{
  "scope": "metric optical depth versus MI; synthetic diagnostic only",
  "source_commit": "d6651dd852eb5f1c074abad6395bcdff369a1a38",
  "plan_sha256": "89a85223bbd099c3aea096b4b67db1f88db19d29c448e370c8b6236b7946c390",
  "cases": [
    {
      "condition": "exact_z_visible",
      "sign": 1,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.35,
              -0.2,
              0.4
            ],
            "rotation_quat_xyzw": [
              0.026554813331940996,
              -0.030285556445752447,
              0.015605887359136183,
              0.9990666060075328
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.24374999999999997,
              0.10000000000000003,
              0.23125
            ],
            "rotation_quat_xyzw": [
              0.026325854334361357,
              -0.028222467958798906,
              0.01105642113050782,
              0.9991937736233475
            ]
          },
          "best_delta_rotation_deg_xyz": [
            -0.015625,
            0.25,
            -0.515625
          ],
          "best_delta_translation_m_xyz": [
            -0.10625000000000001,
            0.30000000000000004,
            -0.16875
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.5266042379592133,
            "normalized_mutual_information": 0.5537840167251592,
            "visible_point_count": 11262,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.5557259524003237,
                "normalized_mutual_information": 0.55779954023252,
                "visible_point_count": 3762,
                "projected_count_before_visibility": 3762
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.3296676537740568,
                "normalized_mutual_information": 0.5067242948876239,
                "visible_point_count": 3738,
                "projected_count_before_visibility": 3741
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.69441910770326,
                "normalized_mutual_information": 0.5968282150553336,
                "visible_point_count": 3762,
                "projected_count_before_visibility": 3764
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.720657807082968,
            "normalized_mutual_information": 0.6203286041013254,
            "visible_point_count": 11326,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.7722461675467893,
                "normalized_mutual_information": 0.6317458526787055,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.5230991792568842,
                "normalized_mutual_information": 0.5760033722135672,
                "visible_point_count": 3765,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.86662807444523,
                "normalized_mutual_information": 0.6532365874117034,
                "visible_point_count": 3778,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5266042379592133,
              "mutual_information": 1.5266042379592133,
              "normalized_mutual_information": 0.5537840167251592,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5542059227410696,
              "mutual_information": 1.5542059227410696,
              "normalized_mutual_information": 0.5628717256273804,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.4937316370930194,
              "mutual_information": 1.4937316370930194,
              "normalized_mutual_information": 0.541725173814735,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5230629014049841,
              "mutual_information": 1.5230629014049841,
              "normalized_mutual_information": 0.552312450413505,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5202678468655613,
              "mutual_information": 1.5202678468655613,
              "normalized_mutual_information": 0.5520883006341136,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.527374675730168,
              "mutual_information": 1.527374675730168,
              "normalized_mutual_information": 0.5537892760844961,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5235810561658603,
              "mutual_information": 1.5235810561658603,
              "normalized_mutual_information": 0.5526941490551406,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.5336431052660888,
              "mutual_information": 1.5336431052660888,
              "normalized_mutual_information": 0.5557833026630118,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.4981109568471644,
              "mutual_information": 1.4981109568471644,
              "normalized_mutual_information": 0.5442676202197638,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.4563168208358104,
              "mutual_information": 1.4563168208358104,
              "normalized_mutual_information": 0.5283284949992101,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.587036869832921,
              "mutual_information": 1.587036869832921,
              "normalized_mutual_information": 0.5743059314960846,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.5196027754988568,
              "mutual_information": 1.5196027754988568,
              "normalized_mutual_information": 0.551223297075777,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.52607292771526,
              "mutual_information": 1.52607292771526,
              "normalized_mutual_information": 0.5530422505332937,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.6203404146441727,
              "mutual_information": 1.6203404146441727,
              "normalized_mutual_information": 0.5862007794533461,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5556307597818295,
              "mutual_information": 1.5556307597818295,
              "normalized_mutual_information": 0.5640535128600138,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5885854557210044,
              "mutual_information": 1.5885854557210044,
              "normalized_mutual_information": 0.5746675937929947,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5782615136576397,
              "mutual_information": 1.5782615136576397,
              "normalized_mutual_information": 0.5719592465392115,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5919686068990728,
              "mutual_information": 1.5919686068990728,
              "normalized_mutual_information": 0.5760674692271378,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5854504861544791,
              "mutual_information": 1.5854504861544791,
              "normalized_mutual_information": 0.5740638085969643,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.1,
                0.0
              ],
              "objective": 1.600270455066991,
              "mutual_information": 1.600270455066991,
              "normalized_mutual_information": 0.5783512076325735,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.1,
                0.0
              ],
              "objective": 1.5541363604736251,
              "mutual_information": 1.5541363604736251,
              "normalized_mutual_information": 0.5636633173077822,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5266042379592133,
              "mutual_information": 1.5266042379592133,
              "normalized_mutual_information": 0.5537840167251592,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6480352531299196,
              "mutual_information": 1.6480352531299196,
              "normalized_mutual_information": 0.5960182568040747,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                -0.1
              ],
              "objective": 1.5839055036724161,
              "mutual_information": 1.5839055036724161,
              "normalized_mutual_information": 0.5733064083621208,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.1
              ],
              "objective": 1.5841007438005115,
              "mutual_information": 1.5841007438005115,
              "normalized_mutual_information": 0.573245943559442,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.673199538487702,
              "mutual_information": 1.673199538487702,
              "normalized_mutual_information": 0.6049895663931649,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6187666878443119,
              "mutual_information": 1.6187666878443119,
              "normalized_mutual_information": 0.5850538372680716,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6406382188954602,
              "mutual_information": 1.6406382188954602,
              "normalized_mutual_information": 0.5926193343608578,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6362313908967006,
              "mutual_information": 1.6362313908967006,
              "normalized_mutual_information": 0.5926414068041156,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.64995068766106,
              "mutual_information": 1.64995068766106,
              "normalized_mutual_information": 0.5966289233461426,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.645681418606067,
              "mutual_information": 1.645681418606067,
              "normalized_mutual_information": 0.5949584624095786,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.2,
                0.0
              ],
              "objective": 1.6612826500284097,
              "mutual_information": 1.6612826500284097,
              "normalized_mutual_information": 0.599437388733247,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.2,
                0.0
              ],
              "objective": 1.6039027282598983,
              "mutual_information": 1.6039027282598983,
              "normalized_mutual_information": 0.5814155192527726,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.587036869832921,
              "mutual_information": 1.587036869832921,
              "normalized_mutual_information": 0.5743059314960846,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6763645086659438,
              "mutual_information": 1.6763645086659438,
              "normalized_mutual_information": 0.6060252002429775,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                -0.1
              ],
              "objective": 1.6535453414929924,
              "mutual_information": 1.6535453414929924,
              "normalized_mutual_information": 0.5976689296358665,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.1
              ],
              "objective": 1.635384718746175,
              "mutual_information": 1.635384718746175,
              "normalized_mutual_information": 0.5915588776899978,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6711888889929074,
              "mutual_information": 1.6711888889929074,
              "normalized_mutual_information": 0.6042908426186725,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6625036007665919,
              "mutual_information": 1.6625036007665919,
              "normalized_mutual_information": 0.6011208364769383,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6722500046565563,
              "mutual_information": 1.6722500046565563,
              "normalized_mutual_information": 0.603748498430436,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6599101932372686,
              "mutual_information": 1.6599101932372686,
              "normalized_mutual_information": 0.6013308612532348,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6839320018098245,
              "mutual_information": 1.6839320018098245,
              "normalized_mutual_information": 0.6087895698807756,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6731795022020926,
              "mutual_information": 1.6731795022020926,
              "normalized_mutual_information": 0.6049642493061876,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6778704020304815,
              "mutual_information": 1.6778704020304815,
              "normalized_mutual_information": 0.6055904414002778,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6280707963112604,
              "mutual_information": 1.6280707963112604,
              "normalized_mutual_information": 0.5905923586764357,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                0.0
              ],
              "objective": 1.6480352531299196,
              "mutual_information": 1.6480352531299196,
              "normalized_mutual_information": 0.5960182568040747,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                0.0
              ],
              "objective": 1.638577999796172,
              "mutual_information": 1.638577999796172,
              "normalized_mutual_information": 0.5925383520465394,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6787370089795146,
              "mutual_information": 1.6787370089795146,
              "normalized_mutual_information": 0.6064855200582396,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.1
              ],
              "objective": 1.6583911117105121,
              "mutual_information": 1.6583911117105121,
              "normalized_mutual_information": 0.5999097286661975,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6759671433706709,
              "mutual_information": 1.6759671433706709,
              "normalized_mutual_information": 0.6060430406235845,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6624825262138891,
              "mutual_information": 1.6624825262138891,
              "normalized_mutual_information": 0.6009469896497256,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6754325899406968,
              "mutual_information": 1.6754325899406968,
              "normalized_mutual_information": 0.6047833845033924,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.665096114026343,
              "mutual_information": 1.665096114026343,
              "normalized_mutual_information": 0.6031265495506611,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6819124901633906,
              "mutual_information": 1.6819124901633906,
              "normalized_mutual_information": 0.6078951281527872,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6763645086659438,
              "mutual_information": 1.6763645086659438,
              "normalized_mutual_information": 0.6060252002429775,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.67890599781998,
              "mutual_information": 1.67890599781998,
              "normalized_mutual_information": 0.6059410615295673,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6299533704141325,
              "mutual_information": 1.6299533704141325,
              "normalized_mutual_information": 0.5913912359877956,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                0.0
              ],
              "objective": 1.64995068766106,
              "mutual_information": 1.64995068766106,
              "normalized_mutual_information": 0.5966289233461426,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                0.0
              ],
              "objective": 1.6440567471043028,
              "mutual_information": 1.6440567471043028,
              "normalized_mutual_information": 0.5947414759675151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.684723044847675,
              "mutual_information": 1.684723044847675,
              "normalized_mutual_information": 0.6083314763667762,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.1
              ],
              "objective": 1.6675226688972635,
              "mutual_information": 1.6675226688972635,
              "normalized_mutual_information": 0.6030993546106432,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6802144074187089,
              "mutual_information": 1.6802144074187089,
              "normalized_mutual_information": 0.6073779312186942,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6686444503817752,
              "mutual_information": 1.6686444503817752,
              "normalized_mutual_information": 0.6029821216927487,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.686338679206122,
              "mutual_information": 1.686338679206122,
              "normalized_mutual_information": 0.6081818428042681,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6698803829508198,
              "mutual_information": 1.6698803829508198,
              "normalized_mutual_information": 0.604680955844326,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6845594093620697,
              "mutual_information": 1.6845594093620697,
              "normalized_mutual_information": 0.6085903759027104,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6787370089795146,
              "mutual_information": 1.6787370089795146,
              "normalized_mutual_information": 0.6064855200582396,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6936409373589913,
              "mutual_information": 1.6936409373589913,
              "normalized_mutual_information": 0.6103764886020001,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6288344275615227,
              "mutual_information": 1.6288344275615227,
              "normalized_mutual_information": 0.5908150772028132,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6583602356705012,
              "mutual_information": 1.6583602356705012,
              "normalized_mutual_information": 0.5992444508812196,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                -0.1
              ],
              "objective": 1.645146478367586,
              "mutual_information": 1.645146478367586,
              "normalized_mutual_information": 0.5946203135428986,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6791259286837004,
              "mutual_information": 1.6791259286837004,
              "normalized_mutual_information": 0.6063070934126237,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6839320018098245,
              "mutual_information": 1.6839320018098245,
              "normalized_mutual_information": 0.6087895698807756,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6832008449828386,
              "mutual_information": 1.6832008449828386,
              "normalized_mutual_information": 0.6067723997202662,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6847369925924809,
              "mutual_information": 1.6847369925924809,
              "normalized_mutual_information": 0.6071644951824676,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6660219918539187,
              "mutual_information": 1.6660219918539187,
              "normalized_mutual_information": 0.5996283573106019,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7050621594445319,
              "mutual_information": 1.7050621594445319,
              "normalized_mutual_information": 0.6152469335572955,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6916913488268799,
              "mutual_information": 1.6916913488268799,
              "normalized_mutual_information": 0.6098305315784973,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6926869538959537,
              "mutual_information": 1.6926869538959537,
              "normalized_mutual_information": 0.6100289814082321,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.644972048297735,
              "mutual_information": 1.644972048297735,
              "normalized_mutual_information": 0.5923141906584307,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.684723044847675,
              "mutual_information": 1.684723044847675,
              "normalized_mutual_information": 0.6083314763667762,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6705003689624565,
              "mutual_information": 1.6705003689624565,
              "normalized_mutual_information": 0.6023412823204274,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.1
              ],
              "objective": 1.6476446061242134,
              "mutual_information": 1.6476446061242134,
              "normalized_mutual_information": 0.5943306132515468,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.697516357740417,
              "mutual_information": 1.697516357740417,
              "normalized_mutual_information": 0.6110576831992462,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.67890599781998,
              "mutual_information": 1.67890599781998,
              "normalized_mutual_information": 0.6059410615295673,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.697543456842902,
              "mutual_information": 1.697543456842902,
              "normalized_mutual_information": 0.6126851719287739,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6965944571425773,
              "mutual_information": 1.6965944571425773,
              "normalized_mutual_information": 0.6118895349835333,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6936409373589913,
              "mutual_information": 1.6936409373589913,
              "normalized_mutual_information": 0.6103764886020001,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.0,
                0.5,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6947615806625678,
              "mutual_information": 1.6947615806625678,
              "normalized_mutual_information": 0.6125573789579647,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7125304629568439,
              "mutual_information": 1.7125304629568439,
              "normalized_mutual_information": 0.6178452625794716,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6999308471917924,
              "mutual_information": 1.6999308471917924,
              "normalized_mutual_information": 0.6135626874654704,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.677644242514986,
              "mutual_information": 1.677644242514986,
              "normalized_mutual_information": 0.6048004197980713,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6698803829508198,
              "mutual_information": 1.6698803829508198,
              "normalized_mutual_information": 0.604680955844326,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6745559823713858,
              "mutual_information": 1.6745559823713858,
              "normalized_mutual_information": 0.6045207544762178,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.1
              ],
              "objective": 1.6606601450475482,
              "mutual_information": 1.6606601450475482,
              "normalized_mutual_information": 0.5996304111256746,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.710202210180287,
              "mutual_information": 1.710202210180287,
              "normalized_mutual_information": 0.6167520771110793,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.698882334827015,
              "mutual_information": 1.698882334827015,
              "normalized_mutual_information": 0.6137160880867838,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7005565215811507,
              "mutual_information": 1.7005565215811507,
              "normalized_mutual_information": 0.6137649330261715,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7014734932325055,
              "mutual_information": 1.7014734932325055,
              "normalized_mutual_information": 0.6134901405186984,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6916913488268799,
              "mutual_information": 1.6916913488268799,
              "normalized_mutual_information": 0.6098305315784973,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.0,
                0.5,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7008982005755717,
              "mutual_information": 1.7008982005755717,
              "normalized_mutual_information": 0.6148003703096202,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.75
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7162941428625895,
              "mutual_information": 1.7162941428625895,
              "normalized_mutual_information": 0.6192010991671075,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7050621594445319,
              "mutual_information": 1.7050621594445319,
              "normalized_mutual_information": 0.6152469335572955,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.676089441988639,
              "mutual_information": 1.676089441988639,
              "normalized_mutual_information": 0.6041345555052419,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.669596389381389,
              "mutual_information": 1.669596389381389,
              "normalized_mutual_information": 0.6045429441736118,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6814512403442856,
              "mutual_information": 1.6814512403442856,
              "normalized_mutual_information": 0.6069603529922136,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.1
              ],
              "objective": 1.6647315678559922,
              "mutual_information": 1.6647315678559922,
              "normalized_mutual_information": 0.6010518340914304,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7175246634508714,
              "mutual_information": 1.7175246634508714,
              "normalized_mutual_information": 0.6190595237758955,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7008748252101704,
              "mutual_information": 1.7008748252101704,
              "normalized_mutual_information": 0.6141921374798712,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7003081417599335,
              "mutual_information": 1.7003081417599335,
              "normalized_mutual_information": 0.6133660501703893,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7045611902827182,
              "mutual_information": 1.7045611902827182,
              "normalized_mutual_information": 0.6141855998402787,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.699989309327438,
              "mutual_information": 1.699989309327438,
              "normalized_mutual_information": 0.6119080047881758,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                0.0,
                0.5,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7054333698578896,
              "mutual_information": 1.7054333698578896,
              "normalized_mutual_information": 0.6159395451235882,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.75
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.714359778147139,
              "mutual_information": 1.714359778147139,
              "normalized_mutual_information": 0.6179119914310297,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.710202210180287,
              "mutual_information": 1.710202210180287,
              "normalized_mutual_information": 0.6167520771110793,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6853644744962117,
              "mutual_information": 1.6853644744962117,
              "normalized_mutual_information": 0.6065263452661528,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6640561869332755,
              "mutual_information": 1.6640561869332755,
              "normalized_mutual_information": 0.6022973146595696,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.2
              ],
              "objective": 1.686523337229744,
              "mutual_information": 1.686523337229744,
              "normalized_mutual_information": 0.6083082201467435,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.2
              ],
              "objective": 1.666856697654146,
              "mutual_information": 1.666856697654146,
              "normalized_mutual_information": 0.6012782956468504,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.30000000000000004
              ],
              "objective": 1.7050145801047247,
              "mutual_information": 1.7050145801047247,
              "normalized_mutual_information": 0.6144749356360518,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7125304629568439,
              "mutual_information": 1.7125304629568439,
              "normalized_mutual_information": 0.6178452625794716,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.710222610693463,
              "mutual_information": 1.710222610693463,
              "normalized_mutual_information": 0.6167004727934157,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                0.125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7101485989184144,
              "mutual_information": 1.7101485989184144,
              "normalized_mutual_information": 0.6163391347666117,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7109537424736245,
              "mutual_information": 1.7109537424736245,
              "normalized_mutual_information": 0.6165377069192753,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                0.0,
                0.375,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.71169850179359,
              "mutual_information": 1.71169850179359,
              "normalized_mutual_information": 0.617599591116389,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7162617014943742,
              "mutual_information": 1.7162617014943742,
              "normalized_mutual_information": 0.6187718431573795,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.711746034635869,
              "mutual_information": 1.711746034635869,
              "normalized_mutual_information": 0.6171155081343341,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7105593817090927,
              "mutual_information": 1.7105593817090927,
              "normalized_mutual_information": 0.6160721319870704,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6917803448297484,
              "mutual_information": 1.6917803448297484,
              "normalized_mutual_information": 0.6106636264458487,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.2
              ],
              "objective": 1.709178418135554,
              "mutual_information": 1.709178418135554,
              "normalized_mutual_information": 0.6161069761410486,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.35000000000000003,
                -0.2
              ],
              "objective": 1.6887176508040327,
              "mutual_information": 1.6887176508040327,
              "normalized_mutual_information": 0.6092063150969024,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.25
              ],
              "objective": 1.7120402271872683,
              "mutual_information": 1.7120402271872683,
              "normalized_mutual_information": 0.6172002982665696,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.15000000000000002
              ],
              "objective": 1.7148169783200042,
              "mutual_information": 1.7148169783200042,
              "normalized_mutual_information": 0.6185055083120167,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 134,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7157268261510499,
              "mutual_information": 1.7157268261510499,
              "normalized_mutual_information": 0.618634854005465,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 135,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.71051425305968,
              "mutual_information": 1.71051425305968,
              "normalized_mutual_information": 0.616572820514085,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 136,
              "delta_rotation_deg_xyz": [
                0.0,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7161809763195912,
              "mutual_information": 1.7161809763195912,
              "normalized_mutual_information": 0.6185637746506665,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 137,
              "delta_rotation_deg_xyz": [
                0.0,
                0.3125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7138019048463373,
              "mutual_information": 1.7138019048463373,
              "normalized_mutual_information": 0.618040511957841,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 138,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7165682005232632,
              "mutual_information": 1.7165682005232632,
              "normalized_mutual_information": 0.6189629765187922,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 139,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.4375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7136970755357004,
              "mutual_information": 1.7136970755357004,
              "normalized_mutual_information": 0.6177341343119537,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 140,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.125,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7115221844624682,
              "mutual_information": 1.7115221844624682,
              "normalized_mutual_information": 0.6168433397005474,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 141,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.07500000000000001,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7076890758335495,
              "mutual_information": 1.7076890758335495,
              "normalized_mutual_information": 0.6163446122051545,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 142,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.275,
                -0.2
              ],
              "objective": 1.713808828372844,
              "mutual_information": 1.713808828372844,
              "normalized_mutual_information": 0.6176860717386411,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 143,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.32500000000000007,
                -0.2
              ],
              "objective": 1.7026534679380727,
              "mutual_information": 1.7026534679380727,
              "normalized_mutual_information": 0.6140369684799952,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 144,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.225
              ],
              "objective": 1.715287960607383,
              "mutual_information": 1.715287960607383,
              "normalized_mutual_information": 0.618326706847629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 145,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7186260347131885,
              "mutual_information": 1.7186260347131885,
              "normalized_mutual_information": 0.6196730866886105,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 146,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7139944883804432,
              "mutual_information": 1.7139944883804432,
              "normalized_mutual_information": 0.6182564749428822,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 147,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.712270705000963,
              "mutual_information": 1.712270705000963,
              "normalized_mutual_information": 0.6173331892863215,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 148,
              "delta_rotation_deg_xyz": [
                0.0,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7153771531879574,
              "mutual_information": 1.7153771531879574,
              "normalized_mutual_information": 0.6183380010486749,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 149,
              "delta_rotation_deg_xyz": [
                0.0,
                0.3125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7129378227458145,
              "mutual_information": 1.7129378227458145,
              "normalized_mutual_information": 0.6179365665284461,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 150,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7170942534466092,
              "mutual_information": 1.7170942534466092,
              "normalized_mutual_information": 0.6192634351920874,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 151,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.4375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7152539624154086,
              "mutual_information": 1.7152539624154086,
              "normalized_mutual_information": 0.6185739697082894,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 152,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.125,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7164556491304594,
              "mutual_information": 1.7164556491304594,
              "normalized_mutual_information": 0.6187714731621636,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 153,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.07500000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.702960778317168,
              "mutual_information": 1.702960778317168,
              "normalized_mutual_information": 0.6147985948528206,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 154,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.275,
                -0.17500000000000002
              ],
              "objective": 1.7138779768842347,
              "mutual_information": 1.7138779768842347,
              "normalized_mutual_information": 0.6178193674281202,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 155,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.32500000000000007,
                -0.17500000000000002
              ],
              "objective": 1.703985380510579,
              "mutual_information": 1.703985380510579,
              "normalized_mutual_information": 0.6145599822890423,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 156,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7175246634508714,
              "mutual_information": 1.7175246634508714,
              "normalized_mutual_information": 0.6190595237758955,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 157,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.15000000000000002
              ],
              "objective": 1.7148169783200042,
              "mutual_information": 1.7148169783200042,
              "normalized_mutual_information": 0.6185055083120167,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 158,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.71709871357053,
              "mutual_information": 1.71709871357053,
              "normalized_mutual_information": 0.6192813627131589,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 159,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7151579853176486,
              "mutual_information": 1.7151579853176486,
              "normalized_mutual_information": 0.6184426856821362,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 160,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7179894474173665,
              "mutual_information": 1.7179894474173665,
              "normalized_mutual_information": 0.6192947167100195,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 161,
              "delta_rotation_deg_xyz": [
                0.0,
                0.28125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7155066341197982,
              "mutual_information": 1.7155066341197982,
              "normalized_mutual_information": 0.6186815757729164,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 162,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.718081968908268,
              "mutual_information": 1.718081968908268,
              "normalized_mutual_information": 0.6195023174837269,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 163,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.46875
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7179325100118834,
              "mutual_information": 1.7179325100118834,
              "normalized_mutual_information": 0.619439954523259,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 164,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1125,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7165428617341636,
              "mutual_information": 1.7165428617341636,
              "normalized_mutual_information": 0.6187695483371539,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 165,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.08750000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.713465776449339,
              "mutual_information": 1.713465776449339,
              "normalized_mutual_information": 0.6180533384829785,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 166,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.28750000000000003,
                -0.17500000000000002
              ],
              "objective": 1.717236732356237,
              "mutual_information": 1.717236732356237,
              "normalized_mutual_information": 0.6192843371628954,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 167,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.31250000000000006,
                -0.17500000000000002
              ],
              "objective": 1.711311503472178,
              "mutual_information": 1.711311503472178,
              "normalized_mutual_information": 0.6170956467402235,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 168,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.18750000000000003
              ],
              "objective": 1.717341119678075,
              "mutual_information": 1.717341119678075,
              "normalized_mutual_information": 0.6192338223185317,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 169,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1625
              ],
              "objective": 1.7154948334332805,
              "mutual_information": 1.7154948334332805,
              "normalized_mutual_information": 0.6186738997371002,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 170,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.718645602934487,
              "mutual_information": 1.718645602934487,
              "normalized_mutual_information": 0.619755298058314,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 171,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7164702360490047,
              "mutual_information": 1.7164702360490047,
              "normalized_mutual_information": 0.6189434125815034,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 172,
              "delta_rotation_deg_xyz": [
                0.0,
                0.234375,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7179981711493177,
              "mutual_information": 1.7179981711493177,
              "normalized_mutual_information": 0.6192956851262243,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 173,
              "delta_rotation_deg_xyz": [
                0.0,
                0.265625,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7181996863702462,
              "mutual_information": 1.7181996863702462,
              "normalized_mutual_information": 0.6195372602415904,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 174,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7178579544492925,
              "mutual_information": 1.7178579544492925,
              "normalized_mutual_information": 0.6194735530629728,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 175,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.484375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7179672150784322,
              "mutual_information": 1.7179672150784322,
              "normalized_mutual_information": 0.6194872424167701,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 176,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7188228101375886,
              "mutual_information": 1.7188228101375886,
              "normalized_mutual_information": 0.6195748536858151,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 177,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.09375,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.715230949529408,
              "mutual_information": 1.715230949529408,
              "normalized_mutual_information": 0.6185579669728122,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 178,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.29375000000000007,
                -0.17500000000000002
              ],
              "objective": 1.7171797448648818,
              "mutual_information": 1.7171797448648818,
              "normalized_mutual_information": 0.6191322309881189,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 179,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30625,
                -0.17500000000000002
              ],
              "objective": 1.713656371604544,
              "mutual_information": 1.713656371604544,
              "normalized_mutual_information": 0.6180342771385718,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 180,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.18125000000000002
              ],
              "objective": 1.717095867939829,
              "mutual_information": 1.717095867939829,
              "normalized_mutual_information": 0.6191493787742336,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 181,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.7172019846044886,
              "mutual_information": 1.7172019846044886,
              "normalized_mutual_information": 0.6192290461866686,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 182,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7194086670885618,
              "mutual_information": 1.7194086670885618,
              "normalized_mutual_information": 0.6198594193872645,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 183,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7160437258965644,
              "mutual_information": 1.7160437258965644,
              "normalized_mutual_information": 0.6186336370411584,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 184,
              "delta_rotation_deg_xyz": [
                0.0,
                0.234375,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7167291278116539,
              "mutual_information": 1.7167291278116539,
              "normalized_mutual_information": 0.6188158256260663,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 185,
              "delta_rotation_deg_xyz": [
                0.0,
                0.265625,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7182070660163715,
              "mutual_information": 1.7182070660163715,
              "normalized_mutual_information": 0.6195256158947312,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 186,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.720004233681978,
              "mutual_information": 1.720004233681978,
              "normalized_mutual_information": 0.620073455807726,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 187,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.484375
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7172117177743746,
              "mutual_information": 1.7172117177743746,
              "normalized_mutual_information": 0.6190303604192543,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 188,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.11250000000000002,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7165428617341636,
              "mutual_information": 1.7165428617341636,
              "normalized_mutual_information": 0.6187695483371539,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 189,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7186260347131885,
              "mutual_information": 1.7186260347131885,
              "normalized_mutual_information": 0.6196730866886105,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 190,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.29375000000000007,
                -0.17500000000000002
              ],
              "objective": 1.7171839686731072,
              "mutual_information": 1.7171839686731072,
              "normalized_mutual_information": 0.618985215348705,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 191,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30625,
                -0.17500000000000002
              ],
              "objective": 1.7133117397869064,
              "mutual_information": 1.7133117397869064,
              "normalized_mutual_information": 0.617763811747811,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 192,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.18125000000000002
              ],
              "objective": 1.7155555414982533,
              "mutual_information": 1.7155555414982533,
              "normalized_mutual_information": 0.6184502087726717,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 193,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.719483596771098,
              "mutual_information": 1.719483596771098,
              "normalized_mutual_information": 0.6198710222118393,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 194,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7201579200499928,
              "mutual_information": 1.7201579200499928,
              "normalized_mutual_information": 0.6201194093695033,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 195,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7176002095095952,
              "mutual_information": 1.7176002095095952,
              "normalized_mutual_information": 0.6192572195297785,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 196,
              "delta_rotation_deg_xyz": [
                0.0,
                0.234375,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7157462359532534,
              "mutual_information": 1.7157462359532534,
              "normalized_mutual_information": 0.6185145234779953,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 197,
              "delta_rotation_deg_xyz": [
                0.0,
                0.265625,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7182494955973198,
              "mutual_information": 1.7182494955973198,
              "normalized_mutual_information": 0.6196093567842138,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 198,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7190900584273898,
              "mutual_information": 1.7190900584273898,
              "normalized_mutual_information": 0.6197720085210018,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 199,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7188228101375886,
              "mutual_information": 1.7188228101375886,
              "normalized_mutual_information": 0.6195748536858151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 200,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.11250000000000002,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7152917549629987,
              "mutual_information": 1.7152917549629987,
              "normalized_mutual_information": 0.6184267525773174,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 201,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7178579544492925,
              "mutual_information": 1.7178579544492925,
              "normalized_mutual_information": 0.6194735530629728,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 202,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.29375000000000007,
                -0.17500000000000002
              ],
              "objective": 1.7186359626550312,
              "mutual_information": 1.7186359626550312,
              "normalized_mutual_information": 0.6194714558875435,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 203,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30625,
                -0.17500000000000002
              ],
              "objective": 1.7144775028352173,
              "mutual_information": 1.7144775028352173,
              "normalized_mutual_information": 0.6181586528649805,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 204,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.18125000000000002
              ],
              "objective": 1.7155780051250449,
              "mutual_information": 1.7155780051250449,
              "normalized_mutual_information": 0.6185261342245348,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 205,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.719956480369108,
              "mutual_information": 1.719956480369108,
              "normalized_mutual_information": 0.6200670288548692,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 206,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7189532140245622,
              "mutual_information": 1.7189532140245622,
              "normalized_mutual_information": 0.6197366335878747,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 207,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.720004233681978,
              "mutual_information": 1.720004233681978,
              "normalized_mutual_information": 0.620073455807726,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 208,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.234375,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7163540730661513,
              "mutual_information": 1.7163540730661513,
              "normalized_mutual_information": 0.6187186511088776,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 209,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.265625,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7187200301366594,
              "mutual_information": 1.7187200301366594,
              "normalized_mutual_information": 0.6197585786042498,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 210,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7205300574619216,
              "mutual_information": 1.7205300574619216,
              "normalized_mutual_information": 0.6202624554066539,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 211,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7194086670885618,
              "mutual_information": 1.7194086670885618,
              "normalized_mutual_information": 0.6198594193872645,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 212,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.11250000000000002,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7160049233386958,
              "mutual_information": 1.7160049233386958,
              "normalized_mutual_information": 0.618653850531806,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 213,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7187436799744826,
              "mutual_information": 1.7187436799744826,
              "normalized_mutual_information": 0.6197719464181367,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 214,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.29375000000000007,
                -0.17500000000000002
              ],
              "objective": 1.718963713764535,
              "mutual_information": 1.718963713764535,
              "normalized_mutual_information": 0.6196388983733422,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 215,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30625,
                -0.17500000000000002
              ],
              "objective": 1.7134030967369018,
              "mutual_information": 1.7134030967369018,
              "normalized_mutual_information": 0.6178284464996284,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 216,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.18125000000000002
              ],
              "objective": 1.717283757544702,
              "mutual_information": 1.717283757544702,
              "normalized_mutual_information": 0.6190613079569781,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 217,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.720657807082968,
              "mutual_information": 1.720657807082968,
              "normalized_mutual_information": 0.6203286041013254,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 218,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.719032967693576,
              "mutual_information": 1.719032967693576,
              "normalized_mutual_information": 0.6197729867192002,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 219,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.719956480369108,
              "mutual_information": 1.719956480369108,
