| { |
| "object_name": "Screwdriver", |
| "object_path": "/workspace/data/0003/objects/stl/Screwdriver.stl", |
| "coordinate_system": "world", |
| "translation_unit": "metre", |
| "instance_count": 1, |
| "low_support": false, |
| "instances": [ |
| { |
| "instance_id": "Screwdriver_001", |
| "instance_index": 1, |
| "R": [ |
| [ |
| -0.05206148180974693, |
| -0.8853344463389589, |
| 0.4620308650268539 |
| ], |
| [ |
| 0.222792226101992, |
| -0.461294605200006, |
| -0.8588194869714415 |
| ], |
| [ |
| 0.9734748204757495, |
| 0.05822546984834187, |
| 0.22126131284218573 |
| ] |
| ], |
| "quaternion_xyzw": [ |
| 0.5449705979564571, |
| -0.3039348465409797, |
| 0.6585243730971425, |
| 0.4206855196677302 |
| ], |
| "translation": [ |
| -0.032633665629607886, |
| 0.17072380403786497, |
| 0.18343835497077168 |
| ], |
| "world_from_object": [ |
| [ |
| -0.05206148180974693, |
| -0.8853344463389589, |
| 0.4620308650268539, |
| -0.032633665629607886 |
| ], |
| [ |
| 0.222792226101992, |
| -0.461294605200006, |
| -0.8588194869714415, |
| 0.17072380403786497 |
| ], |
| [ |
| 0.9734748204757495, |
| 0.05822546984834187, |
| 0.22126131284218573, |
| 0.18343835497077168 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "number_of_inliers": 36, |
| "number_of_position_inliers": 36, |
| "number_of_orientation_inliers": 7, |
| "orientation_status": "consensus", |
| "orientation_threshold_deg": 5.0, |
| "position_inlier_frame_ids": [ |
| 0, |
| 9, |
| 16, |
| 19, |
| 21, |
| 32, |
| 34, |
| 41, |
| 50, |
| 57, |
| 73, |
| 76, |
| 78, |
| 83, |
| 85, |
| 90, |
| 103, |
| 109, |
| 113, |
| 116, |
| 118, |
| 135, |
| 138, |
| 152, |
| 156, |
| 158, |
| 159, |
| 164, |
| 169, |
| 194, |
| 201, |
| 206, |
| 211, |
| 213, |
| 215, |
| 220 |
| ], |
| "orientation_inlier_frame_ids": [ |
| 85, |
| 138, |
| 156, |
| 169, |
| 194, |
| 201, |
| 220 |
| ], |
| "inlier_frame_ids": [ |
| 85, |
| 138, |
| 156, |
| 169, |
| 194, |
| 201, |
| 220 |
| ], |
| "observations": [ |
| { |
| "frame_id": 0, |
| "detection_index": 0, |
| "bbox": [ |
| 472, |
| 322, |
| 150, |
| 70 |
| ], |
| "score": 0.40599843859672546, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0008831727325348368, |
| "rotation_error_deg": 8.070861970316276 |
| }, |
| { |
| "frame_id": 9, |
| "detection_index": 0, |
| "bbox": [ |
| 466, |
| 296, |
| 316, |
| 98 |
| ], |
| "score": 0.6033782958984375, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0019501265700966, |
| "rotation_error_deg": 29.971486322658645 |
| }, |
| { |
| "frame_id": 16, |
| "detection_index": 0, |
| "bbox": [ |
| 366, |
| 332, |
| 152, |
| 220 |
| ], |
| "score": 0.4817594289779663, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0007070785872885889, |
| "rotation_error_deg": 35.816630028388445 |
| }, |
| { |
| "frame_id": 19, |
| "detection_index": 0, |
| "bbox": [ |
| 374, |
| 140, |
| 150, |
| 318 |
| ], |
| "score": 0.5000101327896118, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0015521539077242431, |
| "rotation_error_deg": 44.42165052148749 |
| }, |
| { |
| "frame_id": 21, |
| "detection_index": 0, |
| "bbox": [ |
| 430, |
| 156, |
| 78, |
| 338 |
| ], |
| "score": 0.4289289116859436, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.001212958557791363, |
| "rotation_error_deg": 22.621673736312726 |
| }, |
| { |
| "frame_id": 32, |
| "detection_index": 0, |
| "bbox": [ |
| 572, |
| 228, |
| 244, |
| 156 |
| ], |
| "score": 0.47778692841529846, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0012691124014509256, |
| "rotation_error_deg": 7.531434350343433 |
| }, |
| { |
| "frame_id": 34, |
| "detection_index": 0, |
| "bbox": [ |
| 564, |
| 256, |
| 156, |
| 188 |
| ], |
