{
  "scope": "171 coordinate-search disparity fits versus archived TRF",
  "source_commit": "3c966459586653e9f590b29c04fd7843387a088d",
  "plan_sha256": "0234d38118fc7e4786b46b43e91e7a029012130ca6c742804599a8bbf79533bc",
  "cases": [
    {
      "scene": "original",
      "condition": "exact_z_visible",
      "sigma_px": 0.0,
      "noise_seed": 0,
      "injected_bias_m": 0.0,
      "sign": 1,
      "method": "pattern",
      "depth_array_sha256": [
        "20108410265adc907ca9b009728f781198744cb2d5d553459974e8550df5e65c",
        "215682447229081f2afe91695066a5a800ebcdb269582318166506c925e49dc2",
        "9ce84192dab442dc99df3b3b673cccd14f48e981ab76e759bdd7d7b3304a657f"
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.24374999999999997,
            -0.10000000000000003,
            0.36250000000000004
          ],
          "rotation_quat_xyzw": [
            0.01857055554291902,
            -0.028956279711640723,
            0.007503091256106675,
            0.9993799937729848
          ]
        },
        "delta": [
          -0.890625,
          0.15625,
          -0.953125,
          -0.10625000000000001,
          0.09999999999999998,
          -0.037500000000000006,
          -0.056250000000000015
        ],
        "bias_m": -0.056250000000000015,
        "cost": 4.733007134110768,
        "actual_residual_calls": 800,
        "optimizer_success": false,
        "converged": false,
        "accepted": false,
        "locally_identifiable": true,
        "initial_support": [
          3746,
          3738,
          3747
        ],
        "final_support": [
          3783,
          3776,
          3780
        ],
        "sensitivity": {
          "common_supported": 11339,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              501.9874734700647,
              464.6451343005894,
              133.17732184135107,
              94.30133406438924,
              87.99617148217948,
              46.613503779695314,
              10.236448278014134
            ],
            "singular_ratio": 0.020391840073723612,
            "bias_unexplained_fraction": 0.9630763840526807,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              27.295583618124862,
              26.52562698564997,
              7.174811650399714,
              6.048631828557445,
              5.119715875269983,
              4.407311846601646,
              1.8414495841842557
            ],
            "singular_ratio": 0.06746327940617812,
            "bias_unexplained_fraction": 0.6716504451605009,
            "near_degenerate": false
          }
        },
        "cost_trace": [
          89.74072902940921,
          59.06594287546701,
          42.275406858242064,
          22.739050745624283,
          18.667516392891535,
          16.471758540135305,
          14.305564610404279,
          12.99701663367303,
          12.614856463899457,
          12.518438286575023,
          12.518438286575023,
          11.526489026516938,
          11.291133098769464,
          11.291133098769464,
          10.198811647389098,
          9.720190934245636,
          9.47144931095773,
          9.289945736390472,
          9.193871517722947,
          9.051552619621106,
          8.929357271807897,
          8.893039213984677,
          8.893039213984677,
          8.737830836838294,
          8.450348996987298,
          8.243598543637741,
          8.15647004897378,
          8.107218187252943,
          7.799787767643465,
          7.589644504035546,
          7.441390012729722,
          7.416058265205059,
          7.20359814915126,
          6.914327193973666,
          6.736166105400876,
          6.709434228924825,
          6.542955708801109,
          6.2550606338997214,
          6.103203187779777,
          6.0748728740750035,
          6.03024550705904,
          6.002466907796773,
          5.980221888256235,
          5.588305769839007,
          5.460572332274462,
          5.443526852471354,
          5.42505769980355,
          5.42505769980355,
          5.250493751122832,
          5.194550815416963,
          5.1669116989896615,
          5.031406631417736,
          4.962526700364551,
          4.952891262317418,
          4.942301627681066,
          4.899503433877134,
          4.776937622185942,
          4.736034028915169,
          4.733007134110768
        ],
        "final_steps": [
          0.015625,
          0.015625,
          0.015625,
          0.00625,
          0.00625,
          0.00625,
          0.005
        ],
        "stopping_reason": "budget"
      },
      "seconds_including_diagnostics": 3.218072531017242,
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.4009503197586902,
        "translation_m": 0.07629097259833567,
        "recovered": false
      },
      "bias_error_m": 0.056250000000000015,
      "joint_recovered": false
    },
