889 lines
27 KiB
JSON
889 lines
27 KiB
JSON
{
|
|
"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": 73,
|
|
"accepted_pairs": 41,
|
|
"pairs": [
|
|
{
|
|
"i": 0,
|
|
"j": 1,
|
|
"heldout_inlier_ratio": 0.8061657032755298,
|
|
"heldout_inlier_rmse_m": 0.10961296014103396,
|
|
"rotation_invariant_error_deg": 0.021953694767642418,
|
|
"reverse_translation_m": 0.004225163540003575,
|
|
"reverse_rotation_deg": 0.1530449067720668,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 0,
|
|
"j": 2,
|
|
"heldout_inlier_ratio": 0.7489394523717702,
|
|
"heldout_inlier_rmse_m": 0.116305716193008,
|
|
"rotation_invariant_error_deg": 0.672251363597141,
|
|
"reverse_translation_m": 0.02073003109723684,
|
|
"reverse_rotation_deg": 0.12418344306819311,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 0,
|
|
"j": 3,
|
|
"heldout_inlier_ratio": 0.6310283235519265,
|
|
"heldout_inlier_rmse_m": 0.12470979645173097,
|
|
"rotation_invariant_error_deg": 0.3195502906704917,
|
|
"reverse_translation_m": 0.02154775870989652,
|
|
"reverse_rotation_deg": 0.25399044979598373,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 1,
|
|
"j": 2,
|
|
"heldout_inlier_ratio": 0.7867383512544803,
|
|
"heldout_inlier_rmse_m": 0.11079021393934946,
|
|
"rotation_invariant_error_deg": 0.6532823847336218,
|
|
"reverse_translation_m": 0.00768232673944143,
|
|
"reverse_rotation_deg": 0.0508043300468843,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 1,
|
|
"j": 3,
|
|
"heldout_inlier_ratio": 0.6794562317367552,
|
|
"heldout_inlier_rmse_m": 0.11907169138096609,
|
|
"rotation_invariant_error_deg": 0.28968149037613955,
|
|
"reverse_translation_m": 0.024832409186708038,
|
|
"reverse_rotation_deg": 0.29364088503444125,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 1,
|
|
"j": 4,
|
|
"heldout_inlier_ratio": 0.6786112833230006,
|
|
"heldout_inlier_rmse_m": 0.1125501582315264,
|
|
"rotation_invariant_error_deg": 0.23509206217087808,
|
|
"reverse_translation_m": 0.0077657602443488094,
|
|
"reverse_rotation_deg": 0.07274574571529673,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 2,
|
|
"j": 3,
|
|
"heldout_inlier_ratio": 0.7586776859504132,
|
|
"heldout_inlier_rmse_m": 0.11541610277862546,
|
|
"rotation_invariant_error_deg": 0.06385020919199427,
|
|
"reverse_translation_m": 0.007879904085790266,
|
|
"reverse_rotation_deg": 0.11659483159927261,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 2,
|
|
"j": 4,
|
|
"heldout_inlier_ratio": 0.7854572527608884,
|
|
"heldout_inlier_rmse_m": 0.1098649389241602,
|
|
"rotation_invariant_error_deg": 0.8714733340459802,
|
|
"reverse_translation_m": 0.017042953274276868,
|
|
"reverse_rotation_deg": 0.09383247792992644,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"rotation_conjugacy_invariant"
|
|
]
|
|
},
|
|
{
|
|
"i": 2,
|
|
"j": 5,
|
|
"heldout_inlier_ratio": 0.7074574574574575,
|
|
"heldout_inlier_rmse_m": 0.11912871456224486,
|
|
"rotation_invariant_error_deg": 0.18237928888532906,
|
|
"reverse_translation_m": 0.016640250279170064,
|
|
"reverse_rotation_deg": 0.24773491621516538,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 3,
|
|
"j": 4,
|
|
"heldout_inlier_ratio": 0.6974624291697462,
|
|
"heldout_inlier_rmse_m": 0.11727630888949149,
|
|
"rotation_invariant_error_deg": 0.4902436735823201,
|
|
"reverse_translation_m": 0.0121487212194689,
|
|
"reverse_rotation_deg": 0.20793086843827258,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 3,