| "score": 0.48451629281044006, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.002002473401817991, |
| "rotation_error_deg": 16.2116099847611 |
| }, |
| { |
| "frame_id": 41, |
| "detection_index": 0, |
| "bbox": [ |
| 256, |
| 230, |
| 230, |
| 84 |
| ], |
| "score": 0.3819395899772644, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.002219660205543622, |
| "rotation_error_deg": 11.840676926176005 |
| }, |
| { |
| "frame_id": 50, |
| "detection_index": 0, |
| "bbox": [ |
| 284, |
| 562, |
| 164, |
| 158 |
| ], |
| "score": 0.4089553654193878, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0011886431624689815, |
| "rotation_error_deg": 35.158756211056726 |
| }, |
| { |
| "frame_id": 57, |
| "detection_index": 0, |
| "bbox": [ |
| 472, |
| 602, |
| 106, |
| 142 |
| ], |
| "score": 0.4718402028083801, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.002005400074656401, |
| "rotation_error_deg": 18.5548080585718 |
| }, |
| { |
| "frame_id": 73, |
| "detection_index": 0, |
| "bbox": [ |
| 244, |
| 666, |
| 392, |
| 132 |
| ], |
| "score": 0.5533273220062256, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0024356538447244803, |
| "rotation_error_deg": 35.82857823670556 |
| }, |
| { |
| "frame_id": 76, |
| "detection_index": 0, |
| "bbox": [ |
| 238, |
| 646, |
| 270, |
| 90 |
| ], |
| "score": 0.3705039918422699, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0023333465621920295, |
| "rotation_error_deg": 11.104013739327646 |
| }, |
| { |
| "frame_id": 78, |
| "detection_index": 0, |
| "bbox": [ |
| 320, |
| 576, |
| 230, |
| 84 |
| ], |
| "score": 0.2534124553203583, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0038265394250783513, |
| "rotation_error_deg": 33.98007759111908 |
| }, |
| { |
| "frame_id": 83, |
| "detection_index": 0, |
| "bbox": [ |
| 564, |
| 388, |
| 110, |
| 118 |
| ], |
| "score": 0.415985107421875, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0015599021868321458, |
| "rotation_error_deg": 19.838580876610216 |
| }, |
| { |
| "frame_id": 85, |
| "detection_index": 0, |
| "bbox": [ |
| 602, |
| 344, |
| 100, |
| 124 |
| ], |
| "score": 0.45443347096443176, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": true, |
| "translation_error_m": 0.003400923999280923, |
| "rotation_error_deg": 4.182763564702883 |
| }, |
| { |
| "frame_id": 90, |
| "detection_index": 0, |
| "bbox": [ |
| 480, |
| 298, |
| 140, |
| 112 |
| ], |
| "score": 0.45772141218185425, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0021014547950845776, |
| "rotation_error_deg": 17.005197090814153 |
| }, |
| { |
| "frame_id": 103, |
| "detection_index": 0, |
| "bbox": [ |
| 196, |
| 276, |
| 164, |
| 98 |
| ], |
| "score": 0.3695128560066223, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.002642927294648772, |
| "rotation_error_deg": 22.722402876048275 |
| }, |
| { |
| "frame_id": 109, |
| "detection_index": 0, |
| "bbox": [ |
| 336, |
| 384, |
| 246, |
| 104 |
| ], |
| "score": 0.4093420207500458, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.002307069763141738, |
| "rotation_error_deg": 26.88087651987729 |
| }, |
| { |
| "frame_id": 113, |
| "detection_index": 0, |
| "bbox": [ |
| 410, |
| 270, |
| 98, |
| 96 |
| ], |
| "score": 0.4323723316192627, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0016019179545553222, |
| "rotation_error_deg": 39.25866150988998 |
| }, |
| { |
| "frame_id": 116, |
| "detection_index": 0, |
| "bbox": [ |
| 412, |
| 164, |
| 102, |
| 126 |
| ], |
| "score": 0.554545521736145, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0007984515525961965, |
| "rotation_error_deg": 14.368972756575193 |
| }, |
| { |
| "frame_id": 118, |