    {
      "scene": "original",
      "condition": "exact_z_visible",
      "sigma_px": 0.0,
      "noise_seed": 0,
      "injected_bias_m": 0.0,
      "sign": -1,
      "method": "pattern",
      "depth_array_sha256": [
        "20108410265adc907ca9b009728f781198744cb2d5d553459974e8550df5e65c",
        "215682447229081f2afe91695066a5a800ebcdb269582318166506c925e49dc2",
        "9ce84192dab442dc99df3b3b673cccd14f48e981ab76e759bdd7d7b3304a657f"
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.15625000000000003,
            -0.22500000000000003,
            0.40625
          ],
          "rotation_quat_xyzw": [
            0.011176752876497241,
            -0.024161653343041243,
            0.009074848563763607,
            0.9996043926606232
          ]
        },
        "delta": [
          0.25,
          -0.296875,
          0.71875,
          0.10625000000000001,
          -0.22500000000000003,
          0.20625000000000002,
          -0.125
        ],
        "bias_m": -0.125,
        "cost": 3.780392473606482,
        "actual_residual_calls": 800,
        "optimizer_success": false,
        "converged": false,
        "accepted": false,
        "locally_identifiable": true,
        "initial_support": [
          3783,
          3776,
          3780
        ],
        "final_support": [
          3783,
          3776,
          3780
        ],
        "sensitivity": {
          "common_supported": 11339,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              414.38353124526947,
              372.0138742387046,
              117.53315372905404,
              71.94058874463661,
              59.068941650678966,
              35.630663951824694,
              10.055417616122334
            ],
            "singular_ratio": 0.024265968258691806,
            "bias_unexplained_fraction": 0.9486218687661364,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              25.01584810869457,
              16.03837608957816,
              5.416376347828075,
              4.847623603976871,
              3.2162818053563744,
              2.6205717947615814,
              1.337983777562118
            ],
            "singular_ratio": 0.053485445376408605,
            "bias_unexplained_fraction": 0.5407112548570157,
            "near_degenerate": false
          }
        },
        "cost_trace": [
          113.01537685302051,
          76.46355497569665,
          47.32042717478424,
          33.77775254477562,
          23.47678729547286,
          15.878478598657903,
          13.226954807780581,
          12.882741626971912,
          11.945798186839152,
          11.304995805263113,
          11.299671700024522,
          11.299671700024522,
          9.242753736339816,
          8.09421799578121,
          7.35497091690859,
          7.110483738612795,
          6.900422388797752,
          6.117695489594542,
          5.831422439126624,
          5.713398096162555,
          5.7026115882975414,
          5.7026115882975414,
          5.415236812452174,
          5.0089731199512055,
          4.968013993696333,
          4.934253501420082,
          4.934253501420082,
          4.898076928443139,
          4.863107856583557,
          4.687346686639135,
          4.649149888389758,
          4.6476100834897025,
          4.6476100834897025,
          4.576263564325272,
          4.539468899314787,
          4.496065705153853,
          4.470617287833973,
          4.451777490839889,
          4.439631995572581,
          4.370363180704185,
          4.341272694637873,
          4.322005859324923,
          4.264744906983827,
          4.2217285223106,
          4.211531416470605,
          4.197553842945977,
          4.171633648115147,
          4.112451695337547,
          4.083132593013987,
          4.066256272411476,
          4.026745112382068,
          3.9712110738318462,
          3.9337150253049114,
          3.917537631500381,
          3.8640471004617076,
          3.81385467872261,
          3.795315496544969,
          3.780392473606482,
          3.780392473606482
        ],
        "final_steps": [
          0.015625,
          0.015625,
          0.015625,
          0.00625,
          0.00625,
          0.00625,
          0.005
        ],
        "stopping_reason": "budget"
      },
      "seconds_including_diagnostics": 3.1779940819833428,
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.7746570036025181,
        "translation_m": 0.16978847134007657,
        "recovered": false
      },
      "bias_error_m": 0.125,
      "joint_recovered": false
    },
    {
      "scene": "original",
      "condition": "exact_z_visible",
      "sigma_px": 0.0,
      "noise_seed": 0,
      "injected_bias_m": 0.0,
      "sign": 0,
      "method": "pattern",
      "depth_array_sha256": [
        "20108410265adc907ca9b009728f781198744cb2d5d553459974e8550df5e65c",
