{ "object_name": "Rachet", "object_path": "/workspace/data/0002/objects/stl/Rachet.stl", "coordinate_system": "world", "translation_unit": "metre", "instance_count": 1, "low_support": false, "instances": [ { "instance_id": "Rachet_001", "instance_index": 1, "R": [ [ -0.5741049558227296, 0.17572701571186933, 0.799702141830808 ], [ 0.5409346270121835, -0.6517916736460494, 0.5315612320936052 ], [ 0.6146488664261663, 0.7377585174802674, 0.27914000230412406 ] ], "quaternion_xyzw": [ 0.44680720549225583, 0.4009904237860788, 0.7913653757546042, 0.11537262764120544 ], "translation": [ -0.18914026143353457, 0.22140664025866338, 0.20255982406618317 ], "world_from_object": [ [ -0.5741049558227296, 0.17572701571186933, 0.799702141830808, -0.18914026143353457 ], [ 0.5409346270121835, -0.6517916736460494, 0.5315612320936052, 0.22140664025866338 ], [ 0.6146488664261663, 0.7377585174802674, 0.27914000230412406, 0.20255982406618317 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "number_of_inliers": 10, "number_of_position_inliers": 10, "number_of_orientation_inliers": 3, "orientation_status": "consensus", "orientation_threshold_deg": 5.0, "position_inlier_frame_ids": [ 79, 89, 99, 101, 103, 168, 169, 171, 178, 185 ], "orientation_inlier_frame_ids": [ 103, 169, 178 ], "inlier_frame_ids": [ 103, 169, 178 ], "observations": [ { "frame_id": 79, "detection_index": 0, "bbox": [ 536, 510, 124, 72 ], "score": 0.23830831050872803, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0038380726462823884, "rotation_error_deg": 160.38338644790235 }, { "frame_id": 89, "detection_index": 0, "bbox": [ 410, 536, 280, 162 ], "score": 0.5329380631446838, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.004039127617749093, "rotation_error_deg": 31.040358162111445 }, { "frame_id": 99, "detection_index": 0, "bbox": [ 408, 470, 200, 160 ], "score": 0.6214879751205444, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0022427237898217174, "rotation_error_deg": 76.84284919538462 }, { "frame_id": 101, "detection_index": 0, "bbox": [ 496, 496, 170, 144 ], "score": 0.6143958568572998, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0011652124448261723, "rotation_error_deg": 109.10042299465488 }, { "frame_id": 103, "detection_index": 0, "bbox": [ 590, 442, 146, 142 ], "score": 0.5720188617706299, "selected_position_inlier": true, "selected_orientation_inlier": true, "translation_error_m": 0.0004407239553535783, "rotation_error_deg": 4.638043905069677 }, { "frame_id": 168, "detection_index": 0, "bbox": [ 458, 472, 176, 186 ], "score": 0.502460241317749, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0006794187056535005, "rotation_error_deg": 24.44244346856 }, { "frame_id": 169, "detection_index": 0, "bbox": [ 486, 460, 148, 188 ], "score": 0.5493664741516113, "selected_position_inlier": true, "selected_orientation_inlier": true, "translation_error_m": 0.0016202989763147667, "rotation_error_deg": 4.880996086544161 }, { "frame_id": 171, "detection_index": 0, "bbox": [ 550, 442, 100, 196 ], "score": 0.4848693311214447, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0017461345535528313, "rotation_error_deg": 30.498027066243203 }, { "frame_id": 178, "detection_index": 0, "bbox": [ 504, 436, 84, 172 ], "score": 0.4925810396671295, "selected_position_inlier": true, "selected_orientation_inlier": true, "translation_error_m": 0.0011332626842107778, "rotation_error_deg": 0.3245162896672784 }, { "frame_id": 185, "detection_index": 0, "bbox": [ 606, 326, 64, 156 ], "score": 0.501663327217102, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.002012585543670731, "rotation_error_deg": 164.41167670580379 } ], "silhouette_iou_median": 0.8041664741060378, "silhouette_iou_frames": 10 } ], "R": [ [ -0.5741049558227296, 0.17572701571186933, 0.799702141830808 ], [ 0.5409346270121835, -0.6517916736460494, 0.5315612320936052 ], [ 0.6146488664261663, 0.7377585174802674, 0.27914000230412406 ] ], "quaternion_xyzw": [ 0.44680720549225583, 0.4009904237860788, 0.7913653757546042, 0.11537262764120544 ], "translation": [ -0.18914026143353457, 0.22140664025866338, 0.20255982406618317 ], "world_from_object": [ [ -0.5741049558227296, 0.17572701571186933, 0.799702141830808, -0.18914026143353457 ], [ 0.5409346270121835, -0.6517916736460494, 