              "normalized_mutual_information": 0.6200670288548692,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 220,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.234375,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.7183839537318706,
              "mutual_information": 1.7183839537318706,
              "normalized_mutual_information": 0.6195475353177758,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 221,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.265625,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.7191342626594477,
              "mutual_information": 1.7191342626594477,
              "normalized_mutual_information": 0.6199862425437762,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 222,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.719605413736485,
              "mutual_information": 1.719605413736485,
              "normalized_mutual_information": 0.6199495187754643,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 223,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.7196533644161527,
              "mutual_information": 1.7196533644161527,
              "normalized_mutual_information": 0.6199949227737619,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 224,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.11250000000000002,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.716326943354325,
              "mutual_information": 1.716326943354325,
              "normalized_mutual_information": 0.6188489330113197,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 225,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.7182660915667443,
              "mutual_information": 1.7182660915667443,
              "normalized_mutual_information": 0.6196231022329299,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 226,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.29375000000000007,
                -0.16875
              ],
              "objective": 1.7190660026841726,
              "mutual_information": 1.7190660026841726,
              "normalized_mutual_information": 0.6197191063835562,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 227,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30625,
                -0.16875
              ],
              "objective": 1.7151155909603497,
              "mutual_information": 1.7151155909603497,
              "normalized_mutual_information": 0.6183904501477969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 228,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7201579200499928,
              "mutual_information": 1.7201579200499928,
              "normalized_mutual_information": 0.6201194093695033,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 229,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.1625
              ],
              "objective": 1.7196932689594713,
              "mutual_information": 1.7196932689594713,
              "normalized_mutual_information": 0.6200792992450045,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 229,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.4841495579894399,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 1.04587324520418,
          "translation_m": 0.21596440678963746,
          "recovered": false
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.18270256994648235,
              -0.12331060701286084,
              0.32183787591115076
            ],
            "rotation_quat_xyzw": [
              0.016878684190050734,
              -0.025161243192804467,
              0.009571499856813138,
              0.9994950766519544
            ]
          },
          "delta": [
            -1.1009806020994566,
            0.5823695149495067,
            -0.7152403171988376,
            -0.16729743005351763,
            0.07668939298713917,
            -0.07816212408884923
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 127,
          "nfev": 25,
          "njev": 17,
          "initial_support": [
            3746,
            3738,
            3747
          ],
          "final_support": [
            3783,
            3776,
            3780
          ],
          "support_retained": true,
          "cost": 41.32721284560776,
          "optimality": 0.6538644215002306
        },
        "seconds": 0.22804415599966887,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.14150116020117762,
          "translation_m": 0.03632462401835967,
          "recovered": true
        },
        "holdout": [
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.02242440081291619,
            "p90_absolute_z_m": 0.051212696755485426,
            "behind_surface_gt_20cm": 48,
            "in_front_gt_20cm": 12
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.021274609920151732,
            "p90_absolute_z_m": 0.0433826791275294,
            "behind_surface_gt_20cm": 63,
            "in_front_gt_20cm": 6
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.023019301238490275,
            "p90_absolute_z_m": 0.051970555384296444,
            "behind_surface_gt_20cm": 58,
            "in_front_gt_20cm": 10
          }
        ]
      }
    },
    {
      "condition": "exact_z_visible",
      "sign": -1,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.05000000000000002,
              0.0,
              0.19999999999999998
            ],
            "rotation_quat_xyzw": [
              0.008851181257931221,
              -0.021635299615473294,
              0.0028235510433918818,
              0.9997227605493402
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.06250000000000001,
              -0.2,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.013354748414455277,
              -0.01951033057069955,
              0.009654047461073758,
              0.999673845343284
            ]
          },
          "best_delta_rotation_deg_xyz": [
            0.5,
            0.234375,
            0.796875
          ],
          "best_delta_translation_m_xyz": [
            0.0125,
            -0.2,
            0.1
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.578340148350076,
            "normalized_mutual_information": 0.5679838481680649,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.6025081279917943,
                "normalized_mutual_information": 0.5703670797974898,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.3848482313932742,
                "normalized_mutual_information": 0.5224482375905176,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.7476640856651597,
                "normalized_mutual_information": 0.6111362271161875,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7562974644709832,
            "normalized_mutual_information": 0.6332169234432482,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.7900160936145229,
                "normalized_mutual_information": 0.6386198772798837,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.5755036271894882,
                "normalized_mutual_information": 0.5942694133124927,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.9033726726089388,
                "normalized_mutual_information": 0.6667614797373682,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.578340148350076,
              "mutual_information": 1.578340148350076,
              "normalized_mutual_information": 0.5679838481680649,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5373083548047282,
              "mutual_information": 1.5373083548047282,
              "normalized_mutual_information": 0.5537535553571948,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.6027917528943572,
              "mutual_information": 1.6027917528943572,
              "normalized_mutual_information": 0.5771336822329021,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.573248421864941,
              "mutual_information": 1.573248421864941,
              "normalized_mutual_information": 0.5658452320406643,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5716630814491699,
              "mutual_information": 1.5716630814491699,
              "normalized_mutual_information": 0.565989212399466,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.572112482288059,
              "mutual_information": 1.572112482288059,
              "normalized_mutual_information": 0.5655719696554652,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5788603442118652,
              "mutual_information": 1.5788603442118652,
              "normalized_mutual_information": 0.5684648885894502,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.5648634329220723,
              "mutual_information": 1.5648634329220723,
              "normalized_mutual_information": 0.5628312630776442,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.570045314780776,
              "mutual_information": 1.570045314780776,
              "normalized_mutual_information": 0.5655898094327192,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6408718304607455,
              "mutual_information": 1.6408718304607455,
              "normalized_mutual_information": 0.5905034589393151,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.499321157115041,
              "mutual_information": 1.499321157115041,
              "normalized_mutual_information": 0.5402010360765914,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.5702006572128961,
              "mutual_information": 1.5702006572128961,
              "normalized_mutual_information": 0.5648811776756854,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.5723393290758712,
              "mutual_information": 1.5723393290758712,
              "normalized_mutual_information": 0.5660257874595422,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6144392028232446,
              "mutual_information": 1.6144392028232446,
              "normalized_mutual_information": 0.580798735226984,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.671974365238345,
              "mutual_information": 1.671974365238345,
              "normalized_mutual_information": 0.6019212289516988,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.637247946981745,
              "mutual_information": 1.637247946981745,
              "normalized_mutual_information": 0.5887163934178877,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6414154628623276,
              "mutual_information": 1.6414154628623276,
              "normalized_mutual_information": 0.5910747631829577,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6380387757282888,
              "mutual_information": 1.6380387757282888,
              "normalized_mutual_information": 0.5894065502358395,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.64654699379245,
              "mutual_information": 1.64654699379245,
              "normalized_mutual_information": 0.5928037815646017,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.1,
                0.0
              ],
              "objective": 1.6202474713735089,
              "mutual_information": 1.6202474713735089,
              "normalized_mutual_information": 0.5829489519781631,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.1,
                0.0
              ],
              "objective": 1.6393927440987666,
              "mutual_information": 1.6393927440987666,
              "normalized_mutual_information": 0.5905701408519647,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7110092165742437,
              "mutual_information": 1.7110092165742437,
              "normalized_mutual_information": 0.6154763928950816,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.578340148350076,
              "mutual_information": 1.578340148350076,
              "normalized_mutual_information": 0.5679838481680649,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                -0.1
              ],
              "objective": 1.6433217904480697,
              "mutual_information": 1.6433217904480697,
              "normalized_mutual_information": 0.5910560778526045,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 1.6357105263454061,
              "mutual_information": 1.6357105263454061,
              "normalized_mutual_information": 0.5891297888167618,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.6765210457781514,
              "mutual_information": 1.6765210457781514,
              "normalized_mutual_information": 0.6030639472230577,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7246161539432965,
              "mutual_information": 1.7246161539432965,
              "normalized_mutual_information": 0.621659466833902,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.6933508672535238,
              "mutual_information": 1.6933508672535238,
              "normalized_mutual_information": 0.6088076541542501,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7079097546802882,
              "mutual_information": 1.7079097546802882,
              "normalized_mutual_information": 0.6151157732753609,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7052079971954388,
              "mutual_information": 1.7052079971954388,
              "normalized_mutual_information": 0.61325316097896,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.713145724616495,
              "mutual_information": 1.713145724616495,
              "normalized_mutual_information": 0.6164663523493865,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.667734577012859,
              "mutual_information": 1.667734577012859,
              "normalized_mutual_information": 0.6001221932453338,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7079213513129279,
              "mutual_information": 1.7079213513129279,
              "normalized_mutual_information": 0.6153339235712848,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7240374771785103,
              "mutual_information": 1.7240374771785103,
              "normalized_mutual_information": 0.621412602575277,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6408718304607455,
              "mutual_information": 1.6408718304607455,
              "normalized_mutual_information": 0.5905034589393151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.7065834535529847,
              "mutual_information": 1.7065834535529847,
              "normalized_mutual_information": 0.6135309027854897,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7023512421274098,
              "mutual_information": 1.7023512421274098,
              "normalized_mutual_information": 0.6126940566612742,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7110092165742437,
              "mutual_information": 1.7110092165742437,
              "normalized_mutual_information": 0.6154763928950816,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7276320746091047,
              "mutual_information": 1.7276320746091047,
              "normalized_mutual_information": 0.6231017596585977,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7059800538672576,
              "mutual_information": 1.7059800538672576,
              "normalized_mutual_information": 0.6139822834847505,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7307412513260099,
              "mutual_information": 1.7307412513260099,
              "normalized_mutual_information": 0.6237846904743468,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7205028792604082,
              "mutual_information": 1.7205028792604082,
              "normalized_mutual_information": 0.62032925340706,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7331340409468634,
              "mutual_information": 1.7331340409468634,
              "normalized_mutual_information": 0.6242595909345826,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.6709219738779026,
              "mutual_information": 1.6709219738779026,
              "normalized_mutual_information": 0.6020923683478813,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7186903439539798,
              "mutual_information": 1.7186903439539798,
              "normalized_mutual_information": 0.6200069627469341,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7071691702732466,
              "mutual_information": 1.7071691702732466,
              "normalized_mutual_information": 0.6159403970472805,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.671974365238345,
              "mutual_information": 1.671974365238345,
              "normalized_mutual_information": 0.6019212289516988,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.7233096591984383,
              "mutual_information": 1.7233096591984383,
              "normalized_mutual_information": 0.6208078985580735,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7206032792657642,
              "mutual_information": 1.7206032792657642,
              "normalized_mutual_information": 0.6200710886880364,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.713145724616495,
              "mutual_information": 1.713145724616495,
              "normalized_mutual_information": 0.6164663523493865,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7310530590258082,
              "mutual_information": 1.7310530590258082,
              "normalized_mutual_information": 0.6241692213917648,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.707683054366419,
              "mutual_information": 1.707683054366419,
              "normalized_mutual_information": 0.6146396685458063,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7362541179778501,
              "mutual_information": 1.7362541179778501,
              "normalized_mutual_information": 0.6254267868336486,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7246161539432965,
              "mutual_information": 1.7246161539432965,
              "normalized_mutual_information": 0.621659466833902,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.731466509799504,
              "mutual_information": 1.731466509799504,
              "normalized_mutual_information": 0.6237733570987966,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.6781840932374597,
              "mutual_information": 1.6781840932374597,
              "normalized_mutual_information": 0.6045590998196669,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7275851936458864,
              "mutual_information": 1.7275851936458864,
              "normalized_mutual_information": 0.6228244422284304,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7121284968682506,
              "mutual_information": 1.7121284968682506,
              "normalized_mutual_information": 0.6178126341710262,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6749440386637593,
              "mutual_information": 1.6749440386637593,
              "normalized_mutual_information": 0.60321301494093,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.7267890020691075,
              "mutual_information": 1.7267890020691075,
              "normalized_mutual_information": 0.6219164411491308,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7309624858564039,
              "mutual_information": 1.7309624858564039,
              "normalized_mutual_information": 0.623868444567019,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.710792394307785,
              "mutual_information": 1.710792394307785,
              "normalized_mutual_information": 0.6162521453505352,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7361279274199461,
              "mutual_information": 1.7361279274199461,
              "normalized_mutual_information": 0.6263437711128178,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7331340409468634,
              "mutual_information": 1.7331340409468634,
              "normalized_mutual_information": 0.6242595909345826,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.25,
                0.5,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.723948486926621,
              "mutual_information": 1.723948486926621,
              "normalized_mutual_information": 0.6217128015195584,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7307412513260099,
              "mutual_information": 1.7307412513260099,
              "normalized_mutual_information": 0.6237846904743468,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.739341661355471,
              "mutual_information": 1.739341661355471,
              "normalized_mutual_information": 0.6266341486731696,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7042933002077547,
              "mutual_information": 1.7042933002077547,
              "normalized_mutual_information": 0.6142146676716175,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.6943761471437273,
              "mutual_information": 1.6943761471437273,
              "normalized_mutual_information": 0.6116618251561846,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7202928011822571,
              "mutual_information": 1.7202928011822571,
              "normalized_mutual_information": 0.6212776319760218,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.677404455644498,
              "mutual_information": 1.677404455644498,
              "normalized_mutual_information": 0.6042213095254968,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.726849557924863,
              "mutual_information": 1.726849557924863,
              "normalized_mutual_information": 0.6219843737216996,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.73744013001904,
              "mutual_information": 1.73744013001904,
              "normalized_mutual_information": 0.6266049343654151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7169687212350464,
              "mutual_information": 1.7169687212350464,
              "normalized_mutual_information": 0.6182609953123316,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7453107196668676,
              "mutual_information": 1.7453107196668676,
              "normalized_mutual_information": 0.6293974863653422,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.731466509799504,
              "mutual_information": 1.731466509799504,
              "normalized_mutual_information": 0.6237733570987966,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.25,
                0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7316728653278346,
              "mutual_information": 1.7316728653278346,
              "normalized_mutual_information": 0.6244650371067048,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7362541179778501,
              "mutual_information": 1.7362541179778501,
              "normalized_mutual_information": 0.6254267868336486,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.73930936588011,
              "mutual_information": 1.73930936588011,
              "normalized_mutual_information": 0.6267082568643024,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7045772933118817,
              "mutual_information": 1.7045772933118817,
              "normalized_mutual_information": 0.6143403618178386,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.6945176041593804,
              "mutual_information": 1.6945176041593804,
              "normalized_mutual_information": 0.6118809077115471,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7205548111468758,
              "mutual_information": 1.7205548111468758,
              "normalized_mutual_information": 0.621147500874134,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6822617426383168,
              "mutual_information": 1.6822617426383168,
              "normalized_mutual_information": 0.6059656679446325,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.733982349367403,
              "mutual_information": 1.733982349367403,
              "normalized_mutual_information": 0.6244859668126717,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7382989686360713,
              "mutual_information": 1.7382989686360713,
              "normalized_mutual_information": 0.6269013098430212,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.739341661355471,
              "mutual_information": 1.739341661355471,
              "normalized_mutual_information": 0.6266341486731696,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.75,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7353779414060542,
              "mutual_information": 1.7353779414060542,
              "normalized_mutual_information": 0.6259895715942209,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7340625697231031,
              "mutual_information": 1.7340625697231031,
              "normalized_mutual_information": 0.6253414971092365,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.5,
                0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7324956949348274,
              "mutual_information": 1.7324956949348274,
              "normalized_mutual_information": 0.6251721937242305,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7361279274199461,
              "mutual_information": 1.7361279274199461,
              "normalized_mutual_information": 0.6263437711128178,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7443231258748149,
              "mutual_information": 1.7443231258748149,
              "normalized_mutual_information": 0.6289915217515235,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.707546616705593,
              "mutual_information": 1.707546616705593,
              "normalized_mutual_information": 0.6160339267000475,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7015986620308674,
              "mutual_information": 1.7015986620308674,
              "normalized_mutual_information": 0.6152255214867907,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.694680244078995,
              "mutual_information": 1.694680244078995,
              "normalized_mutual_information": 0.6126595137641438,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.7118725923200644,
              "mutual_information": 1.7118725923200644,
              "normalized_mutual_information": 0.6169157131100951,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.7299761044702189,
              "mutual_information": 1.7299761044702189,
              "normalized_mutual_information": 0.6235630738948328,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.750831016610406,
              "mutual_information": 1.750831016610406,
              "normalized_mutual_information": 0.6314980547783197,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7382989686360713,
              "mutual_information": 1.7382989686360713,
              "normalized_mutual_information": 0.6269013098430212,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.75,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7352315524188853,
              "mutual_information": 1.7352315524188853,
              "normalized_mutual_information": 0.6265920169309344,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7382793414838966,
              "mutual_information": 1.7382793414838966,
              "normalized_mutual_information": 0.6273443529443943,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.5,
                0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7354546493486749,
              "mutual_information": 1.7354546493486749,
              "normalized_mutual_information": 0.6266496769482451,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7433958714757551,
              "mutual_information": 1.7433958714757551,
              "normalized_mutual_information": 0.6293195563570239,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7515703432852738,
              "mutual_information": 1.7515703432852738,
              "normalized_mutual_information": 0.6314935437074319,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7018450287996811,
              "mutual_information": 1.7018450287996811,
              "normalized_mutual_information": 0.6145782063295321,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7007113682833666,
              "mutual_information": 1.7007113682833666,
              "normalized_mutual_information": 0.6151329895591745,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6962337667441654,
              "mutual_information": 1.6962337667441654,
              "normalized_mutual_information": 0.6136371579842909,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 1.7074582270952856,
              "mutual_information": 1.7074582270952856,
              "normalized_mutual_information": 0.6158138916336583,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7453107196668676,
              "mutual_information": 1.7453107196668676,
              "normalized_mutual_information": 0.6293974863653422,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.2
              ],
              "objective": 1.7372849401048673,
              "mutual_information": 1.7372849401048673,
              "normalized_mutual_information": 0.6273881705653834,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7381698715381855,
              "mutual_information": 1.7381698715381855,
              "normalized_mutual_information": 0.6267770232918423,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.75,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7344531442207989,
              "mutual_information": 1.7344531442207989,
              "normalized_mutual_information": 0.6263492375686907,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7397754656760578,
              "mutual_information": 1.7397754656760578,
              "normalized_mutual_information": 0.6275948652969441,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                0.5,
                0.5,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7392841254946851,
              "mutual_information": 1.7392841254946851,
              "normalized_mutual_information": 0.6278323792486371,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.750831016610406,
              "mutual_information": 1.750831016610406,
              "normalized_mutual_information": 0.6314980547783197,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7516771203709898,
              "mutual_information": 1.7516771203709898,
              "normalized_mutual_information": 0.6314819091641736,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7051938774187976,
              "mutual_information": 1.7051938774187976,
              "normalized_mutual_information": 0.6152402501312486,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7046767408302628,
              "mutual_information": 1.7046767408302628,
              "normalized_mutual_information": 0.6163946327137946,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.695339382385394,
              "mutual_information": 1.695339382385394,
              "normalized_mutual_information": 0.6132912099422133,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 1.710770329579626,
              "mutual_information": 1.710770329579626,
              "normalized_mutual_information": 0.6169864899645162,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7443231258748149,
              "mutual_information": 1.7443231258748149,
              "normalized_mutual_information": 0.6289915217515235,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.2
              ],
              "objective": 1.741804887169632,
              "mutual_information": 1.741804887169632,
              "normalized_mutual_information": 0.6286406801245066,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7393117452312261,
              "mutual_information": 1.7393117452312261,
              "normalized_mutual_information": 0.627179623365413,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                0.75,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7295917817159463,
              "mutual_information": 1.7295917817159463,
              "normalized_mutual_information": 0.6244092769769389,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7399006308766483,
              "mutual_information": 1.7399006308766483,
              "normalized_mutual_information": 0.6275606335611928,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                0.5,
                0.5,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7393877946333582,
              "mutual_information": 1.7393877946333582,
              "normalized_mutual_information": 0.6275775133685909,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7515703432852738,
              "mutual_information": 1.7515703432852738,
              "normalized_mutual_information": 0.6314935437074319,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7488718875697487,
              "mutual_information": 1.7488718875697487,
              "normalized_mutual_information": 0.6305865197812793,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7033685054246448,
              "mutual_information": 1.7033685054246448,
              "normalized_mutual_information": 0.6144969358360063,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7048944468635778,
              "mutual_information": 1.7048944468635778,
              "normalized_mutual_information": 0.616233095979528,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6933126589409209,
              "mutual_information": 1.6933126589409209,
              "normalized_mutual_information": 0.6121830792226929,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 1.7088560451394528,
              "mutual_information": 1.7088560451394528,
              "normalized_mutual_information": 0.6167126756269554,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7442823725762515,
              "mutual_information": 1.7442823725762515,
              "normalized_mutual_information": 0.6288562062375747,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.2
              ],
              "objective": 1.7431590740303606,
              "mutual_information": 1.7431590740303606,
              "normalized_mutual_information": 0.6290922396289198,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 134,
              "delta_rotation_deg_xyz": [
                0.375,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7451104387569396,
              "mutual_information": 1.7451104387569396,
              "normalized_mutual_information": 0.6293521464500552,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 135,
              "delta_rotation_deg_xyz": [
                0.625,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7455616463428136,
              "mutual_information": 1.7455616463428136,
              "normalized_mutual_information": 0.6297670005487853,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 136,
              "delta_rotation_deg_xyz": [
                0.5,
                0.125,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.74827117396217,
              "mutual_information": 1.74827117396217,
              "normalized_mutual_information": 0.6306424918911752,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 137,
              "delta_rotation_deg_xyz": [
                0.5,
                0.375,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7492555431631007,
              "mutual_information": 1.7492555431631007,
              "normalized_mutual_information": 0.6309082925606382,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 138,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7523937147053765,
              "mutual_information": 1.7523937147053765,
              "normalized_mutual_information": 0.6318767293434133,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 139,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7516050187713048,
              "mutual_information": 1.7516050187713048,
              "normalized_mutual_information": 0.6316898662993548,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 140,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.2,
                0.1
              ],
              "objective": 1.7343272406082086,
              "mutual_information": 1.7343272406082086,
              "normalized_mutual_information": 0.6256403916031107,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 141,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.2,
                0.1
              ],
              "objective": 1.743805148828702,
              "mutual_information": 1.743805148828702,
              "normalized_mutual_information": 0.6293421119857056,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 142,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25,
                0.1
              ],
              "objective": 1.7289559094896105,
              "mutual_information": 1.7289559094896105,
              "normalized_mutual_information": 0.6244854043968365,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 143,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.15000000000000002,
                0.1
              ],
              "objective": 1.7385934751386307,
              "mutual_information": 1.7385934751386307,
              "normalized_mutual_information": 0.6271104572486074,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 144,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.05
              ],
              "objective": 1.7500189589776405,
              "mutual_information": 1.7500189589776405,
              "normalized_mutual_information": 0.6309141796588742,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 145,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.15000000000000002
              ],
              "objective": 1.7517864261068263,
              "mutual_information": 1.7517864261068263,
              "normalized_mutual_information": 0.6317745504684629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 146,
              "delta_rotation_deg_xyz": [
                0.375,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7465555858198254,
              "mutual_information": 1.7465555858198254,
              "normalized_mutual_information": 0.6297621777264889,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 147,
              "delta_rotation_deg_xyz": [
                0.625,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.746244716222818,
              "mutual_information": 1.746244716222818,
              "normalized_mutual_information": 0.6299652975419933,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 148,
              "delta_rotation_deg_xyz": [
                0.5,
                0.125,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.75122448810687,
              "mutual_information": 1.75122448810687,
              "normalized_mutual_information": 0.6316197122672486,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 149,
              "delta_rotation_deg_xyz": [
                0.5,
                0.375,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7485068002479547,
              "mutual_information": 1.7485068002479547,
              "normalized_mutual_information": 0.6307416732120631,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 150,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7515703432852738,
              "mutual_information": 1.7515703432852738,
              "normalized_mutual_information": 0.6314935437074319,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 151,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7516771203709898,
              "mutual_information": 1.7516771203709898,
              "normalized_mutual_information": 0.6314819091641736,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 152,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.2,
                0.1
              ],
              "objective": 1.7352226740250523,
              "mutual_information": 1.7352226740250523,
              "normalized_mutual_information": 0.6260265556696242,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 153,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.2,
                0.1
              ],
              "objective": 1.7413954934340925,
              "mutual_information": 1.7413954934340925,
              "normalized_mutual_information": 0.6286300967427879,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 154,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25,
                0.1
              ],
              "objective": 1.7316389318853271,
              "mutual_information": 1.7316389318853271,
              "normalized_mutual_information": 0.6252804532232076,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 155,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.15000000000000002,
                0.1
              ],
              "objective": 1.7386753712012062,
              "mutual_information": 1.7386753712012062,
              "normalized_mutual_information": 0.6270676952577829,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 156,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.05
              ],
              "objective": 1.7476466457470476,
              "mutual_information": 1.7476466457470476,
              "normalized_mutual_information": 0.6302167496559274,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 157,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.15000000000000002
              ],
              "objective": 1.7522892382859308,
              "mutual_information": 1.7522892382859308,
              "normalized_mutual_information": 0.6318499578201705,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 158,
              "delta_rotation_deg_xyz": [
                0.4375,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.750518879406064,
              "mutual_information": 1.750518879406064,
              "normalized_mutual_information": 0.6311612601654099,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 159,
              "delta_rotation_deg_xyz": [
                0.5625,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.751028656350633,
              "mutual_information": 1.751028656350633,
              "normalized_mutual_information": 0.6315757060676274,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 160,
              "delta_rotation_deg_xyz": [
                0.5,
                0.1875,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7529484868221008,
              "mutual_information": 1.7529484868221008,
              "normalized_mutual_information": 0.632195858433418,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 161,
              "delta_rotation_deg_xyz": [
                0.5,
                0.3125,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7505218035922328,
              "mutual_information": 1.7505218035922328,
              "normalized_mutual_information": 0.6314238718127627,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 162,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.75463930701538,
              "mutual_information": 1.75463930701538,
              "normalized_mutual_information": 0.6325778175434836,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 163,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.9375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7522373620696878,
              "mutual_information": 1.7522373620696878,
              "normalized_mutual_information": 0.6317280553702567,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 164,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                -0.025,
                -0.2,
                0.1
              ],
              "objective": 1.7497363794431215,
              "mutual_information": 1.7497363794431215,
              "normalized_mutual_information": 0.6311588506340876,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 165,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.2,
                0.1
              ],
              "objective": 1.7498670529565352,
              "mutual_information": 1.7498670529565352,
              "normalized_mutual_information": 0.6312700861325276,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 166,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.225,
                0.1
              ],
              "objective": 1.7420462198998752,
              "mutual_information": 1.7420462198998752,
              "normalized_mutual_information": 0.628775980044615,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 167,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.17500000000000002,
                0.1
              ],
              "objective": 1.7475122471352222,
              "mutual_information": 1.7475122471352222,
              "normalized_mutual_information": 0.630312168300229,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 168,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.07500000000000001
              ],
              "objective": 1.7504569825469194,
              "mutual_information": 1.7504569825469194,
              "normalized_mutual_information": 0.6310238200374485,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 169,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.125
              ],
              "objective": 1.7522212222523077,
              "mutual_information": 1.7522212222523077,
              "normalized_mutual_information": 0.6318400640668528,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 170,
              "delta_rotation_deg_xyz": [
                0.4375,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.752355413789067,
              "mutual_information": 1.752355413789067,
              "normalized_mutual_information": 0.6317063962727173,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 171,
              "delta_rotation_deg_xyz": [
                0.5625,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7497713481417467,
              "mutual_information": 1.7497713481417467,
              "normalized_mutual_information": 0.631139529356751,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 172,
              "delta_rotation_deg_xyz": [
                0.5,
                0.1875,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.75377548917628,
              "mutual_information": 1.75377548917628,
              "normalized_mutual_information": 0.6325218322443097,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 173,
              "delta_rotation_deg_xyz": [
                0.5,
                0.3125,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7533236825901213,
              "mutual_information": 1.7533236825901213,
              "normalized_mutual_information": 0.632372101040248,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 174,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7515703432852738,
              "mutual_information": 1.7515703432852738,
              "normalized_mutual_information": 0.6314935437074319,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 175,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7523937147053765,
              "mutual_information": 1.7523937147053765,
              "normalized_mutual_information": 0.6318767293434133,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 176,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                -0.025,
                -0.2,
                0.1
              ],
              "objective": 1.7514896563349283,
              "mutual_information": 1.7514896563349283,
              "normalized_mutual_information": 0.6317677969720878,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 177,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.2,
                0.1
              ],
              "objective": 1.7510444903085496,
              "mutual_information": 1.7510444903085496,
              "normalized_mutual_information": 0.6316852489266664,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 178,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.225,
                0.1
              ],
              "objective": 1.7424867546282616,
              "mutual_information": 1.7424867546282616,
              "normalized_mutual_information": 0.6288324479481183,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 179,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.17500000000000002,
                0.1
              ],
              "objective": 1.74861063409952,
              "mutual_information": 1.74861063409952,
              "normalized_mutual_information": 0.6306195542715561,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 180,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.07500000000000001
              ],
              "objective": 1.7502906169725427,
              "mutual_information": 1.7502906169725427,
              "normalized_mutual_information": 0.6311045239785399,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 181,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.125
              ],
              "objective": 1.7521081170769053,
              "mutual_information": 1.7521081170769053,
              "normalized_mutual_information": 0.6317497695366046,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 182,
              "delta_rotation_deg_xyz": [
                0.46875,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7523377937599018,
              "mutual_information": 1.7523377937599018,
              "normalized_mutual_information": 0.6316991506910931,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 183,
              "delta_rotation_deg_xyz": [
                0.53125,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7511318100859345,
              "mutual_information": 1.7511318100859345,
              "normalized_mutual_information": 0.6314485127016135,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 184,
              "delta_rotation_deg_xyz": [
                0.5,
                0.21875,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7532929974362352,
              "mutual_information": 1.7532929974362352,
              "normalized_mutual_information": 0.6321743004916657,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 185,
              "delta_rotation_deg_xyz": [
                0.5,
                0.28125,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7522944346147946,
              "mutual_information": 1.7522944346147946,
              "normalized_mutual_information": 0.6318935627286876,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 186,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.78125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7539461662309523,
              "mutual_information": 1.7539461662309523,
              "normalized_mutual_information": 0.6322624261309929,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 187,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.84375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7532151304771633,
              "mutual_information": 1.7532151304771633,
              "normalized_mutual_information": 0.632154775021593,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 188,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.752799291548998,
              "mutual_information": 1.752799291548998,
              "normalized_mutual_information": 0.6320763825097372,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 189,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.753363371181651,
              "mutual_information": 1.753363371181651,
              "normalized_mutual_information": 0.6323489443449216,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 190,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.21250000000000002,
                0.1
              ],
              "objective": 1.7491155870595747,
              "mutual_information": 1.7491155870595747,
              "normalized_mutual_information": 0.6308159332434707,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 191,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1875,
                0.1
              ],
              "objective": 1.753036865911297,
              "mutual_information": 1.753036865911297,
              "normalized_mutual_information": 0.6320976239916312,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 192,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.08750000000000001
              ],
              "objective": 1.7515982181796976,
              "mutual_information": 1.7515982181796976,
              "normalized_mutual_information": 0.6314974024978746,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 193,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1125
              ],
              "objective": 1.7534343194678776,
              "mutual_information": 1.7534343194678776,
              "normalized_mutual_information": 0.632130863047243,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 194,
              "delta_rotation_deg_xyz": [
                0.484375,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7531911553732407,
              "mutual_information": 1.7531911553732407,
              "normalized_mutual_information": 0.6320152222052154,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 195,
              "delta_rotation_deg_xyz": [
                0.515625,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.753718784726818,
              "mutual_information": 1.753718784726818,
              "normalized_mutual_information": 0.6322904069303402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 196,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7539598666437914,
              "mutual_information": 1.7539598666437914,
              "normalized_mutual_information": 0.6322890295276417,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 197,
              "delta_rotation_deg_xyz": [
                0.5,
                0.265625,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.753817076996312,
              "mutual_information": 1.753817076996312,
              "normalized_mutual_information": 0.6323096452769587,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 198,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.754714002925736,
              "mutual_information": 1.754714002925736,
              "normalized_mutual_information": 0.6325298860036379,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 199,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.828125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7539986767051339,
              "mutual_information": 1.7539986767051339,
              "normalized_mutual_information": 0.6323536403676715,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 200,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7537135223453777,
              "mutual_information": 1.7537135223453777,
              "normalized_mutual_information": 0.6322147509253352,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 201,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7534917736225293,
              "mutual_information": 1.7534917736225293,
              "normalized_mutual_information": 0.6322868199210516,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 202,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20625000000000002,
                0.1
              ],
              "objective": 1.749701604394972,
              "mutual_information": 1.749701604394972,
              "normalized_mutual_information": 0.6309001002423494,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 203,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.19375,
                0.1
              ],
              "objective": 1.7533525841775817,
              "mutual_information": 1.7533525841775817,
              "normalized_mutual_information": 0.6320795361307197,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 204,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.09375