        "215682447229081f2afe91695066a5a800ebcdb269582318166506c925e49dc2",
        "9ce84192dab442dc99df3b3b673cccd14f48e981ab76e759bdd7d7b3304a657f"
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.2,
            -0.10625000000000001,
            0.3375
          ],
          "rotation_quat_xyzw": [
            0.017944019742041187,
            -0.026208245632628434,
            0.009137123413365167,
            0.9994536772617758
          ]
        },
        "delta": [
          0.03125,
          -0.021249999999999998,
          -0.004375,
          0.0,
          -0.00625,
          0.037500000000000006,
          -0.0375
        ],
        "bias_m": -0.0375,
        "cost": 3.2382230473105844,
        "actual_residual_calls": 309,
        "optimizer_success": true,
        "converged": true,
        "accepted": true,
        "locally_identifiable": true,
        "initial_support": [
          3783,
          3776,
          3780
        ],
        "final_support": [
          3783,
          3776,
          3780
        ],
        "sensitivity": {
          "common_supported": 11339,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              487.60617521585374,
              428.9317511017241,
              123.32843541420989,
              86.44803756024011,
              76.38519309267302,
              52.92998958676026,
              10.350504355612589
            ],
            "singular_ratio": 0.021227180625902908,
            "bias_unexplained_fraction": 0.9729528070055651,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              35.71057000640967,
              30.048641943669377,
              8.599943457758146,
              6.3797426329699825,
              4.159734908328424,
              3.833016317608644,
              2.454300033397344
            ],
            "singular_ratio": 0.06872755133723217,
            "bias_unexplained_fraction": 0.8176473601648793,
            "near_degenerate": false
          }
        },
        "cost_trace": [
          4.861964205451535,
          4.861964205451535,
          4.861964205451535,
          4.35341222379801,
          3.819470085270819,
          3.618755743223496,
          3.570592493600187,
          3.570592493600187,
          3.5697227532419036,
          3.5221714441751235,
          3.475585343430101,
          3.4533327874166866,
          3.4455339677537076,
          3.4455339677537076,
          3.405988708183247,
          3.2987111359113737,
          3.2551721339699817,
          3.250169305099374,
          3.250169305099374,
          3.2447089595659846,
          3.2394866464654153,
          3.2382230473105844,
          3.2382230473105844
        ],
        "final_steps": [
          0.01,
          0.01,
          0.01,
          0.005,
          0.005,
          0.005,
          0.005
        ],
        "stopping_reason": "complete minimum-step poll without improvement"
      },
      "seconds_including_diagnostics": 1.275686038978165,
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.038042277882965936,
        "translation_m": 0.038017265814363904,
        "recovered": true
      },
      "bias_error_m": 0.0375,
      "joint_recovered": true
    },
    {
      "scene": "original",
      "condition": "exact_z_visible",
      "sigma_px": 0.0,
      "noise_seed": 0,
      "injected_bias_m": 0.25,
      "sign": 1,
      "method": "pattern",
      "depth_array_sha256": [
        "c9a63f5df25fe07571e72f1d9937445fdf26d3b8955356a59bc80070548c8b27",
        "7dea33b48f893495b781de256151aaab955c53593cb5032a4f6f9f28281d0226",
        "922b1ca1fb7c1d598ad6e567c1fb17369ff709eacf952cce93fd5ba5c6a9b8b0"
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.24999999999999997,
            -0.07500000000000007,
            0.35000000000000003
          ],
          "rotation_quat_xyzw": [
            0.020194638868964228,
            -0.02927101101235059,
            0.007321131148182581,
            0.9993406754025267
          ]
        },
        "delta": [
          -0.703125,
          0.125,
          -0.96875,
          -0.1,
          0.12499999999999994,
          -0.05,
          0.21250000000000002
        ],
        "bias_m": 0.21250000000000002,
        "cost": 5.705693599612171,
        "actual_residual_calls": 800,
        "optimizer_success": false,
        "converged": false,
        "accepted": false,
        "locally_identifiable": true,
        "initial_support": [
          3746,
          3738,
          3747
        ],
        "final_support": [
          3783,
          3776,
          3780
        ],
        "sensitivity": {
          "common_supported": 11339,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              520.5637843586651,
              463.89674297555536,
              135.94390104642625,
              96.62157486456086,
