio": 0.7465330381074466,
      "heldout_inlier_rmse_m": 0.1066966653439246,
      "rotation_invariant_error_deg": 0.22580828656688823,
      "reverse_translation_m": 0.00635764905956918,
      "reverse_rotation_deg": 0.040016615214377715,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 29,
      "j": 30,
      "heldout_inlier_ratio": 0.7248812145092132,
      "heldout_inlier_rmse_m": 0.10870831469083347,
      "rotation_invariant_error_deg": 0.00452548507581696,
      "reverse_translation_m": 0.00465638537716095,
      "reverse_rotation_deg": 0.12465763189227934,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 29,
      "j": 31,
      "heldout_inlier_ratio": 0.7243012243012243,
      "heldout_inlier_rmse_m": 0.11138751941762699,
      "rotation_invariant_error_deg": 0.6006586352807659,
      "reverse_translation_m": 0.004263906321896464,
      "reverse_rotation_deg": 0.046637396086304225,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 29,
      "j": 32,
      "heldout_inlier_ratio": 0.6956070563818748,
      "heldout_inlier_rmse_m": 0.1103354081949904,
      "rotation_invariant_error_deg": 0.7369667173371113,
      "reverse_translation_m": 0.011088061861347823,
      "reverse_rotation_deg": 0.34561739459504637,
      "accepted": false,
      "rejection_reasons": [
        "overlap_ratio"
      ]
    },
    {
      "i": 30,
      "j": 31,
      "heldout_inlier_ratio": 0.8185562292643862,
      "heldout_inlier_rmse_m": 0.0961579573295129,
      "rotation_invariant_error_deg": 0.6089207032237525,
      "reverse_translation_m": 0.004999163455591531,
      "reverse_rotation_deg": 0.0213847958734735,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 30,
      "j": 32,
      "heldout_inlier_ratio": 0.8041343079031521,
      "heldout_inlier_rmse_m": 0.099533431536842,
      "rotation_invariant_error_deg": 0.7410181887106546,
      "reverse_translation_m": 0.003171376495143,
      "reverse_rotation_deg": 0.02376737774843464,
      "accepted": true,
      "rejection_reasons": []
    },
    {
      "i": 31,
      "j": 32,
      "heldout_inlier_ratio": 0.8157085941946499,
      "heldout_inlier_rmse_m": 0.09925944770258267,
      "rotation_invariant_error_deg": 0.1261576421595052,
      "reverse_translation_m": 0.004719596234887584,
      "reverse_rotation_deg": 0.06146741991681224,
      "accepted": true,
      "rejection_reasons": []
    }
  ]
}