              ],
              "objective": 1.753015431197417,
              "mutual_information": 1.753015431197417,
              "normalized_mutual_information": 0.6320371837139911,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 205,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.10625000000000001
              ],
              "objective": 1.753327307585504,
              "mutual_information": 1.753327307585504,
              "normalized_mutual_information": 0.6321011352987383,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 206,
              "delta_rotation_deg_xyz": [
                0.484375,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7527821467511988,
              "mutual_information": 1.7527821467511988,
              "normalized_mutual_information": 0.6318399584032223,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 207,
              "delta_rotation_deg_xyz": [
                0.515625,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7533504091086671,
              "mutual_information": 1.7533504091086671,
              "normalized_mutual_information": 0.6321983906732228,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 208,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7552715075864267,
              "mutual_information": 1.7552715075864267,
              "normalized_mutual_information": 0.6327229016739294,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 209,
              "delta_rotation_deg_xyz": [
                0.5,
                0.265625,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7535346529798979,
              "mutual_information": 1.7535346529798979,
              "normalized_mutual_information": 0.6322285718729629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 210,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.78125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7539461662309523,
              "mutual_information": 1.7539461662309523,
              "normalized_mutual_information": 0.6322624261309929,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 211,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.75463930701538,
              "mutual_information": 1.75463930701538,
              "normalized_mutual_information": 0.6325778175434836,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 212,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7542621885281042,
              "mutual_information": 1.7542621885281042,
              "normalized_mutual_information": 0.6324053446172706,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 213,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7547361379377049,
              "mutual_information": 1.7547361379377049,
              "normalized_mutual_information": 0.6327325623156238,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 214,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20625000000000002,
                0.1
              ],
              "objective": 1.7492035290788117,
              "mutual_information": 1.7492035290788117,
              "normalized_mutual_information": 0.6307145811453642,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 215,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.19375,
                0.1
              ],
              "objective": 1.7524234373874819,
              "mutual_information": 1.7524234373874819,
              "normalized_mutual_information": 0.6316944658120401,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 216,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.09375
              ],
              "objective": 1.7537848676923347,
              "mutual_information": 1.7537848676923347,
              "normalized_mutual_information": 0.6322499578666152,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 217,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.10625000000000001
              ],
              "objective": 1.7527784609155876,
              "mutual_information": 1.7527784609155876,
              "normalized_mutual_information": 0.6318914392597111,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 218,
              "delta_rotation_deg_xyz": [
                0.484375,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7542225229315533,
              "mutual_information": 1.7542225229315533,
              "normalized_mutual_information": 0.6322962175748444,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 219,
              "delta_rotation_deg_xyz": [
                0.515625,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.753062293010533,
              "mutual_information": 1.753062293010533,
              "normalized_mutual_information": 0.6320547530075645,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 220,
              "delta_rotation_deg_xyz": [
                0.5,
                0.21875,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7545546574209363,
              "mutual_information": 1.7545546574209363,
              "normalized_mutual_information": 0.6325738099780273,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 221,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.754714002925736,
              "mutual_information": 1.754714002925736,
              "normalized_mutual_information": 0.6325298860036379,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 222,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.78125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7545350128202213,
              "mutual_information": 1.7545350128202213,
              "normalized_mutual_information": 0.632453263151682,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 223,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7539598666437914,
              "mutual_information": 1.7539598666437914,
              "normalized_mutual_information": 0.6322890295276417,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 224,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.75410024438437,
              "mutual_information": 1.75410024438437,
              "normalized_mutual_information": 0.6324908974234581,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 225,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.75588540286898,
              "mutual_information": 1.75588540286898,
              "normalized_mutual_information": 0.6331451957284117,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 226,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20625000000000002,
                0.1
              ],
              "objective": 1.7498311179546826,
              "mutual_information": 1.7498311179546826,
              "normalized_mutual_information": 0.6308872589708697,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 227,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.19375,
                0.1
              ],
              "objective": 1.7535500799639276,
              "mutual_information": 1.7535500799639276,
              "normalized_mutual_information": 0.6320308778237361,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 228,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.09375
              ],
              "objective": 1.7536295506016473,
              "mutual_information": 1.7536295506016473,
              "normalized_mutual_information": 0.6320890527489559,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 229,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.10625000000000001
              ],
              "objective": 1.754170128688144,
              "mutual_information": 1.754170128688144,
              "normalized_mutual_information": 0.6323678873485415,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 230,
              "delta_rotation_deg_xyz": [
                0.484375,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.753442259939164,
              "mutual_information": 1.753442259939164,
              "normalized_mutual_information": 0.6322482528658879,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 231,
              "delta_rotation_deg_xyz": [
                0.515625,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.753200349763371,
              "mutual_information": 1.753200349763371,
              "normalized_mutual_information": 0.6323069005665934,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 232,
              "delta_rotation_deg_xyz": [
                0.5,
                0.21875,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7558529276007189,
              "mutual_information": 1.7558529276007189,
              "normalized_mutual_information": 0.6329628294667909,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 233,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7547361379377049,
              "mutual_information": 1.7547361379377049,
              "normalized_mutual_information": 0.6327325623156238,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 234,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.78125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7545003037348739,
              "mutual_information": 1.7545003037348739,
              "normalized_mutual_information": 0.6326185452691337,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 235,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7548081437123955,
              "mutual_information": 1.7548081437123955,
              "normalized_mutual_information": 0.6327932364612167,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 236,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7552715075864267,
              "mutual_information": 1.7552715075864267,
              "normalized_mutual_information": 0.6327229016739294,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 237,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.7562974644709832,
              "mutual_information": 1.7562974644709832,
              "normalized_mutual_information": 0.6332169234432482,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 238,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.20625000000000002,
                0.1
              ],
              "objective": 1.7509900172335044,
              "mutual_information": 1.7509900172335044,
              "normalized_mutual_information": 0.6314694627181153,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 239,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.19375,
                0.1
              ],
              "objective": 1.7528311954087752,
              "mutual_information": 1.7528311954087752,
              "normalized_mutual_information": 0.6320168737933548,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 240,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.09375
              ],
              "objective": 1.754013903938634,
              "mutual_information": 1.754013903938634,
              "normalized_mutual_information": 0.6325064739511028,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 241,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.10625000000000001
              ],
              "objective": 1.7537280742460133,
              "mutual_information": 1.7537280742460133,
              "normalized_mutual_information": 0.6323487199761564,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 242,
              "delta_rotation_deg_xyz": [
                0.484375,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.753943700352993,
              "mutual_information": 1.753943700352993,
              "normalized_mutual_information": 0.6323574718591313,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 243,
              "delta_rotation_deg_xyz": [
                0.515625,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.7534872445490715,
              "mutual_information": 1.7534872445490715,
              "normalized_mutual_information": 0.6323538413438233,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 244,
              "delta_rotation_deg_xyz": [
                0.5,
                0.21875,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.7560330806822169,
              "mutual_information": 1.7560330806822169,
              "normalized_mutual_information": 0.6331764373302676,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 245,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.754314993269219,
              "mutual_information": 1.754314993269219,
              "normalized_mutual_information": 0.6326916649836534,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 246,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.78125
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.7555672925225327,
              "mutual_information": 1.7555672925225327,
              "normalized_mutual_information": 0.6329349084562548,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 247,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.7550766188830906,
              "mutual_information": 1.7550766188830906,
              "normalized_mutual_information": 0.6328189730927233,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 248,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.75588540286898,
              "mutual_information": 1.75588540286898,
              "normalized_mutual_information": 0.6331451957284117,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 249,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.018750000000000003,
                -0.2,
                0.1
              ],
              "objective": 1.7550844719109981,
              "mutual_information": 1.7550844719109981,
              "normalized_mutual_information": 0.6329080527073838,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 250,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.20625000000000002,
                0.1
              ],
              "objective": 1.7510633844900976,
              "mutual_information": 1.7510633844900976,
              "normalized_mutual_information": 0.6314952609772629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 251,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.19375,
                0.1
              ],
              "objective": 1.7543078126736413,
              "mutual_information": 1.7543078126736413,
              "normalized_mutual_information": 0.6324540611559608,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 252,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.09375
              ],
              "objective": 1.7540543978425163,
              "mutual_information": 1.7540543978425163,
              "normalized_mutual_information": 0.6325908713469373,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 253,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.10625000000000001
              ],
              "objective": 1.753588205214425,
              "mutual_information": 1.753588205214425,
              "normalized_mutual_information": 0.6322728074577221,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 253,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.6214312119991519,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.8971855270380646,
          "translation_m": 0.17001838135919306,
          "recovered": false
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.18281353499514888,
              -0.12398255795745033,
              0.3217080645135767
            ],
            "rotation_quat_xyzw": [
              0.016849870394859082,
              -0.025162733998365373,
              0.009564569389704437,
              0.9994955916349975
            ]
          },
          "delta": [
            0.8981788288216301,
            -0.4150935041133544,
            0.7853579062825725,
            0.13281353499514886,
            -0.12398255795745033,
            0.12170806451357669
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 111,
          "nfev": 21,
          "njev": 15,
          "initial_support": [
            3783,
            3776,
            3780
          ],
          "final_support": [
            3783,
            3776,
            3780
          ],
          "support_retained": true,
          "cost": 41.329115474561306,
          "optimality": 0.04393899236581614
        },
        "seconds": 0.20801347300584894,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.14328813529627504,
          "translation_m": 0.03663028433511055,
          "recovered": true
        },
        "holdout": [
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.022342512205177023,
            "p90_absolute_z_m": 0.05105912833005347,
            "behind_surface_gt_20cm": 48,
            "in_front_gt_20cm": 12
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.02120633519738213,
            "p90_absolute_z_m": 0.04322012791830403,
            "behind_surface_gt_20cm": 63,
            "in_front_gt_20cm": 6
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.02287918338463424,
            "p90_absolute_z_m": 0.05200296366521053,
            "behind_surface_gt_20cm": 58,
            "in_front_gt_20cm": 10
          }
        ]
      }
    },
    {
      "condition": "exact_z_visible",
      "sign": 0,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.2,
              -0.1,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.017674160904072974,
              -0.026019717990453804,
              0.009179049840112002,
              0.9994630275083051
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.2,
              -0.10625000000000001,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.017682470293680284,
              -0.025878615936068057,
              0.009449201694429863,
              0.9994640264005926
            ]
          },
          "best_delta_rotation_deg_xyz": [
            0.0,
            0.015625,
            0.03125
          ],
          "best_delta_translation_m_xyz": [
            0.0,
            -0.00625,
            0.0
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7679953103265411,
            "normalized_mutual_information": 0.63763552036969,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.8108771432788848,
                "normalized_mutual_information": 0.6462465655822907,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.5701969675672256,
                "normalized_mutual_information": 0.5933848484907732,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.9229118201335123,
                "normalized_mutual_information": 0.6732751470360059,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7695428017375356,
            "normalized_mutual_information": 0.638354575811753,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.8111259699511413,
                "normalized_mutual_information": 0.6464355441990725,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.569273064985869,
                "normalized_mutual_information": 0.5932193193500834,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.9282293702755964,
                "normalized_mutual_information": 0.675408863886103,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7679953103265411,
              "mutual_information": 1.7679953103265411,
              "normalized_mutual_information": 0.63763552036969,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7402170962437065,
              "mutual_information": 1.7402170962437065,
              "normalized_mutual_information": 0.6275032599883567,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7404843568194905,
              "mutual_information": 1.7404843568194905,
              "normalized_mutual_information": 0.6283226347766263,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7322409034364419,
              "mutual_information": 1.7322409034364419,
              "normalized_mutual_information": 0.6243474558245522,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7359877301784217,
              "mutual_information": 1.7359877301784217,
              "normalized_mutual_information": 0.6273741331088595,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.763205076799151,
              "mutual_information": 1.763205076799151,
              "normalized_mutual_information": 0.6360817735568879,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.764308218192709,
              "mutual_information": 1.764308218192709,
              "normalized_mutual_information": 0.6363479414917598,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.7002653044075708,
              "mutual_information": 1.7002653044075708,
              "normalized_mutual_information": 0.6129870243746703,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.687785508123202,
              "mutual_information": 1.687785508123202,
              "normalized_mutual_information": 0.6109452758975707,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6972376577513417,
              "mutual_information": 1.6972376577513417,
              "normalized_mutual_information": 0.6135380331771235,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.6992489346544757,
              "mutual_information": 1.6992489346544757,
              "normalized_mutual_information": 0.6129596151715979,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.7540091510543085,
              "mutual_information": 1.7540091510543085,
              "normalized_mutual_information": 0.6324426482656623,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.74862142119374,
              "mutual_information": 1.74862142119374,
              "normalized_mutual_information": 0.6314610009411402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.756823726885706,
              "mutual_information": 1.756823726885706,
              "normalized_mutual_information": 0.6338092145078358,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.75934204765972,
              "mutual_information": 1.75934204765972,
              "normalized_mutual_information": 0.6347452666749098,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.753483817748761,
              "mutual_information": 1.753483817748761,
              "normalized_mutual_information": 0.6319705651822779,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.755385539870827,
              "mutual_information": 1.755385539870827,
              "normalized_mutual_information": 0.6337751523857891,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7638978461646069,
              "mutual_information": 1.7638978461646069,
              "normalized_mutual_information": 0.6364968416758982,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768178273470004,
              "mutual_information": 1.768178273470004,
              "normalized_mutual_information": 0.6376815931012517,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.0,
                0.0
              ],
              "objective": 1.7390206989544128,
              "mutual_information": 1.7390206989544128,
              "normalized_mutual_information": 0.6272615791292435,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.05,
                0.0,
                0.0
              ],
              "objective": 1.7284883005459737,
              "mutual_information": 1.7284883005459737,
              "normalized_mutual_information": 0.6245952991751257,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.05,
                0.0
              ],
              "objective": 1.741948896423459,
              "mutual_information": 1.741948896423459,
              "normalized_mutual_information": 0.6290075181998258,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.05,
                0.0
              ],
              "objective": 1.7374985321687453,
              "mutual_information": 1.7374985321687453,
              "normalized_mutual_information": 0.6271240574026083,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.05
              ],
              "objective": 1.765953299436008,
              "mutual_information": 1.765953299436008,
              "normalized_mutual_information": 0.6367767859824331,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.05
              ],
              "objective": 1.7597491628059345,
              "mutual_information": 1.7597491628059345,
              "normalized_mutual_information": 0.6353442199941641,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7566941616816676,
              "mutual_information": 1.7566941616816676,
              "normalized_mutual_information": 0.6335983640229866,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7582171469934025,
              "mutual_information": 1.7582171469934025,
              "normalized_mutual_information": 0.6342552054497516,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7564624595440337,
              "mutual_information": 1.7564624595440337,
              "normalized_mutual_information": 0.633181622273364,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7555496698011723,
              "mutual_information": 1.7555496698011723,
              "normalized_mutual_information": 0.6337891342077427,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7679953103265411,
              "mutual_information": 1.7679953103265411,
              "normalized_mutual_information": 0.63763552036969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.764308218192709,
              "mutual_information": 1.764308218192709,
              "normalized_mutual_information": 0.6363479414917598,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.0,
                0.0
              ],
              "objective": 1.742770628274197,
              "mutual_information": 1.742770628274197,
              "normalized_mutual_information": 0.628598535313996,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.05,
                0.0,
                0.0
              ],
              "objective": 1.7274579346596195,
              "mutual_information": 1.7274579346596195,
              "normalized_mutual_information": 0.6243862150671915,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.05,
                0.0
              ],
              "objective": 1.7382142809920413,
              "mutual_information": 1.7382142809920413,
              "normalized_mutual_information": 0.6276385110853149,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.05,
                0.0
              ],
              "objective": 1.7397714929462846,
              "mutual_information": 1.7397714929462846,
              "normalized_mutual_information": 0.6278089627598388,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.05
              ],
              "objective": 1.7626482434453188,
              "mutual_information": 1.7626482434453188,
              "normalized_mutual_information": 0.6354784060603609,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.05
              ],
              "objective": 1.7595970792713054,
              "mutual_information": 1.7595970792713054,
              "normalized_mutual_information": 0.634975507516952,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7643888375961998,
              "mutual_information": 1.7643888375961998,
              "normalized_mutual_information": 0.636340309750629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7636993573037978,
              "mutual_information": 1.7636993573037978,
              "normalized_mutual_information": 0.6361896824524175,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.0625,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7642111552894943,
              "mutual_information": 1.7642111552894943,
              "normalized_mutual_information": 0.6361989697444864,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7614596362679205,
              "mutual_information": 1.7614596362679205,
              "normalized_mutual_information": 0.6355369794504884,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768505349801026,
              "mutual_information": 1.768505349801026,
              "normalized_mutual_information": 0.6377871066629869,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.1875
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7666567314312207,
              "mutual_information": 1.7666567314312207,
              "normalized_mutual_information": 0.6370886842555082,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.0,
                0.0
              ],
              "objective": 1.7592996511939372,
              "mutual_information": 1.7592996511939372,
              "normalized_mutual_information": 0.6343411032084626,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.025,
                0.0,
                0.0
              ],
              "objective": 1.7523034765950405,
              "mutual_information": 1.7523034765950405,
              "normalized_mutual_information": 0.632527929775483,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.025,
                0.0
              ],
              "objective": 1.7573893555271975,
              "mutual_information": 1.7573893555271975,
              "normalized_mutual_information": 0.6341033483384003,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.025,
                0.0
              ],
              "objective": 1.7534744341607829,
              "mutual_information": 1.7534744341607829,
              "normalized_mutual_information": 0.6325895217456416,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.025
              ],
              "objective": 1.7666991263783587,
              "mutual_information": 1.7666991263783587,
              "normalized_mutual_information": 0.6370712971937791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.025
              ],
              "objective": 1.7638030645366314,
              "mutual_information": 1.7638030645366314,
              "normalized_mutual_information": 0.6363742087272586,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7655439883956312,
              "mutual_information": 1.7655439883956312,
              "normalized_mutual_information": 0.6367139731977299,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7663045607877261,
              "mutual_information": 1.7663045607877261,
              "normalized_mutual_information": 0.637068124680312,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.0625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.762977602651589,
              "mutual_information": 1.762977602651589,
              "normalized_mutual_information": 0.6356945348773031,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7625395010832177,
              "mutual_information": 1.7625395010832177,
              "normalized_mutual_information": 0.635884362307941,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7679953103265411,
              "mutual_information": 1.7679953103265411,
              "normalized_mutual_information": 0.63763552036969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768178273470004,
              "mutual_information": 1.768178273470004,
              "normalized_mutual_information": 0.6376815931012517,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.0,
                0.0
              ],
              "objective": 1.7588927138613328,
              "mutual_information": 1.7588927138613328,
              "normalized_mutual_information": 0.63418861471111,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.025,
                0.0,
                0.0
              ],
              "objective": 1.753401744181114,
              "mutual_information": 1.753401744181114,
              "normalized_mutual_information": 0.6328559335795378,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.025,
                0.0
              ],
              "objective": 1.7585909976513203,
              "mutual_information": 1.7585909976513203,
              "normalized_mutual_information": 0.634617319425636,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.025,
                0.0
              ],
              "objective": 1.7549708871390273,
              "mutual_information": 1.7549708871390273,
              "normalized_mutual_information": 0.6330372849363225,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.025
              ],
              "objective": 1.7655052870554506,
              "mutual_information": 1.7655052870554506,
              "normalized_mutual_information": 0.6366714927524768,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.025
              ],
              "objective": 1.763938276922815,
              "mutual_information": 1.763938276922815,
              "normalized_mutual_information": 0.636526075470175,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7662326269025022,
              "mutual_information": 1.7662326269025022,
              "normalized_mutual_information": 0.6370594292453192,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7674147395187407,
              "mutual_information": 1.7674147395187407,
              "normalized_mutual_information": 0.6374888839560878,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.03125,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7664656490608033,
              "mutual_information": 1.7664656490608033,
              "normalized_mutual_information": 0.6369840755595424,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7671881468883914,
              "mutual_information": 1.7671881468883914,
              "normalized_mutual_information": 0.6374366616557211,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7686904566958817,
              "mutual_information": 1.7686904566958817,
              "normalized_mutual_information": 0.6379059752061852,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.09375
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768255080954621,
              "mutual_information": 1.768255080954621,
              "normalized_mutual_information": 0.6376463284011484,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                0.0,
                0.0
              ],
              "objective": 1.7633336092032195,
              "mutual_information": 1.7633336092032195,
              "normalized_mutual_information": 0.6359689609630679,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0125,
                0.0,
                0.0
              ],
              "objective": 1.7610490647421162,
              "mutual_information": 1.7610490647421162,
              "normalized_mutual_information": 0.6355398668630229,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7657887990992875,
              "mutual_information": 1.7657887990992875,
              "normalized_mutual_information": 0.6369410941993869,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0125,
                0.0
              ],
              "objective": 1.7627259636908914,
              "mutual_information": 1.7627259636908914,
              "normalized_mutual_information": 0.6358160943549165,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.0125
              ],
              "objective": 1.7683514979483164,
              "mutual_information": 1.7683514979483164,
              "normalized_mutual_information": 0.6377361396441281,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0125
              ],
              "objective": 1.7668038676198616,
              "mutual_information": 1.7668038676198616,
              "normalized_mutual_information": 0.6372301031597732,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.765644258461789,
              "mutual_information": 1.765644258461789,
              "normalized_mutual_information": 0.6368962266332744,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7658492734393736,
              "mutual_information": 1.7658492734393736,
              "normalized_mutual_information": 0.637067562788403,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.03125,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7667896037661617,
              "mutual_information": 1.7667896037661617,
              "normalized_mutual_information": 0.637151353508308,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.76716322001901,
              "mutual_information": 1.76716322001901,
              "normalized_mutual_information": 0.6374665655908739,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7679953103265411,
              "mutual_information": 1.7679953103265411,
              "normalized_mutual_information": 0.63763552036969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768505349801026,
              "mutual_information": 1.768505349801026,
              "normalized_mutual_information": 0.6377871066629869,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                0.0,
                0.0
              ],
              "objective": 1.76182584874912,
              "mutual_information": 1.76182584874912,
              "normalized_mutual_information": 0.6354072889077997,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0125,
                0.0,
                0.0
              ],
              "objective": 1.7608523080947858,
              "mutual_information": 1.7608523080947858,
              "normalized_mutual_information": 0.6355702656225019,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.767164053189428,
              "mutual_information": 1.767164053189428,
              "normalized_mutual_information": 0.6375403921445333,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0125,
                0.0
              ],
              "objective": 1.7633974031961042,
              "mutual_information": 1.7633974031961042,
              "normalized_mutual_information": 0.6360754310617843,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.0125
              ],
              "objective": 1.7663947046011688,
              "mutual_information": 1.7663947046011688,
              "normalized_mutual_information": 0.6370711552519662,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0125
              ],
              "objective": 1.7674312567196988,
              "mutual_information": 1.7674312567196988,
              "normalized_mutual_information": 0.6375441007216801,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768105736799957,
              "mutual_information": 1.768105736799957,
              "normalized_mutual_information": 0.6376373144296035,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7689549710031816,
              "mutual_information": 1.7689549710031816,
              "normalized_mutual_information": 0.6380326785620075,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7679841538520724,
              "mutual_information": 1.7679841538520724,
              "normalized_mutual_information": 0.6376685063886866,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7687801784002086,
              "mutual_information": 1.7687801784002086,
              "normalized_mutual_information": 0.6380009158704311,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768532148264106,
              "mutual_information": 1.768532148264106,
              "normalized_mutual_information": 0.6378856360944379,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.046875
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7675941754175426,
              "mutual_information": 1.7675941754175426,
              "normalized_mutual_information": 0.637504287032601,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                0.0,
                0.0
              ],
              "objective": 1.7658900579447685,
              "mutual_information": 1.7658900579447685,
              "normalized_mutual_information": 0.6369137069985106,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                0.0,
                0.0
              ],
              "objective": 1.7660012370014477,
              "mutual_information": 1.7660012370014477,
              "normalized_mutual_information": 0.6371182203189804,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7689892992361254,
              "mutual_information": 1.7689892992361254,
              "normalized_mutual_information": 0.6380475799776989,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.00625,
                0.0
              ],
              "objective": 1.7654042807891948,
              "mutual_information": 1.7654042807891948,
              "normalized_mutual_information": 0.6368161674364715,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.00625
              ],
              "objective": 1.7687845020313606,
              "mutual_information": 1.7687845020313606,
              "normalized_mutual_information": 0.6378898186246152,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.00625
              ],
              "objective": 1.767533600317649,
              "mutual_information": 1.767533600317649,
              "normalized_mutual_information": 0.6375775741973687,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7688232772260069,
              "mutual_information": 1.7688232772260069,
              "normalized_mutual_information": 0.6380148938205451,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7679066381044521,
              "mutual_information": 1.7679066381044521,
              "normalized_mutual_information": 0.6376844646043898,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7683949183187295,
              "mutual_information": 1.7683949183187295,
              "normalized_mutual_information": 0.6378385961815285,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7695428017375356,
              "mutual_information": 1.7695428017375356,
              "normalized_mutual_information": 0.638354575811753,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7681377419952515,
              "mutual_information": 1.7681377419952515,
              "normalized_mutual_information": 0.6378899065987454,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.046875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7680031290756189,
              "mutual_information": 1.7680031290756189,
              "normalized_mutual_information": 0.6377007449070701,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.00625,
                0.0
              ],
              "objective": 1.7664788549472508,
              "mutual_information": 1.7664788549472508,
              "normalized_mutual_information": 0.6371420506981892,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.00625,
                0.0
              ],
              "objective": 1.7661962385624015,
              "mutual_information": 1.7661962385624015,
              "normalized_mutual_information": 0.6372803719418537,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.767164053189428,
              "mutual_information": 1.767164053189428,
              "normalized_mutual_information": 0.6375403921445333,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7686904566958817,
              "mutual_information": 1.7686904566958817,
              "normalized_mutual_information": 0.6379059752061852,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                -0.00625
              ],
              "objective": 1.768800737446633,
              "mutual_information": 1.768800737446633,
              "normalized_mutual_information": 0.6380143461289438,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.00625
              ],
              "objective": 1.767826959329969,
              "mutual_information": 1.767826959329969,
              "normalized_mutual_information": 0.6377107585891318,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.769458856355609,
              "mutual_information": 1.769458856355609,
              "normalized_mutual_information": 0.6382947505188036,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7670547293005427,
              "mutual_information": 1.7670547293005427,
              "normalized_mutual_information": 0.6375648862201313,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7689892992361254,
              "mutual_information": 1.7689892992361254,
              "normalized_mutual_information": 0.6380475799776989,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7661243513347238,
              "mutual_information": 1.7661243513347238,
              "normalized_mutual_information": 0.6372859221910506,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7687978478284847,
              "mutual_information": 1.7687978478284847,
              "normalized_mutual_information": 0.6382233808260904,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.046875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7684134383755346,
              "mutual_information": 1.7684134383755346,
              "normalized_mutual_information": 0.6379955876371078,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.00625,
                0.0
              ],
              "objective": 1.7675849918393343,
              "mutual_information": 1.7675849918393343,
              "normalized_mutual_information": 0.637551442842649,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.00625,
                0.0
              ],
              "objective": 1.7651218228602452,
              "mutual_information": 1.7651218228602452,
              "normalized_mutual_information": 0.6368739053631004,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7667058768513038,
              "mutual_information": 1.7667058768513038,
              "normalized_mutual_information": 0.6375347203789969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7687801784002086,
              "mutual_information": 1.7687801784002086,
              "normalized_mutual_information": 0.6380009158704311,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                -0.00625
              ],
              "objective": 1.7689809354836108,
              "mutual_information": 1.7689809354836108,
              "normalized_mutual_information": 0.6382744648486706,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.00625
              ],
              "objective": 1.7676885451393183,
              "mutual_information": 1.7676885451393183,
              "normalized_mutual_information": 0.6378151223218977,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 121,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.2658741019986337,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.034938562061821894,
          "translation_m": 0.0062500000000000056,
          "recovered": true
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.18268090104927648,
              -0.1232981698779414,
              0.3218247264377875
            ],
            "rotation_quat_xyzw": [
              0.016879329368267557,
              -0.025160497390676585,
              0.009569397163537559,
              0.9994951046648792
            ]
          },
          "delta": [
            -0.09312755157030178,
            0.09691136958134201,
            0.043964307771944176,
            -0.01731909895072352,
            -0.02329816987794139,
            0.021824726437787486
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 142,
          "nfev": 28,
          "njev": 19,
          "initial_support": [
            3783,
            3776,
            3780
          ],
          "final_support": [
            3783,
            3776,
            3780
          ],
          "support_retained": true,
          "cost": 41.32719391774292,
          "optimality": 0.5040346385231714
        },
        "seconds": 0.2600032000045758,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.1414366889842183,
          "translation_m": 0.036319066510727235,
          "recovered": true
        },
        "holdout": [
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.022413536324101813,
            "p90_absolute_z_m": 0.051217272324566555,
            "behind_surface_gt_20cm": 48,
            "in_front_gt_20cm": 12
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.02126040705364396,
            "p90_absolute_z_m": 0.043371342477735546,
            "behind_surface_gt_20cm": 63,
            "in_front_gt_20cm": 6
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.023005821745183397,
            "p90_absolute_z_m": 0.051981853261032634,
            "behind_surface_gt_20cm": 58,
            "in_front_gt_20cm": 10
          }
        ]
      }
    },
    {
      "condition": "exact_z_all",
      "sign": 1,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.35,
              -0.2,
              0.4
            ],
            "rotation_quat_xyzw": [
              0.026554813331940996,
              -0.030285556445752447,
              0.015605887359136183,
              0.9990666060075328
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.24999999999999997,
              0.10000000000000003,
              0.1875
            ],
            "rotation_quat_xyzw": [
              0.02646047935050697,
              -0.028494056857037854,
              0.011195538053197967,
              0.9991809604291251
            ]
          },
          "best_delta_rotation_deg_xyz": [
            0.0,
            0.21875,
            -0.5
          ],
          "best_delta_translation_m_xyz": [
            -0.1,
            0.30000000000000004,
            -0.21250000000000002
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.5024298307628634,
            "normalized_mutual_information": 0.5450141136266625,
            "visible_point_count": 11423,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.5335213664936038,
                "normalized_mutual_information": 0.5498969723760496,
                "visible_point_count": 3814,
                "projected_count_before_visibility": 3819
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.302331727936092,
                "normalized_mutual_information": 0.4962164513995397,
                "visible_point_count": 3796,
                "projected_count_before_visibility": 3805
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.6714363978588942,
                "normalized_mutual_information": 0.5889289171043981,
                "visible_point_count": 3813,
                "projected_count_before_visibility": 3824
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.6790939538580536,
            "normalized_mutual_information": 0.604966821315773,
            "visible_point_count": 11498,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.737975006487079,
                "normalized_mutual_information": 0.6191081414795944,
                "visible_point_count": 3840,
                "projected_count_before_visibility": 3840
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.478554275259747,
                "normalized_mutual_information": 0.5585472823603767,
                "visible_point_count": 3820,
                "projected_count_before_visibility": 3840
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.8207525798273347,
                "normalized_mutual_information": 0.6372450401073481,
                "visible_point_count": 3838,
                "projected_count_before_visibility": 3840
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5024298307628634,
              "mutual_information": 1.5024298307628634,
              "normalized_mutual_information": 0.5450141136266625,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5280144692707438,
              "mutual_information": 1.5280144692707438,
              "normalized_mutual_information": 0.5533239940279427,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.471470029864287,
              "mutual_information": 1.471470029864287,
              "normalized_mutual_information": 0.5336691467058716,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.4965320287708543,
              "mutual_information": 1.4965320287708543,
              "normalized_mutual_information": 0.5425432093319124,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.499680579377495,
              "mutual_information": 1.499680579377495,
              "normalized_mutual_information": 0.5446996297565693,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5024054650030667,
              "mutual_information": 1.5024054650030667,
              "normalized_mutual_information": 0.5447684251014145,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.499220510511104,
              "mutual_information": 1.499220510511104,
              "normalized_mutual_information": 0.5438077215253619,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.5035758893772824,
              "mutual_information": 1.5035758893772824,
              "normalized_mutual_information": 0.5447528722698367,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.475404980163993,
              "mutual_information": 1.475404980163993,
              "normalized_mutual_information": 0.5361415085222575,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.4317752836549753,
              "mutual_information": 1.4317752836549753,
              "normalized_mutual_information": 0.5194775629563851,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5575249277660055,
              "mutual_information": 1.5575249277660055,
              "normalized_mutual_information": 0.5635816946393785,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.4969739050032842,
              "mutual_information": 1.4969739050032842,
              "normalized_mutual_information": 0.5430479379766306,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.5000917191445324,
              "mutual_information": 1.5000917191445324,
              "normalized_mutual_information": 0.5436041076085588,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.588082849512821,
              "mutual_information": 1.588082849512821,
              "normalized_mutual_information": 0.5743571776566442,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5288301287834456,
              "mutual_information": 1.5288301287834456,
              "normalized_mutual_information": 0.5543451649086661,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5578424937225421,
              "mutual_information": 1.5578424937225421,
              "normalized_mutual_information": 0.56327216635907,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5522573928925325,
              "mutual_information": 1.5522573928925325,
              "normalized_mutual_information": 0.5626119532559228,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5630953072018945,
              "mutual_information": 1.5630953072018945,
              "normalized_mutual_information": 0.5655704519459653,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5575483112062611,
              "mutual_information": 1.5575483112062611,
              "normalized_mutual_information": 0.563952860929691,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.1,
                0.0
              ],
              "objective": 1.568268111854148,
              "mutual_information": 1.568268111854148,
              "normalized_mutual_information": 0.5666626863214905,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.1,
                0.0
              ],
              "objective": 1.5279113695898257,
              "mutual_information": 1.5279113695898257,
              "normalized_mutual_information": 0.554254205036659,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5024298307628634,
              "mutual_information": 1.5024298307628634,
              "normalized_mutual_information": 0.5450141136266625,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6172593710756111,
              "mutual_information": 1.6172593710756111,
              "normalized_mutual_information": 0.5846437418432733,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                -0.1
              ],
              "objective": 1.5554577328474573,
              "mutual_information": 1.5554577328474573,
