{ "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" } }