|
|
"j": 5,
|
|
"heldout_inlier_ratio": 0.7962985964476462,
|
|
"heldout_inlier_rmse_m": 0.10646082199215787,
|
|
"rotation_invariant_error_deg": 0.5522737825084345,
|
|
"reverse_translation_m": 0.011008298723512349,
|
|
"reverse_rotation_deg": 0.0821707761041294,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 3,
|
|
"j": 6,
|
|
"heldout_inlier_ratio": 0.8376509054325956,
|
|
"heldout_inlier_rmse_m": 0.10956583416752531,
|
|
"rotation_invariant_error_deg": 0.24026261153986894,
|
|
"reverse_translation_m": 0.001222821038315667,
|
|
"reverse_rotation_deg": 0.092075215117626,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 5,
|
|
"j": 6,
|
|
"heldout_inlier_ratio": 0.7526921648718901,
|
|
"heldout_inlier_rmse_m": 0.10924852668609375,
|
|
"rotation_invariant_error_deg": 0.8049600839827491,
|
|
"reverse_translation_m": 0.012374747586500019,
|
|
"reverse_rotation_deg": 0.14461856068328793,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"rotation_conjugacy_invariant"
|
|
]
|
|
},
|
|
{
|
|
"i": 5,
|
|
"j": 7,
|
|
"heldout_inlier_ratio": 0.7833561729164071,
|
|
"heldout_inlier_rmse_m": 0.11683079277948678,
|
|
"rotation_invariant_error_deg": 0.7937418989476015,
|
|
"reverse_translation_m": 0.013689874812447942,
|
|
"reverse_rotation_deg": 0.20006562776472953,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"rotation_conjugacy_invariant"
|
|
]
|
|
},
|
|
{
|
|
"i": 6,
|
|
"j": 7,
|
|
"heldout_inlier_ratio": 0.8497729566094854,
|
|
"heldout_inlier_rmse_m": 0.10415909908074775,
|
|
"rotation_invariant_error_deg": 0.026617733421641532,
|
|
"reverse_translation_m": 0.008986805974950147,
|
|
"reverse_rotation_deg": 0.13099479506412062,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 6,
|
|
"j": 8,
|
|
"heldout_inlier_ratio": 0.7678928928928929,
|
|
"heldout_inlier_rmse_m": 0.1116672507978127,
|
|
"rotation_invariant_error_deg": 0.32815442351946444,
|
|
"reverse_translation_m": 0.010085391730567652,
|
|
"reverse_rotation_deg": 0.1175283699615622,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 7,
|
|
"j": 8,
|
|
"heldout_inlier_ratio": 0.8299748110831234,
|
|
"heldout_inlier_rmse_m": 0.10748525688830211,
|
|
"rotation_invariant_error_deg": 0.29848794137558343,
|
|
"reverse_translation_m": 0.00710646197885058,
|
|
"reverse_rotation_deg": 0.1069872847368705,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 9,
|
|
"j": 11,
|
|
"heldout_inlier_ratio": 0.5818780055682106,
|
|
"heldout_inlier_rmse_m": 0.1171768781510077,
|
|
"rotation_invariant_error_deg": 0.2635280280577561,
|
|
"reverse_translation_m": 0.00981302583568424,
|
|
"reverse_rotation_deg": 0.06035460198954135,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 9,
|
|
"j": 12,
|
|
"heldout_inlier_ratio": 0.5379123584441162,
|
|
"heldout_inlier_rmse_m": 0.12645695585785705,
|
|
"rotation_invariant_error_deg": 0.5448949372769505,
|
|
"reverse_translation_m": 0.008862930161051686,
|
|
"reverse_rotation_deg": 0.11566409877698092,
|
|
"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": 0.037876295004018345,
|
|
"reverse_translation_m": 0.0029529340190141227,
|
|
"reverse_rotation_deg": 0.004176908093440082,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 10,
|
|
"j": 12,
|
|
"heldout_inlier_ratio": 0.6120311738918656,
|
|
"heldout_inlier_rmse_m": 0.12525652128126136,
|
|
"rotation_invariant_error_deg": 0.22694248875488654,
