{ "object_name": "Screwdriver", "object_path": "/workspace/data/0002/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": [ [ 0.5979920404011903, 0.5896495620804585, -0.5428802018448872 ], [ -0.10442236012390019, 0.7288712334340827, 0.676640743510494 ], [ 0.794670680422385, -0.34793694688923615, 0.4974317949894449 ] ], "quaternion_xyzw": [ -0.3048315157499561, -0.3979470436011077, -0.2064997101415473, 0.8402819569681234 ], "translation": [ -0.2847809446986439, 0.21781734938053732, 0.10094063475712976 ], "world_from_object": [ [ 0.5979920404011903, 0.5896495620804585, -0.5428802018448872, -0.2847809446986439 ], [ -0.10442236012390019, 0.7288712334340827, 0.676640743510494, 0.21781734938053732 ], [ 0.794670680422385, -0.34793694688923615, 0.4974317949894449, 0.10094063475712976 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "number_of_inliers": 31, "number_of_position_inliers": 31, "number_of_orientation_inliers": 6, "orientation_status": "consensus", "orientation_threshold_deg": 5.0, "position_inlier_frame_ids": [ 9, 13, 17, 21, 38, 42, 44, 47, 54, 58, 99, 101, 103, 111, 119, 158, 163, 167, 168, 169, 178, 182, 183, 185, 186, 196, 199, 201, 242, 244, 249 ], "orientation_inlier_frame_ids": [ 13, 21, 44, 47, 58, 167 ], "inlier_frame_ids": [ 13, 21, 44, 47, 58, 167 ], "observations": [ { "frame_id": 9, "detection_index": 0, "bbox": [ 346, 342, 140, 74 ], "score": 0.381193071603775, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.003419472283807424, "rotation_error_deg": 21.877935131222117 }, { "frame_id": 13, "detection_index": 0, "bbox": [ 344, 230, 326, 186 ], "score": 0.44927215576171875, "selected_position_inlier": true, "selected_orientation_inlier": true, "translation_error_m": 0.0024990078349240784, "rotation_error_deg": 1.0884825463599257 }, { "frame_id": 17, "detection_index": 0, "bbox": [ 342, 278, 404, 192 ], "score": 0.45499733090400696, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.001048324419206688, "rotation_error_deg": 15.309808299746532 }, { "frame_id": 21, "detection_index": 0, "bbox": [ 324, 370, 304, 208 ], "score": 0.5895816683769226, "selected_position_inlier": true, "selected_orientation_inlier": true, "translation_error_m": 0.0030859318453086283, "rotation_error_deg": 2.9457909340114052 }, { "frame_id": 38, "detection_index": 0, "bbox": [ 280, 310, 132, 70 ], "score": 0.39067065715789795, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0032075239935654247, "rotation_error_deg": 33.32078376329629 }, { "frame_id": 42, "detection_index": 0, "bbox": [ 434, 402, 198, 140 ], "score": 0.5067797899246216, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0030742363685851625, "rotation_error_deg": 9.277963834370716 }, { "frame_id": 44, "detection_index": 0, "bbox": [ 472, 450, 216, 132 ], "score": 0.47718629240989685, "selected_position_inlier": true, "selected_orientation_inlier": true, "translation_error_m": 0.002927830177383951, "rotation_error_deg": 4.655289605333179 }, { "frame_id": 47, "detection_index": 0, "bbox": [ 478, 490, 210, 110 ], "score": 0.5910655856132507, "selected_position_inlier": true, "selected_orientation_inlier": true, "translation_error_m": 0.0029119706785786896, "rotation_error_deg": 2.0730794678555626 }, { "frame_id": 54, "detection_index": 0, "bbox": [ 470, 294, 236, 116 ], "score": 0.4603613018989563, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0022776280663778193, "rotation_error_deg": 38.78644359170422 }, { "frame_id": 58, "detection_index": 0, "bbox": [ 434, 240, 174, 188 ], "score": 0.5447160005569458, "selected_position_inlier": true, "selected_orientation_inlier": true, "translation_error_m": 0.0008314344717570935, "rotation_error_deg": 0.963365533874969 }, { "frame_id": 99, "detection_index": 0, "bbox": [ 156, 348, 142, 344 ], "score": 0.48071789741516113, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0008065093453637716, "rotation_error_deg": 