              "normalized_mutual_information": 0.562874330526034,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.1
              ],
              "objective": 1.5534021380593097,
              "mutual_information": 1.5534021380593097,
              "normalized_mutual_information": 0.5620993592223855,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6368033059493043,
              "mutual_information": 1.6368033059493043,
              "normalized_mutual_information": 0.5914740117324392,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.5917522225138399,
              "mutual_information": 1.5917522225138399,
              "normalized_mutual_information": 0.5751747861125077,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.604773348966348,
              "mutual_information": 1.604773348966348,
              "normalized_mutual_information": 0.5793909648525358,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6094498321663657,
              "mutual_information": 1.6094498321663657,
              "normalized_mutual_information": 0.5828340051092685,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6209685857721368,
              "mutual_information": 1.6209685857721368,
              "normalized_mutual_information": 0.5859872189267717,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6161047543647242,
              "mutual_information": 1.6161047543647242,
              "normalized_mutual_information": 0.5841191410657792,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.2,
                0.0
              ],
              "objective": 1.6230729337286454,
              "mutual_information": 1.6230729337286454,
              "normalized_mutual_information": 0.5855114791781564,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.2,
                0.0
              ],
              "objective": 1.5776062157653685,
              "mutual_information": 1.5776062157653685,
              "normalized_mutual_information": 0.571822881075548,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5575249277660055,
              "mutual_information": 1.5575249277660055,
              "normalized_mutual_information": 0.5635816946393785,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6383944166129842,
              "mutual_information": 1.6383944166129842,
              "normalized_mutual_information": 0.5919461554615463,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                -0.1
              ],
              "objective": 1.6243302404862938,
              "mutual_information": 1.6243302404862938,
              "normalized_mutual_information": 0.5869445423531325,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.1
              ],
              "objective": 1.6019025061240597,
              "mutual_information": 1.6019025061240597,
              "normalized_mutual_information": 0.5793496967955889,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6301944337466008,
              "mutual_information": 1.6301944337466008,
              "normalized_mutual_information": 0.5891040583054256,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6292571918616563,
              "mutual_information": 1.6292571918616563,
              "normalized_mutual_information": 0.5889063187290938,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6326451055519875,
              "mutual_information": 1.6326451055519875,
              "normalized_mutual_information": 0.589072424468788,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6281628585966021,
              "mutual_information": 1.6281628585966021,
              "normalized_mutual_information": 0.5897844963909,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6465710039743648,
              "mutual_information": 1.6465710039743648,
              "normalized_mutual_information": 0.5950298847349466,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6379740848280395,
              "mutual_information": 1.6379740848280395,
              "normalized_mutual_information": 0.5919478119555431,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6366107381277584,
              "mutual_information": 1.6366107381277584,
              "normalized_mutual_information": 0.5904148346160284,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6011764145842922,
              "mutual_information": 1.6011764145842922,
              "normalized_mutual_information": 0.5808427839626983,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                0.0
              ],
              "objective": 1.6172593710756111,
              "mutual_information": 1.6172593710756111,
              "normalized_mutual_information": 0.5846437418432733,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                0.0
              ],
              "objective": 1.598320265201254,
              "mutual_information": 1.598320265201254,
              "normalized_mutual_information": 0.5775835774352643,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6421837351165653,
              "mutual_information": 1.6421837351165653,
              "normalized_mutual_information": 0.5929468045047069,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.1
              ],
              "objective": 1.6227971783290667,
              "mutual_information": 1.6227971783290667,
              "normalized_mutual_information": 0.5867586409864702,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6345960602265732,
              "mutual_information": 1.6345960602265732,
              "normalized_mutual_information": 0.5907024444698,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6307444456108622,
              "mutual_information": 1.6307444456108622,
              "normalized_mutual_information": 0.589365788482276,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6377028644273601,
              "mutual_information": 1.6377028644273601,
              "normalized_mutual_information": 0.5907619795765737,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.634739077428583,
              "mutual_information": 1.634739077428583,
              "normalized_mutual_information": 0.5921147694527277,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6450860239415903,
              "mutual_information": 1.6450860239415903,
              "normalized_mutual_information": 0.5942940582518667,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6383944166129842,
              "mutual_information": 1.6383944166129842,
              "normalized_mutual_information": 0.5919461554615463,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6374084263665232,
              "mutual_information": 1.6374084263665232,
              "normalized_mutual_information": 0.5906245348083498,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6013590504114266,
              "mutual_information": 1.6013590504114266,
              "normalized_mutual_information": 0.5809329978503746,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                0.0
              ],
              "objective": 1.6209685857721368,
              "mutual_information": 1.6209685857721368,
              "normalized_mutual_information": 0.5859872189267717,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                0.0
              ],
              "objective": 1.6007798370493387,
              "mutual_information": 1.6007798370493387,
              "normalized_mutual_information": 0.5786559338282521,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6465833680505364,
              "mutual_information": 1.6465833680505364,
              "normalized_mutual_information": 0.5942988001279822,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.1
              ],
              "objective": 1.6287714096458454,
              "mutual_information": 1.6287714096458454,
              "normalized_mutual_information": 0.588770333255687,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.637598787033122,
              "mutual_information": 1.637598787033122,
              "normalized_mutual_information": 0.5916307933082381,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6348369026409983,
              "mutual_information": 1.6348369026409983,
              "normalized_mutual_information": 0.5905734678547531,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.645947554916164,
              "mutual_information": 1.645947554916164,
              "normalized_mutual_information": 0.5933325253823373,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6379316539327051,
              "mutual_information": 1.6379316539327051,
              "normalized_mutual_information": 0.5931546289448337,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6460666884575845,
              "mutual_information": 1.6460666884575845,
              "normalized_mutual_information": 0.5943719014143917,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6421837351165653,
              "mutual_information": 1.6421837351165653,
              "normalized_mutual_information": 0.5929468045047069,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6522305947066325,
              "mutual_information": 1.6522305947066325,
              "normalized_mutual_information": 0.5952113854114969,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6004831238514452,
              "mutual_information": 1.6004831238514452,
              "normalized_mutual_information": 0.5805371378041401,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6284266436706492,
              "mutual_information": 1.6284266436706492,
              "normalized_mutual_information": 0.5882419231828394,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                -0.1
              ],
              "objective": 1.6036794715434233,
              "mutual_information": 1.6036794715434233,
              "normalized_mutual_information": 0.5791523568974527,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6425402096485577,
              "mutual_information": 1.6425402096485577,
              "normalized_mutual_information": 0.5928479093343971,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6465710039743648,
              "mutual_information": 1.6465710039743648,
              "normalized_mutual_information": 0.5950298847349466,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6405255550063174,
              "mutual_information": 1.6405255550063174,
              "normalized_mutual_information": 0.5910387739895534,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6463761381090283,
              "mutual_information": 1.6463761381090283,
              "normalized_mutual_information": 0.5931232139580526,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6277771962439855,
              "mutual_information": 1.6277771962439855,
              "normalized_mutual_information": 0.5855832077719151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6643152280300573,
              "mutual_information": 1.6643152280300573,
              "normalized_mutual_information": 0.6002745829034072,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.65057314662855,
              "mutual_information": 1.65057314662855,
              "normalized_mutual_information": 0.5946695071774312,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6503079413692892,
              "mutual_information": 1.6503079413692892,
              "normalized_mutual_information": 0.594444797612871,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6069125267819588,
              "mutual_information": 1.6069125267819588,
              "normalized_mutual_information": 0.578291635667085,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6465833680505364,
              "mutual_information": 1.6465833680505364,
              "normalized_mutual_information": 0.5942988001279822,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6322863544402282,
              "mutual_information": 1.6322863544402282,
              "normalized_mutual_information": 0.5883611981986097,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.1
              ],
              "objective": 1.6051061575921823,
              "mutual_information": 1.6051061575921823,
              "normalized_mutual_information": 0.5786078394495772,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.657046001611614,
              "mutual_information": 1.657046001611614,
              "normalized_mutual_information": 0.5962038215937381,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6374084263665232,
              "mutual_information": 1.6374084263665232,
              "normalized_mutual_information": 0.5906245348083498,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6531723865783816,
              "mutual_information": 1.6531723865783816,
              "normalized_mutual_information": 0.5963888571039614,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6613437050552917,
              "mutual_information": 1.6613437050552917,
              "normalized_mutual_information": 0.5990423362776695,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6522305947066325,
              "mutual_information": 1.6522305947066325,
              "normalized_mutual_information": 0.5952113854114969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.0,
                0.5,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6609970216160714,
              "mutual_information": 1.6609970216160714,
              "normalized_mutual_information": 0.6003470208080222,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.670487799552664,
              "mutual_information": 1.670487799552664,
              "normalized_mutual_information": 0.6024364748941887,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6604215130878195,
              "mutual_information": 1.6604215130878195,
              "normalized_mutual_information": 0.5990016652537383,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6361998739842096,
              "mutual_information": 1.6361998739842096,
              "normalized_mutual_information": 0.5895840136682181,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6379316539327051,
              "mutual_information": 1.6379316539327051,
              "normalized_mutual_information": 0.5931546289448337,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6407222833693957,
              "mutual_information": 1.6407222833693957,
              "normalized_mutual_information": 0.5921308259826423,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.1
              ],
              "objective": 1.6174471817985385,
              "mutual_information": 1.6174471817985385,
              "normalized_mutual_information": 0.583670108746399,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.671138042970662,
              "mutual_information": 1.671138042970662,
              "normalized_mutual_information": 0.6024368392642248,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6561406190205752,
              "mutual_information": 1.6561406190205752,
              "normalized_mutual_information": 0.5980063162036432,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6557642229381262,
              "mutual_information": 1.6557642229381262,
              "normalized_mutual_information": 0.5969921425014004,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6670575012946178,
              "mutual_information": 1.6670575012946178,
              "normalized_mutual_information": 0.6004349636409448,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.657046001611614,
              "mutual_information": 1.657046001611614,
              "normalized_mutual_information": 0.5962038215937381,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.0,
                0.5,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6693433568535905,
              "mutual_information": 1.6693433568535905,
              "normalized_mutual_information": 0.602869057396251,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6780369413231326,
              "mutual_information": 1.6780369413231326,
              "normalized_mutual_information": 0.6046132756501129,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6660425043972857,
              "mutual_information": 1.6660425043972857,
              "normalized_mutual_information": 0.6008601434208002,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.647055552398814,
              "mutual_information": 1.647055552398814,
              "normalized_mutual_information": 0.5925187244232887,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6294050186647366,
              "mutual_information": 1.6294050186647366,
              "normalized_mutual_information": 0.5897003701059095,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.2
              ],
              "objective": 1.644689829330974,
              "mutual_information": 1.644689829330974,
              "normalized_mutual_information": 0.5929541195996978,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.2
              ],
              "objective": 1.6240663489996567,
              "mutual_information": 1.6240663489996567,
              "normalized_mutual_information": 0.5857039165561938,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.30000000000000004
              ],
              "objective": 1.66510725476451,
              "mutual_information": 1.66510725476451,
              "normalized_mutual_information": 0.6001614494841682,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6643152280300573,
              "mutual_information": 1.6643152280300573,
              "normalized_mutual_information": 0.6002745829034072,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6563201865541803,
              "mutual_information": 1.6563201865541803,
              "normalized_mutual_information": 0.5971141452899822,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6695941414167372,
              "mutual_information": 1.6695941414167372,
              "normalized_mutual_information": 0.6013661538823797,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6588861311532135,
              "mutual_information": 1.6588861311532135,
              "normalized_mutual_information": 0.5968704720488702,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                0.0,
                0.5,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6723457333438796,
              "mutual_information": 1.6723457333438796,
              "normalized_mutual_information": 0.6039622964649313,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.75
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6736273500526135,
              "mutual_information": 1.6736273500526135,
              "normalized_mutual_information": 0.602973208712846,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.671138042970662,
              "mutual_information": 1.671138042970662,
              "normalized_mutual_information": 0.6024368392642248,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.645023064330599,
              "mutual_information": 1.645023064330599,
              "normalized_mutual_information": 0.5917423231014699,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.632537951081258,
              "mutual_information": 1.632537951081258,
              "normalized_mutual_information": 0.590876462175196,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.2
              ],
              "objective": 1.6517719069628551,
              "mutual_information": 1.6517719069628551,
              "normalized_mutual_information": 0.5955281535111259,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.2
              ],
              "objective": 1.6257079171879587,
              "mutual_information": 1.6257079171879587,
              "normalized_mutual_information": 0.5860676067226889,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.30000000000000004
              ],
              "objective": 1.6713747233553795,
              "mutual_information": 1.6713747233553795,
              "normalized_mutual_information": 0.6022117308907561,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.670487799552664,
              "mutual_information": 1.670487799552664,
              "normalized_mutual_information": 0.6024364748941887,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6681005055991687,
              "mutual_information": 1.6681005055991687,
              "normalized_mutual_information": 0.6012766647104945,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                0.125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6731820465229725,
              "mutual_information": 1.6731820465229725,
              "normalized_mutual_information": 0.6027552695987385,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6686145329003763,
              "mutual_information": 1.6686145329003763,
              "normalized_mutual_information": 0.6009762666038758,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                0.0,
                0.375,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6765142912212028,
              "mutual_information": 1.6765142912212028,
              "normalized_mutual_information": 0.604795903817647,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6762509992756105,
              "mutual_information": 1.6762509992756105,
              "normalized_mutual_information": 0.6040873209479508,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.672041060883075,
              "mutual_information": 1.672041060883075,
              "normalized_mutual_information": 0.6025837330142442,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6682977624823865,
              "mutual_information": 1.6682977624823865,
              "normalized_mutual_information": 0.6005216402238099,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6576256495751434,
              "mutual_information": 1.6576256495751434,
              "normalized_mutual_information": 0.598264782289052,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.2
              ],
              "objective": 1.6725321252045602,
              "mutual_information": 1.6725321252045602,
              "normalized_mutual_information": 0.6026789224302379,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.35000000000000003,
                -0.2
              ],
              "objective": 1.646191154976152,
              "mutual_information": 1.646191154976152,
              "normalized_mutual_information": 0.5935596494626781,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.25
              ],
              "objective": 1.6746534052232818,
              "mutual_information": 1.6746534052232818,
              "normalized_mutual_information": 0.6035345176191523,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.15000000000000002
              ],
              "objective": 1.6744217465141897,
              "mutual_information": 1.6744217465141897,
              "normalized_mutual_information": 0.6036745256264976,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 134,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6748296663420634,
              "mutual_information": 1.6748296663420634,
              "normalized_mutual_information": 0.6036422700022003,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 135,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6729070376002195,
              "mutual_information": 1.6729070376002195,
              "normalized_mutual_information": 0.6027868870020076,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 136,
              "delta_rotation_deg_xyz": [
                0.0,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6752764424372508,
              "mutual_information": 1.6752764424372508,
              "normalized_mutual_information": 0.6035580622955715,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 137,
              "delta_rotation_deg_xyz": [
                0.0,
                0.3125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6752508913362132,
              "mutual_information": 1.6752508913362132,
              "normalized_mutual_information": 0.6039809065374321,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 138,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.676311226229527,
              "mutual_information": 1.676311226229527,
              "normalized_mutual_information": 0.6042056609096839,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 139,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.4375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6741030495388418,
              "mutual_information": 1.6741030495388418,
              "normalized_mutual_information": 0.6032288447327031,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 140,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.125,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6700505204037162,
              "mutual_information": 1.6700505204037162,
              "normalized_mutual_information": 0.6016138182979717,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 141,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.07500000000000001,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6698148920683156,
              "mutual_information": 1.6698148920683156,
              "normalized_mutual_information": 0.6025277410118299,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 142,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.275,
                -0.2
              ],
              "objective": 1.6777522781355836,
              "mutual_information": 1.6777522781355836,
              "normalized_mutual_information": 0.6044990814832789,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 143,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.32500000000000007,
                -0.2
              ],
              "objective": 1.6618455499103817,
              "mutual_information": 1.6618455499103817,
              "normalized_mutual_information": 0.5990473067787018,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 144,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.225
              ],
              "objective": 1.6767585560682878,
              "mutual_information": 1.6767585560682878,
              "normalized_mutual_information": 0.6042251588283511,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 145,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.6777578964893916,
              "mutual_information": 1.6777578964893916,
              "normalized_mutual_information": 0.6046816045247737,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 146,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6754153378369938,
              "mutual_information": 1.6754153378369938,
              "normalized_mutual_information": 0.6038280824674108,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 147,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6758149983185584,
              "mutual_information": 1.6758149983185584,
              "normalized_mutual_information": 0.6038459674782607,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 148,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.677041507689643,
              "mutual_information": 1.677041507689643,
              "normalized_mutual_information": 0.6042316108883555,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 149,
              "delta_rotation_deg_xyz": [
                0.0,
                0.28125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6770960466378118,
              "mutual_information": 1.6770960466378118,
              "normalized_mutual_information": 0.6043661311426126,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 150,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6779292948694329,
              "mutual_information": 1.6779292948694329,
              "normalized_mutual_information": 0.6046615713996851,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 151,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.46875
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.67647125117428,
              "mutual_information": 1.67647125117428,
              "normalized_mutual_information": 0.6040961653191889,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 152,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1125,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.675613833290605,
              "mutual_information": 1.675613833290605,
              "normalized_mutual_information": 0.6037658295243791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 153,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.08750000000000001,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6749311961899351,
              "mutual_information": 1.6749311961899351,
              "normalized_mutual_information": 0.6037870718825156,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 154,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.28750000000000003,
                -0.2
              ],
              "objective": 1.67574021390834,
              "mutual_information": 1.67574021390834,
              "normalized_mutual_information": 0.6038783723299918,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 155,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.31250000000000006,
                -0.2
              ],
              "objective": 1.668370642107365,
              "mutual_information": 1.668370642107365,
              "normalized_mutual_information": 0.601225235153676,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 156,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.678139075599736,
              "mutual_information": 1.678139075599736,
              "normalized_mutual_information": 0.6046847665229372,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 157,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1875
              ],
              "objective": 1.6767554297683838,
              "mutual_information": 1.6767554297683838,
              "normalized_mutual_information": 0.6043582899903729,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 158,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.67564146054847,
              "mutual_information": 1.67564146054847,
              "normalized_mutual_information": 0.6038752187606851,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 159,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.67508320645156,
              "mutual_information": 1.67508320645156,
              "normalized_mutual_information": 0.6036048644976476,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 160,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6790939538580536,
              "mutual_information": 1.6790939538580536,
              "normalized_mutual_information": 0.604966821315773,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 161,
              "delta_rotation_deg_xyz": [
                0.0,
                0.28125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6770512781752582,
              "mutual_information": 1.6770512781752582,
              "normalized_mutual_information": 0.6043551874915836,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 162,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6773979508860712,
              "mutual_information": 1.6773979508860712,
              "normalized_mutual_information": 0.6045117260389246,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 163,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.46875
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6766858834792246,
              "mutual_information": 1.6766858834792246,
              "normalized_mutual_information": 0.6041496242097322,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 164,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1125,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.675080296743846,
              "mutual_information": 1.675080296743846,
              "normalized_mutual_information": 0.6034712501701053,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 165,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.08750000000000001,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6741691735993343,
              "mutual_information": 1.6741691735993343,
              "normalized_mutual_information": 0.6034572925735877,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 166,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.28750000000000003,
                -0.21250000000000002
              ],
              "objective": 1.6758387725410515,
              "mutual_information": 1.6758387725410515,
              "normalized_mutual_information": 0.6038926340463652,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 167,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.31250000000000006,
                -0.21250000000000002
              ],
              "objective": 1.6681167801114043,
              "mutual_information": 1.6681167801114043,
              "normalized_mutual_information": 0.6012101946861332,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 168,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.22500000000000003
              ],
              "objective": 1.6767585560682878,
              "mutual_information": 1.6767585560682878,
              "normalized_mutual_information": 0.6042251588283511,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 169,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6780369413231326,
              "mutual_information": 1.6780369413231326,
              "normalized_mutual_information": 0.6046132756501129,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 170,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.676024363393937,
              "mutual_information": 1.676024363393937,
              "normalized_mutual_information": 0.6039923606362841,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 171,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.673247868631836,
              "mutual_information": 1.673247868631836,
              "normalized_mutual_information": 0.6029269327167057,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 172,
              "delta_rotation_deg_xyz": [
                0.0,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6743173452751006,
              "mutual_information": 1.6743173452751006,
              "normalized_mutual_information": 0.6031100525035075,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 173,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.678139075599736,
              "mutual_information": 1.678139075599736,
              "normalized_mutual_information": 0.6046847665229372,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 174,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6784338719743335,
              "mutual_information": 1.6784338719743335,
              "normalized_mutual_information": 0.604784154291351,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 175,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.46875
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6769669259581221,
              "mutual_information": 1.6769669259581221,
              "normalized_mutual_information": 0.6042245987027828,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 176,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1125,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6708190750299072,
              "mutual_information": 1.6708190750299072,
              "normalized_mutual_information": 0.6018718145241186,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 177,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.08750000000000001,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6741233561240048,
              "mutual_information": 1.6741233561240048,
              "normalized_mutual_information": 0.6032682638834301,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 178,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.28750000000000003,
                -0.21250000000000002
              ],
              "objective": 1.6755504481700567,
              "mutual_information": 1.6755504481700567,
              "normalized_mutual_information": 0.603813207760532,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 179,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.31250000000000006,
                -0.21250000000000002
              ],
              "objective": 1.6690960252316582,
              "mutual_information": 1.6690960252316582,
              "normalized_mutual_information": 0.6014947517843853,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 180,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.22500000000000003
              ],
              "objective": 1.6758177919202388,
              "mutual_information": 1.6758177919202388,
              "normalized_mutual_information": 0.6038585073212512,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 181,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.677041507689643,
              "mutual_information": 1.677041507689643,
              "normalized_mutual_information": 0.6042316108883555,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 182,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6780815255906394,
              "mutual_information": 1.6780815255906394,
              "normalized_mutual_information": 0.6047484723457487,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 183,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6753506032209549,
              "mutual_information": 1.6753506032209549,
              "normalized_mutual_information": 0.6036814820885775,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 184,
              "delta_rotation_deg_xyz": [
                0.0,
                0.203125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6763936269975872,
              "mutual_information": 1.6763936269975872,
              "normalized_mutual_information": 0.6039214712961443,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 185,
              "delta_rotation_deg_xyz": [
                0.0,
                0.234375,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6785774274609213,
              "mutual_information": 1.6785774274609213,
              "normalized_mutual_information": 0.6047739264841342,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 186,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.678165818143983,
              "mutual_information": 1.678165818143983,
              "normalized_mutual_information": 0.6046795304130878,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 187,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.484375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.6774455971231543,
              "mutual_information": 1.6774455971231543,
              "normalized_mutual_information": 0.6043679338252227,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 188,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.675387840439701,
              "mutual_information": 1.675387840439701,
              "normalized_mutual_information": 0.6035162245263845,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 189,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.09375,
                0.30000000000000004,
                -0.21250000000000002
              ],
              "objective": 1.67701472627804,
              "mutual_information": 1.67701472627804,
              "normalized_mutual_information": 0.6041834677487828,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 190,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.29375000000000007,
                -0.21250000000000002
              ],
              "objective": 1.6757361556638746,
              "mutual_information": 1.6757361556638746,
              "normalized_mutual_information": 0.6039296874885224,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 191,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30625,
                -0.21250000000000002
              ],
              "objective": 1.6741521010125957,
              "mutual_information": 1.6741521010125957,
              "normalized_mutual_information": 0.603317086939154,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 192,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.21875000000000003
              ],
              "objective": 1.6778007371506671,
              "mutual_information": 1.6778007371506671,
              "normalized_mutual_information": 0.6045079615496264,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 193,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.20625000000000002
              ],
              "objective": 1.677980506865315,
              "mutual_information": 1.677980506865315,
              "normalized_mutual_information": 0.6046210985275458,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 193,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.434875204009586,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 1.07171089362079,
          "translation_m": 0.23485367785069922,
          "recovered": false
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.10051700554332485,
              -0.09984055124031661,
              0.33471890150841316
            ],
            "rotation_quat_xyzw": [
              0.018511123451446412,
              -0.020399511349073966,
              0.012459938150654578,
              0.999542869609186
            ]
          },
          "delta": [
            -0.9327646245826202,
            1.125706783502681,
            -0.36804043898552585,
            -0.24948299445667513,
            0.1001594487596834,
            -0.06528109849158686
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 121,
          "nfev": 19,
          "njev": 17,
          "initial_support": [
            3803,
            3802,
            3807
          ],
          "final_support": [
            3840,
            3840,
            3840
          ],
          "support_retained": true,
          "cost": 183.1516008604836,
          "optimality": 0.004973541281641799
        },
        "seconds": 0.2142980089993216,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.7519335902958897,
          "translation_m": 0.1053674225362124,
          "recovered": false
        },
        "holdout": [
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.06067974801347109,
            "p90_absolute_z_m": 0.1854308943110314,
            "behind_surface_gt_20cm": 330,
            "in_front_gt_20cm": 18
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05604955340053763,
            "p90_absolute_z_m": 0.1154668840147087,
            "behind_surface_gt_20cm": 125,
            "in_front_gt_20cm": 27
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05945031499856901,
            "p90_absolute_z_m": 0.20272671946384016,
            "behind_surface_gt_20cm": 376,
            "in_front_gt_20cm": 19
          }
        ]
      }
    },
    {
      "condition": "exact_z_all",
      "sign": -1,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.05000000000000002,
              0.0,
              0.19999999999999998
            ],
            "rotation_quat_xyzw": [
              0.008851181257931221,
              -0.021635299615473294,
              0.0028235510433918818,
              0.9997227605493402
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.07500000000000001,
              -0.30000000000000004,
              0.29374999999999996
            ],
            "rotation_quat_xyzw": [
              0.00783862994921816,
              -0.019695001741791517,
              0.006513014301340412,
              0.9997540914803102
            ]
          },
          "best_delta_rotation_deg_xyz": [
            -0.125,
            0.21875,
            0.421875
          ],
          "best_delta_translation_m_xyz": [
            0.025,
            -0.30000000000000004,
            0.09375
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.5456178831258922,
            "normalized_mutual_information": 0.5560067846946378,
            "visible_point_count": 11520,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.5691457111799343,
                "normalized_mutual_information": 0.5585451983106122,
                "visible_point_count": 3840,
                "projected_count_before_visibility": 3840
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.3491482581766165,
                "normalized_mutual_information": 0.5088597698428475,
                "visible_point_count": 3840,
                "projected_count_before_visibility": 3840
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.7185596800211256,
                "normalized_mutual_information": 0.6006153859304537,
                "visible_point_count": 3840,
                "projected_count_before_visibility": 3840
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.713212701875311,
            "normalized_mutual_information": 0.6178402362818206,
            "visible_point_count": 11498,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.754866452397001,
                "normalized_mutual_information": 0.626155610638755,
                "visible_point_count": 3833,
                "projected_count_before_visibility": 3840
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.532569390161505,
                "normalized_mutual_information": 0.5781189885811532,
                "visible_point_count": 3831,
                "projected_count_before_visibility": 3840
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.8522022630674266,
                "normalized_mutual_information": 0.6492461096255535,
                "visible_point_count": 3834,
                "projected_count_before_visibility": 3840
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5456178831258922,
              "mutual_information": 1.5456178831258922,
              "normalized_mutual_information": 0.5560067846946378,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5066162806565349,
              "mutual_information": 1.5066162806565349,
              "normalized_mutual_information": 0.5425893302064295,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5698045351268377,
              "mutual_information": 1.5698045351268377,
              "normalized_mutual_information": 0.5650026644437911,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5383814949485703,
              "mutual_information": 1.5383814949485703,
              "normalized_mutual_information": 0.5530390084533287,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5412669480295385,
              "mutual_information": 1.5412669480295385,
              "normalized_mutual_information": 0.5549462694393837,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5402658163435785,
              "mutual_information": 1.5402658163435785,
              "normalized_mutual_information": 0.5539469114804296,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5462126927806505,
              "mutual_information": 1.5462126927806505,
              "normalized_mutual_information": 0.556501408378686,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.5301396792454074,
              "mutual_information": 1.5301396792454074,
              "normalized_mutual_information": 0.5500802199879146,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.5433555246342472,
              "mutual_information": 1.5433555246342472,
              "normalized_mutual_information": 0.5558612743447955,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6067165804233738,
              "mutual_information": 1.6067165804233738,
              "normalized_mutual_information": 0.5779725020645962,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.4686842394846862,
              "mutual_information": 1.4686842394846862,
              "normalized_mutual_information": 0.5290646299924786,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.5387014312401872,
              "mutual_information": 1.5387014312401872,
              "normalized_mutual_information": 0.5534095307600113,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.5392193836907584,
              "mutual_information": 1.5392193836907584,
              "normalized_mutual_information": 0.5538867210635993,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.5813561302105201,
              "mutual_information": 1.5813561302105201,
              "normalized_mutual_information": 0.5687154315967098,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.636171811562603,
              "mutual_information": 1.636171811562603,
              "normalized_mutual_information": 0.5888428631519115,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6008012080279748,
              "mutual_information": 1.6008012080279748,
              "normalized_mutual_information": 0.5752906820445228,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.608600447608482,
              "mutual_information": 1.608600447608482,
              "normalized_mutual_information": 0.5791119435778297,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6048765294629668,
              "mutual_information": 1.6048765294629668,
              "normalized_mutual_information": 0.5772863375384454,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6109313604114448,
              "mutual_information": 1.6109313604114448,
              "normalized_mutual_information": 0.5797472331493686,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.1,
                0.0
              ],
              "objective": 1.5849133781264486,
              "mutual_information": 1.5849133781264486,
              "normalized_mutual_information": 0.5698748913530736,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.1,
                0.0
              ],
              "objective": 1.6074154331199317,
              "mutual_information": 1.6074154331199317,
              "normalized_mutual_information": 0.5789255441056582,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.674419417651686,
              "mutual_information": 1.674419417651686,
              "normalized_mutual_information": 0.6020902161990591,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5456178831258922,
              "mutual_information": 1.5456178831258922,
              "normalized_mutual_information": 0.5560067846946378,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                -0.1
              ],
              "objective": 1.6098964516228824,
              "mutual_information": 1.6098964516228824,
              "normalized_mutual_information": 0.5788743936401045,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 1.6010434697460603,
              "mutual_information": 1.6010434697460603,
              "normalized_mutual_information": 0.5764285649256569,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.6413311334049536,
              "mutual_information": 1.6413311334049536,
              "normalized_mutual_information": 0.5902106156439045,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.6864392094866474,
              "mutual_information": 1.6864392094866474,
              "normalized_mutual_information": 0.6077010327506355,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.6538204992355734,
              "mutual_information": 1.6538204992355734,
              "normalized_mutual_information": 0.5942715745531687,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.672756133086559,
              "mutual_information": 1.672756133086559,
              "normalized_mutual_information": 0.6023833845055216,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.669526860917074,
              "mutual_information": 1.669526860917074,
              "normalized_mutual_information": 0.6002784830581387,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.6748920522573272,
              "mutual_information": 1.6748920522573272,
              "normalized_mutual_information": 0.6025188528253226,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.629149452562017,
              "mutual_information": 1.629149452562017,
              "normalized_mutual_information": 0.5858609866319431,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.6790840185671876,
              "mutual_information": 1.6790840185671876,
              "normalized_mutual_information": 0.6049120007173886,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6875668490711349,
              "mutual_information": 1.6875668490711349,
              "normalized_mutual_information": 0.6080597974194446,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6067165804233738,
              "mutual_information": 1.6067165804233738,
              "normalized_mutual_information": 0.5779725020645962,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.6698193433823914,
              "mutual_information": 1.6698193433823914,
              "normalized_mutual_information": 0.6001684341870087,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.6650829192580376,
              "mutual_information": 1.6650829192580376,
              "normalized_mutual_information": 0.599134659937241,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6894917820708104,
              "mutual_information": 1.6894917820708104,
              "normalized_mutual_information": 0.6079379425719752,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.670929587659849,
              "mutual_information": 1.670929587659849,
              "normalized_mutual_information": 0.6026286705276186,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6582921365120857,
              "mutual_information": 1.6582921365120857,
              "normalized_mutual_information": 0.5967745731096284,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6969703688736721,
              "mutual_information": 1.6969703688736721,
              "normalized_mutual_information": 0.611877745722635,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6841958407138151,
              "mutual_information": 1.6841958407138151,
              "normalized_mutual_information": 0.6069666709439346,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.688298185456519,
              "mutual_information": 1.688298185456519,
              "normalized_mutual_information": 0.6083368891943617,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6281717156714517,
              "mutual_information": 1.6281717156714517,
              "normalized_mutual_information": 0.5860624685098749,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6857723096417663,
              "mutual_information": 1.6857723096417663,
              "normalized_mutual_information": 0.6084850677953955,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.0
              ],
              "objective": 1.6332765377891754,
              "mutual_information": 1.6332765377891754,
              "normalized_mutual_information": 0.5901277623918061,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.0
              ],
              "objective": 1.674419417651686,
              "mutual_information": 1.674419417651686,
              "normalized_mutual_information": 0.6020902161990591,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                -0.1
              ],
              "objective": 1.6795851606642012,
              "mutual_information": 1.6795851606642012,
              "normalized_mutual_information": 0.6049387353257534,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.681375958691415,
              "mutual_information": 1.681375958691415,
              "normalized_mutual_information": 0.6064522615996868,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6922400389796548,
              "mutual_information": 1.6922400389796548,