|
|
"reverse_translation_m": 0.005686910809247203,
|
|
"reverse_rotation_deg": 0.10204044727299268,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 10,
|
|
"j": 13,
|
|
"heldout_inlier_ratio": 0.516551290119572,
|
|
"heldout_inlier_rmse_m": 0.1354903305714048,
|
|
"rotation_invariant_error_deg": 0.7336960316225287,
|
|
"reverse_translation_m": 0.013565042721589003,
|
|
"reverse_rotation_deg": 0.32552304340992394,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio",
|
|
"heldout_rmse"
|
|
]
|
|
},
|
|
{
|
|
"i": 11,
|
|
"j": 12,
|
|
"heldout_inlier_ratio": 0.650555275113579,
|
|
"heldout_inlier_rmse_m": 0.12104882943540898,
|
|
"rotation_invariant_error_deg": 0.16828520325654495,
|
|
"reverse_translation_m": 0.003583199374507776,
|
|
"reverse_rotation_deg": 0.03300207707174117,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 11,
|
|
"j": 13,
|
|
"heldout_inlier_ratio": 0.5698054068172914,
|
|
"heldout_inlier_rmse_m": 0.1285866274322162,
|
|
"rotation_invariant_error_deg": 0.7985328447719269,
|
|
"reverse_translation_m": 0.016001435752898144,
|
|
"reverse_rotation_deg": 0.11059625579950419,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio",
|
|
"rotation_conjugacy_invariant"
|
|
]
|
|
},
|
|
{
|
|
"i": 11,
|
|
"j": 14,
|
|
"heldout_inlier_ratio": 0.6420881321982974,
|
|
"heldout_inlier_rmse_m": 0.12414062948335593,
|
|
"rotation_invariant_error_deg": 0.9364144322988963,
|
|
"reverse_translation_m": 0.012369101516230316,
|
|
"reverse_rotation_deg": 0.01870506040605898,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio",
|
|
"rotation_conjugacy_invariant"
|
|
]
|
|
},
|
|
{
|
|
"i": 12,
|
|
"j": 13,
|
|
"heldout_inlier_ratio": 0.6972966112450819,
|
|
"heldout_inlier_rmse_m": 0.1168089621311632,
|
|
"rotation_invariant_error_deg": 0.9873386907551662,
|
|
"reverse_translation_m": 0.01141023876783206,
|
|
"reverse_rotation_deg": 0.04779713993428384,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio",
|
|
"rotation_conjugacy_invariant"
|
|
]
|
|
},
|
|
{
|
|
"i": 12,
|
|
"j": 14,
|
|
"heldout_inlier_ratio": 0.8749086479902558,
|
|
"heldout_inlier_rmse_m": 0.09521299965540625,
|
|
"rotation_invariant_error_deg": 0.7228372421049902,
|
|
"reverse_translation_m": 0.006159472215773367,
|
|
"reverse_rotation_deg": 0.014929948455569534,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 12,
|
|
"j": 15,
|
|
"heldout_inlier_ratio": 0.7022030893897189,
|
|
"heldout_inlier_rmse_m": 0.11797995277580106,
|
|
"rotation_invariant_error_deg": 0.34088274652411243,
|
|
"reverse_translation_m": 0.008495008365046321,
|
|
"reverse_rotation_deg": 0.10278299144703042,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 13,
|
|
"j": 14,
|
|
"heldout_inlier_ratio": 0.6955810147299509,
|
|
"heldout_inlier_rmse_m": 0.11455956122705321,
|
|
"rotation_invariant_error_deg": 1.7562842773469676,
|
|
"reverse_translation_m": 0.01022866463344607,
|
|
"reverse_rotation_deg": 0.03515966054944392,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio",
|
|
"rotation_conjugacy_invariant"
|
|
]
|
|
},
|
|
{
|
|
"i": 13,
|
|
"j": 15,
|
|
"heldout_inlier_ratio": 0.868300353819945,
|
|
"heldout_inlier_rmse_m": 0.1045421356808481,
|
|
"rotation_invariant_error_deg": 0.6514660625063202,
|
|
"reverse_translation_m": 0.002375025382773949,
|
|
"reverse_rotation_deg": 0.01072504764419793,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 13,