              84.90796885710841,
              51.00090005347901,
              10.289497205058279
            ],
            "singular_ratio": 0.019766064244624595,
            "bias_unexplained_fraction": 0.9675673426323207,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              27.51207711538506,
              25.0271749177314,
              7.252762652250359,
              5.166858453353353,
              4.189883417565558,
              3.4204100130753545,
              1.9528320261667445
            ],
            "singular_ratio": 0.07098090115030606,
            "bias_unexplained_fraction": 0.7378131417289321,
            "near_degenerate": false
          }
        },
        "cost_trace": [
          96.20629605975918,
          66.54906783281848,
          50.87237746220666,
          30.626212631845803,
          20.061135787005743,
          17.431930551482793,
          15.505363503608208,
          13.998391107564473,
          13.392824057979311,
          13.263496658505716,
          13.263496658505716,
          13.020662920348244,
          12.801409937167518,
          12.569533276841863,
          11.864684133817025,
          11.663687742554075,
          11.530048835839017,
          11.33410558039009,
          10.626334598056015,
          10.432109835857318,
          10.432109835857318,
          10.300226411873158,
          10.136732689964669,
          10.103785379655037,
          10.103785379655037,
          9.789864872779106,
          9.49828812857448,
          9.334484503735535,
          9.275880972744975,
          9.048765383178196,
          8.784144154795426,
          8.618377101571966,
          8.529138728736118,
          8.418897047154845,
          8.14127339305024,
          7.938525110412186,
          7.848317363434307,
          7.774202383897266,
          7.771666680634187,
          7.769738011153811,
          7.764068927673507,
          7.585515880464666,
          7.30797396351872,
          7.095113976452346,
          7.024991243195686,
          6.992846297956059,
          6.6424655869427,
          6.404460382888811,
          6.330022806680611,
          6.288756137084372,
          6.271395666903784,
          6.271395666903784,
          6.143846832378584,
          6.038803900809915,
          5.979891259552146,
          5.9532811252824285,
          5.825985479204403,
          5.74864865742204,
          5.705693599612171
        ],
        "final_steps": [
          0.015625,
          0.015625,
          0.015625,
          0.00625,
          0.00625,
          0.00625,
          0.005
        ],
        "stopping_reason": "budget"
      },
      "seconds_including_diagnostics": 3.2024355140165426,
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.5174488658505817,
        "translation_m": 0.07499999999999998,
        "recovered": false
      },
      "bias_error_m": 0.03749999999999998,
      "joint_recovered": false
    },
    {
      "scene": "original",
      "condition": "exact_z_visible",
      "sigma_px": 0.0,
      "noise_seed": 0,
      "injected_bias_m": 0.25,
      "sign": -1,
      "method": "pattern",
      "depth_array_sha256": [
        "c9a63f5df25fe07571e72f1d9937445fdf26d3b8955356a59bc80070548c8b27",
        "7dea33b48f893495b781de256151aaab955c53593cb5032a4f6f9f28281d0226",
        "922b1ca1fb7c1d598ad6e567c1fb17369ff709eacf952cce93fd5ba5c6a9b8b0"
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.15000000000000002,
            -0.21374999999999997,
            0.4375
          ],
          "rotation_quat_xyzw": [
            0.012092850095437632,
            -0.023874353487029192,
            0.01000862458904526,
            0.9995917194814997
          ]
        },
        "delta": [
          0.35250000000000004,
          -0.265625,
          0.828125,
          0.1,
          -0.21374999999999997,
          0.23750000000000004,
          0.09125000000000003
        ],
        "bias_m": 0.09125000000000003,
        "cost": 3.5141043653810407,
        "actual_residual_calls": 800,
        "optimizer_success": false,
        "converged": false,
        "accepted": false,
        "locally_identifiable": true,
        "initial_support": [
          3783,
          3776,
          3780
        ],
        "final_support": [
          3783,
          3776,
          3780
        ],
        "sensitivity": {
          "common_supported": 11339,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              411.80923728526705,
              380.6735129771402,
              116.61801320568836,
              67.84157201396975,
              58.78603418033379,
              33.041172558930526,
              10.010339481557812
            ],
            "singular_ratio": 0.024308195579943938,