| "detection_index": 0, |
| "bbox": [ |
| 440, |
| 152, |
| 82, |
| 112 |
| ], |
| "score": 0.6211081743240356, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0011758839577687375, |
| "rotation_error_deg": 38.122241643174256 |
| }, |
| { |
| "frame_id": 135, |
| "detection_index": 0, |
| "bbox": [ |
| 498, |
| 102, |
| 272, |
| 200 |
| ], |
| "score": 0.5381748080253601, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0026763681505512934, |
| "rotation_error_deg": 37.103573918017176 |
| }, |
| { |
| "frame_id": 138, |
| "detection_index": 0, |
| "bbox": [ |
| 620, |
| 38, |
| 158, |
| 106 |
| ], |
| "score": 0.49674347043037415, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": true, |
| "translation_error_m": 0.0013922436604605884, |
| "rotation_error_deg": 3.6015606102392717 |
| }, |
| { |
| "frame_id": 152, |
| "detection_index": 0, |
| "bbox": [ |
| 706, |
| 62, |
| 94, |
| 120 |
| ], |
| "score": 0.48168519139289856, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0006529797935595115, |
| "rotation_error_deg": 26.15745420740679 |
| }, |
| { |
| "frame_id": 156, |
| "detection_index": 0, |
| "bbox": [ |
| 434, |
| 196, |
| 52, |
| 140 |
| ], |
| "score": 0.5366466045379639, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": true, |
| "translation_error_m": 0.0030993500499361696, |
| "rotation_error_deg": 2.0017536848318844 |
| }, |
| { |
| "frame_id": 158, |
| "detection_index": 0, |
| "bbox": [ |
| 438, |
| 250, |
| 118, |
| 232 |
| ], |
| "score": 0.4797622859477997, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.003398197080608176, |
| "rotation_error_deg": 8.185149638939892 |
| }, |
| { |
| "frame_id": 159, |
| "detection_index": 0, |
| "bbox": [ |
| 376, |
| 254, |
| 100, |
| 128 |
| ], |
| "score": 0.4187968671321869, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0010961582291024396, |
| "rotation_error_deg": 25.344529714915485 |
| }, |
| { |
| "frame_id": 164, |
| "detection_index": 0, |
| "bbox": [ |
| 310, |
| 204, |
| 154, |
| 128 |
| ], |
| "score": 0.42372629046440125, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0023110457716505775, |
| "rotation_error_deg": 9.258978409679846 |
| }, |
| { |
| "frame_id": 169, |
| "detection_index": 0, |
| "bbox": [ |
| 444, |
| 206, |
| 130, |
| 144 |
| ], |
| "score": 0.49608299136161804, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": true, |
| "translation_error_m": 0.0005860207478725373, |
| "rotation_error_deg": 1.1896551853270525 |
| }, |
| { |
| "frame_id": 194, |
| "detection_index": 0, |
| "bbox": [ |
| 310, |
| 298, |
| 240, |
| 92 |
| ], |
| "score": 0.38921311497688293, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": true, |
| "translation_error_m": 0.002238437673274321, |
| "rotation_error_deg": 2.5263486793087457 |
| }, |
| { |
| "frame_id": 201, |
| "detection_index": 0, |
| "bbox": [ |
| 506, |
| 436, |
| 258, |
| 96 |
| ], |
| "score": 0.3616581857204437, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": true, |
| "translation_error_m": 0.002231305249086078, |
| "rotation_error_deg": 1.9375240238623324 |
| }, |
| { |
| "frame_id": 206, |
| "detection_index": 0, |
| "bbox": [ |
| 560, |
| 402, |
| 128, |
| 84 |
| ], |
| "score": 0.39332565665245056, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0023655128756951563, |
| "rotation_error_deg": 9.409756781237308 |
| }, |
| { |
| "frame_id": 211, |
| "detection_index": 0, |
| "bbox": [ |
| 746, |
| 394, |
| 114, |
| 132 |
| ], |
| "score": 0.378395676612854, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0020062445527586877, |
| "rotation_error_deg": 17.93411180563309 |
| }, |
| { |
| "frame_id": 213, |
| "detection_index": 0, |