|
|
"j": 16,
|
|
"heldout_inlier_ratio": 0.7265456392027422,
|
|
"heldout_inlier_rmse_m": 0.1096252966406241,
|
|
"rotation_invariant_error_deg": 0.48470120712195097,
|
|
"reverse_translation_m": 0.008958927594996346,
|
|
"reverse_rotation_deg": 0.03041438512426757,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 14,
|
|
"j": 15,
|
|
"heldout_inlier_ratio": 0.7120070334086913,
|
|
"heldout_inlier_rmse_m": 0.11868441290330703,
|
|
"rotation_invariant_error_deg": 1.1046128571505562,
|
|
"reverse_translation_m": 0.002571958018980028,
|
|
"reverse_rotation_deg": 0.055069197511519646,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"rotation_conjugacy_invariant"
|
|
]
|
|
},
|
|
{
|
|
"i": 14,
|
|
"j": 16,
|
|
"heldout_inlier_ratio": 0.5918615984405458,
|
|
"heldout_inlier_rmse_m": 0.12229328437386515,
|
|
"rotation_invariant_error_deg": 1.240484202449963,
|
|
"reverse_translation_m": 0.014273957859025563,
|
|
"reverse_rotation_deg": 0.25325650727957555,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio",
|
|
"rotation_conjugacy_invariant"
|
|
]
|
|
},
|
|
{
|
|
"i": 14,
|
|
"j": 17,
|
|
"heldout_inlier_ratio": 0.6694009445687298,
|
|
"heldout_inlier_rmse_m": 0.12443900216431925,
|
|
"rotation_invariant_error_deg": 0.4822313558358869,
|
|
"reverse_translation_m": 0.0178952010004604,
|
|
"reverse_rotation_deg": 0.10920228290609924,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 15,
|
|
"j": 16,
|
|
"heldout_inlier_ratio": 0.702887537993921,
|
|
"heldout_inlier_rmse_m": 0.11495230769293859,
|
|
"rotation_invariant_error_deg": 0.16340661916523302,
|
|
"reverse_translation_m": 0.013545291843396808,
|
|
"reverse_rotation_deg": 0.03346625178333291,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 15,
|
|
"j": 17,
|
|
"heldout_inlier_ratio": 0.7429531936901991,
|
|
"heldout_inlier_rmse_m": 0.11679524427533863,
|
|
"rotation_invariant_error_deg": 0.050851974711708436,
|
|
"reverse_translation_m": 0.009894110027911674,
|
|
"reverse_rotation_deg": 0.07786907370565768,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 15,
|
|
"j": 18,
|
|
"heldout_inlier_ratio": 0.7209645010046886,
|
|
"heldout_inlier_rmse_m": 0.11716134583909138,
|
|
"rotation_invariant_error_deg": 0.26477152026833295,
|
|
"reverse_translation_m": 0.01165472931184747,
|
|
"reverse_rotation_deg": 0.13683586564190106,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 16,
|
|
"j": 17,
|
|
"heldout_inlier_ratio": 0.618922305764411,
|
|
"heldout_inlier_rmse_m": 0.11254196340940027,
|
|
"rotation_invariant_error_deg": 0.05549924909794868,
|
|
"reverse_translation_m": 0.031047860213503222,
|
|
"reverse_rotation_deg": 0.10375098145236057,
|
|
"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": 0.06628387310017914,
|
|
"reverse_translation_m": 0.01556225520373068,
|
|
"reverse_rotation_deg": 0.02495881796885156,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 16,
|
|
"j": 19,
|
|
"heldout_inlier_ratio": 0.8685060899826,
|
|
"heldout_inlier_rmse_m": 0.10135543575024479,
|
|
"rotation_invariant_error_deg": 0.3152201090321931,
|
|
"reverse_translation_m": 0.0029522513838272538,
|
|
"reverse_rotation_deg": 0.02753369989558306,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 17,
|
|
"j": 18,
|
|
"heldout_inlier_ratio": 0.7697708305735859,
|
|
"heldout_inlier_rmse_m": 0.10648049893472189,
|
|
"rotation_invariant_error_deg": 0.2007356143443495,