17.108760007006715 }, { "frame_id": 101, "detection_index": 0, "bbox": [ 298, 388, 90, 304 ], "score": 0.4494461715221405, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0011702792513326851, "rotation_error_deg": 26.50626877806839 }, { "frame_id": 103, "detection_index": 0, "bbox": [ 416, 342, 60, 298 ], "score": 0.5106371641159058, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0009672547449600826, "rotation_error_deg": 28.701430987818696 }, { "frame_id": 111, "detection_index": 0, "bbox": [ 110, 118, 162, 316 ], "score": 0.5247216820716858, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.002720142314787741, "rotation_error_deg": 38.08622259757614 }, { "frame_id": 119, "detection_index": 0, "bbox": [ 400, 478, 274, 44 ], "score": 0.3345032334327698, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.004229094910867997, "rotation_error_deg": 36.500761728669744 }, { "frame_id": 158, "detection_index": 0, "bbox": [ 240, 296, 254, 180 ], "score": 0.43792691826820374, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0015951998062535577, "rotation_error_deg": 26.65682537603707 }, { "frame_id": 163, "detection_index": 0, "bbox": [ 228, 276, 224, 318 ], "score": 0.4755929708480835, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0011447768099173807, "rotation_error_deg": 43.30714606116568 }, { "frame_id": 167, "detection_index": 0, "bbox": [ 150, 370, 128, 398 ], "score": 0.3587726056575775, "selected_position_inlier": true, "selected_orientation_inlier": true, "translation_error_m": 0.003715108690319939, "rotation_error_deg": 2.9219706417196325 }, { "frame_id": 168, "detection_index": 0, "bbox": [ 182, 382, 104, 382 ], "score": 0.5558242201805115, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.004320115816995797, "rotation_error_deg": 43.59293901226367 }, { "frame_id": 169, "detection_index": 0, "bbox": [ 226, 390, 98, 374 ], "score": 0.507651686668396, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0025919391622232658, "rotation_error_deg": 38.65565948113865 }, { "frame_id": 178, "detection_index": 0, "bbox": [ 244, 448, 170, 288 ], "score": 0.4914894104003906, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.001789374356407743, "rotation_error_deg": 32.53157132526137 }, { "frame_id": 182, "detection_index": 0, "bbox": [ 366, 408, 210, 222 ], "score": 0.46838581562042236, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0026667829943785655, "rotation_error_deg": 37.582371816546996 }, { "frame_id": 183, "detection_index": 0, "bbox": [ 340, 424, 244, 210 ], "score": 0.4631790220737457, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.003273432066619713, "rotation_error_deg": 12.127544707971289 }, { "frame_id": 185, "detection_index": 0, "bbox": [ 370, 444, 306, 166 ], "score": 0.6550669074058533, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0023744404572900923, "rotation_error_deg": 37.707422141924994 }, { "frame_id": 186, "detection_index": 0, "bbox": [ 372, 496, 316, 120 ], "score": 0.3907398581504822, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0013450410495820732, "rotation_error_deg": 14.001300268005812 }, { "frame_id": 196, "detection_index": 0, "bbox": [ 388, 482, 214, 290 ], "score": 0.5515758991241455, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.001795318034975648, "rotation_error_deg": 30.941048571298662 }, { "frame_id": 199, "detection_index": 0, "bbox": [ 394, 422, 64, 322 ], "score": 0.6409067511558533, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0010426822259702463, "rotation_error_deg": 17.59609555451792 }, { "frame_id": 201, "detection_index": 0, "bbox": [ 296, 342, 170, 256 ], "score": 0.5313650369644165, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.001115347029736657, "rotation_error_deg": 36.53483825097768 }, { "frame_id": 242, "detection_index": 0, "bbox": [ 304, 170, 152, 86 ], "score": 