              "normalized_mutual_information": 0.6096339249856499,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6844390255256778,
              "mutual_information": 1.6844390255256778,
              "normalized_mutual_information": 0.6083807379675056,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6875668490711349,
              "mutual_information": 1.6875668490711349,
              "normalized_mutual_information": 0.6080597974194446,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.5,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6914218819284503,
              "mutual_information": 1.6914218819284503,
              "normalized_mutual_information": 0.6106925166581049,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.691004676466056,
              "mutual_information": 1.691004676466056,
              "normalized_mutual_information": 0.6097013217011237,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6957184261454612,
              "mutual_information": 1.6957184261454612,
              "normalized_mutual_information": 0.6113566914362973,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.654914879959156,
              "mutual_information": 1.654914879959156,
              "normalized_mutual_information": 0.5964564727621534,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6641747841119179,
              "mutual_information": 1.6641747841119179,
              "normalized_mutual_information": 0.601622245893912,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.0
              ],
              "objective": 1.6386777545763485,
              "mutual_information": 1.6386777545763485,
              "normalized_mutual_information": 0.5928890512969439,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.0
              ],
              "objective": 1.672756133086559,
              "mutual_information": 1.672756133086559,
              "normalized_mutual_information": 0.6023833845055216,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                -0.1
              ],
              "objective": 1.6831160011672726,
              "mutual_information": 1.6831160011672726,
              "normalized_mutual_information": 0.6066335762595095,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6947341887775973,
              "mutual_information": 1.6947341887775973,
              "normalized_mutual_information": 0.6119109373859981,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6922846477858606,
              "mutual_information": 1.6922846477858606,
              "normalized_mutual_information": 0.6098992513767341,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.125,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6911173166805469,
              "mutual_information": 1.6911173166805469,
              "normalized_mutual_information": 0.6101470501167835,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6916238535928538,
              "mutual_information": 1.6916238535928538,
              "normalized_mutual_information": 0.6098171720167311,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.375,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6964238998644063,
              "mutual_information": 1.6964238998644063,
              "normalized_mutual_information": 0.6119360714501769,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6945800906219928,
              "mutual_information": 1.6945800906219928,
              "normalized_mutual_information": 0.6109777611502416,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6964686505847375,
              "mutual_information": 1.6964686505847375,
              "normalized_mutual_information": 0.6115952535939728,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6834201102775899,
              "mutual_information": 1.6834201102775899,
              "normalized_mutual_information": 0.6069585798056333,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6878468339683244,
              "mutual_information": 1.6878468339683244,
              "normalized_mutual_information": 0.6091433359532018,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.35000000000000003,
                0.0
              ],
              "objective": 1.6738226788561275,
              "mutual_information": 1.6738226788561275,
              "normalized_mutual_information": 0.6044196533212661,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25000000000000006,
                0.0
              ],
              "objective": 1.6949910339049385,
              "mutual_information": 1.6949910339049385,
              "normalized_mutual_information": 0.610930807128293,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                -0.05
              ],
              "objective": 1.6885752815910573,
              "mutual_information": 1.6885752815910573,
              "normalized_mutual_information": 0.6086213181432961,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.69879398239931,
              "mutual_information": 1.69879398239931,
              "normalized_mutual_information": 0.6126394163231822,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6971605850370761,
              "mutual_information": 1.6971605850370761,
              "normalized_mutual_information": 0.6118701622752531,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.125,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6910452182340237,
              "mutual_information": 1.6910452182340237,
              "normalized_mutual_information": 0.6103455697158968,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6957075547519096,
              "mutual_information": 1.6957075547519096,
              "normalized_mutual_information": 0.6114932228953709,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.0,
                0.375,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7002254927926739,
              "mutual_information": 1.7002254927926739,
              "normalized_mutual_information": 0.6134300021903797,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6934721166141748,
              "mutual_information": 1.6934721166141748,
              "normalized_mutual_information": 0.6109155696935291,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7023745049900334,
              "mutual_information": 1.7023745049900334,
              "normalized_mutual_information": 0.6138302482435304,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.682746877010285,
              "mutual_information": 1.682746877010285,
              "normalized_mutual_information": 0.6067567801676229,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6946228447144651,
              "mutual_information": 1.6946228447144651,
              "normalized_mutual_information": 0.6117352558245948,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.35000000000000003,
                0.05
              ],
              "objective": 1.6765907470390278,
              "mutual_information": 1.6765907470390278,
              "normalized_mutual_information": 0.6055005010072739,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25000000000000006,
                0.05
              ],
              "objective": 1.6987881699824439,
              "mutual_information": 1.6987881699824439,
              "normalized_mutual_information": 0.6124546953694165,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6969703688736721,
              "mutual_information": 1.6969703688736721,
              "normalized_mutual_information": 0.611877745722635,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6947341887775973,
              "mutual_information": 1.6947341887775973,
              "normalized_mutual_information": 0.6119109373859981,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7014139665417876,
              "mutual_information": 1.7014139665417876,
              "normalized_mutual_information": 0.6132998406139801,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.125,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6942148036242777,
              "mutual_information": 1.6942148036242777,
              "normalized_mutual_information": 0.6114029592009402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6952658257456346,
              "mutual_information": 1.6952658257456346,
              "normalized_mutual_information": 0.6114997879459931,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.0,
                0.375,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7011288827297066,
              "mutual_information": 1.7011288827297066,
              "normalized_mutual_information": 0.6137425693785982,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.69879398239931,
              "mutual_information": 1.69879398239931,
              "normalized_mutual_information": 0.6126394163231822,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7035045502897865,
              "mutual_information": 1.7035045502897865,
              "normalized_mutual_information": 0.6144129074895579,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6833930913723971,
              "mutual_information": 1.6833930913723971,
              "normalized_mutual_information": 0.6070372270335042,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6961533332336105,
              "mutual_information": 1.6961533332336105,
              "normalized_mutual_information": 0.6122766948204306,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.35000000000000003,
                0.05
              ],
              "objective": 1.6777480859797465,
              "mutual_information": 1.6777480859797465,
              "normalized_mutual_information": 0.6057752872400207,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25000000000000006,
                0.05
              ],
              "objective": 1.702115089814605,
              "mutual_information": 1.702115089814605,
              "normalized_mutual_information": 0.6136027800339461,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6964686505847375,
              "mutual_information": 1.6964686505847375,
              "normalized_mutual_information": 0.6115952535939728,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6985137432174302,
              "mutual_information": 1.6985137432174302,
              "normalized_mutual_information": 0.6132774493136627,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7011145386920308,
              "mutual_information": 1.7011145386920308,
              "normalized_mutual_information": 0.6131123242898525,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.125,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.697970904856034,
              "mutual_information": 1.697970904856034,
              "normalized_mutual_information": 0.6126609183437711,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6947199938244075,
              "mutual_information": 1.6947199938244075,
              "normalized_mutual_information": 0.6113255632541281,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.0,
                0.375,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7016766059591406,
              "mutual_information": 1.7016766059591406,
              "normalized_mutual_information": 0.6139164702920004,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7023745049900334,
              "mutual_information": 1.7023745049900334,
              "normalized_mutual_information": 0.6138302482435304,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7053007453355897,
              "mutual_information": 1.7053007453355897,
              "normalized_mutual_information": 0.6146515265487188,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.686934768616596,
              "mutual_information": 1.686934768616596,
              "normalized_mutual_information": 0.6082675887466867,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.6963885218812547,
              "mutual_information": 1.6963885218812547,
              "normalized_mutual_information": 0.6123342189974336,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.35000000000000003,
                0.05
              ],
              "objective": 1.6788761022015073,
              "mutual_information": 1.6788761022015073,
              "normalized_mutual_information": 0.6060957963243463,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25000000000000006,
                0.05
              ],
              "objective": 1.702652121576424,
              "mutual_information": 1.702652121576424,
              "normalized_mutual_information": 0.6138488355578224,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.6957184261454612,
              "mutual_information": 1.6957184261454612,
              "normalized_mutual_information": 0.6113566914362973,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7055762183584269,
              "mutual_information": 1.7055762183584269,
              "normalized_mutual_information": 0.615438971219043,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7042696717731876,
              "mutual_information": 1.7042696717731876,
              "normalized_mutual_information": 0.6147294251107133,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.125,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6983151034575623,
              "mutual_information": 1.6983151034575623,
              "normalized_mutual_information": 0.6133185040027537,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6955402917771465,
              "mutual_information": 1.6955402917771465,
              "normalized_mutual_information": 0.6117611302808139,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                0.0,
                0.375,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7008281963213259,
              "mutual_information": 1.7008281963213259,
              "normalized_mutual_information": 0.6137664830569031,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6985137432174302,
              "mutual_information": 1.6985137432174302,
              "normalized_mutual_information": 0.6132774493136627,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7056792608100177,
              "mutual_information": 1.7056792608100177,
              "normalized_mutual_information": 0.6154284226007171,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6833442439926465,
              "mutual_information": 1.6833442439926465,
              "normalized_mutual_information": 0.6071996654411999,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7025181670518954,
              "mutual_information": 1.7025181670518954,
              "normalized_mutual_information": 0.6145148536614546,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.35000000000000003,
                0.1
              ],
              "objective": 1.6810054754796697,
              "mutual_information": 1.6810054754796697,
              "normalized_mutual_information": 0.6070457662744059,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25000000000000006,
                0.1
              ],
              "objective": 1.7021951731073983,
              "mutual_information": 1.7021951731073983,
              "normalized_mutual_information": 0.6138720459745421,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7035045502897865,
              "mutual_information": 1.7035045502897865,
              "normalized_mutual_information": 0.6144129074895579,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.15000000000000002
              ],
              "objective": 1.6998506439897803,
              "mutual_information": 1.6998506439897803,
              "normalized_mutual_information": 0.6135133791805526,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7050854832510425,
              "mutual_information": 1.7050854832510425,
              "normalized_mutual_information": 0.615193316928729,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                0.125,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7007225535498538,
              "mutual_information": 1.7007225535498538,
              "normalized_mutual_information": 0.6138628672082567,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6988039295908013,
              "mutual_information": 1.6988039295908013,
              "normalized_mutual_information": 0.61255600254138,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                0.0,
                0.375,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7051789441864376,
              "mutual_information": 1.7051789441864376,
              "normalized_mutual_information": 0.6151594443538712,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7055762183584269,
              "mutual_information": 1.7055762183584269,
              "normalized_mutual_information": 0.615438971219043,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7068857843357177,
              "mutual_information": 1.7068857843357177,
              "normalized_mutual_information": 0.6156459203153486,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6839666927428827,
              "mutual_information": 1.6839666927428827,
              "normalized_mutual_information": 0.6072063688205113,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7032967358912103,
              "mutual_information": 1.7032967358912103,
              "normalized_mutual_information": 0.6147751100825634,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.35000000000000003,
                0.1
              ],
              "objective": 1.6845150904640172,
              "mutual_information": 1.6845150904640172,
              "normalized_mutual_information": 0.6081170135747435,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25000000000000006,
                0.1
              ],
              "objective": 1.7035759702851798,
              "mutual_information": 1.7035759702851798,
              "normalized_mutual_information": 0.6145821721673633,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7053007453355897,
              "mutual_information": 1.7053007453355897,
              "normalized_mutual_information": 0.6146515265487188,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.15000000000000002
              ],
              "objective": 1.7005846418109594,
              "mutual_information": 1.7005846418109594,
              "normalized_mutual_information": 0.6135640967403732,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 134,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7070239525731274,
              "mutual_information": 1.7070239525731274,
              "normalized_mutual_information": 0.615716815037121,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 135,
              "delta_rotation_deg_xyz": [
                0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7033740592469975,
              "mutual_information": 1.7033740592469975,
              "normalized_mutual_information": 0.6149964544462406,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 136,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6987714383553445,
              "mutual_information": 1.6987714383553445,
              "normalized_mutual_information": 0.6124263872946197,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 137,
              "delta_rotation_deg_xyz": [
                0.0,
                0.375,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.706133000392757,
              "mutual_information": 1.706133000392757,
              "normalized_mutual_information": 0.6154929819870768,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 138,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7056792608100177,
              "mutual_information": 1.7056792608100177,
              "normalized_mutual_information": 0.6154284226007171,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 139,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.704009516400233,
              "mutual_information": 1.704009516400233,
              "normalized_mutual_information": 0.6146561824544282,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 140,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6864072050465395,
              "mutual_information": 1.6864072050465395,
              "normalized_mutual_information": 0.6077592874274841,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 141,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.706593372001981,
              "mutual_information": 1.706593372001981,
              "normalized_mutual_information": 0.615794122530172,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 142,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.35000000000000003,
                0.1
              ],
              "objective": 1.685794373431989,
              "mutual_information": 1.685794373431989,
              "normalized_mutual_information": 0.6084778853669457,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 143,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25000000000000006,
                0.1
              ],
              "objective": 1.7042095557181545,
              "mutual_information": 1.7042095557181545,
              "normalized_mutual_information": 0.6148867206375669,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 144,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7053783452800868,
              "mutual_information": 1.7053783452800868,
              "normalized_mutual_information": 0.6147430173104776,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 145,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.15000000000000002
              ],
              "objective": 1.6982416100753774,
              "mutual_information": 1.6982416100753774,
              "normalized_mutual_information": 0.6129310800424433,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 146,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7028473012297167,
              "mutual_information": 1.7028473012297167,
              "normalized_mutual_information": 0.6143216118422378,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 147,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7068857843357177,
              "mutual_information": 1.7068857843357177,
              "normalized_mutual_information": 0.6156459203153486,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 148,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7018145016416604,
              "mutual_information": 1.7018145016416604,
              "normalized_mutual_information": 0.6137025206460325,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 149,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.375,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7062438703325886,
              "mutual_information": 1.7062438703325886,
              "normalized_mutual_information": 0.6156198274075972,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 150,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7050854832510425,
              "mutual_information": 1.7050854832510425,
              "normalized_mutual_information": 0.615193316928729,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 151,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7058714791189928,
              "mutual_information": 1.7058714791189928,
              "normalized_mutual_information": 0.6153562447582912,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 152,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.686966712595341,
              "mutual_information": 1.686966712595341,
              "normalized_mutual_information": 0.6080697992871236,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 153,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7028603248866772,
              "mutual_information": 1.7028603248866772,
              "normalized_mutual_information": 0.6145151606010976,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 154,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.35000000000000003,
                0.1
              ],
              "objective": 1.6943324915797167,
              "mutual_information": 1.6943324915797167,
              "normalized_mutual_information": 0.6111574750673009,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 155,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25000000000000006,
                0.1
              ],
              "objective": 1.6930901062339683,
              "mutual_information": 1.6930901062339683,
              "normalized_mutual_information": 0.6105376338349563,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 156,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.703139660635132,
              "mutual_information": 1.703139660635132,
              "normalized_mutual_information": 0.6141891842106547,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 157,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.15000000000000002
              ],
              "objective": 1.7040920773246528,
              "mutual_information": 1.7040920773246528,
              "normalized_mutual_information": 0.6148164911554755,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 158,
              "delta_rotation_deg_xyz": [
                -0.1875,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7047351604176562,
              "mutual_information": 1.7047351604176562,
              "normalized_mutual_information": 0.6150197471020471,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 159,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7083328990203863,
              "mutual_information": 1.7083328990203863,
              "normalized_mutual_information": 0.6163403739037484,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 160,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.1875,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7023869129030345,
              "mutual_information": 1.7023869129030345,
              "normalized_mutual_information": 0.6138825985635288,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 161,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.3125,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7088335973363689,
              "mutual_information": 1.7088335973363689,
              "normalized_mutual_information": 0.616245361453916,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 162,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7079054302973304,
              "mutual_information": 1.7079054302973304,
              "normalized_mutual_information": 0.6160839560806287,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 163,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7057243276791467,
              "mutual_information": 1.7057243276791467,
              "normalized_mutual_information": 0.6154136751528599,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 164,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6957778669664902,
              "mutual_information": 1.6957778669664902,
              "normalized_mutual_information": 0.6115704936979828,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 165,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.709700227020093,
              "mutual_information": 1.709700227020093,
              "normalized_mutual_information": 0.6166975823029838,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 166,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.32500000000000007,
                0.1
              ],
              "objective": 1.7030264570064766,
              "mutual_information": 1.7030264570064766,
              "normalized_mutual_information": 0.6142813778650039,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 167,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.275,
                0.1
              ],
              "objective": 1.7021455273461399,
              "mutual_information": 1.7021455273461399,
              "normalized_mutual_information": 0.6141098601995533,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 168,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.07500000000000001
              ],
              "objective": 1.704720644658786,
              "mutual_information": 1.704720644658786,
              "normalized_mutual_information": 0.6146843114096144,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 169,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.125
              ],
              "objective": 1.7065932244243982,
              "mutual_information": 1.7065932244243982,
              "normalized_mutual_information": 0.6158332690244229,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 170,
              "delta_rotation_deg_xyz": [
                -0.1875,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.706940350124308,
              "mutual_information": 1.706940350124308,
              "normalized_mutual_information": 0.6156651010316759,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 171,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7103760838040865,
              "mutual_information": 1.7103760838040865,
              "normalized_mutual_information": 0.6170364562221099,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 172,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.1875,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7075055001249755,
              "mutual_information": 1.7075055001249755,
              "normalized_mutual_information": 0.6159479810992045,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 173,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.3125,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7067656516216283,
              "mutual_information": 1.7067656516216283,
              "normalized_mutual_information": 0.6159000115354719,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 174,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7114740167867442,
              "mutual_information": 1.7114740167867442,
              "normalized_mutual_information": 0.6172439432769968,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 175,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5625
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7088372961375644,
              "mutual_information": 1.7088372961375644,
              "normalized_mutual_information": 0.616488824600301,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 176,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7070239525731274,
              "mutual_information": 1.7070239525731274,
              "normalized_mutual_information": 0.615716815037121,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 177,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7028603248866772,
              "mutual_information": 1.7028603248866772,
              "normalized_mutual_information": 0.6145151606010976,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 178,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.32500000000000007,
                0.1
              ],
              "objective": 1.7057135619609707,
              "mutual_information": 1.7057135619609707,
              "normalized_mutual_information": 0.6151406111867136,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 179,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.275,
                0.1
              ],
              "objective": 1.7068295685297372,
              "mutual_information": 1.7068295685297372,
              "normalized_mutual_information": 0.61558225279629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 180,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.07500000000000001
              ],
              "objective": 1.704611760377991,
              "mutual_information": 1.704611760377991,
              "normalized_mutual_information": 0.6150028117584458,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 181,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.125
              ],
              "objective": 1.7080271097111677,
              "mutual_information": 1.7080271097111677,
              "normalized_mutual_information": 0.6163034974083252,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 182,
              "delta_rotation_deg_xyz": [
                -0.1875,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.704281536670888,
              "mutual_information": 1.704281536670888,
              "normalized_mutual_information": 0.614807840930435,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 183,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7094614424297507,
              "mutual_information": 1.7094614424297507,
              "normalized_mutual_information": 0.6166290733138092,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 184,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.1875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7103601634880954,
              "mutual_information": 1.7103601634880954,
              "normalized_mutual_information": 0.6168057212306243,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 185,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.3125,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7062265135037655,
              "mutual_information": 1.7062265135037655,
              "normalized_mutual_information": 0.6156506649760032,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 186,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7095804340219,
              "mutual_information": 1.7095804340219,
              "normalized_mutual_information": 0.6165869911094793,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 187,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.709700227020093,
              "mutual_information": 1.709700227020093,
              "normalized_mutual_information": 0.6166975823029838,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 188,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7079054302973304,
              "mutual_information": 1.7079054302973304,
              "normalized_mutual_information": 0.6160839560806287,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 189,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.702980605730249,
              "mutual_information": 1.702980605730249,
              "normalized_mutual_information": 0.6145552358139033,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 190,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.32500000000000007,
                0.1
              ],
              "objective": 1.7057623230291004,
              "mutual_information": 1.7057623230291004,
              "normalized_mutual_information": 0.6150227694164028,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 191,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.275,
                0.1
              ],
              "objective": 1.704635863848548,
              "mutual_information": 1.704635863848548,
              "normalized_mutual_information": 0.6147962752657298,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 192,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.07500000000000001
              ],
              "objective": 1.7080398285583767,
              "mutual_information": 1.7080398285583767,
              "normalized_mutual_information": 0.6160170836132749,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 193,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.125
              ],
              "objective": 1.708694584315153,
              "mutual_information": 1.708694584315153,
              "normalized_mutual_information": 0.6164162260703293,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 194,
              "delta_rotation_deg_xyz": [
                -0.15625,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7071998559312362,
              "mutual_information": 1.7071998559312362,
              "normalized_mutual_information": 0.6158375713069967,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 195,
              "delta_rotation_deg_xyz": [
                -0.09375,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7077411222321974,
              "mutual_information": 1.7077411222321974,
              "normalized_mutual_information": 0.6160036347211522,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 196,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7125498535027852,
              "mutual_information": 1.7125498535027852,
              "normalized_mutual_information": 0.6175941955474958,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 197,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.28125,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.707861732997402,
              "mutual_information": 1.707861732997402,
              "normalized_mutual_information": 0.616078002684187,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 198,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7109103168360391,
              "mutual_information": 1.7109103168360391,
              "normalized_mutual_information": 0.6169858640531612,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 199,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.46875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.711227999720257,
              "mutual_information": 1.711227999720257,
              "normalized_mutual_information": 0.6172702271443328,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 200,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7119591350773795,
              "mutual_information": 1.7119591350773795,
              "normalized_mutual_information": 0.6173723955817488,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 201,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.037500000000000006,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7082758658930832,
              "mutual_information": 1.7082758658930832,
              "normalized_mutual_information": 0.6163561785617387,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 202,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.31250000000000006,
                0.1
              ],
              "objective": 1.7059770078392973,
              "mutual_information": 1.7059770078392973,
              "normalized_mutual_information": 0.6153398213327662,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 203,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.28750000000000003,
                0.1
              ],
              "objective": 1.7068801546029961,
              "mutual_information": 1.7068801546029961,
              "normalized_mutual_information": 0.6156997316088547,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 204,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.08750000000000001
              ],
              "objective": 1.7074295111001125,
              "mutual_information": 1.7074295111001125,
              "normalized_mutual_information": 0.6159342521134449,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 205,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1125
              ],
              "objective": 1.7093690910119008,
              "mutual_information": 1.7093690910119008,
              "normalized_mutual_information": 0.6165048620750904,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 206,
              "delta_rotation_deg_xyz": [
                -0.15625,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7076465677032011,
              "mutual_information": 1.7076465677032011,
              "normalized_mutual_information": 0.6159532483412461,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 207,
              "delta_rotation_deg_xyz": [
                -0.09375,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7084712890800808,
              "mutual_information": 1.7084712890800808,
              "normalized_mutual_information": 0.6163393261707547,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 208,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.1875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7103601634880954,
              "mutual_information": 1.7103601634880954,
              "normalized_mutual_information": 0.6168057212306243,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 209,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7114740167867442,
              "mutual_information": 1.7114740167867442,
              "normalized_mutual_information": 0.6172439432769968,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 210,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7123681511208126,
              "mutual_information": 1.7123681511208126,
              "normalized_mutual_information": 0.6175482681958375,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 211,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.46875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7110389271388673,
              "mutual_information": 1.7110389271388673,
              "normalized_mutual_information": 0.6171646428718724,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 212,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.710109977251297,
              "mutual_information": 1.710109977251297,
              "normalized_mutual_information": 0.6169528698054453,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 213,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.037500000000000006,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7082993509215385,
              "mutual_information": 1.7082993509215385,
              "normalized_mutual_information": 0.6161469695899772,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 214,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.31250000000000006,
                0.1
              ],
              "objective": 1.707763606573301,
              "mutual_information": 1.707763606573301,
              "normalized_mutual_information": 0.6160127508277382,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 215,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.28750000000000003,
                0.1
              ],
              "objective": 1.7079484736176074,
              "mutual_information": 1.7079484736176074,
              "normalized_mutual_information": 0.6161056198890041,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 216,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.08750000000000001
              ],
              "objective": 1.7111975535824981,
              "mutual_information": 1.7111975535824981,
              "normalized_mutual_information": 0.617097085984119,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 217,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1125
              ],
              "objective": 1.7114467792062615,
              "mutual_information": 1.7114467792062615,
              "normalized_mutual_information": 0.6173415011310259,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 218,
              "delta_rotation_deg_xyz": [
                -0.140625,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7100294247852503,
              "mutual_information": 1.7100294247852503,
              "normalized_mutual_information": 0.6168130686442884,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 219,
              "delta_rotation_deg_xyz": [
                -0.109375,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7105418027845436,
              "mutual_information": 1.7105418027845436,
              "normalized_mutual_information": 0.6169471404230131,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 220,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.203125,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7122810162085724,
              "mutual_information": 1.7122810162085724,
              "normalized_mutual_information": 0.6174855945980576,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 221,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.234375,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7125159089694566,
              "mutual_information": 1.7125159089694566,
              "normalized_mutual_information": 0.6176370844250282,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 222,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7119931480961057,
              "mutual_information": 1.7119931480961057,
              "normalized_mutual_information": 0.6173840183561831,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 223,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.453125
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7117962110986038,
              "mutual_information": 1.7117962110986038,
              "normalized_mutual_information": 0.617417866078981,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 224,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.018750000000000003,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7116180664669942,
              "mutual_information": 1.7116180664669942,
              "normalized_mutual_information": 0.6172644034244327,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 225,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.03125,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.712216365100063,
              "mutual_information": 1.712216365100063,
              "normalized_mutual_information": 0.6175557509328652,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 226,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30625,
                0.1
              ],
              "objective": 1.7079662958941544,
              "mutual_information": 1.7079662958941544,
              "normalized_mutual_information": 0.61603509922555,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 227,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.29375000000000007,
                0.1
              ],
              "objective": 1.7091018259703639,
              "mutual_information": 1.7091018259703639,
              "normalized_mutual_information": 0.6165397653669018,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 228,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7129072454685679,
              "mutual_information": 1.7129072454685679,
              "normalized_mutual_information": 0.6177356437184284,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 229,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.10625000000000001
              ],
              "objective": 1.7118414722947175,
              "mutual_information": 1.7118414722947175,
              "normalized_mutual_information": 0.6173780804825175,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 230,
              "delta_rotation_deg_xyz": [
                -0.140625,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.710843472657282,
              "mutual_information": 1.710843472657282,
              "normalized_mutual_information": 0.6171332671380457,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 231,
              "delta_rotation_deg_xyz": [
                -0.109375,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.710877212936996,
              "mutual_information": 1.710877212936996,
              "normalized_mutual_information": 0.6170177362775383,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 232,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.203125,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7118488820633633,
              "mutual_information": 1.7118488820633633,
              "normalized_mutual_information": 0.6172073072822762,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 233,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.234375,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.712705807996346,
              "mutual_information": 1.712705807996346,
              "normalized_mutual_information": 0.6177127521389543,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 234,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.713212701875311,
              "mutual_information": 1.713212701875311,
              "normalized_mutual_information": 0.6178402362818206,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 235,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.453125
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.711024763418007,
              "mutual_information": 1.711024763418007,
              "normalized_mutual_information": 0.6170034554159892,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 236,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.018750000000000003,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.711969880581492,
              "mutual_information": 1.711969880581492,
              "normalized_mutual_information": 0.6172292538193941,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 237,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.03125,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7126006378811978,
              "mutual_information": 1.7126006378811978,
              "normalized_mutual_information": 0.6177658582711335,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 238,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30625,
                0.09375
              ],
              "objective": 1.7081966967836817,
              "mutual_information": 1.7081966967836817,
              "normalized_mutual_information": 0.6161670395204464,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 239,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.29375000000000007,
                0.09375
              ],
              "objective": 1.7096139216107786,
              "mutual_information": 1.7096139216107786,
              "normalized_mutual_information": 0.616783461228404,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 240,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.0875
              ],
              "objective": 1.7111975535824981,
              "mutual_information": 1.7111975535824981,
              "normalized_mutual_information": 0.617097085984119,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 241,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7125498535027852,
              "mutual_information": 1.7125498535027852,
              "normalized_mutual_information": 0.6175941955474958,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 242,
              "delta_rotation_deg_xyz": [
                -0.140625,
                0.21875,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7110366853146488,
              "mutual_information": 1.7110366853146488,
              "normalized_mutual_information": 0.6171771818545747,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 243,
              "delta_rotation_deg_xyz": [
                -0.109375,
                0.21875,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7111921012846798,
              "mutual_information": 1.7111921012846798,
              "normalized_mutual_information": 0.6172076394229778,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 244,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.203125,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7127641900128256,
              "mutual_information": 1.7127641900128256,
              "normalized_mutual_information": 0.6175893716132316,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 245,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.234375,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7124566349066157,
              "mutual_information": 1.7124566349066157,
              "normalized_mutual_information": 0.617620779779711,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 246,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.712623629008694,
              "mutual_information": 1.712623629008694,
              "normalized_mutual_information": 0.6176693570012657,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 247,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7129072454685679,
              "mutual_information": 1.7129072454685679,
              "normalized_mutual_information": 0.6177356437184284,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 248,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.018750000000000003,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7122173308112945,
              "mutual_information": 1.7122173308112945,
              "normalized_mutual_information": 0.6173395118293112,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 249,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.03125,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7129098593567431,
              "mutual_information": 1.7129098593567431,
              "normalized_mutual_information": 0.6177789671458461,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 250,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30625,
                0.09375
              ],
              "objective": 1.708572781221772,
              "mutual_information": 1.708572781221772,
              "normalized_mutual_information": 0.616354119176184,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 251,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.29375000000000007,
                0.09375
              ],
              "objective": 1.7111002064832277,
              "mutual_information": 1.7111002064832277,
              "normalized_mutual_information": 0.6172723389876821,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 252,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.0875
              ],
              "objective": 1.710978640709235,
              "mutual_information": 1.710978640709235,
              "normalized_mutual_information": 0.6169861457500639,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 253,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.21875,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7119931480961057,
              "mutual_information": 1.7119931480961057,
              "normalized_mutual_information": 0.6173840183561831,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 253,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.5725737510074396,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 1.3747830436005075,
          "translation_m": 0.23593232610221096,
          "recovered": false
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.10040438486658079,
              -0.10072692378290797,
              0.3347521608610069
            ],
            "rotation_quat_xyzw": [
              0.018483166943702264,
              -0.020395375223898404,
              0.012457493027771625,
              0.9995435018430517
            ]
          },
          "delta": [
            1.0806291792304739,
            0.12430090283265695,
            1.130099172955712,
            0.05040438486658077,
            -0.10072692378290797,
            0.1347521608610069
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 145,
          "nfev": 25,
          "njev": 20,
          "initial_support": [
            3840,
            3840,
            3840
          ],
          "final_support": [
            3840,
            3840,
            3840
          ],
          "support_retained": true,
          "cost": 183.14188124013214,
          "optimality": 0.03414822904513821
        },
        "seconds": 0.25210897299984936,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.7517987285625634,
          "translation_m": 0.10548709710907596,
          "recovered": false
        },
        "holdout": [
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.0605695944609117,
            "p90_absolute_z_m": 0.18593803697167666,
            "behind_surface_gt_20cm": 332,
            "in_front_gt_20cm": 18
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05603440158719053,
            "p90_absolute_z_m": 0.11558907901694467,
            "behind_surface_gt_20cm": 124,
            "in_front_gt_20cm": 27