|
|
"reverse_translation_m": 0.010582276181446961,
|
|
"reverse_rotation_deg": 0.03959905194910384,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 17,
|
|
"j": 19,
|
|
"heldout_inlier_ratio": 0.6293759512937596,
|
|
"heldout_inlier_rmse_m": 0.10954497717502036,
|
|
"rotation_invariant_error_deg": 0.25455213438726787,
|
|
"reverse_translation_m": 0.012240937390578075,
|
|
"reverse_rotation_deg": 0.06030618467886912,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 18,
|
|
"j": 19,
|
|
"heldout_inlier_ratio": 0.6827314510833881,
|
|
"heldout_inlier_rmse_m": 0.10834806615100022,
|
|
"rotation_invariant_error_deg": 0.4543752098998439,
|
|
"reverse_translation_m": 0.012418496053909043,
|
|
"reverse_rotation_deg": 0.11905018881087433,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 19,
|
|
"j": 20,
|
|
"heldout_inlier_ratio": 0.6234734541714874,
|
|
"heldout_inlier_rmse_m": 0.1277530580405749,
|
|
"rotation_invariant_error_deg": 0.038058886117710244,
|
|
"reverse_translation_m": 0.009237066767190974,
|
|
"reverse_rotation_deg": 0.22540488888103255,
|
|
"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": 0.33308699073501913,
|
|
"reverse_translation_m": 0.014725537493639118,
|
|
"reverse_rotation_deg": 0.19884224722867958,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 20,
|
|
"j": 22,
|
|
"heldout_inlier_ratio": 0.5739414499308958,
|
|
"heldout_inlier_rmse_m": 0.13255415786946775,
|
|
"rotation_invariant_error_deg": 0.49226728584466883,
|
|
"reverse_translation_m": 0.006040617548523686,
|
|
"reverse_rotation_deg": 0.19706632354686843,
|
|
"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": 0.4097857444953803,
|
|
"reverse_translation_m": 0.02294901101348451,
|
|
"reverse_rotation_deg": 0.19112109479244785,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 21,
|
|
"j": 22,
|
|
"heldout_inlier_ratio": 0.7716237647919971,
|
|
"heldout_inlier_rmse_m": 0.1163227135854156,
|
|
"rotation_invariant_error_deg": 0.20299476740399935,
|
|
"reverse_translation_m": 0.009963578798274064,
|
|
"reverse_rotation_deg": 0.1533289219532281,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 21,
|
|
"j": 23,
|
|
"heldout_inlier_ratio": 0.8576224819696593,
|
|
"heldout_inlier_rmse_m": 0.09865676260631218,
|
|
"rotation_invariant_error_deg": 0.08196486868098773,
|
|
"reverse_translation_m": 0.00392257332509571,
|
|
"reverse_rotation_deg": 0.00898487649366286,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 21,
|
|
"j": 24,
|
|
"heldout_inlier_ratio": 0.7715940569126165,
|
|
"heldout_inlier_rmse_m": 0.11361504553552869,
|
|
"rotation_invariant_error_deg": 0.4941752812908575,
|
|
"reverse_translation_m": 0.007475673605592584,
|
|
"reverse_rotation_deg": 0.04227769001294981,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 22,
|
|
"j": 23,
|
|
"heldout_inlier_ratio": 0.7396689147762109,
|
|
"heldout_inlier_rmse_m": 0.11702962848624102,
|
|
"rotation_invariant_error_deg": 0.07221906147914936,
|
|
"reverse_translation_m": 0.018140159434305195,
|
|
"reverse_rotation_deg": 0.1184732181610567,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 22,
|
|
"j": 25,
|
|
"heldout_inlier_ratio": 0.736861094407697,
|
|
"heldout_inlier_rmse_m": 0.1158639471011007,
|
|
"rotation_invariant_error_deg": 0.19913456977445776,
|
|
"reverse_translation_m": 0.01855955252477569,
|
|
"reverse_rotation_deg": 0.06452602797902846,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 23,
