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| "automatic_support_threshold_frames": 3, |
| "position_suppression_threshold_m": 0.01, |
| "number_of_candidate_frames": 46, |
| "number_of_candidate_observations": 47, |
| "number_of_raw_pose_clusters": 4, |
| "number_of_instances": 1, |
| "remaining_unclustered_observations": 0, |
| "rejected_pose_clusters": [ |
| { |
| "number_of_inliers": 4, |
| "translation": [ |
| 0.09172194606221315, |
| 0.10920801901036399, |
| 0.3675468475700748 |
| ], |
| "reason": "duplicate_position_cluster", |
| "duplicate_of": "Screwdriver_001" |
| }, |
| { |
| "number_of_inliers": 2, |
| "translation": [ |
| 0.08446862424674798, |
| 0.10245240253397264, |
| 0.36976385706190396 |
| ], |
| "reason": "insufficient_unique_frame_support" |
| }, |
| { |
| "number_of_inliers": 1, |
| "translation": [ |
| 0.17722574375806088, |
| 0.16990198738235213, |
| 0.31454531526298135 |
| ], |
| "reason": "insufficient_unique_frame_support" |
| } |
| ] |
| }, |
| "skipped_frames": [ |
| { |
| "frame_id": 62, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 65, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 67, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 68, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 70, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 72, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 77, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 114, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 150, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 189, |
| "reason": "no_object_pose" |
| } |
| ], |
| "sources": { |
| "config_path": "/workspace/scripts/configs/default.yaml", |
| "object_poses": "/workspace/data/0001/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json", |
| "colmap_reconstruction": "/workspace/data/0001/reconstruction/sfm_filtered", |
| "sim3_alignment": "/workspace/data/0001/reconstruction/metric_alignment" |
| } |
| } |
|
|