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05936227354672852,
            "p90_absolute_z_m": 0.20282835756464193,
            "behind_surface_gt_20cm": 377,
            "in_front_gt_20cm": 19
          }
        ]
      }
    },
    {
      "condition": "exact_z_all",
      "sign": 0,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.2,
              -0.1,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.017674160904072974,
              -0.026019717990453804,
              0.009179049840112002,
              0.9994630275083051
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.2,
              -0.1,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.01781522162963345,
              -0.0258822598727771,
              0.009309353955127279,
              0.9994628869703484
            ]
          },
          "best_delta_rotation_deg_xyz": [
            0.015625,
            0.015625,
            0.015625
          ],
          "best_delta_translation_m_xyz": [
            0.0,
            0.0,
            0.0
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7186516747497678,
            "normalized_mutual_information": 0.6192714575611752,
            "visible_point_count": 11514,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.762567215610884,
                "normalized_mutual_information": 0.6286917172576635,
                "visible_point_count": 3839,
                "projected_count_before_visibility": 3840
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.5161813794820334,
                "normalized_mutual_information": 0.5722977397126334,
                "visible_point_count": 3840,
                "projected_count_before_visibility": 3840
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.8772064291563861,
                "normalized_mutual_information": 0.6568249157132287,
                "visible_point_count": 3835,
                "projected_count_before_visibility": 3840
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.721869200856777,
            "normalized_mutual_information": 0.6206304485590827,
            "visible_point_count": 11514,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.7626323492515676,
                "normalized_mutual_information": 0.6288351730515664,
                "visible_point_count": 3839,
                "projected_count_before_visibility": 3840
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.518194829630184,
                "normalized_mutual_information": 0.5733066432951301,
                "visible_point_count": 3840,
                "projected_count_before_visibility": 3840
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.8847804236885795,
                "normalized_mutual_information": 0.6597495293305516,
                "visible_point_count": 3835,
                "projected_count_before_visibility": 3840
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7186516747497678,
              "mutual_information": 1.7186516747497678,
              "normalized_mutual_information": 0.6192714575611752,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.6933828259659613,
              "mutual_information": 1.6933828259659613,
              "normalized_mutual_information": 0.6101747383076161,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.698005404831153,
              "mutual_information": 1.698005404831153,
              "normalized_mutual_information": 0.6127408634298265,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.685648842387274,
              "mutual_information": 1.685648842387274,
              "normalized_mutual_information": 0.6071617805479309,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.6978448478952075,
              "mutual_information": 1.6978448478952075,
              "normalized_mutual_information": 0.6134685049864733,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7156118231564743,
              "mutual_information": 1.7156118231564743,
              "normalized_mutual_information": 0.6184497346092918,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7148027688946215,
              "mutual_information": 1.7148027688946215,
              "normalized_mutual_information": 0.6179837613658036,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.6556661870084504,
              "mutual_information": 1.6556661870084504,
              "normalized_mutual_information": 0.596512229312461,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.6571476482236234,
              "mutual_information": 1.6571476482236234,
              "normalized_mutual_information": 0.5997425836897284,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.656266568366022,
              "mutual_information": 1.656266568366022,
              "normalized_mutual_information": 0.5984145378220013,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.6531268152158145,
              "mutual_information": 1.6531268152158145,
              "normalized_mutual_information": 0.5958317996495667,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.705784150423785,
              "mutual_information": 1.705784150423785,
              "normalized_mutual_information": 0.6147567076407753,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.698573252263844,
              "mutual_information": 1.698573252263844,
              "normalized_mutual_information": 0.6129456979284179,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7079470412622288,
              "mutual_information": 1.7079470412622288,
              "normalized_mutual_information": 0.6156044446609085,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7133397629082596,
              "mutual_information": 1.7133397629082596,
              "normalized_mutual_information": 0.6177792818189923,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7059070721628184,
              "mutual_information": 1.7059070721628184,
              "normalized_mutual_information": 0.6142429612312847,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7111077490305686,
              "mutual_information": 1.7111077490305686,
              "normalized_mutual_information": 0.6173925418536806,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7154865868810976,
              "mutual_information": 1.7154865868810976,
              "normalized_mutual_information": 0.6184126205867159,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7177895586940515,
              "mutual_information": 1.7177895586940515,
              "normalized_mutual_information": 0.6189278081886611,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.0,
                0.0
              ],
              "objective": 1.691811901409985,
              "mutual_information": 1.691811901409985,
              "normalized_mutual_information": 0.6096678789483613,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.05,
                0.0,
                0.0
              ],
              "objective": 1.685352106363893,
              "mutual_information": 1.685352106363893,
              "normalized_mutual_information": 0.6087065039093925,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.05,
                0.0
              ],
              "objective": 1.6943682299921974,
              "mutual_information": 1.6943682299921974,
              "normalized_mutual_information": 0.6115534402467597,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.05,
                0.0
              ],
              "objective": 1.689291741243973,
              "mutual_information": 1.689291741243973,
              "normalized_mutual_information": 0.6091497441759356,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.05
              ],
              "objective": 1.7180742757547776,
              "mutual_information": 1.7180742757547776,
              "normalized_mutual_information": 0.6190048913595818,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.05
              ],
              "objective": 1.708209519356373,
              "mutual_information": 1.708209519356373,
              "normalized_mutual_information": 0.6161807668995313,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7135692059670242,
              "mutual_information": 1.7135692059670242,
              "normalized_mutual_information": 0.6175976077956791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.718386020040267,
              "mutual_information": 1.718386020040267,
              "normalized_mutual_information": 0.6194506262626601,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.0625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7128601252197235,
              "mutual_information": 1.7128601252197235,
              "normalized_mutual_information": 0.6171794965244758,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7159660848711986,
              "mutual_information": 1.7159660848711986,
              "normalized_mutual_information": 0.6186950046035921,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7170161982388148,
              "mutual_information": 1.7170161982388148,
              "normalized_mutual_information": 0.6189071315368094,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7185554812509765,
              "mutual_information": 1.7185554812509765,
              "normalized_mutual_information": 0.6191611201032917,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.0,
                0.0
              ],
              "objective": 1.7091171536777428,
              "mutual_information": 1.7091171536777428,
              "normalized_mutual_information": 0.6157602817406066,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.025,
                0.0,
                0.0
              ],
              "objective": 1.7057650209406976,
              "mutual_information": 1.7057650209406976,
              "normalized_mutual_information": 0.6154078182612278,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.025,
                0.0
              ],
              "objective": 1.7093192244997233,
              "mutual_information": 1.7093192244997233,
              "normalized_mutual_information": 0.61643338781212,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.025,
                0.0
              ],
              "objective": 1.7035354413403232,
              "mutual_information": 1.7035354413403232,
              "normalized_mutual_information": 0.6140326278402827,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.025
              ],
              "objective": 1.7149415392509162,
              "mutual_information": 1.7149415392509162,
              "normalized_mutual_information": 0.6180129236816753,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.025
              ],
              "objective": 1.7141910541676364,
              "mutual_information": 1.7141910541676364,
              "normalized_mutual_information": 0.6178341561313502,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7141981378163178,
              "mutual_information": 1.7141981378163178,
              "normalized_mutual_information": 0.6178090676429814,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7161773880316833,
              "mutual_information": 1.7161773880316833,
              "normalized_mutual_information": 0.6186616787675633,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.716962369507306,
              "mutual_information": 1.716962369507306,
              "normalized_mutual_information": 0.6185446522450134,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7197778870253753,
              "mutual_information": 1.7197778870253753,
              "normalized_mutual_information": 0.6198355060864187,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7179802658676895,
              "mutual_information": 1.7179802658676895,
              "normalized_mutual_information": 0.6191008129692467,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7184098690011556,
              "mutual_information": 1.7184098690011556,
              "normalized_mutual_information": 0.6191991874341861,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                0.0,
                0.0
              ],
              "objective": 1.713449882782476,
              "mutual_information": 1.713449882782476,
              "normalized_mutual_information": 0.6173496058796402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0125,
                0.0,
                0.0
              ],
              "objective": 1.7132337708518355,
              "mutual_information": 1.7132337708518355,
              "normalized_mutual_information": 0.6177538728254767,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7161904645029675,
              "mutual_information": 1.7161904645029675,
              "normalized_mutual_information": 0.6186921241710165,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0125,
                0.0
              ],
              "objective": 1.7103996974100248,
              "mutual_information": 1.7103996974100248,
              "normalized_mutual_information": 0.6164181938607015,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.0125
              ],
              "objective": 1.7185325211147067,
              "mutual_information": 1.7185325211147067,
              "normalized_mutual_information": 0.6192128202864602,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0125
              ],
              "objective": 1.7166460801631753,
              "mutual_information": 1.7166460801631753,
              "normalized_mutual_information": 0.6186814509257285,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7158505566278455,
              "mutual_information": 1.7158505566278455,
              "normalized_mutual_information": 0.618562187995665,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7174384387948922,
              "mutual_information": 1.7174384387948922,
              "normalized_mutual_information": 0.6192726779988239,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7186516747497678,
              "mutual_information": 1.7186516747497678,
              "normalized_mutual_information": 0.6192714575611752,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7159660848711986,
              "mutual_information": 1.7159660848711986,
              "normalized_mutual_information": 0.6186950046035921,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                -0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7189425189306526,
              "mutual_information": 1.7189425189306526,
              "normalized_mutual_information": 0.6196129866751278,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7195640173366227,
              "mutual_information": 1.7195640173366227,
              "normalized_mutual_information": 0.6197781754576676,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                0.0,
                0.0
              ],
              "objective": 1.7181867593395055,
              "mutual_information": 1.7181867593395055,
              "normalized_mutual_information": 0.6191411437869623,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0125,
                0.0,
                0.0
              ],
              "objective": 1.712063383222138,
              "mutual_information": 1.712063383222138,
              "normalized_mutual_information": 0.617612559576337,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7168009090987828,
              "mutual_information": 1.7168009090987828,
              "normalized_mutual_information": 0.6191233343760288,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0125,
                0.0
              ],
              "objective": 1.713024724688615,
              "mutual_information": 1.713024724688615,
              "normalized_mutual_information": 0.6175236248563603,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.0125
              ],
              "objective": 1.7193616805245693,
              "mutual_information": 1.7193616805245693,
              "normalized_mutual_information": 0.6197154969935769,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0125
              ],
              "objective": 1.7185103931175867,
              "mutual_information": 1.7185103931175867,
              "normalized_mutual_information": 0.6194274898573414,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.717805601445863,
              "mutual_information": 1.717805601445863,
              "normalized_mutual_information": 0.6191183861593746,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7188173552826704,
              "mutual_information": 1.7188173552826704,
              "normalized_mutual_information": 0.6197250627063066,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7212439883192154,
              "mutual_information": 1.7212439883192154,
              "normalized_mutual_information": 0.6202589252617555,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.046875,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7179453594549614,
              "mutual_information": 1.7179453594549614,
              "normalized_mutual_information": 0.6192998429213725,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                -0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7202201357092441,
              "mutual_information": 1.7202201357092441,
              "normalized_mutual_information": 0.6200654673054684,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7200896812181963,
              "mutual_information": 1.7200896812181963,
              "normalized_mutual_information": 0.6199616330819271,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                0.0,
                0.0
              ],
              "objective": 1.720932350254823,
              "mutual_information": 1.720932350254823,
              "normalized_mutual_information": 0.6201519317914791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.00625,
                0.0,
                0.0
              ],
              "objective": 1.715061653814363,
              "mutual_information": 1.715061653814363,
              "normalized_mutual_information": 0.6183569016054128,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7194604334515038,
              "mutual_information": 1.7194604334515038,
              "normalized_mutual_information": 0.619984531843033,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.00625,
                0.0
              ],
              "objective": 1.7154056565443039,
              "mutual_information": 1.7154056565443039,
              "normalized_mutual_information": 0.6183775739716343,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.00625
              ],
              "objective": 1.7206962858795165,
              "mutual_information": 1.7206962858795165,
              "normalized_mutual_information": 0.6201347044407831,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.00625
              ],
              "objective": 1.7192153841586453,
              "mutual_information": 1.7192153841586453,
              "normalized_mutual_information": 0.6196773201563238,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7203698048025597,
              "mutual_information": 1.7203698048025597,
              "normalized_mutual_information": 0.6199184565315897,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7208538287917132,
              "mutual_information": 1.7208538287917132,
              "normalized_mutual_information": 0.6202813870245105,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7186516747497678,
              "mutual_information": 1.7186516747497678,
              "normalized_mutual_information": 0.6192714575611752,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7197778870253753,
              "mutual_information": 1.7197778870253753,
              "normalized_mutual_information": 0.6198355060864187,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                -0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7215736447834675,
              "mutual_information": 1.7215736447834675,
              "normalized_mutual_information": 0.6203707983068321,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.721606861774596,
              "mutual_information": 1.721606861774596,
              "normalized_mutual_information": 0.6204755029088288,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                0.0,
                0.0
              ],
              "objective": 1.7180639457334737,
              "mutual_information": 1.7180639457334737,
              "normalized_mutual_information": 0.6189961331380313,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.00625,
                0.0,
                0.0
              ],
              "objective": 1.716735076010212,
              "mutual_information": 1.716735076010212,
              "normalized_mutual_information": 0.6187591311992336,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7209261771809523,
              "mutual_information": 1.7209261771809523,
              "normalized_mutual_information": 0.6204210240461605,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.00625,
                0.0
              ],
              "objective": 1.7166818836791986,
              "mutual_information": 1.7166818836791986,
              "normalized_mutual_information": 0.6187369180665195,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.00625
              ],
              "objective": 1.72120885720187,
              "mutual_information": 1.72120885720187,
              "normalized_mutual_information": 0.6202700861007157,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.00625
              ],
              "objective": 1.7212982210634253,
              "mutual_information": 1.7212982210634253,
              "normalized_mutual_information": 0.620351866237521,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7201151038459461,
              "mutual_information": 1.7201151038459461,
              "normalized_mutual_information": 0.6198188851713758,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.721869200856777,
              "mutual_information": 1.721869200856777,
              "normalized_mutual_information": 0.6206304485590827,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.718979513871701,
              "mutual_information": 1.718979513871701,
              "normalized_mutual_information": 0.6194435698993986,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7200896812181963,
              "mutual_information": 1.7200896812181963,
              "normalized_mutual_information": 0.6199616330819271,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7212439883192154,
              "mutual_information": 1.7212439883192154,
              "normalized_mutual_information": 0.6202589252617555,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7211578685065554,
              "mutual_information": 1.7211578685065554,
              "normalized_mutual_information": 0.6202811018954691,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                0.0,
                0.0
              ],
              "objective": 1.7180684707563676,
              "mutual_information": 1.7180684707563676,
              "normalized_mutual_information": 0.619059360328143,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.00625,
                0.0,
                0.0
              ],
              "objective": 1.7169718284399549,
              "mutual_information": 1.7169718284399549,
              "normalized_mutual_information": 0.6189390095793225,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7216855809602567,
              "mutual_information": 1.7216855809602567,
              "normalized_mutual_information": 0.6206791106653812,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.00625,
                0.0
              ],
              "objective": 1.7173100959021532,
              "mutual_information": 1.7173100959021532,
              "normalized_mutual_information": 0.6189977305482036,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.00625
              ],
              "objective": 1.7211868375251969,
              "mutual_information": 1.7211868375251969,
              "normalized_mutual_information": 0.620248157196512,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.00625
              ],
              "objective": 1.720343989541357,
              "mutual_information": 1.720343989541357,
              "normalized_mutual_information": 0.6200838962212818,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.721606861774596,
              "mutual_information": 1.721606861774596,
              "normalized_mutual_information": 0.6204755029088288,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7184195006576533,
              "mutual_information": 1.7184195006576533,
              "normalized_mutual_information": 0.6195728085564601,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.0,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7190377171714086,
              "mutual_information": 1.7190377171714086,
              "normalized_mutual_information": 0.6194920144373214,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.03125,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7204639414290612,
              "mutual_information": 1.7204639414290612,
              "normalized_mutual_information": 0.620174645562049,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7208538287917132,
              "mutual_information": 1.7208538287917132,
              "normalized_mutual_information": 0.6202813870245105,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7216518953507423,
              "mutual_information": 1.7216518953507423,
              "normalized_mutual_information": 0.620549671968403,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                0.0,
                0.0
              ],
              "objective": 1.7186128907324723,
              "mutual_information": 1.7186128907324723,
              "normalized_mutual_information": 0.6193258463195358,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.00625,
                0.0,
                0.0
              ],
              "objective": 1.7173649471486936,
              "mutual_information": 1.7173649471486936,
              "normalized_mutual_information": 0.6191331254856179,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7194365992045615,
              "mutual_information": 1.7194365992045615,
              "normalized_mutual_information": 0.619885289329523,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.00625,
                0.0
              ],
              "objective": 1.719698548219126,
              "mutual_information": 1.719698548219126,
              "normalized_mutual_information": 0.6198062287742503,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.00625
              ],
              "objective": 1.7194782035727398,
              "mutual_information": 1.7194782035727398,
              "normalized_mutual_information": 0.619731353424523,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.00625
              ],
              "objective": 1.71964771001183,
              "mutual_information": 1.71964771001183,
              "normalized_mutual_information": 0.6198888537331787,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 109,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.22438793299079407,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.027062063695025423,
          "translation_m": 0.0,
          "recovered": true
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.10043261321993599,
              -0.10059792470130634,
              0.33461936416445753
            ],
            "rotation_quat_xyzw": [
              0.018481988022831745,
              -0.020397459672748305,
              0.012470553767924447,
              0.9995433182440588
            ]
          },
          "delta": [
            0.07880965197215266,
            0.6380783544558736,
            0.39113278801963547,
            -0.09956738678006402,
            -0.000597924701306339,
            0.034619364164457565
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 142,
          "nfev": 28,
          "njev": 19,
          "initial_support": [
            3840,
            3840,
            3840
          ],
          "final_support": [
            3840,
            3840,
            3840
          ],
          "support_retained": true,
          "cost": 183.1413452770001,
          "optimality": 0.15589308866327103
        },
        "seconds": 0.23692714299249928,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.752326292862017,
          "translation_m": 0.10541594945410597,
          "recovered": false
        },
        "holdout": [
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.060515625100810766,
            "p90_absolute_z_m": 0.18577360630342413,
            "behind_surface_gt_20cm": 330,
            "in_front_gt_20cm": 18
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05595296975984976,
            "p90_absolute_z_m": 0.11544039399112585,
            "behind_surface_gt_20cm": 123,
            "in_front_gt_20cm": 27
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05922225802672321,
            "p90_absolute_z_m": 0.2026364574824434,
            "behind_surface_gt_20cm": 377,
            "in_front_gt_20cm": 19
          }
        ]
      }
    },
    {
      "condition": "exact_range_visible",
      "sign": 1,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.35,
              -0.2,
              0.4
            ],
            "rotation_quat_xyzw": [
              0.026554813331940996,
              -0.030285556445752447,
              0.015605887359136183,
              0.9990666060075328
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.24999999999999997,
              -0.04999999999999993,
              0.28750000000000003
            ],
            "rotation_quat_xyzw": [
              0.019909825813258248,
              -0.028773892680994943,
              0.011277225539038286,
              0.9993240145819623
            ]
          },
          "best_delta_rotation_deg_xyz": [
            -0.75,
            0.171875,
            -0.515625
          ],
          "best_delta_translation_m_xyz": [
            -0.1,
            0.15000000000000008,
            -0.1125
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.8913723903070097,
            "normalized_mutual_information": 0.6996716147735146,
            "visible_point_count": 11262,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.9335148648410865,
                "normalized_mutual_information": 0.7011937458934565,
                "visible_point_count": 3762,
                "projected_count_before_visibility": 3762
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.6680139379068755,
                "normalized_mutual_information": 0.6700454255645851,
                "visible_point_count": 3738,
                "projected_count_before_visibility": 3741
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 2.072588368173067,
                "normalized_mutual_information": 0.7277756728625022,
                "visible_point_count": 3762,
                "projected_count_before_visibility": 3764
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 2.2445638143892452,
            "normalized_mutual_information": 0.8257118651231962,
            "visible_point_count": 11332,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 2.307921292740308,
                "normalized_mutual_information": 0.8317729285045885,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 2.0340564317395633,
                "normalized_mutual_information": 0.8094837370697754,
                "visible_point_count": 3772,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 2.3917137186878645,
                "normalized_mutual_information": 0.8358789297952244,
                "visible_point_count": 3777,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.8913723903070097,
              "mutual_information": 1.8913723903070097,
              "normalized_mutual_information": 0.6996716147735146,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.951081511939712,
              "mutual_information": 1.951081511939712,
              "normalized_mutual_information": 0.7193527709922155,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.8330132171804614,
              "mutual_information": 1.8330132171804614,
              "normalized_mutual_information": 0.677566239518138,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.895279946846417,
              "mutual_information": 1.895279946846417,
              "normalized_mutual_information": 0.7010383739145679,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.8738318702357173,
              "mutual_information": 1.8738318702357173,
              "normalized_mutual_information": 0.6934471706122002,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.8983476455478627,
              "mutual_information": 1.8983476455478627,
              "normalized_mutual_information": 0.7013781760597603,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.8907823143174032,
              "mutual_information": 1.8907823143174032,
              "normalized_mutual_information": 0.6994660178614732,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.9102121157348197,
              "mutual_information": 1.9102121157348197,
              "normalized_mutual_information": 0.7059400715595313,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.8393024783667935,
              "mutual_information": 1.8393024783667935,
              "normalized_mutual_information": 0.6809786030851265,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.7896769596306321,
              "mutual_information": 1.7896769596306321,
              "normalized_mutual_information": 0.6613727634744341,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.99597258218433,
              "mutual_information": 1.99597258218433,
              "normalized_mutual_information": 0.7362506601344586,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.8815708010497545,
              "mutual_information": 1.8815708010497545,
              "normalized_mutual_information": 0.6951784723284676,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.9011383295985975,
              "mutual_information": 1.9011383295985975,
              "normalized_mutual_information": 0.7025662372667604,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 2.0588583666888365,
              "mutual_information": 2.0588583666888365,
              "normalized_mutual_information": 0.7596077889545921,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.9290750796421854,
              "mutual_information": 1.9290750796421854,
              "normalized_mutual_information": 0.7135044838458086,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 2.0096478063188097,
              "mutual_information": 2.0096478063188097,
              "normalized_mutual_information": 0.7410729841095575,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.9793664715647445,
              "mutual_information": 1.9793664715647445,
              "normalized_mutual_information": 0.7304553693509659,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 2.00357681593586,
              "mutual_information": 2.00357681593586,
              "normalized_mutual_information": 0.7393167410954459,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.993740843349971,
              "mutual_information": 1.993740843349971,
              "normalized_mutual_information": 0.7357101599826503,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.1,
                0.0
              ],
              "objective": 2.0248852453225346,
              "mutual_information": 2.0248852453225346,
              "normalized_mutual_information": 0.7462460159400983,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.1,
                0.0
              ],
              "objective": 1.94586006364648,
              "mutual_information": 1.94586006364648,
              "normalized_mutual_information": 0.71804024541474,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.8913723903070097,
              "mutual_information": 1.8913723903070097,
              "normalized_mutual_information": 0.6996716147735146,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 2.095538992084387,
              "mutual_information": 2.095538992084387,
              "normalized_mutual_information": 0.7729056453321391,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                -0.1
              ],
              "objective": 1.991776999169124,
              "mutual_information": 1.991776999169124,
              "normalized_mutual_information": 0.7339974460493207,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.1
              ],
              "objective": 2.0013942556597155,
              "mutual_information": 2.0013942556597155,
              "normalized_mutual_information": 0.7387868594296344,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 2.142829728962481,
              "mutual_information": 2.142829728962481,
              "normalized_mutual_information": 0.7901777216714961,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 2.039730333907881,
              "mutual_information": 2.039730333907881,
              "normalized_mutual_information": 0.7525041715547474,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 2.1075469728610114,
              "mutual_information": 2.1075469728610114,
              "normalized_mutual_information": 0.7771978663299981,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 2.064648193854279,
              "mutual_information": 2.064648193854279,
              "normalized_mutual_information": 0.7620189917339791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 2.101655281345529,
              "mutual_information": 2.101655281345529,
              "normalized_mutual_information": 0.7754251599588867,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 2.0933903166968943,
              "mutual_information": 2.0933903166968943,
              "normalized_mutual_information": 0.7719071183270682,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.2,
                0.0
              ],
              "objective": 2.1261171782828434,
              "mutual_information": 2.1261171782828434,
              "normalized_mutual_information": 0.7840070835559958,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.2,
                0.0
              ],
              "objective": 2.0174098891675283,
              "mutual_information": 2.0174098891675283,
              "normalized_mutual_information": 0.744883925272951,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.99597258218433,
              "mutual_information": 1.99597258218433,
              "normalized_mutual_information": 0.7362506601344586,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.1431337977987757,
              "mutual_information": 2.1431337977987757,
              "normalized_mutual_information": 0.7907482453014629,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                -0.1
              ],
              "objective": 2.0998713340693986,
              "mutual_information": 2.0998713340693986,
              "normalized_mutual_information": 0.7733460682437917,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.1
              ],
              "objective": 2.0903634592591085,
              "mutual_information": 2.0903634592591085,
              "normalized_mutual_information": 0.7720359899502016,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.1518365833943283,
              "mutual_information": 2.1518365833943283,
              "normalized_mutual_information": 0.7940976961550855,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.111058490497988,
              "mutual_information": 2.111058490497988,
              "normalized_mutual_information": 0.7793623329005482,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.153024558433611,
              "mutual_information": 2.153024558433611,
              "normalized_mutual_information": 0.7943781770550187,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.102096568996322,
              "mutual_information": 2.102096568996322,
              "normalized_mutual_information": 0.7765837057444754,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.1501545380449856,
              "mutual_information": 2.1501545380449856,
              "normalized_mutual_information": 0.7938553453222802,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.140955896824193,
              "mutual_information": 2.140955896824193,
              "normalized_mutual_information": 0.7895115771413191,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.155222630244421,
              "mutual_information": 2.155222630244421,
              "normalized_mutual_information": 0.795666755800629,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.051188579553632,
              "mutual_information": 2.051188579553632,
              "normalized_mutual_information": 0.7581918121120247,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                0.0
              ],
              "objective": 2.095538992084387,
              "mutual_information": 2.095538992084387,
              "normalized_mutual_information": 0.7729056453321391,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                0.0
              ],
              "objective": 2.1092970501202846,
              "mutual_information": 2.1092970501202846,
              "normalized_mutual_information": 0.7787118844861953,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.150419913963029,
              "mutual_information": 2.150419913963029,
              "normalized_mutual_information": 0.7927386963208619,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.1
              ],
              "objective": 2.1289136773030553,
              "mutual_information": 2.1289136773030553,
              "normalized_mutual_information": 0.7866047935426171,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.1717333841004027,
              "mutual_information": 2.1717333841004027,
              "normalized_mutual_information": 0.8006120773873375,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.1310511185411785,
              "mutual_information": 2.1310511185411785,
              "normalized_mutual_information": 0.7869663393375973,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.1299865544759915,
              "mutual_information": 2.1299865544759915,
              "normalized_mutual_information": 0.7857565864236302,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.166626038921005,
              "mutual_information": 2.166626038921005,
              "normalized_mutual_information": 0.7998739002383172,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.156830592439837,
              "mutual_information": 2.156830592439837,
              "normalized_mutual_information": 0.7961812251321098,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.1552201244005897,
              "mutual_information": 2.1552201244005897,
              "normalized_mutual_information": 0.7952635661583155,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.0942003321658618,
              "mutual_information": 2.0942003321658618,
              "normalized_mutual_information": 0.7723369618885055,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.1431337977987757,
              "mutual_information": 2.1431337977987757,
              "normalized_mutual_information": 0.7907482453014629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                0.0
              ],
              "objective": 2.1261171782828434,
              "mutual_information": 2.1261171782828434,
              "normalized_mutual_information": 0.7840070835559958,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                0.0
              ],
              "objective": 2.12456184362421,
              "mutual_information": 2.12456184362421,
              "normalized_mutual_information": 0.7832406712385209,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1733889175019576,
              "mutual_information": 2.1733889175019576,
              "normalized_mutual_information": 0.8003279690771882,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.1
              ],
              "objective": 2.1438302332548624,
              "mutual_information": 2.1438302332548624,
              "normalized_mutual_information": 0.7919815203456437,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.173112058139726,
              "mutual_information": 2.173112058139726,
              "normalized_mutual_information": 0.8002959855949309,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.133488773207591,
              "mutual_information": 2.133488773207591,
              "normalized_mutual_information": 0.786041198459588,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1286626926591508,
              "mutual_information": 2.1286626926591508,
              "normalized_mutual_information": 0.7837425299730407,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1714431957469977,
              "mutual_information": 2.1714431957469977,
              "normalized_mutual_information": 0.8005535707833373,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1710106930409108,
              "mutual_information": 2.1710106930409108,
              "normalized_mutual_information": 0.7998803646439412,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1683419917961597,
              "mutual_information": 2.1683419917961597,
              "normalized_mutual_information": 0.7984274464502062,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.093626084733806,
              "mutual_information": 2.093626084733806,
              "normalized_mutual_information": 0.7704259935064296,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.150419913963029,
              "mutual_information": 2.150419913963029,
              "normalized_mutual_information": 0.7927386963208619,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.1
              ],
              "objective": 2.1251723749338503,
              "mutual_information": 2.1251723749338503,
              "normalized_mutual_information": 0.7820058568550304,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.1
              ],
              "objective": 2.120197413017195,
              "mutual_information": 2.120197413017195,
              "normalized_mutual_information": 0.7807682217768446,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 2.1626580308153582,
              "mutual_information": 2.1626580308153582,
              "normalized_mutual_information": 0.7946093701980903,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 2.155222630244421,
              "mutual_information": 2.155222630244421,
              "normalized_mutual_information": 0.795666755800629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1756095265311575,
              "mutual_information": 2.1756095265311575,
              "normalized_mutual_information": 0.8009202546349425,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1535903957214138,
              "mutual_information": 2.1535903957214138,
              "normalized_mutual_information": 0.7932681567013867,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1567100352166886,
              "mutual_information": 2.1567100352166886,
              "normalized_mutual_information": 0.7942719727614224,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.175997028685153,
              "mutual_information": 2.175997028685153,
              "normalized_mutual_information": 0.8015285752342814,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1718281213583777,
              "mutual_information": 2.1718281213583777,
              "normalized_mutual_information": 0.7999813368492362,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1708679778724265,
              "mutual_information": 2.1708679778724265,
              "normalized_mutual_information": 0.7992162125295271,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.138284384395007,
              "mutual_information": 2.138284384395007,
              "normalized_mutual_information": 0.78748140436217,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1703462979395476,
              "mutual_information": 2.1703462979395476,
              "normalized_mutual_information": 0.7994570459814714,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1588609154468283,
              "mutual_information": 2.1588609154468283,
              "normalized_mutual_information": 0.7946575796939594,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.35000000000000003,
                -0.1
              ],
              "objective": 2.155864797526972,
              "mutual_information": 2.155864797526972,
              "normalized_mutual_information": 0.7934439181945406,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.15000000000000002
              ],
              "objective": 2.166760130793232,
              "mutual_information": 2.166760130793232,
              "normalized_mutual_information": 0.797017785533583,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.05
              ],
              "objective": 2.1677154714098847,
              "mutual_information": 2.1677154714098847,
              "normalized_mutual_information": 0.7993264814404236,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.180624923428862,
              "mutual_information": 2.180624923428862,
              "normalized_mutual_information": 0.8032105107869594,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.167190572482738,
              "mutual_information": 2.167190572482738,
              "normalized_mutual_information": 0.7982531343436042,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1733889175019576,
              "mutual_information": 2.1733889175019576,
              "normalized_mutual_information": 0.8003279690771882,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1714431957469977,
              "mutual_information": 2.1714431957469977,
              "normalized_mutual_information": 0.8005535707833373,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.177825326929194,
              "mutual_information": 2.177825326929194,
              "normalized_mutual_information": 0.8024765105643067,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.174597231155205,
              "mutual_information": 2.174597231155205,
              "normalized_mutual_information": 0.8012313385951062,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.16111845933634,
              "mutual_information": 2.16111845933634,
              "normalized_mutual_information": 0.7958832040620387,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1689607475026427,
              "mutual_information": 2.1689607475026427,
              "normalized_mutual_information": 0.7994341839702465,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1704783912845587,
              "mutual_information": 2.1704783912845587,
              "normalized_mutual_information": 0.798826049390709,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.35000000000000003,
                -0.1
              ],
              "objective": 2.1615195038310913,
              "mutual_information": 2.1615195038310913,
              "normalized_mutual_information": 0.7958560672810101,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.15000000000000002
              ],
              "objective": 2.1769506402971754,
              "mutual_information": 2.1769506402971754,
              "normalized_mutual_information": 0.8013551830912412,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.05
              ],
              "objective": 2.1682581588063603,
              "mutual_information": 2.1682581588063603,
              "normalized_mutual_information": 0.7993716688171032,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.180921366045077,
              "mutual_information": 2.180921366045077,
              "normalized_mutual_information": 0.8033577450430526,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.175997028685153,
              "mutual_information": 2.175997028685153,
              "normalized_mutual_information": 0.8015285752342814,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1756095265311575,
              "mutual_information": 2.1756095265311575,
              "normalized_mutual_information": 0.8009202546349425,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1759457096044965,
              "mutual_information": 2.1759457096044965,
              "normalized_mutual_information": 0.8019436890207854,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1827336976898373,
              "mutual_information": 2.1827336976898373,
              "normalized_mutual_information": 0.8040143436225212,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.178889015591603,
              "mutual_information": 2.178889015591603,
              "normalized_mutual_information": 0.8030458686041971,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1643283044798047,
              "mutual_information": 2.1643283044798047,
              "normalized_mutual_information": 0.7967230946526493,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1688807275280912,
              "mutual_information": 2.1688807275280912,
              "normalized_mutual_information": 0.7995331589805096,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1858389417847404,
              "mutual_information": 2.1858389417847404,
              "normalized_mutual_information": 0.804725279405635,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.35000000000000003,
                -0.1
              ],
              "objective": 2.155283316540451,
              "mutual_information": 2.155283316540451,
              "normalized_mutual_information": 0.7936623305341491,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.15000000000000002
              ],
              "objective": 2.182120293649622,
              "mutual_information": 2.182120293649622,
              "normalized_mutual_information": 0.803457054363478,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.05
              ],
              "objective": 2.1787979599541294,
              "mutual_information": 2.1787979599541294,
              "normalized_mutual_information": 0.8030860566650416,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.193007808351657,
              "mutual_information": 2.193007808351657,
              "normalized_mutual_information": 0.8077734969617385,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1704783912845587,
              "mutual_information": 2.1704783912845587,
              "normalized_mutual_information": 0.798826049390709,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1783229010138294,
              "mutual_information": 2.1783229010138294,
              "normalized_mutual_information": 0.8019208793820405,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1859920675089324,
              "mutual_information": 2.1859920675089324,
              "normalized_mutual_information": 0.8050279547929419,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.187974950470872,
              "mutual_information": 2.187974950470872,
              "normalized_mutual_information": 0.8058469602244931,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.184331776069014,
              "mutual_information": 2.184331776069014,