0.5315612320936052, 0.22140664025866338 ], [ 0.6146488664261663, 0.7377585174802674, 0.27914000230412406, 0.20255982406618317 ], [ 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": 1, "maximum_instances": 0, "minimum_instance_frame_fraction": 0.05, "low_support_fallback_used": false, "min_silhouette_iou": 0.57, "automatic_support_threshold_frames": 2, "position_suppression_threshold_m": 0.01, "number_of_candidate_frames": 21, "number_of_candidate_observations": 26, "number_of_raw_pose_clusters": 9, "number_of_instances": 1, "remaining_unclustered_observations": 0, "rejected_pose_clusters": [ { "number_of_inliers": 1, "translation": [ -0.1924558004153412, 0.22203937698460405, 0.20647402151094185 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ -0.24257125653882095, 0.26477250484244585, 0.07737459155187036 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ -0.24745134539324143, 0.26231093630638924, 0.10515850374588753 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ -0.23806823351549092, 0.2641844279604287, 0.04935103688484663 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ -0.25046799096061695, 0.24141052749098293, 0.08187127210648643 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ -0.07099202984236945, 0.1707881349734004, -0.06360980229303963 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ -0.09947549464028085, 0.22673512154022932, -0.1364408604048551 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 9, "translation": [ -0.26583107601182765, 0.23572481272341791, 0.089571085156658 ], "silhouette_iou_median": 0.49286801065043745, "reason": "silhouette_iou_below_threshold" } ] }, "skipped_frames": [ { "frame_id": 21, "reason": "no_object_pose" }, { "frame_id": 23, "reason": "no_object_pose" }, { "frame_id": 25, "reason": "no_object_pose" }, { "frame_id": 28, "reason": "no_object_pose" }, { "frame_id": 38, "reason": "no_object_pose" }, { "frame_id": 39, "reason": "no_object_pose" }, { "frame_id": 40, "reason": "no_object_pose" }, { "frame_id": 42, "reason": "no_object_pose" }, { "frame_id": 44, "reason": "no_object_pose" }, { "frame_id": 47, "reason": "no_object_pose" }, { "frame_id": 54, "reason": "no_object_pose" }, { "frame_id": 58, "reason": "no_object_pose" }, { "frame_id": 61, "reason": "no_object_pose" }, { "frame_id": 75, "reason": "no_object_pose" }, { "frame_id": 84, "reason": "no_object_pose" }, { "frame_id": 86, "reason": "no_object_pose" }, { "frame_id": 90, "reason": "no_object_pose" }, { "frame_id": 114, "reason": "no_object_pose" }, { "frame_id": 115, "reason": "no_object_pose" }, { "frame_id": 116, "reason": "no_object_pose" }, { "frame_id": 117, "reason": "no_object_pose" }, { "frame_id": 119, "reason": "no_object_pose" }, { "frame_id": 124, "reason": "no_object_pose" }, { "frame_id": 127, "reason": "no_object_pose" }, { "frame_id": 130, "reason": "no_object_pose" }, { "frame_id": 135, "reason": "no_object_pose" }, { "frame_id": 136, "reason": "no_object_pose" }, { "frame_id": 137, "reason": "no_object_pose" }, { "frame_id": 140, "reason": "no_object_pose" }, { "frame_id": 146, "reason": "no_object_pose" }, { "frame_id": 151, "reason": "no_object_pose" }, { "frame_id": 182, "reason": "no_object_pose" }, { "frame_id": 183, "reason": "no_object_pose" }, { "frame_id": 186, "reason": "no_object_pose" }, { "frame_id": 196, "reason": "no_object_pose" }, { "frame_id": 199, "reason": "no_object_pose" }, { "frame_id": 201, "reason": "no_object_pose" }, { "frame_id": 205, "reason": "no_object_pose" }, { "frame_id": 211, "reason": "no_object_pose" }, { "frame_id": 213, "reason": "no_object_pose" }, { "frame_id": 228, "reason": "no_object_pose" }, { "frame_id": 235, "reason": "no_object_pose" }, { "frame_id": 238, "reason": "no_object_pose" }, { "frame_id": 240, "reason": "no_object_pose" }, { "frame_id": 242, "reason": "no_object_pose" }, { "frame_id": 247, "reason": "no_object_pose" }, { "frame_id": 249, "reason": "no_object_pose" } ], "sources": { "config_path": "/workspace/scripts/configs/default.yaml", "object_poses": "/workspace/data/0002/experimental_multi_instance/pem/Rachet/Rachet_poses_per_frame.json", "colmap_reconstruction": "/workspace/data/0002/reconstruction/sfm_filtered", "sim3_alignment": "/workspace/data/0002/reconstruction/metric_alignment" } }