| "bbox": [ |
| 606, |
| 432, |
| 162, |
| 140 |
| ], |
| "score": 0.4365786015987396, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0012328760137297107, |
| "rotation_error_deg": 15.735605817472857 |
| }, |
| { |
| "frame_id": 215, |
| "detection_index": 0, |
| "bbox": [ |
| 490, |
| 430, |
| 210, |
| 84 |
| ], |
| "score": 0.43480467796325684, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": false, |
| "translation_error_m": 0.0016949179799945358, |
| "rotation_error_deg": 26.37271573104031 |
| }, |
| { |
| "frame_id": 220, |
| "detection_index": 0, |
| "bbox": [ |
| 394, |
| 414, |
| 296, |
| 56 |
| ], |
| "score": 0.484065979719162, |
| "selected_position_inlier": true, |
| "selected_orientation_inlier": true, |
| "translation_error_m": 0.0010612843229802678, |
| "rotation_error_deg": 2.611598970717733 |
| } |
| ], |
| "silhouette_iou_median": 0.7768595134672003, |
| "silhouette_iou_frames": 36 |
| } |
| ], |
| "R": [ |
| [ |
| -0.05206148180974693, |
| -0.8853344463389589, |
| 0.4620308650268539 |
| ], |
| [ |
| 0.222792226101992, |
| -0.461294605200006, |
| -0.8588194869714415 |
| ], |
| [ |
| 0.9734748204757495, |
| 0.05822546984834187, |
| 0.22126131284218573 |
| ] |
| ], |
| "quaternion_xyzw": [ |
| 0.5449705979564571, |
| -0.3039348465409797, |
| 0.6585243730971425, |
| 0.4206855196677302 |
| ], |
| "translation": [ |
| -0.032633665629607886, |
| 0.17072380403786497, |
| 0.18343835497077168 |
| ], |
| "world_from_object": [ |
| [ |
| -0.05206148180974693, |
| -0.8853344463389589, |
| 0.4620308650268539, |
| -0.032633665629607886 |
| ], |
| [ |
| 0.222792226101992, |
| -0.461294605200006, |
| -0.8588194869714415, |
| 0.17072380403786497 |
| ], |
| [ |
| 0.9734748204757495, |
| 0.05822546984834187, |
| 0.22126131284218573, |
| 0.18343835497077168 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "ransac": { |
| "estimation_mode": "position_then_orientation", |
| "translation_threshold_m": 0.005, |
| "rotation_threshold_deg": 5.0, |
| "maximum_rotation_threshold_deg": 30.0, |
| "minimum_score": 0.0, |
| "symmetry_mode": "auto", |
| "symmetry_tolerance_fraction": 0.01, |
| "number_of_rotational_symmetries": 4, |
| "maximum_instances": 0, |
| "minimum_instance_frame_fraction": 0.05, |
| "low_support_fallback_used": false, |
| "min_silhouette_iou": 0.0, |
| "automatic_support_threshold_frames": 7, |
| "position_suppression_threshold_m": 0.01, |
| "number_of_candidate_frames": 46, |
| "number_of_candidate_observations": 47, |
| "number_of_raw_pose_clusters": 1, |
| "number_of_instances": 1, |
| "remaining_unclustered_observations": 11, |
| "rejected_pose_clusters": [] |
| }, |
| "skipped_frames": [ |
| { |
| "frame_id": 43, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 46, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 69, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 127, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 143, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 154, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 188, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 204, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 243, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 248, |
| "reason": "no_object_pose" |
| }, |
| { |
| "frame_id": 249, |
| "reason": "no_object_pose" |
| } |
| ], |
| "sources": { |
| "config_path": "/workspace/scripts/configs/default.yaml", |
| "object_poses": "/workspace/data/0003/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json", |
| "colmap_reconstruction": "/workspace/data/0003/reconstruction/sfm_filtered", |
| "sim3_alignment": "/workspace/data/0003/reconstruction/metric_alignment" |
| } |
| } |
|
|