              "normalized_mutual_information": 0.8042547278832215,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.164597836047305,
              "mutual_information": 2.164597836047305,
              "normalized_mutual_information": 0.7968705076879393,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.178073068060486,
              "mutual_information": 2.178073068060486,
              "normalized_mutual_information": 0.8020305384608476,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.1580602475636734,
              "mutual_information": 2.1580602475636734,
              "normalized_mutual_information": 0.7939710117718435,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.180624923428862,
              "mutual_information": 2.180624923428862,
              "normalized_mutual_information": 0.8032105107869594,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.15000000000000002
              ],
              "objective": 2.1789767207560278,
              "mutual_information": 2.1789767207560278,
              "normalized_mutual_information": 0.8018674677898044,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.05
              ],
              "objective": 2.183661397271793,
              "mutual_information": 2.183661397271793,
              "normalized_mutual_information": 0.804740493046275,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.200945312088054,
              "mutual_information": 2.200945312088054,
              "normalized_mutual_information": 0.8103910529254966,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1858389417847404,
              "mutual_information": 2.1858389417847404,
              "normalized_mutual_information": 0.804725279405635,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1857698435003337,
              "mutual_information": 2.1857698435003337,
              "normalized_mutual_information": 0.8045963784845713,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1920992032770985,
              "mutual_information": 2.1920992032770985,
              "normalized_mutual_information": 0.8077717458312276,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1995546644682,
              "mutual_information": 2.1995546644682,
              "normalized_mutual_information": 0.8101200624409977,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1888230662720365,
              "mutual_information": 2.1888230662720365,
              "normalized_mutual_information": 0.8060555516882699,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1752824529690895,
              "mutual_information": 2.1752824529690895,
              "normalized_mutual_information": 0.8009473474526052,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1860227773960026,
              "mutual_information": 2.1860227773960026,
              "normalized_mutual_information": 0.8053915752701961,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.1850172342527823,
              "mutual_information": 2.1850172342527823,
              "normalized_mutual_information": 0.8040663581957871,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.180921366045077,
              "mutual_information": 2.180921366045077,
              "normalized_mutual_information": 0.8033577450430526,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.15000000000000002
              ],
              "objective": 2.1933756019121415,
              "mutual_information": 2.1933756019121415,
              "normalized_mutual_information": 0.8068884535714583,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.05
              ],
              "objective": 2.1910305537970847,
              "mutual_information": 2.1910305537970847,
              "normalized_mutual_information": 0.8074905819771466,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 134,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.203000980890707,
              "mutual_information": 2.203000980890707,
              "normalized_mutual_information": 0.8107330853785347,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 135,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.193007808351657,
              "mutual_information": 2.193007808351657,
              "normalized_mutual_information": 0.8077734969617385,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 136,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.192628786835342,
              "mutual_information": 2.192628786835342,
              "normalized_mutual_information": 0.807436972240588,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 137,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.191636733900615,
              "mutual_information": 2.191636733900615,
              "normalized_mutual_information": 0.8071390864419002,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 138,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.205823788591891,
              "mutual_information": 2.205823788591891,
              "normalized_mutual_information": 0.8119730722329975,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 139,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.196161727165554,
              "mutual_information": 2.196161727165554,
              "normalized_mutual_information": 0.8087107011986179,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 140,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1841398410865303,
              "mutual_information": 2.1841398410865303,
              "normalized_mutual_information": 0.8041473058397557,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 141,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1866440528121944,
              "mutual_information": 2.1866440528121944,
              "normalized_mutual_information": 0.8054713564435385,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 142,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.1980820805101393,
              "mutual_information": 2.1980820805101393,
              "normalized_mutual_information": 0.8091350676773789,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 143,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.176385106983537,
              "mutual_information": 2.176385106983537,
              "normalized_mutual_information": 0.8010023289004632,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 144,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.15000000000000002
              ],
              "objective": 2.199525335493927,
              "mutual_information": 2.199525335493927,
              "normalized_mutual_information": 0.8092449266635972,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 145,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.05
              ],
              "objective": 2.1903927901400126,
              "mutual_information": 2.1903927901400126,
              "normalized_mutual_information": 0.8072951087478448,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 146,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.2040181573897564,
              "mutual_information": 2.2040181573897564,
              "normalized_mutual_information": 0.8112337236043627,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 147,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1995546644682,
              "mutual_information": 2.1995546644682,
              "normalized_mutual_information": 0.8101200624409977,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 148,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.0,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.19798206946477,
              "mutual_information": 2.19798206946477,
              "normalized_mutual_information": 0.8089392325614045,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 149,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.25,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1987256938853905,
              "mutual_information": 2.1987256938853905,
              "normalized_mutual_information": 0.8097122110214302,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 150,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.2070517284061393,
              "mutual_information": 2.2070517284061393,
              "normalized_mutual_information": 0.8126031727520538,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 151,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.200945312088054,
              "mutual_information": 2.200945312088054,
              "normalized_mutual_information": 0.8103910529254966,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 152,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1879564480252807,
              "mutual_information": 2.1879564480252807,
              "normalized_mutual_information": 0.8049398889338675,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 153,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1912968944410873,
              "mutual_information": 2.1912968944410873,
              "normalized_mutual_information": 0.8070872555639804,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 154,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2068928520212374,
              "mutual_information": 2.2068928520212374,
              "normalized_mutual_information": 0.8121294865962941,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 155,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.179145412886881,
              "mutual_information": 2.179145412886881,
              "normalized_mutual_information": 0.8022424357975023,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 156,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.15000000000000002
              ],
              "objective": 2.2031739779444517,
              "mutual_information": 2.2031739779444517,
              "normalized_mutual_information": 0.8106400778446167,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 157,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.05
              ],
              "objective": 2.193536482028895,
              "mutual_information": 2.193536482028895,
              "normalized_mutual_information": 0.8083651880434183,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 158,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.2073399137350047,
              "mutual_information": 2.2073399137350047,
              "normalized_mutual_information": 0.8122445219388323,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 159,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.201434059754857,
              "mutual_information": 2.201434059754857,
              "normalized_mutual_information": 0.8107774102652779,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 160,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1959002228270443,
              "mutual_information": 2.1959002228270443,
              "normalized_mutual_information": 0.8082203767002553,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 161,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.2025369126124414,
              "mutual_information": 2.2025369126124414,
              "normalized_mutual_information": 0.8115158827936234,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 162,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.2096462215753117,
              "mutual_information": 2.2096462215753117,
              "normalized_mutual_information": 0.8135621743008793,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 163,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.205823788591891,
              "mutual_information": 2.205823788591891,
              "normalized_mutual_information": 0.8119730722329975,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 164,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1880976974226845,
              "mutual_information": 2.1880976974226845,
              "normalized_mutual_information": 0.8052365963657896,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 165,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.1923061767175422,
              "mutual_information": 2.1923061767175422,
              "normalized_mutual_information": 0.8078399596817804,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 166,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2113682924406475,
              "mutual_information": 2.2113682924406475,
              "normalized_mutual_information": 0.8142262892491511,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 167,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 2.1835105785803894,
              "mutual_information": 2.1835105785803894,
              "normalized_mutual_information": 0.8035584768544326,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 168,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.15000000000000002
              ],
              "objective": 2.203328231141627,
              "mutual_information": 2.203328231141627,
              "normalized_mutual_information": 0.8106799055778385,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 169,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.05
              ],
              "objective": 2.1973499667019127,
              "mutual_information": 2.1973499667019127,
              "normalized_mutual_information": 0.8097155570909412,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 170,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2174906758300525,
              "mutual_information": 2.2174906758300525,
              "normalized_mutual_information": 0.8163618600031466,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 171,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.192841198172562,
              "mutual_information": 2.192841198172562,
              "normalized_mutual_information": 0.8071874983259498,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 172,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.1976605858090417,
              "mutual_information": 2.1976605858090417,
              "normalized_mutual_information": 0.8089526444487042,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 173,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.208253514588414,
              "mutual_information": 2.208253514588414,
              "normalized_mutual_information": 0.8132369393699826,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 174,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.213018547511109,
              "mutual_information": 2.213018547511109,
              "normalized_mutual_information": 0.8148370716522986,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 175,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2068928520212374,
              "mutual_information": 2.2068928520212374,
              "normalized_mutual_information": 0.8121294865962941,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 176,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.18500457366503,
              "mutual_information": 2.18500457366503,
              "normalized_mutual_information": 0.8043276450066191,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 177,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.199009759039772,
              "mutual_information": 2.199009759039772,
              "normalized_mutual_information": 0.8098240355378716,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 178,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.1779979027031056,
              "mutual_information": 2.1779979027031056,
              "normalized_mutual_information": 0.8014057608421902,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 179,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.2070517284061393,
              "mutual_information": 2.2070517284061393,
              "normalized_mutual_information": 0.8126031727520538,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 180,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.15000000000000002
              ],
              "objective": 2.2098758603736717,
              "mutual_information": 2.2098758603736717,
              "normalized_mutual_information": 0.8128587627998972,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 181,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.05
              ],
              "objective": 2.20209058566171,
              "mutual_information": 2.20209058566171,
              "normalized_mutual_information": 0.8114814359454675,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 182,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2239308656242276,
              "mutual_information": 2.2239308656242276,
              "normalized_mutual_information": 0.8183897377041557,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 183,
              "delta_rotation_deg_xyz": [
                -0.375,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2113682924406475,
              "mutual_information": 2.2113682924406475,
              "normalized_mutual_information": 0.8142262892491511,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 184,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2057077354012957,
              "mutual_information": 2.2057077354012957,
              "normalized_mutual_information": 0.8116890133294374,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 185,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2166802028441057,
              "mutual_information": 2.2166802028441057,
              "normalized_mutual_information": 0.8164525939073526,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 186,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.221319345939991,
              "mutual_information": 2.221319345939991,
              "normalized_mutual_information": 0.8177416306941385,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 187,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2152985865477786,
              "mutual_information": 2.2152985865477786,
              "normalized_mutual_information": 0.8154349911763678,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 188,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.1934787832756015,
              "mutual_information": 2.1934787832756015,
              "normalized_mutual_information": 0.8074811863847495,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 189,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.204236762325753,
              "mutual_information": 2.204236762325753,
              "normalized_mutual_information": 0.8120938195641179,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 190,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.201813196260359,
              "mutual_information": 2.201813196260359,
              "normalized_mutual_information": 0.8102382439359977,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 191,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.2073399137350047,
              "mutual_information": 2.2073399137350047,
              "normalized_mutual_information": 0.8122445219388323,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 192,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.15000000000000002
              ],
              "objective": 2.214976337056499,
              "mutual_information": 2.214976337056499,
              "normalized_mutual_information": 0.8146628419592185,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 193,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.05
              ],
              "objective": 2.2123386338531845,
              "mutual_information": 2.2123386338531845,
              "normalized_mutual_information": 0.814932807590704,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 194,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2190489916027674,
              "mutual_information": 2.2190489916027674,
              "normalized_mutual_information": 0.8162735306667558,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 195,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2174906758300525,
              "mutual_information": 2.2174906758300525,
              "normalized_mutual_information": 0.8163618600031466,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 196,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.215093036113865,
              "mutual_information": 2.215093036113865,
              "normalized_mutual_information": 0.8150463759229979,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 197,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.21577260046625,
              "mutual_information": 2.21577260046625,
              "normalized_mutual_information": 0.815586006557548,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 198,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2271468509916206,
              "mutual_information": 2.2271468509916206,
              "normalized_mutual_information": 0.8196744974656774,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 199,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2218917240882887,
              "mutual_information": 2.2218917240882887,
              "normalized_mutual_information": 0.8175757407040128,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 200,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2037726084811817,
              "mutual_information": 2.2037726084811817,
              "normalized_mutual_information": 0.8109726590254555,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 201,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.203882868654599,
              "mutual_information": 2.203882868654599,
              "normalized_mutual_information": 0.811418649526435,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 202,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2259056190739597,
              "mutual_information": 2.2259056190739597,
              "normalized_mutual_information": 0.8188965021101907,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 203,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.196735825103882,
              "mutual_information": 2.196735825103882,
              "normalized_mutual_information": 0.8079998890372693,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 204,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.15000000000000002
              ],
              "objective": 2.224706672005322,
              "mutual_information": 2.224706672005322,
              "normalized_mutual_information": 0.8176905268859292,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 205,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.05
              ],
              "objective": 2.215656388343206,
              "mutual_information": 2.215656388343206,
              "normalized_mutual_information": 0.816478108244198,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 206,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2197900017632946,
              "mutual_information": 2.2197900017632946,
              "normalized_mutual_information": 0.8164599384171057,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 207,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.221319345939991,
              "mutual_information": 2.221319345939991,
              "normalized_mutual_information": 0.8177416306941385,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 208,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.0,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2136156317577917,
              "mutual_information": 2.2136156317577917,
              "normalized_mutual_information": 0.8144656158569545,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 209,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.25,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2190369425584153,
              "mutual_information": 2.2190369425584153,
              "normalized_mutual_information": 0.8169802835554799,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 210,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2235703476365374,
              "mutual_information": 2.2235703476365374,
              "normalized_mutual_information": 0.8184217689443809,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 211,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2239308656242276,
              "mutual_information": 2.2239308656242276,
              "normalized_mutual_information": 0.8183897377041557,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 212,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2058147377746438,
              "mutual_information": 2.2058147377746438,
              "normalized_mutual_information": 0.8114720407647397,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 213,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2048436569550685,
              "mutual_information": 2.2048436569550685,
              "normalized_mutual_information": 0.8119893913903345,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 214,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.228013721886933,
              "mutual_information": 2.228013721886933,
              "normalized_mutual_information": 0.8197901151692886,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 215,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.1
              ],
              "objective": 2.201072536611468,
              "mutual_information": 2.201072536611468,
              "normalized_mutual_information": 0.8094091896315009,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 216,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.15000000000000002
              ],
              "objective": 2.2259501469787852,
              "mutual_information": 2.2259501469787852,
              "normalized_mutual_information": 0.8185059861697143,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 217,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.05
              ],
              "objective": 2.2170379941918843,
              "mutual_information": 2.2170379941918843,
              "normalized_mutual_information": 0.8167006035488279,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 218,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2379173244786945,
              "mutual_information": 2.2379173244786945,
              "normalized_mutual_information": 0.8233020351063312,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 219,
              "delta_rotation_deg_xyz": [
                -0.5,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2055385381706993,
              "mutual_information": 2.2055385381706993,
              "normalized_mutual_information": 0.812044394771038,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 220,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.0,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2155455342700003,
              "mutual_information": 2.2155455342700003,
              "normalized_mutual_information": 0.8152338734581597,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 221,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.25,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2215158498531604,
              "mutual_information": 2.2215158498531604,
              "normalized_mutual_information": 0.8178300237333803,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 222,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.230795443376166,
              "mutual_information": 2.230795443376166,
              "normalized_mutual_information": 0.8209708233354037,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 223,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2259056190739597,
              "mutual_information": 2.2259056190739597,
              "normalized_mutual_information": 0.8188965021101907,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 224,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.1949010396434727,
              "mutual_information": 2.1949010396434727,
              "normalized_mutual_information": 0.8077811040874474,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 225,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2075225063211152,
              "mutual_information": 2.2075225063211152,
              "normalized_mutual_information": 0.8127126344170362,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 226,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.10000000000000007,
                -0.1
              ],
              "objective": 2.1874277323959532,
              "mutual_information": 2.1874277323959532,
              "normalized_mutual_information": 0.8047825377885985,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 227,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2271468509916206,
              "mutual_information": 2.2271468509916206,
              "normalized_mutual_information": 0.8196744974656774,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 228,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.15000000000000002
              ],
              "objective": 2.228124414594908,
              "mutual_information": 2.228124414594908,
              "normalized_mutual_information": 0.819132761498576,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 229,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.05
              ],
              "objective": 2.222924248084115,
              "mutual_information": 2.222924248084115,
              "normalized_mutual_information": 0.818880234742913,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 230,
              "delta_rotation_deg_xyz": [
                -0.875,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2343529156398305,
              "mutual_information": 2.2343529156398305,
              "normalized_mutual_information": 0.8219143912580913,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 231,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.228013721886933,
              "mutual_information": 2.228013721886933,
              "normalized_mutual_information": 0.8197901151692886,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 232,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.0,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2251854602659034,
              "mutual_information": 2.2251854602659034,
              "normalized_mutual_information": 0.8185663627305263,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 233,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.25,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2340311669356723,
              "mutual_information": 2.2340311669356723,
              "normalized_mutual_information": 0.8222613087414947,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 234,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2391542465798,
              "mutual_information": 2.2391542465798,
              "normalized_mutual_information": 0.8238174075868329,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 235,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2350291272834,
              "mutual_information": 2.2350291272834,
              "normalized_mutual_information": 0.8222778522570371,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 236,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.212178561180028,
              "mutual_information": 2.212178561180028,
              "normalized_mutual_information": 0.8137726209681557,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 237,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2164803034189067,
              "mutual_information": 2.2164803034189067,
              "normalized_mutual_information": 0.8160114994294593,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 238,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.10000000000000007,
                -0.1
              ],
              "objective": 2.210493711718757,
              "mutual_information": 2.210493711718757,
              "normalized_mutual_information": 0.81342856193246,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 239,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.2197900017632946,
              "mutual_information": 2.2197900017632946,
              "normalized_mutual_information": 0.8164599384171057,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 240,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.15000000000000002
              ],
              "objective": 2.233724071176298,
              "mutual_information": 2.233724071176298,
              "normalized_mutual_information": 0.8212365112714676,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 241,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.05
              ],
              "objective": 2.233423858536867,
              "mutual_information": 2.233423858536867,
              "normalized_mutual_information": 0.8223036363789188,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 242,
              "delta_rotation_deg_xyz": [
                -0.875,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.23301694882919,
              "mutual_information": 2.23301694882919,
              "normalized_mutual_information": 0.8215829539381034,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 243,
              "delta_rotation_deg_xyz": [
                -0.625,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.230795443376166,
              "mutual_information": 2.230795443376166,
              "normalized_mutual_information": 0.8209708233354037,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 244,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2242733966036394,
              "mutual_information": 2.2242733966036394,
              "normalized_mutual_information": 0.8182794151956655,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 245,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2382462563623604,
              "mutual_information": 2.2382462563623604,
              "normalized_mutual_information": 0.823750322753512,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 246,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2366446737880357,
              "mutual_information": 2.2366446737880357,
              "normalized_mutual_information": 0.8226886907393389,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 247,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2379173244786945,
              "mutual_information": 2.2379173244786945,
              "normalized_mutual_information": 0.8233020351063312,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 248,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2103995287334315,
              "mutual_information": 2.2103995287334315,
              "normalized_mutual_information": 0.8132157470469575,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 249,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.222007593321217,
              "mutual_information": 2.222007593321217,
              "normalized_mutual_information": 0.8180425615362986,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 250,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.10000000000000007,
                -0.1
              ],
              "objective": 2.2143542903478974,
              "mutual_information": 2.2143542903478974,
              "normalized_mutual_information": 0.8149776174515475,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 251,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000007,
                -0.1
              ],
              "objective": 2.215254197469237,
              "mutual_information": 2.215254197469237,
              "normalized_mutual_information": 0.8149376546208801,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 252,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.15000000000000002
              ],
              "objective": 2.237645464200218,
              "mutual_information": 2.237645464200218,
              "normalized_mutual_information": 0.8228575994906974,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 253,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.05
              ],
              "objective": 2.234300488520905,
              "mutual_information": 2.234300488520905,
              "normalized_mutual_information": 0.8225517035877722,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 254,
              "delta_rotation_deg_xyz": [
                -0.8125,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.238322160559755,
              "mutual_information": 2.238322160559755,
              "normalized_mutual_information": 0.8236859172988961,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 255,
              "delta_rotation_deg_xyz": [
                -0.6875,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2362171967179236,
              "mutual_information": 2.2362171967179236,
              "normalized_mutual_information": 0.8229350818722364,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 256,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.0625,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2360169940946792,
              "mutual_information": 2.2360169940946792,
              "normalized_mutual_information": 0.8223506039564885,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 257,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.244137629776515,
              "mutual_information": 2.244137629776515,
              "normalized_mutual_information": 0.8257120947648375,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 258,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2373358585851757,
              "mutual_information": 2.2373358585851757,
              "normalized_mutual_information": 0.8229201041990194,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 259,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.4375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.239870380409179,
              "mutual_information": 2.239870380409179,
              "normalized_mutual_information": 0.8240809885383543,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 260,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.125,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2280023330200986,
              "mutual_information": 2.2280023330200986,
              "normalized_mutual_information": 0.8194863659831259,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 261,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.07500000000000001,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.236547130634738,
              "mutual_information": 2.236547130634738,
              "normalized_mutual_information": 0.8230584591979802,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 262,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.12500000000000008,
                -0.1
              ],
              "objective": 2.234636792717939,
              "mutual_information": 2.234636792717939,
              "normalized_mutual_information": 0.8222174869500409,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 263,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.17500000000000007,
                -0.1
              ],
              "objective": 2.2317893379878657,
              "mutual_information": 2.2317893379878657,
              "normalized_mutual_information": 0.8212823807391644,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 264,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.125
              ],
              "objective": 2.239972532562566,
              "mutual_information": 2.239972532562566,
              "normalized_mutual_information": 0.8237203838709842,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 265,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.07500000000000001
              ],
              "objective": 2.2387373083877433,
              "mutual_information": 2.2387373083877433,
              "normalized_mutual_information": 0.8238588200439274,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 266,
              "delta_rotation_deg_xyz": [
                -0.8125,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2406678305220136,
              "mutual_information": 2.2406678305220136,
              "normalized_mutual_information": 0.8244309746290542,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 267,
              "delta_rotation_deg_xyz": [
                -0.6875,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2398518313954967,
              "mutual_information": 2.2398518313954967,
              "normalized_mutual_information": 0.8244798588865331,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 268,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2391542465798,
              "mutual_information": 2.2391542465798,
              "normalized_mutual_information": 0.8238174075868329,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 269,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2382462563623604,
              "mutual_information": 2.2382462563623604,
              "normalized_mutual_information": 0.823750322753512,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 270,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.242959886168132,
              "mutual_information": 2.242959886168132,
              "normalized_mutual_information": 0.8254804004166972,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 271,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.4375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.240732421861664,
              "mutual_information": 2.240732421861664,
              "normalized_mutual_information": 0.8245455851398275,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 272,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.125,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2334568323150776,
              "mutual_information": 2.2334568323150776,
              "normalized_mutual_information": 0.8217198796646064,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 273,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.07500000000000001,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.230869952072119,
              "mutual_information": 2.230869952072119,
              "normalized_mutual_information": 0.821293164787131,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 274,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.12500000000000008,
                -0.1
              ],
              "objective": 2.2385700612934727,
              "mutual_information": 2.2385700612934727,
              "normalized_mutual_information": 0.8236169414034125,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 275,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.17500000000000007,
                -0.1
              ],
              "objective": 2.233830996143782,
              "mutual_information": 2.233830996143782,
              "normalized_mutual_information": 0.8220249831831619,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 276,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.125
              ],
              "objective": 2.2394066227128477,
              "mutual_information": 2.2394066227128477,
              "normalized_mutual_information": 0.8237675829606469,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 277,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.07500000000000001
              ],
              "objective": 2.2384367847983246,
              "mutual_information": 2.2384367847983246,
              "normalized_mutual_information": 0.8241047038457293,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 278,
              "delta_rotation_deg_xyz": [
                -0.78125,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2422847901830383,
              "mutual_information": 2.2422847901830383,
              "normalized_mutual_information": 0.8250099051046811,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 279,
              "delta_rotation_deg_xyz": [
                -0.71875,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2409393886925626,
              "mutual_information": 2.2409393886925626,
              "normalized_mutual_information": 0.8249403981382154,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 280,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.15625,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2436539105140674,
              "mutual_information": 2.2436539105140674,
              "normalized_mutual_information": 0.8255156069375169,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 281,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2406885393446587,
              "mutual_information": 2.2406885393446587,
              "normalized_mutual_information": 0.8245932787547293,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 282,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.243489103242515,
              "mutual_information": 2.243489103242515,
              "normalized_mutual_information": 0.8254300219084935,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 283,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.46875
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2428302727649743,
              "mutual_information": 2.2428302727649743,
              "normalized_mutual_information": 0.8251981225014154,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 284,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1125,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.241598084746285,
              "mutual_information": 2.241598084746285,
              "normalized_mutual_information": 0.8248915059048585,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 285,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.08750000000000001,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.2372597341283136,
              "mutual_information": 2.2372597341283136,
              "normalized_mutual_information": 0.8233318825732393,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 286,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.13750000000000007,
                -0.1
              ],
              "objective": 2.24187000662595,
              "mutual_information": 2.24187000662595,
              "normalized_mutual_information": 0.8250268041630525,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 287,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.1625000000000001,
                -0.1
              ],
              "objective": 2.2379655400278047,
              "mutual_information": 2.2379655400278047,
              "normalized_mutual_information": 0.8234752216797205,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 288,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2442397608722264,
              "mutual_information": 2.2442397608722264,
              "normalized_mutual_information": 0.8256963431802457,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 289,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.08750000000000001
              ],
              "objective": 2.239564790707764,
              "mutual_information": 2.239564790707764,
              "normalized_mutual_information": 0.8243167830348818,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 290,
              "delta_rotation_deg_xyz": [
                -0.78125,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.241937348933489,
              "mutual_information": 2.241937348933489,
              "normalized_mutual_information": 0.8248385444078061,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 291,
              "delta_rotation_deg_xyz": [
                -0.71875,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.24160731434305,
              "mutual_information": 2.24160731434305,
              "normalized_mutual_information": 0.8249806114044081,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 292,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.15625,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2438098512778177,
              "mutual_information": 2.2438098512778177,
              "normalized_mutual_information": 0.825485881991944,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 293,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2418396502196427,
              "mutual_information": 2.2418396502196427,
              "normalized_mutual_information": 0.8248638441852681,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 294,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.242929207354409,
              "mutual_information": 2.242929207354409,
              "normalized_mutual_information": 0.8251991438978822,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 295,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.46875
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.242217150860559,
              "mutual_information": 2.242217150860559,
              "normalized_mutual_information": 0.8248131051284145,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 296,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1125,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2395869783793905,
              "mutual_information": 2.2395869783793905,
              "normalized_mutual_information": 0.8240588763365962,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 297,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.08750000000000001,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.238930632850563,
              "mutual_information": 2.238930632850563,
              "normalized_mutual_information": 0.8238666444324294,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 298,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.13750000000000007,
                -0.1125
              ],
              "objective": 2.2420510715478694,
              "mutual_information": 2.2420510715478694,
              "normalized_mutual_information": 0.8247694737134493,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 299,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.1625000000000001,
                -0.1125
              ],
              "objective": 2.237195040937266,
              "mutual_information": 2.237195040937266,
              "normalized_mutual_information": 0.8232279636838763,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 300,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.125
              ],
              "objective": 2.2394066227128477,
              "mutual_information": 2.2394066227128477,
              "normalized_mutual_information": 0.8237675829606469,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 301,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1
              ],
              "objective": 2.244137629776515,
              "mutual_information": 2.244137629776515,
              "normalized_mutual_information": 0.8257120947648375,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 302,
              "delta_rotation_deg_xyz": [
                -0.765625,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.242587038590363,
              "mutual_information": 2.242587038590363,
              "normalized_mutual_information": 0.8250288668282808,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 303,
              "delta_rotation_deg_xyz": [
                -0.734375,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2428106161588097,
              "mutual_information": 2.2428106161588097,
              "normalized_mutual_information": 0.8252881925494394,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 304,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2444610339867337,
              "mutual_information": 2.2444610339867337,
              "normalized_mutual_information": 0.8257501842341006,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 305,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.203125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2419252337538977,
              "mutual_information": 2.2419252337538977,
              "normalized_mutual_information": 0.8248354771984546,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 306,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.243545956204725,
              "mutual_information": 2.243545956204725,
              "normalized_mutual_information": 0.8253842997226107,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 307,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.484375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2433896068282624,
              "mutual_information": 2.2433896068282624,
              "normalized_mutual_information": 0.8253183227895856,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 308,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.243410232840515,
              "mutual_information": 2.243410232840515,
              "normalized_mutual_information": 0.8254723895824599,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 309,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.09375,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.242299523967054,
              "mutual_information": 2.242299523967054,
              "normalized_mutual_information": 0.8249503726081314,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 310,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.14375000000000007,
                -0.1125
              ],
              "objective": 2.2414164353251915,
              "mutual_information": 2.2414164353251915,
              "normalized_mutual_information": 0.8248542697109184,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 311,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15625000000000008,
                -0.1125
              ],
              "objective": 2.239854437154739,
              "mutual_information": 2.239854437154739,
              "normalized_mutual_information": 0.8240781176594373,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 312,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.11875000000000001
              ],
              "objective": 2.241948021209856,
              "mutual_information": 2.241948021209856,
              "normalized_mutual_information": 0.8247270108130236,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 313,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.10625
              ],
              "objective": 2.243446299029119,
              "mutual_information": 2.243446299029119,
              "normalized_mutual_information": 0.8254456905370774,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 314,
              "delta_rotation_deg_xyz": [
                -0.765625,
                0.171875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.243045932427974,
              "mutual_information": 2.243045932427974,
              "normalized_mutual_information": 0.8251310477798638,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 315,
              "delta_rotation_deg_xyz": [
                -0.734375,
                0.171875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2425848773912764,
              "mutual_information": 2.2425848773912764,
              "normalized_mutual_information": 0.8251104784265847,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 316,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.15625,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2438098512778177,
              "mutual_information": 2.2438098512778177,
              "normalized_mutual_information": 0.825485881991944,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 317,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2442397608722264,
              "mutual_information": 2.2442397608722264,
              "normalized_mutual_information": 0.8256963431802457,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 318,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2445638143892452,
              "mutual_information": 2.2445638143892452,