|
|
"j": 24,
|
|
"heldout_inlier_ratio": 0.7853164556962026,
|
|
"heldout_inlier_rmse_m": 0.11287254423109305,
|
|
"rotation_invariant_error_deg": 0.5709657470221714,
|
|
"reverse_translation_m": 0.002195759849349955,
|
|
"reverse_rotation_deg": 0.03211295915781923,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 23,
|
|
"j": 25,
|
|
"heldout_inlier_ratio": 0.6881127450980392,
|
|
"heldout_inlier_rmse_m": 0.12303206700403985,
|
|
"rotation_invariant_error_deg": 2.3734594630006685,
|
|
"reverse_translation_m": 0.004939188019097873,
|
|
"reverse_rotation_deg": 0.12964064637099942,
|
|
"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": 0.15748268923838538,
|
|
"reverse_translation_m": 0.006032445250251169,
|
|
"reverse_rotation_deg": 0.14039335223022864,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 24,
|
|
"j": 25,
|
|
"heldout_inlier_ratio": 0.677667493796526,
|
|
"heldout_inlier_rmse_m": 0.1234631580581415,
|
|
"rotation_invariant_error_deg": 0.10001483417664048,
|
|
"reverse_translation_m": 0.023479226891170584,
|
|
"reverse_rotation_deg": 0.16273859629355136,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 24,
|
|
"j": 26,
|
|
"heldout_inlier_ratio": 0.6530209617755857,
|
|
"heldout_inlier_rmse_m": 0.12710147612984235,
|
|
"rotation_invariant_error_deg": 0.7149536911782421,
|
|
"reverse_translation_m": 0.013311199903813952,
|
|
"reverse_rotation_deg": 0.18193579850150715,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 24,
|
|
"j": 27,
|
|
"heldout_inlier_ratio": 0.6649014778325123,
|
|
"heldout_inlier_rmse_m": 0.12481159614427853,
|
|
"rotation_invariant_error_deg": 0.5126580224867077,
|
|
"reverse_translation_m": 0.01787282120544869,
|
|
"reverse_rotation_deg": 0.1680556511623414,
|
|
"accepted": false,
|
|
"rejection_reasons": [
|
|
"overlap_ratio"
|
|
]
|
|
},
|
|
{
|
|
"i": 25,
|
|
"j": 26,
|
|
"heldout_inlier_ratio": 0.9127837514934289,
|
|
"heldout_inlier_rmse_m": 0.09581429165893823,
|
|
"rotation_invariant_error_deg": 0.0540123863768045,
|
|
"reverse_translation_m": 0.0035341488401767693,
|
|
"reverse_rotation_deg": 0.018440169300164816,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 25,
|
|
"j": 27,
|
|
"heldout_inlier_ratio": 0.8510739856801909,
|
|
"heldout_inlier_rmse_m": 0.10418150333394123,
|
|
"rotation_invariant_error_deg": 0.24124343828050598,
|
|
"reverse_translation_m": 0.006103232696003387,
|
|
"reverse_rotation_deg": 0.13366555345654282,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 25,
|
|
"j": 28,
|
|
"heldout_inlier_ratio": 0.8853518429870751,
|
|
"heldout_inlier_rmse_m": 0.10761251229651997,
|
|
"rotation_invariant_error_deg": 0.31032271091986274,
|
|
"reverse_translation_m": 0.0034832316659127254,
|
|
"reverse_rotation_deg": 0.03697744201993421,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 26,
|
|
"j": 27,
|
|
"heldout_inlier_ratio": 0.9183867141162515,
|
|
"heldout_inlier_rmse_m": 0.09074909570650827,
|
|
"rotation_invariant_error_deg": 0.1549242409220426,
|
|
"reverse_translation_m": 0.00040199505815399084,
|
|
"reverse_rotation_deg": 0.011554314408123986,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 26,
|
|
"j": 28,
|
|
"heldout_inlier_ratio": 0.8853200095170116,
|
|
"heldout_inlier_rmse_m": 0.1060418493965508,
|
|
"rotation_invariant_error_deg": 0.2535175622408232,
|
|
"reverse_translation_m": 0.007320240476184076,