            "bias_unexplained_fraction": 0.9454305529772296,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              23.17149846704988,
              15.478958010341618,
              4.786648066847915,
              4.418378028489095,
              2.894972694475061,
              2.1123698806188993,
              0.9291925047407509
            ],
            "singular_ratio": 0.04010066530924069,
            "bias_unexplained_fraction": 0.43293363066577684,
            "near_degenerate": false
          }
        },
        "cost_trace": [
          140.88049491800686,
          106.06118466209378,
          78.07214686324852,
          51.77427513334655,
          34.2618716802548,
          23.117804178715698,
          16.03535444479898,
          11.029479542970295,
          8.057203765504806,
          7.113288522643071,
          6.472444226849174,
          6.256279966033434,
          6.237255411686392,
          6.237255411686392,
          5.897979976395721,
          5.579051468946476,
          5.339443823786444,
          5.339443823786444,
          5.051362402016772,
          4.851970311541602,
          4.803040700853965,
          4.785122775795641,
          4.785122775795641,
          4.580028450771872,
          4.534166148407868,
          4.51735817352664,
          4.429820742751285,
          4.343314943105333,
          4.286107923477173,
          4.273747223462334,
          4.2663265794252165,
          4.176473859737076,
          4.068463046102091,
          4.016998715705476,
          4.0042848071548,
          3.996972068135375,
          3.9893664622965757,
          3.8487837555068185,
          3.7635630657584356,
          3.7507205358601503,
          3.7507205358601503,
          3.7348047029449107,
          3.7166127708607726,
          3.6640944632113004,
          3.6471285317980353,
          3.631679194953714,
          3.6257637384675823,
          3.6186459219885085,
          3.61480758808412,
          3.609694720377915,
          3.589258679642104,
          3.5856855842083983,
          3.5856855842083983,
          3.5811156161904982,
          3.547256952807074,
          3.527799094851474,
          3.5172858829151408,
          3.5141043653810407,
          3.5141043653810407
        ],
        "final_steps": [
          0.01,
          0.01,
          0.01,
          0.005,
          0.005,
          0.005,
          0.005
        ],
        "stopping_reason": "budget"
      },
      "seconds_including_diagnostics": 3.1614024199952837,
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.6919137196646225,
        "translation_m": 0.18532488365030744,
        "recovered": false
      },
      "bias_error_m": 0.15874999999999997,
      "joint_recovered": false
    },
    {
      "scene": "original",
      "condition": "exact_z_visible",
      "sigma_px": 0.0,
      "noise_seed": 0,
      "injected_bias_m": 0.25,
      "sign": 0,
      "method": "pattern",
      "depth_array_sha256": [
        "c9a63f5df25fe07571e72f1d9937445fdf26d3b8955356a59bc80070548c8b27",
        "7dea33b48f893495b781de256151aaab955c53593cb5032a4f6f9f28281d0226",
        "922b1ca1fb7c1d598ad6e567c1fb17369ff709eacf952cce93fd5ba5c6a9b8b0"
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.2,
            -0.11125,
            0.34375
          ],
          "rotation_quat_xyzw": [
            0.01768007346814084,
            -0.026207377381338978,
            0.009056667771126967,
            0.9994591363041496
          ]
        },
        "delta": [
          0.0012499999999999976,
          -0.021249999999999998,
          -0.014375,
          0.0,
          -0.01125,
          0.04375000000000002,
          0.20500000000000007
        ],
        "bias_m": 0.20500000000000007,
        "cost": 2.974237350121842,
        "actual_residual_calls": 547,
        "optimizer_success": true,
        "converged": true,
        "accepted": true,
        "locally_identifiable": true,
        "initial_support": [
          3783,
          3776,
          3780
        ],
        "final_support": [
          3783,
          3776,
          3780
        ],
        "sensitivity": {
          "common_supported": 11339,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              475.29281864932415,
              418.27260761467187,
              120.4591562650619,
              82.59094113200207,
              78.00657660789645,
              49.70496502837439,
              10.313746501861232
            ],
            "singular_ratio": 0.02169977348105236,
            "bias_unexplained_fraction": 0.9698080232368967,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              32.392893176892144,
              27.3693336375873,
              8.181389915653059,
              6.028699757065121,
              5.393055475941598,
              3.973878511116169,
              2.1152171604772665
            ],