0.39819827675819397, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.003919174348648531, "rotation_error_deg": 33.02287998823485 }, { "frame_id": 244, "detection_index": 0, "bbox": [ 282, 246, 114, 126 ], "score": 0.4136497378349304, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0028881880632914574, "rotation_error_deg": 10.13183890818079 }, { "frame_id": 249, "detection_index": 0, "bbox": [ 334, 156, 82, 244 ], "score": 0.47250574827194214, "selected_position_inlier": true, "selected_orientation_inlier": false, "translation_error_m": 0.0021226201646023382, "rotation_error_deg": 19.357120744102023 } ], "silhouette_iou_median": 0.8976037051953283, "silhouette_iou_frames": 31 } ], "R": [ [ 0.5979920404011903, 0.5896495620804585, -0.5428802018448872 ], [ -0.10442236012390019, 0.7288712334340827, 0.676640743510494 ], [ 0.794670680422385, -0.34793694688923615, 0.4974317949894449 ] ], "quaternion_xyzw": [ -0.3048315157499561, -0.3979470436011077, -0.2064997101415473, 0.8402819569681234 ], "translation": [ -0.2847809446986439, 0.21781734938053732, 0.10094063475712976 ], "world_from_object": [ [ 0.5979920404011903, 0.5896495620804585, -0.5428802018448872, -0.2847809446986439 ], [ -0.10442236012390019, 0.7288712334340827, 0.676640743510494, 0.21781734938053732 ], [ 0.794670680422385, -0.34793694688923615, 0.4974317949894449, 0.10094063475712976 ], [ 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": 0.57, "automatic_support_threshold_frames": 2, "position_suppression_threshold_m": 0.01, "number_of_candidate_frames": 37, "number_of_candidate_observations": 43, "number_of_raw_pose_clusters": 9, "number_of_instances": 1, "remaining_unclustered_observations": 0, "rejected_pose_clusters": [ { "number_of_inliers": 4, "translation": [ -0.2810323776302892, 0.22302326858230365, 0.09762973294165289 ], "reason": "duplicate_position_cluster", "duplicate_of": "Screwdriver_001" }, { "number_of_inliers": 1, "translation": [ -0.18120778157573594, 0.20278218309532328, 0.23088043624128188 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ -0.2814064210071547, 0.21626319820227397, 0.10435067925549524 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ 0.4471897125909787, -0.09225408255708763, 0.9571673672576473 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ -0.17773660546584005, 0.1648507285560178, 0.3182606403973163 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ -0.25568122388286274, 0.10325889449945662, 0.2953255301200708 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 1, "translation": [ -0.2678043035363224, 0.08597070678384235, 0.306344192683535 ], "reason": "insufficient_unique_frame_support" }, { "number_of_inliers": 2, "translation": [ -0.18472089167542943, 0.1988913307096984, 0.22778477492684082 ], "silhouette_iou_median": 0.5031148504756658, "reason": "silhouette_iou_below_threshold" } ] }, "skipped_frames": [ { "frame_id": 0, "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": 39, "reason": "no_object_pose" }, { "frame_id": 40, "reason": "no_object_pose" }, { "frame_id": 61, "reason": "no_object_pose" }, { "frame_id": 75, "reason": "no_object_pose" }, { "frame_id": 79, "reason": "no_object_pose" }, { "frame_id": 84, "reason": "no_object_pose" }, { "frame_id": 89, "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": 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": 205, "reason": "no_object_pose" }, { "frame_id": 211, "reason": "no_object_pose" }, { "frame_id": 213, "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": 247, "reason": "no_object_pose" } ], "sources": { "config_path": "/workspace/scripts/configs/default.yaml", "object_poses": "/workspace/data/0002/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json", "colmap_reconstruction": "/workspace/data/0002/reconstruction/sfm_filtered", "sim3_alignment": "/workspace/data/0002/reconstruction/metric_alignment" } }