|
|
"reverse_rotation_deg": 0.12930335868606002,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 26,
|
|
"j": 29,
|
|
"heldout_inlier_ratio": 0.7880466815984911,
|
|
"heldout_inlier_rmse_m": 0.10871274240898261,
|
|
"rotation_invariant_error_deg": 0.6273264323501451,
|
|
"reverse_translation_m": 0.006395243061058376,
|
|
"reverse_rotation_deg": 0.039517035902872893,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 27,
|
|
"j": 28,
|
|
"heldout_inlier_ratio": 0.9289448669201521,
|
|
"heldout_inlier_rmse_m": 0.08505095515326752,
|
|
"rotation_invariant_error_deg": 0.06642597183531862,
|
|
"reverse_translation_m": 0.005157655135593023,
|
|
"reverse_rotation_deg": 0.02266680787731125,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 27,
|
|
"j": 29,
|
|
"heldout_inlier_ratio": 0.7872365477452019,
|
|
"heldout_inlier_rmse_m": 0.1045551346483567,
|
|
"rotation_invariant_error_deg": 0.46617350279205994,
|
|
"reverse_translation_m": 0.011650639607012715,
|
|
"reverse_rotation_deg": 0.16247191340775555,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 28,
|
|
"j": 29,
|
|
"heldout_inlier_ratio": 0.8000944621560987,
|
|
"heldout_inlier_rmse_m": 0.10865475473581254,
|
|
"rotation_invariant_error_deg": 0.3806425437120282,
|
|
"reverse_translation_m": 0.001139416496730335,
|
|
"reverse_rotation_deg": 0.02119627748722763,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 28,
|
|
"j": 30,
|
|
"heldout_inlier_ratio": 0.7721000935453695,
|
|
"heldout_inlier_rmse_m": 0.10815845248211022,
|
|
"rotation_invariant_error_deg": 0.37744105649966286,
|
|
"reverse_translation_m": 0.004462522533166182,
|
|
"reverse_rotation_deg": 0.03583195432667579,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 28,
|
|
"j": 31,
|
|
"heldout_inlier_ratio": 0.7465330381074466,
|
|
"heldout_inlier_rmse_m": 0.10669666534392452,
|
|
"rotation_invariant_error_deg": 0.22580828656680296,
|
|
"reverse_translation_m": 0.0063576490595817345,
|
|
"reverse_rotation_deg": 0.04001661521442668,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 30,
|
|
"j": 31,
|
|
"heldout_inlier_ratio": 0.8185562292643862,
|
|
"heldout_inlier_rmse_m": 0.09615795732951272,
|
|
"rotation_invariant_error_deg": 0.608920703223724,
|
|
"reverse_translation_m": 0.0049991634555749285,
|
|
"reverse_rotation_deg": 0.021384795873435915,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 30,
|
|
"j": 32,
|
|
"heldout_inlier_ratio": 0.8041343079031521,
|
|
"heldout_inlier_rmse_m": 0.09953343153684206,
|
|
"rotation_invariant_error_deg": 0.7410181887106262,
|
|
"reverse_translation_m": 0.0031713764951448154,
|
|
"reverse_rotation_deg": 0.023767377748422268,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 31,
|
|
"j": 32,
|
|
"heldout_inlier_ratio": 0.8157085941946499,
|
|
"heldout_inlier_rmse_m": 0.09925944770258255,
|
|
"rotation_invariant_error_deg": 0.1261576421594981,
|
|
"reverse_translation_m": 0.004719596234885736,
|
|
"reverse_rotation_deg": 0.06146741991683861,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
},
|
|
{
|
|
"i": 31,
|
|
"j": 33,
|
|
"heldout_inlier_ratio": 0.760345235280208,
|
|
"heldout_inlier_rmse_m": 0.09698073659477859,
|
|
"rotation_invariant_error_deg": 0.11718235773108177,
|
|
"reverse_translation_m": 0.0019366659831763946,
|
|
"reverse_rotation_deg": 0.026538404789073603,
|
|
"accepted": true,
|
|
"rejection_reasons": []
|
|
}
|
|
]
|
|
} |