            "singular_ratio": 0.06529880331856809,
            "bias_unexplained_fraction": 0.774852680101853,
            "near_degenerate": false
          }
        },
        "cost_trace": [
          28.30113360746617,
          14.350882396237761,
          9.466816308923446,
          6.306829633803957,
          5.168486193927992,
          5.168486193927992,
          4.25040281779069,
          4.25040281779069,
          4.126571805790718,
          3.916063760013472,
          3.8410282180047166,
          3.801203139260256,
          3.801203139260256,
          3.730384988864729,
          3.6626789767844956,
          3.569634066429379,
          3.5138378496409737,
          3.4920267117614125,
          3.4517742400478726,
          3.3949597679490733,
          3.372245289585117,
          3.372245289585117,
          3.343682549873451,
          3.317274417463498,
          3.2145692892946154,
          3.160253422805867,
          3.149245897885325,
          3.130838810918763,
          3.1188100479944207,
          3.1089501320078323,
          3.1089501320078323,
          3.0962749447539486,
          3.04460334132788,
          3.009497458298612,
          2.9890324117363196,
          2.9865325208205853,
          2.979019738132606,
          2.9747568809414613,
          2.974237350121842,
          2.974237350121842
        ],
        "final_steps": [
          0.01,
          0.01,
          0.01,
          0.005,
          0.005,
          0.005,
          0.005
        ],
        "stopping_reason": "complete minimum-step poll without improvement"
      },
      "seconds_including_diagnostics": 2.114593225007411,
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.02568577346141012,
        "translation_m": 0.04517327749898164,
        "recovered": true
      },
      "bias_error_m": 0.04499999999999993,
      "joint_recovered": true
    },
    {
      "scene": "original",
      "condition": "exact_z_visible",
      "sigma_px": 0.0,
      "noise_seed": 0,
      "injected_bias_m": -0.25,
      "sign": 1,
      "method": "pattern",
      "depth_array_sha256": [
        "cbf6af7001053867b8d5ac7ea93ee1004b41ff60dc290cc52785a0dedbc2abf1",
        "82b0fb544d3e1bd01bc171c5aab95f93d6b24ed2924153181144d25f9b04cb6f",
        "91a49b11a4eb30649615b410b738824b08da33c6b587bd82256f024861e0470c"
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.24374999999999997,
            -0.09375000000000003,
            0.36250000000000004
          ],
          "rotation_quat_xyzw": [
            0.018975270636212613,
            -0.028968754665529787,
            0.007353990620645665,
            0.9993731381117678
          ]
        },
        "delta": [
          -0.84375,
          0.15625,
          -0.96875,
          -0.10625000000000001,
          0.10624999999999998,
          -0.037500000000000006,
          -0.30624999999999997
        ],
        "bias_m": -0.30624999999999997,
        "cost": 5.16829637344229,
        "actual_residual_calls": 800,
        "optimizer_success": false,
        "converged": false,
        "accepted": false,
        "locally_identifiable": true,
        "initial_support": [
          3746,
          3738,
          3747
        ],
        "final_support": [
          3783,
          3776,
          3780
        ],
        "sensitivity": {
          "common_supported": 11339,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              495.6596187387285,
              446.7531851761426,
              128.39465595963176,
              87.5462162317505,
              84.62814110439466,
              45.18598482993744,
              10.220690103086449
            ],
            "singular_ratio": 0.020620380835328782,
            "bias_unexplained_fraction": 0.9617779296639531,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              27.958381333418647,
              24.288250593562854,
              6.853447586292071,
              5.568363114566163,
              4.908531290370514,
              3.350082100407057,
              1.9266096065098748
            ],
            "singular_ratio": 0.0689099123276854,
            "bias_unexplained_fraction": 0.6598569581432837,
            "near_degenerate": false
          }
        },
        "cost_trace": [
          103.50067498088727,
          76.14932793700424,
          61.94926499769602,
          45.001681630204956,
          40.95544797658236,
          36.622698304930935,
          32.12547227487877,
          27.740452567078002,
          23.675954858037603,
          19.759050551530848,
          17.392817843024766,
          15.016539100467,
          13.63861704967276,
          13.240013354249482,
          13.151239130512316,
          13.151239130512316,
          12.139417968309626,
          11.859683579051321,
          11.859683579051321,
          10.670642303016795,
          10.180200808914883,
          9.916590605701927,
          9.723679438289107,
          9.631665637658294,
          9.505274328716355,
          9.33782242217329,
          9.297660784064732,
          9.297660784064732,
          9.119412815558585,
          8.82024159651358,
          8.60794186136332,
          8.521943728727859,
          8.456506257954095,
          8.136878939185534,
          7.920514576647544,
          7.770602796826234,
          7.752383405395581,
          7.5126931294926775,
          7.214115456654717,
          7.033859157523179,
          7.013199309897786,
          6.8248234293693395,
          6.527080829884696,
          6.371555867967867,
          6.344869627291596,
          6.2932490729571295,
          6.269960655057658,
          6.2355218093797475,
          5.826526562692755,
          5.696115981565585,
          5.681311268875197,
          5.66282892550431,
          5.66282892550431,
          5.474502426212197,
          5.416966883889074,
          5.381198966405571,
          5.242539155676468,
          5.173924671642679,
          5.16829637344229
        ],
        "final_steps": [
          0.015625,
          0.015625,
          0.015625,
          0.00625,
          0.00625,
          0.00625,
          0.005
        ],
        "stopping_reason": "budget"
      },
      "seconds_including_diagnostics": 3.2327440419758204,
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.42458671307353285,
        "translation_m": 0.07654655446197434,
        "recovered": false
      },
      "bias_error_m": 0.05624999999999997,
      "joint_recovered": false
    },
    {
      "scene": "original",
      "condition": "exact_z_visible",
      "sigma_px": 0.0,
      "noise_seed": 0,
      "injected_bias_m": -0.25,
      "sign": -1,
      "method": "pattern",
      "depth_array_sha256": [
        "cbf6af7001053867b8d5ac7ea93ee1004b41ff60dc290cc52785a0dedbc2abf1",
        "82b0fb544d3e1bd01bc171c5aab95f93d6b24ed2924153181144d25f9b04cb6f",
        "91a49b11a4eb30649615b410b738824b08da33c6b587bd82256f024861e0470c"
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.15000000000000002,
            -0.1875,
            0.39375000000000004
          ],
          "rotation_quat_xyzw": [
            0.013376995033357363,
            -0.02373341293935171,
            0.009894622234146059,
            0.9995798505196928
          ]
        },
        "delta": [
          0.5,
          -0.25,
          0.818125,
          0.1,
          -0.1875,
          0.19375000000000003,
          -0.36125
        ],
        "bias_m": -0.36125,
        "cost": 3.2283981603768694,
        "actual_residual_calls": 589,
        "optimizer_success": true,
        "converged": true,
        "accepted": true,
        "locally_identifiable": true,
        "initial_support": [
          3783,
          3776,
          3780
        ],
        "final_support": [
          3783,
          3776,
          3780
        ],
        "sensitivity": {
          "common_supported": 11339,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              416.1673240745752,
              379.42489804552076,
              111.46160132783051,
              75.73552486401084,
              65.752646835769,
              41.65405965425683,
              10.212717855587497
            ],
            "singular_ratio": 0.024539932053284957,
            "bias_unexplained_fraction": 0.9614187340227243,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              25.095378932528106,
              24.476801534383675,
              6.24973507214084,
              5.511660577452152,
              4.2021095173131755,
              3.968139226208156,
              1.878636604604765
            ],
            "singular_ratio": 0.07485986203498667,
            "bias_unexplained_fraction": 0.6550431964724711,
            "near_degenerate": false
          }
        },
        "cost_trace": [
          111.152712118147,
          77.90348895001695,
          51.87405693581913,
          38.74631806123625,
          32.78874917211286,
          29.048028358583203,
          26.066156696078473,
          24.185241409638177,
          22.68477784890079,
          19.86056765531869,
          16.546806433456062,
          14.159807960712193,
          11.2117011506873,
          9.412300133879166,
          8.267955629047158,
          8.253164274023465,
          8.253164274023465,
          6.593893604855854,
          5.335733327770889,
          4.607786858411827,
          4.50247370698012,
          4.409333813052783,
          4.31151129041996,
          4.31151129041996,
          3.877169769040253,
          3.7336388020177576,
          3.6855515056788786,
          3.6611447093276923,
          3.6611447093276923,
          3.573170844077606,
          3.3327586152120894,
          3.3254788806801896,
          3.3250422551294823,
          3.2974374878831183,
          3.253065762268437,
          3.2517799600618393,
          3.2517799600618393,
          3.23381849400492,
          3.2291728861241173,
          3.2289208161232335,
          3.2289208161232335,
          3.2283981603768694,
          3.2283981603768694
        ],
        "final_steps": [
          0.01,
          0.01,
          0.01,
          0.005,
          0.005,
          0.005,
          0.005
        ],
        "stopping_reason": "complete minimum-step poll without improvement"
      },
      "seconds_including_diagnostics": 2.370313771010842,
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.5639321275188754,
        "translation_m": 0.1376419721596578,
        "recovered": false
      },
      "bias_error_m": 0.11125000000000002,
      "joint_recovered": false
    },
    {
      "scene": "original",
      "condition": "exact_z_visible",
      "sigma_px": 0.0,
      "noise_seed": 0,
      "injected_bias_m": -0.25,
      "sign": 0,
      "method": "pattern",
      "depth_array_sha256": [
        "cbf6af7001053867b8d5ac7ea93ee1004b41ff60dc290cc52785a0dedbc2abf1",
        "82b0fb544d3e1bd01bc171c5aab95f93d6b24ed2924153181144d25f9b04cb6f",
        "91a49b11a4eb30649615b410b738824b08da33c6b587bd82256f024861e0470c"
      ],
      "result": {
        "transform": {
          "translation_m": [
            0.2,
            -0.10625000000000001,
            0.33749999999999997
          ],
          "rotation_quat_xyzw": [
            0.017945672042982478,
            -0.02624503358416843,
            0.009214124904635506,
            0.9994519753191413
          ]
        },
        "delta": [
          0.03125,
          -0.025625000000000002,
          0.004375,
          0.0,
          -0.00625,
          0.0375,
          -0.28500000000000003
        ],
        "bias_m": -0.28500000000000003,
        "cost": 3.3932396864453382,
        "actual_residual_calls": 379,
        "optimizer_success": true,
        "converged": true,
        "accepted": true,
        "locally_identifiable": true,
        "initial_support": [
          3783,
          3776,
          3780
        ],
        "final_support": [
          3783,
          3776,
          3780
        ],
        "sensitivity": {
          "common_supported": 11339,
          "diagnostic_passes": 15,
          "raw": {
            "available": true,
            "scaled_singular_values": [
              495.4643826104492,
              427.75870859005033,
              125.01865736223205,
              89.73950005129582,
              78.45004493603255,
              53.97943741925555,
              10.356257766037771
            ],
            "singular_ratio": 0.020902123602657044,
            "bias_unexplained_fraction": 0.9734391271785419,
            "near_degenerate": false
          },
          "robust": {
            "available": true,
            "scaled_singular_values": [
              37.549246682353115,
              30.896824608008828,
              9.043540839516643,
              6.780565209009282,
              5.325714424246911,
              4.067189498861599,
              2.6128643451744553
            ],
            "singular_ratio": 0.06958500039369402,
            "bias_unexplained_fraction": 0.8120276323508118,
            "near_degenerate": false
          }
        },
        "cost_trace": [
          23.362975662434582,
          18.651403718037802,
          13.900327776040132,
          9.517006507742376,
          6.2424461853792135,
          5.105781681241852,
          5.105781681241852,
          5.105781681241852,
          4.6025321197937075,
          4.0371202746478705,
          3.802828644349581,
          3.744456026438435,
          3.744456026438435,
          3.744456026438435,
          3.6855959853995772,
          3.6508334537937355,
          3.6403865734909577,
          3.6244659847905547,
          3.5019241811052315,
          3.453920876509496,
          3.4286896558418003,
          3.403312877901307,
          3.40325896513042,
          3.40325896513042,
          3.4018462679868575,
          3.3988745715279105,
          3.3932396864453382,
          3.3932396864453382
        ],
        "final_steps": [
          0.01,
          0.01,
          0.01,
          0.005,
          0.005,
          0.005,
          0.005
        ],
        "stopping_reason": "complete minimum-step poll without improvement"
      },
      "seconds_including_diagnostics": 1.5103130960196722,
      "pose_metrics": {
        "valid_output": true,
        "rotation_deg": 0.04064978326027266,
        "translation_m": 0.038017265814363856,
        "recovered": true
      },
      "bias_error_m": 0.03500000000000003,
      "joint_recovered": true
    }
  ]
}