              "normalized_mutual_information": 0.8257118651231962,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 319,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.484375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2441562203683834,
              "mutual_information": 2.2441562203683834,
              "normalized_mutual_information": 0.8256439032845521,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 320,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2415486459268865,
              "mutual_information": 2.2415486459268865,
              "normalized_mutual_information": 0.8246476555792674,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 321,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.09375,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2432211246698555,
              "mutual_information": 2.2432211246698555,
              "normalized_mutual_information": 0.8253022540714614,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 322,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.14375000000000007,
                -0.1125
              ],
              "objective": 2.2422596373856654,
              "mutual_information": 2.2422596373856654,
              "normalized_mutual_information": 0.8251116488538806,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 323,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15625000000000008,
                -0.1125
              ],
              "objective": 2.2392495979098572,
              "mutual_information": 2.2392495979098572,
              "normalized_mutual_information": 0.8237542710346073,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 324,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.11875000000000001
              ],
              "objective": 2.242644758035332,
              "mutual_information": 2.242644758035332,
              "normalized_mutual_information": 0.8249747812565781,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 325,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.10625
              ],
              "objective": 2.24360357994513,
              "mutual_information": 2.24360357994513,
              "normalized_mutual_information": 0.8254649977883389,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 326,
              "delta_rotation_deg_xyz": [
                -0.765625,
                0.171875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.243846494804727,
              "mutual_information": 2.243846494804727,
              "normalized_mutual_information": 0.82536969247155,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 327,
              "delta_rotation_deg_xyz": [
                -0.734375,
                0.171875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2430505144380954,
              "mutual_information": 2.2430505144380954,
              "normalized_mutual_information": 0.8253249012773174,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 328,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.15625,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2444372306780758,
              "mutual_information": 2.2444372306780758,
              "normalized_mutual_information": 0.8256133344047658,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 329,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.1875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.243545956204725,
              "mutual_information": 2.243545956204725,
              "normalized_mutual_information": 0.8253842997226107,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 330,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.244131265549596,
              "mutual_information": 2.244131265549596,
              "normalized_mutual_information": 0.8256131721571567,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 331,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2444610339867337,
              "mutual_information": 2.2444610339867337,
              "normalized_mutual_information": 0.8257501842341006,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 332,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.242162883297439,
              "mutual_information": 2.242162883297439,
              "normalized_mutual_information": 0.8247935479797306,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 333,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.09375,
                0.15000000000000008,
                -0.1125
              ],
              "objective": 2.2437015782039595,
              "mutual_information": 2.2437015782039595,
              "normalized_mutual_information": 0.8254205261699966,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 334,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.14375000000000007,
                -0.1125
              ],
              "objective": 2.2427171949247833,
              "mutual_information": 2.2427171949247833,
              "normalized_mutual_information": 0.8253417749985935,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 335,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15625000000000008,
                -0.1125
              ],
              "objective": 2.2395887754105623,
              "mutual_information": 2.2395887754105623,
              "normalized_mutual_information": 0.8239044603378124,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 336,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.11875000000000001
              ],
              "objective": 2.243461289633084,
              "mutual_information": 2.243461289633084,
              "normalized_mutual_information": 0.8252810258371431,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 337,
              "delta_rotation_deg_xyz": [
                -0.75,
                0.171875,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.15000000000000008,
                -0.10625
              ],
              "objective": 2.244435053454852,
              "mutual_information": 2.244435053454852,
              "normalized_mutual_information": 0.8257543371966034,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 337,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.6996155619999627,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.47254765993424025,
          "translation_m": 0.07180703308172538,
          "recovered": true
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.18282684486982903,
              -0.12397742476206823,
              0.3217099793668783
            ],
            "rotation_quat_xyzw": [
              0.016850107913020954,
              -0.025163010440239553,
              0.009564787690319747,
              0.9994955785821882
            ]
          },
          "delta": [
            -1.1042304028751457,
            0.5821095817483072,
            -0.7161284720183588,
            -0.16717315513017095,
            0.07602257523793178,
            -0.07829002063312174
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 139,
          "nfev": 25,
          "njev": 19,
          "initial_support": [
            3746,
            3738,
            3747
          ],
          "final_support": [
            3783,
            3776,
            3780
          ],
          "support_retained": true,
          "cost": 41.32911633260268,
          "optimality": 0.31885803140130725
        },
        "seconds": 0.38444805800099857,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.14325616092685606,
          "translation_m": 0.0366218153489944,
          "recovered": true
        },
        "holdout": [
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.022343863597489744,
            "p90_absolute_z_m": 0.05105447888425284,
            "behind_surface_gt_20cm": 48,
            "in_front_gt_20cm": 12
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.021228739947194875,
            "p90_absolute_z_m": 0.04322979638596215,
            "behind_surface_gt_20cm": 63,
            "in_front_gt_20cm": 6
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.022880829851569473,
            "p90_absolute_z_m": 0.05199868762760564,
            "behind_surface_gt_20cm": 58,
            "in_front_gt_20cm": 10
          }
        ]
      }
    },
    {
      "condition": "exact_range_visible",
      "sign": -1,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.05000000000000002,
              0.0,
              0.19999999999999998
            ],
            "rotation_quat_xyzw": [
              0.008851181257931221,
              -0.021635299615473294,
              0.0028235510433918818,
              0.9997227605493402
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.16250000000000003,
              -0.28750000000000003,
              0.5
            ],
            "rotation_quat_xyzw": [
              0.011112309000861478,
              -0.026236573569251607,
              0.006371180443232935,
              0.9995736925588701
            ]
          },
          "best_delta_rotation_deg_xyz": [
            0.25,
            -0.53125,
            0.40625
          ],
          "best_delta_translation_m_xyz": [
            0.1125,
            -0.28750000000000003,
            0.30000000000000004
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.9100733139888793,
            "normalized_mutual_information": 0.6988828087271055,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.951877344163993,
                "normalized_mutual_information": 0.7000352949042609,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.702857014098993,
                "normalized_mutual_information": 0.6745503386400052,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 2.0754855837036525,
                "normalized_mutual_information": 0.7220627926370504,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 2.210984988757392,
            "normalized_mutual_information": 0.8151661450025437,
            "visible_point_count": 11337,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 2.28086813222667,
                "normalized_mutual_information": 0.823033100045445,
                "visible_point_count": 3782,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 2.010519843271031,
                "normalized_mutual_information": 0.8023013412702698,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 2.341566990774474,
                "normalized_mutual_information": 0.8201639936919164,
                "visible_point_count": 3779,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.9100733139888793,
              "mutual_information": 1.9100733139888793,
              "normalized_mutual_information": 0.6988828087271055,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.8514171573356648,
              "mutual_information": 1.8514171573356648,
              "normalized_mutual_information": 0.6780670249444292,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.9574520169059746,
              "mutual_information": 1.9574520169059746,
              "normalized_mutual_information": 0.7169331181208504,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.9213852857581004,
              "mutual_information": 1.9213852857581004,
              "normalized_mutual_information": 0.7022623004505189,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.8908231299627267,
              "mutual_information": 1.8908231299627267,
              "normalized_mutual_information": 0.692582571238353,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.904810028425769,
              "mutual_information": 1.904810028425769,
              "normalized_mutual_information": 0.6971433235055534,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.9133153128076614,
              "mutual_information": 1.9133153128076614,
              "normalized_mutual_information": 0.7002665446652463,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.8915354665910051,
              "mutual_information": 1.8915354665910051,
              "normalized_mutual_information": 0.6914448271044394,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.8917382354868668,
              "mutual_information": 1.8917382354868668,
              "normalized_mutual_information": 0.6932077244759167,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 2.0067990905340296,
              "mutual_information": 2.0067990905340296,
              "normalized_mutual_information": 0.7356693885410935,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.8022125329548684,
              "mutual_information": 1.8022125329548684,
              "normalized_mutual_information": 0.6601425242488106,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.8988590227860316,
              "mutual_information": 1.8988590227860316,
              "normalized_mutual_information": 0.6938422463889071,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.9133766065674347,
              "mutual_information": 1.9133766065674347,
              "normalized_mutual_information": 0.7008105397918585,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.9606964047930902,
              "mutual_information": 1.9606964047930902,
              "normalized_mutual_information": 0.7174891421104087,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 2.059730085592968,
              "mutual_information": 2.059730085592968,
              "normalized_mutual_information": 0.7549702125017621,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 2.0130193628084396,
              "mutual_information": 2.0130193628084396,
              "normalized_mutual_information": 0.7369843502117229,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.9947570263904737,
              "mutual_information": 1.9947570263904737,
              "normalized_mutual_information": 0.7314710086854007,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.9986177985388427,
              "mutual_information": 1.9986177985388427,
              "normalized_mutual_information": 0.7322575669091735,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 2.013257393124627,
              "mutual_information": 2.013257393124627,
              "normalized_mutual_information": 0.7381314489824202,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.1,
                0.0
              ],
              "objective": 1.9743817188662927,
              "mutual_information": 1.9743817188662927,
              "normalized_mutual_information": 0.723230254481139,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.1,
                0.0
              ],
              "objective": 1.998186410188233,
              "mutual_information": 1.998186410188233,
              "normalized_mutual_information": 0.7329003865662115,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 2.105975695419797,
              "mutual_information": 2.105975695419797,
              "normalized_mutual_information": 0.7717421653855219,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.9100733139888793,
              "mutual_information": 1.9100733139888793,
              "normalized_mutual_information": 0.6988828087271055,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                -0.1
              ],
              "objective": 1.9936668782039586,
              "mutual_information": 1.9936668782039586,
              "normalized_mutual_information": 0.7293921547198826,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 2.0130446433613725,
              "mutual_information": 2.0130446433613725,
              "normalized_mutual_information": 0.7389321416900163,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 2.052149384783833,
              "mutual_information": 2.052149384783833,
              "normalized_mutual_information": 0.7514585011403657,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 2.143145104880738,
              "mutual_information": 2.143145104880738,
              "normalized_mutual_information": 0.7866873926664638,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 2.102503807985398,
              "mutual_information": 2.102503807985398,
              "normalized_mutual_information": 0.7699278200715032,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 2.090570445726549,
              "mutual_information": 2.090570445726549,
              "normalized_mutual_information": 0.7669341476474208,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 2.099217429578992,
              "mutual_information": 2.099217429578992,
              "normalized_mutual_information": 0.7692615950166326,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 2.1084679624702694,
              "mutual_information": 2.1084679624702694,
              "normalized_mutual_information": 0.7728595068687837,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 2.0485458123465556,
              "mutual_information": 2.0485458123465556,
              "normalized_mutual_information": 0.7506795937649876,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 2.09722741850308,
              "mutual_information": 2.09722741850308,
              "normalized_mutual_information": 0.769723758379048,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.1439013151708317,
              "mutual_information": 2.1439013151708317,
              "normalized_mutual_information": 0.7867491088393407,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 2.0067990905340296,
              "mutual_information": 2.0067990905340296,
              "normalized_mutual_information": 0.7356693885410935,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 2.0929529837858687,
              "mutual_information": 2.0929529837858687,
              "normalized_mutual_information": 0.7655933738474613,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 2.1082127463937375,
              "mutual_information": 2.1082127463937375,
              "normalized_mutual_information": 0.7739321192810737,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.1243753189842014,
              "mutual_information": 2.1243753189842014,
              "normalized_mutual_information": 0.7784037317712474,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.1375981367750447,
              "mutual_information": 2.1375981367750447,
              "normalized_mutual_information": 0.7852280822363881,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.127219866115512,
              "mutual_information": 2.127219866115512,
              "normalized_mutual_information": 0.7804131002050538,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.1304335775969303,
              "mutual_information": 2.1304335775969303,
              "normalized_mutual_information": 0.7824136355660144,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.137628474008652,
              "mutual_information": 2.137628474008652,
              "normalized_mutual_information": 0.7847629297079024,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.1484122441212503,
              "mutual_information": 2.1484122441212503,
              "normalized_mutual_information": 0.788156406453624,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.076311795544223,
              "mutual_information": 2.076311795544223,
              "normalized_mutual_information": 0.7618036345149002,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.122905273230153,
              "mutual_information": 2.122905273230153,
              "normalized_mutual_information": 0.7801379056949996,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.0
              ],
              "objective": 2.0930832027808854,
              "mutual_information": 2.0930832027808854,
              "normalized_mutual_information": 0.7698379036881584,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.0
              ],
              "objective": 2.105975695419797,
              "mutual_information": 2.105975695419797,
              "normalized_mutual_information": 0.7717421653855219,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                -0.1
              ],
              "objective": 2.1209338532613966,
              "mutual_information": 2.1209338532613966,
              "normalized_mutual_information": 0.7767597818253998,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1524329934908963,
              "mutual_information": 2.1524329934908963,
              "normalized_mutual_information": 0.7920023243538671,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.131193927631203,
              "mutual_information": 2.131193927631203,
              "normalized_mutual_information": 0.7830843808687201,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1539628034856726,
              "mutual_information": 2.1539628034856726,
              "normalized_mutual_information": 0.7938985424980857,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1442714028826786,
              "mutual_information": 2.1442714028826786,
              "normalized_mutual_information": 0.7889270835785442,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.140929339913803,
              "mutual_information": 2.140929339913803,
              "normalized_mutual_information": 0.7879957071944274,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1463085228305907,
              "mutual_information": 2.1463085228305907,
              "normalized_mutual_information": 0.7899866429854684,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.158460813372235,
              "mutual_information": 2.158460813372235,
              "normalized_mutual_information": 0.793624563271929,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.0947731108002086,
              "mutual_information": 2.0947731108002086,
              "normalized_mutual_information": 0.7701703249204283,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1392210167715633,
              "mutual_information": 2.1392210167715633,
              "normalized_mutual_information": 0.7866082195198674,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.1
              ],
              "objective": 2.1122279733936122,
              "mutual_information": 2.1122279733936122,
              "normalized_mutual_information": 0.7776529704922414,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.1
              ],
              "objective": 2.1082127463937375,
              "mutual_information": 2.1082127463937375,
              "normalized_mutual_information": 0.7739321192810737,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.1439013151708317,
              "mutual_information": 2.1439013151708317,
              "normalized_mutual_information": 0.7867491088393407,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.1582980038378996,
              "mutual_information": 2.1582980038378996,
              "normalized_mutual_information": 0.7951295919499515,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1363104148260774,
              "mutual_information": 2.1363104148260774,
              "normalized_mutual_information": 0.7847025138287519,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.162387205710346,
              "mutual_information": 2.162387205710346,
              "normalized_mutual_information": 0.7965051297541624,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.144795816841157,
              "mutual_information": 2.144795816841157,
              "normalized_mutual_information": 0.7884515694633984,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1517427966911806,
              "mutual_information": 2.1517427966911806,
              "normalized_mutual_information": 0.7911246509486108,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1524329934908963,
              "mutual_information": 2.1524329934908963,
              "normalized_mutual_information": 0.7920023243538671,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1602499564045963,
              "mutual_information": 2.1602499564045963,
              "normalized_mutual_information": 0.7936413952893075,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.096847160793829,
              "mutual_information": 2.096847160793829,
              "normalized_mutual_information": 0.7704788461859291,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1433205564907336,
              "mutual_information": 2.1433205564907336,
              "normalized_mutual_information": 0.7877383178373686,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.1
              ],
              "objective": 2.116689896191071,
              "mutual_information": 2.116689896191071,
              "normalized_mutual_information": 0.7787257938498474,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.1
              ],
              "objective": 2.118437712241788,
              "mutual_information": 2.118437712241788,
              "normalized_mutual_information": 0.7775666549555377,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.1484122441212503,
              "mutual_information": 2.1484122441212503,
              "normalized_mutual_information": 0.788156406453624,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.1606930272660443,
              "mutual_information": 2.1606930272660443,
              "normalized_mutual_information": 0.7956405886887788,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.158460813372235,
              "mutual_information": 2.158460813372235,
              "normalized_mutual_information": 0.793624563271929,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1433145748697804,
              "mutual_information": 2.1433145748697804,
              "normalized_mutual_information": 0.7894852182193248,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.14782477051067,
              "mutual_information": 2.14782477051067,
              "normalized_mutual_information": 0.7906731550869629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1463065851959118,
              "mutual_information": 2.1463065851959118,
              "normalized_mutual_information": 0.7902905275814351,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1539628034856726,
              "mutual_information": 2.1539628034856726,
              "normalized_mutual_information": 0.7938985424980857,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.161977370616825,
              "mutual_information": 2.161977370616825,
              "normalized_mutual_information": 0.7951994366479448,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.1022565273149874,
              "mutual_information": 2.1022565273149874,
              "normalized_mutual_information": 0.7732119876483105,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.139247439397045,
              "mutual_information": 2.139247439397045,
              "normalized_mutual_information": 0.7872147711293884,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.1
              ],
              "objective": 2.0914414185212817,
              "mutual_information": 2.0914414185212817,
              "normalized_mutual_information": 0.7706960183964867,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.1
              ],
              "objective": 2.1564819440610177,
              "mutual_information": 2.1564819440610177,
              "normalized_mutual_information": 0.792768323594179,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 2.1393202313427007,
              "mutual_information": 2.1393202313427007,
              "normalized_mutual_information": 0.7855569226712039,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.165610379487708,
              "mutual_information": 2.165610379487708,
              "normalized_mutual_information": 0.7988444091120165,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.1606930272660443,
              "mutual_information": 2.1606930272660443,
              "normalized_mutual_information": 0.7956405886887788,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.157352438780275,
              "mutual_information": 2.157352438780275,
              "normalized_mutual_information": 0.7960213939340238,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.1673069175516404,
              "mutual_information": 2.1673069175516404,
              "normalized_mutual_information": 0.7988749924333769,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.151118209463836,
              "mutual_information": 2.151118209463836,
              "normalized_mutual_information": 0.7932696293500398,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.163649261501154,
              "mutual_information": 2.163649261501154,
              "normalized_mutual_information": 0.7984372963249231,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.1684520374029197,
              "mutual_information": 2.1684520374029197,
              "normalized_mutual_information": 0.7995613060633021,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.121322916921707,
              "mutual_information": 2.121322916921707,
              "normalized_mutual_information": 0.7821747871837154,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.2
              ],
              "objective": 2.1446608641243916,
              "mutual_information": 2.1446608641243916,
              "normalized_mutual_information": 0.7910438629751537,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.2
              ],
              "objective": 2.1047673863579432,
              "mutual_information": 2.1047673863579432,
              "normalized_mutual_information": 0.7762510311331018,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.2
              ],
              "objective": 2.154475678209587,
              "mutual_information": 2.154475678209587,
              "normalized_mutual_information": 0.7934856866001717,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 2.162387205710346,
              "mutual_information": 2.162387205710346,
              "normalized_mutual_information": 0.7965051297541624,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.168897585228666,
              "mutual_information": 2.168897585228666,
              "normalized_mutual_information": 0.8012113699417043,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1575729756989035,
              "mutual_information": 2.1575729756989035,
              "normalized_mutual_information": 0.7957110485483846,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1556748853905563,
              "mutual_information": 2.1556748853905563,
              "normalized_mutual_information": 0.7969738172960096,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1723101190386225,
              "mutual_information": 2.1723101190386225,
              "normalized_mutual_information": 0.8021877254663122,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1509665592112537,
              "mutual_information": 2.1509665592112537,
              "normalized_mutual_information": 0.7943943142603347,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.166145919391223,
              "mutual_information": 2.166145919391223,
              "normalized_mutual_information": 0.8003233755737731,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1727669201817865,
              "mutual_information": 2.1727669201817865,
              "normalized_mutual_information": 0.8020259400242021,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1346674263739933,
              "mutual_information": 2.1346674263739933,
              "normalized_mutual_information": 0.7885790510051099,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.148291393446455,
              "mutual_information": 2.148291393446455,
              "normalized_mutual_information": 0.7931640712703794,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.30000000000000004
              ],
              "objective": 2.116661116282959,
              "mutual_information": 2.116661116282959,
              "normalized_mutual_information": 0.7820304370002136,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1496014829269305,
              "mutual_information": 2.1496014829269305,
              "normalized_mutual_information": 0.7926767389279564,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.20000000000000004
              ],
              "objective": 2.165610379487708,
              "mutual_information": 2.165610379487708,
              "normalized_mutual_information": 0.7988444091120165,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.4
              ],
              "objective": 2.169624273773435,
              "mutual_information": 2.169624273773435,
              "normalized_mutual_information": 0.8023334835974772,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.158657481336712,
              "mutual_information": 2.158657481336712,
              "normalized_mutual_information": 0.7961642435491071,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.164842261006085,
              "mutual_information": 2.164842261006085,
              "normalized_mutual_information": 0.8000055573044236,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1752651852190996,
              "mutual_information": 2.1752651852190996,
              "normalized_mutual_information": 0.8026844268052814,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.154051350316577,
              "mutual_information": 2.154051350316577,
              "normalized_mutual_information": 0.7949114360809633,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.168897585228666,
              "mutual_information": 2.168897585228666,
              "normalized_mutual_information": 0.8012113699417043,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1701221679764773,
              "mutual_information": 2.1701221679764773,
              "normalized_mutual_information": 0.8007534792333034,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1360196447142332,
              "mutual_information": 2.1360196447142332,
              "normalized_mutual_information": 0.7886246372498341,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1490246560596216,
              "mutual_information": 2.1490246560596216,
              "normalized_mutual_information": 0.7928655189489007,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.30000000000000004
              ],
              "objective": 2.1210886155218946,
              "mutual_information": 2.1210886155218946,
              "normalized_mutual_information": 0.7835289771976731,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1551884004971744,
              "mutual_information": 2.1551884004971744,
              "normalized_mutual_information": 0.7944950911176057,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.20000000000000004
              ],
              "objective": 2.1684520374029197,
              "mutual_information": 2.1684520374029197,
              "normalized_mutual_information": 0.7995613060633021,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.4
              ],
              "objective": 2.173341820623825,
              "mutual_information": 2.173341820623825,
              "normalized_mutual_information": 0.8031447900032741,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1585770329791445,
              "mutual_information": 2.1585770329791445,
              "normalized_mutual_information": 0.7957394118907998,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                0.5,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1555658199013723,
              "mutual_information": 2.1555658199013723,
              "normalized_mutual_information": 0.7962044567415673,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1473618627519393,
              "mutual_information": 2.1473618627519393,
              "normalized_mutual_information": 0.7919178013867693,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1727669201817865,
              "mutual_information": 2.1727669201817865,
              "normalized_mutual_information": 0.8020259400242021,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1723101190386225,
              "mutual_information": 2.1723101190386225,
              "normalized_mutual_information": 0.8021877254663122,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1670638765845585,
              "mutual_information": 2.1670638765845585,
              "normalized_mutual_information": 0.7993555908536476,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.104691825721749,
              "mutual_information": 2.104691825721749,
              "normalized_mutual_information": 0.775970423223466,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1859702319808334,
              "mutual_information": 2.1859702319808334,
              "normalized_mutual_information": 0.8063776622059846,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.30000000000000004
              ],
              "objective": 2.122390729328577,
              "mutual_information": 2.122390729328577,
              "normalized_mutual_information": 0.783047307772009,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.30000000000000004
              ],
              "objective": 2.15725613341859,
              "mutual_information": 2.15725613341859,
              "normalized_mutual_information": 0.7953842155658121,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.20000000000000004
              ],
              "objective": 2.1653263709051003,
              "mutual_information": 2.1653263709051003,
              "normalized_mutual_information": 0.7978614875196466,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.4
              ],
              "objective": 2.169157929750004,
              "mutual_information": 2.169157929750004,
              "normalized_mutual_information": 0.8013761675252747,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 134,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.176995254060257,
              "mutual_information": 2.176995254060257,
              "normalized_mutual_information": 0.802348881062088,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 135,
              "delta_rotation_deg_xyz": [
                0.5,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.175242581883658,
              "mutual_information": 2.175242581883658,
              "normalized_mutual_information": 0.8032572722986284,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 136,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.204014440822908,
              "mutual_information": 2.204014440822908,
              "normalized_mutual_information": 0.8127766695941204,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 137,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1490246560596216,
              "mutual_information": 2.1490246560596216,
              "normalized_mutual_information": 0.7928655189489007,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 138,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1848215092650367,
              "mutual_information": 2.1848215092650367,
              "normalized_mutual_information": 0.8066662441580307,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 139,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.183726958561603,
              "mutual_information": 2.183726958561603,
              "normalized_mutual_information": 0.805329561704334,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 140,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1752651852190996,
              "mutual_information": 2.1752651852190996,
              "normalized_mutual_information": 0.8026844268052814,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 141,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.2,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.122654118815068,
              "mutual_information": 2.122654118815068,
              "normalized_mutual_information": 0.7826708410081137,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 142,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.4,
                0.30000000000000004
              ],
              "objective": 2.124084812651988,
              "mutual_information": 2.124084812651988,
              "normalized_mutual_information": 0.7841167848749379,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 143,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.20000000000000004,
                0.30000000000000004
              ],
              "objective": 2.168638751007208,
              "mutual_information": 2.168638751007208,
              "normalized_mutual_information": 0.799132439537425,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 144,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.20000000000000004
              ],
              "objective": 2.190039238674863,
              "mutual_information": 2.190039238674863,
              "normalized_mutual_information": 0.8069176108842516,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 145,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.4
              ],
              "objective": 2.183032053371892,
              "mutual_information": 2.183032053371892,
              "normalized_mutual_information": 0.8066607322509296,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 146,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.187605984166691,
              "mutual_information": 2.187605984166691,
              "normalized_mutual_information": 0.8059684843115315,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 147,
              "delta_rotation_deg_xyz": [
                0.5,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1803999198106214,
              "mutual_information": 2.1803999198106214,
              "normalized_mutual_information": 0.804720204868703,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 148,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.75,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.179882037494977,
              "mutual_information": 2.179882037494977,
              "normalized_mutual_information": 0.8033710103228858,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 149,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1859702319808334,
              "mutual_information": 2.1859702319808334,
              "normalized_mutual_information": 0.8063776622059846,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 150,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.200513271387139,
              "mutual_information": 2.200513271387139,
              "normalized_mutual_information": 0.8116006025692325,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 151,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1979999763085676,
              "mutual_information": 2.1979999763085676,
              "normalized_mutual_information": 0.8103385235797802,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 152,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1473618627519393,
              "mutual_information": 2.1473618627519393,
              "normalized_mutual_information": 0.7919178013867693,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 153,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.2,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1741082213125265,
              "mutual_information": 2.1741082213125265,
              "normalized_mutual_information": 0.8020151143852977,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 154,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.4,
                0.30000000000000004
              ],
              "objective": 2.1339810769041634,
              "mutual_information": 2.1339810769041634,
              "normalized_mutual_information": 0.7868793811488946,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 155,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.20000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1837484261783144,
              "mutual_information": 2.1837484261783144,
              "normalized_mutual_information": 0.8044682796131597,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 156,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.20000000000000004
              ],
              "objective": 2.1982394713112465,
              "mutual_information": 2.1982394713112465,
              "normalized_mutual_information": 0.8095114051886756,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 157,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.4
              ],
              "objective": 2.1944107813730205,
              "mutual_information": 2.1944107813730205,
              "normalized_mutual_information": 0.8103902848560957,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 158,
              "delta_rotation_deg_xyz": [
                0.125,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2006695907203806,
              "mutual_information": 2.2006695907203806,
              "normalized_mutual_information": 0.8110162937221421,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 159,
              "delta_rotation_deg_xyz": [
                0.375,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.19607189601928,
              "mutual_information": 2.19607189601928,
              "normalized_mutual_information": 0.8105866312461095,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 160,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.625,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1977032907842253,
              "mutual_information": 2.1977032907842253,
              "normalized_mutual_information": 0.8100768911781083,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 161,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.375,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2004162335770214,
              "mutual_information": 2.2004162335770214,
              "normalized_mutual_information": 0.8117275671234235,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 162,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2069201862187957,
              "mutual_information": 2.2069201862187957,
              "normalized_mutual_information": 0.8137013913216183,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 163,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.625
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.198371561181405,
              "mutual_information": 2.198371561181405,
              "normalized_mutual_information": 0.8106989085098615,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 164,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1784943909425927,
              "mutual_information": 2.1784943909425927,
              "normalized_mutual_information": 0.8035193855463625,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 165,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.15000000000000002,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.197336076595228,
              "mutual_information": 2.197336076595228,
              "normalized_mutual_information": 0.8106709554542695,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 166,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.35000000000000003,
                0.30000000000000004
              ],
              "objective": 2.177496420969753,
              "mutual_information": 2.177496420969753,
              "normalized_mutual_information": 0.8037665514179028,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 167,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.25000000000000006,
                0.30000000000000004
              ],
              "objective": 2.2045415598326037,
              "mutual_information": 2.2045415598326037,
              "normalized_mutual_information": 0.8125802280138038,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 168,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.25000000000000006
              ],
              "objective": 2.202889810743732,
              "mutual_information": 2.202889810743732,
              "normalized_mutual_information": 0.8115318946515616,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 169,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.35000000000000003
              ],
              "objective": 2.2008898723990447,
              "mutual_information": 2.2008898723990447,
              "normalized_mutual_information": 0.8122924730230677,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 170,
              "delta_rotation_deg_xyz": [
                0.125,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2002236382879747,
              "mutual_information": 2.2002236382879747,
              "normalized_mutual_information": 0.8109258006748901,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 171,
              "delta_rotation_deg_xyz": [
                0.375,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.195886173059669,
              "mutual_information": 2.195886173059669,
              "normalized_mutual_information": 0.8105771558387617,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 172,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.195092210634458,
              "mutual_information": 2.195092210634458,
              "normalized_mutual_information": 0.809377544400666,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 173,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.375,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1998636917949796,
              "mutual_information": 2.1998636917949796,
              "normalized_mutual_information": 0.811801283844654,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 174,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.200513271387139,
              "mutual_information": 2.200513271387139,
              "normalized_mutual_information": 0.8116006025692325,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 175,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.204014440822908,
              "mutual_information": 2.204014440822908,
              "normalized_mutual_information": 0.8127766695941204,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 176,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.1812068212009357,
              "mutual_information": 2.1812068212009357,
              "normalized_mutual_information": 0.8044919145676709,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 177,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.15000000000000002,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.199271086451819,
              "mutual_information": 2.199271086451819,
              "normalized_mutual_information": 0.8116196302147868,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 178,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.35000000000000003,
                0.30000000000000004
              ],
              "objective": 2.1805030718307292,
              "mutual_information": 2.1805030718307292,
              "normalized_mutual_information": 0.8047865100172928,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 179,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.25000000000000006,
                0.30000000000000004
              ],
              "objective": 2.201123844460122,
              "mutual_information": 2.201123844460122,
              "normalized_mutual_information": 0.8115021020531074,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 180,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.25000000000000006
              ],
              "objective": 2.1990866369995987,
              "mutual_information": 2.1990866369995987,
              "normalized_mutual_information": 0.8104160147005218,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 181,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.35000000000000003
              ],
              "objective": 2.2012802437448786,
              "mutual_information": 2.2012802437448786,
              "normalized_mutual_information": 0.8122897691607012,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 182,
              "delta_rotation_deg_xyz": [
                0.1875,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.204885574708349,
              "mutual_information": 2.204885574708349,
              "normalized_mutual_information": 0.8130031031431298,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 183,
              "delta_rotation_deg_xyz": [
                0.3125,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2003616745526915,
              "mutual_information": 2.2003616745526915,
              "normalized_mutual_information": 0.8119771641786814,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 184,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2016782515062823,
              "mutual_information": 2.2016782515062823,
              "normalized_mutual_information": 0.8116463076916998,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 185,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.4375,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2058548352912157,
              "mutual_information": 2.2058548352912157,
              "normalized_mutual_information": 0.8133805799004866,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 186,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.3125
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2031133235549913,
              "mutual_information": 2.2031133235549913,
              "normalized_mutual_information": 0.8124988416102034,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 187,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2054810817190766,
              "mutual_information": 2.2054810817190766,
              "normalized_mutual_information": 0.8130852277011007,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 188,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.07500000000000001,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.192832188705213,
              "mutual_information": 2.192832188705213,
              "normalized_mutual_information": 0.8086349214476526,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 189,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.204742506904339,
              "mutual_information": 2.204742506904339,
              "normalized_mutual_information": 0.8130755800470055,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 190,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.32500000000000007,
                0.30000000000000004
              ],
              "objective": 2.191076203423654,
              "mutual_information": 2.191076203423654,
              "normalized_mutual_information": 0.8087891512046076,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 191,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.275,
                0.30000000000000004
              ],
              "objective": 2.204411214838044,
              "mutual_information": 2.204411214838044,
              "normalized_mutual_information": 0.812718824400961,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 192,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.275
              ],
              "objective": 2.2042213647760933,
              "mutual_information": 2.2042213647760933,
              "normalized_mutual_information": 0.8124100069050518,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 193,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.32500000000000007
              ],
              "objective": 2.2048207284727646,
              "mutual_information": 2.2048207284727646,
              "normalized_mutual_information": 0.8132685539979346,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 194,
              "delta_rotation_deg_xyz": [
                0.21875,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2047114011014837,
              "mutual_information": 2.2047114011014837,
              "normalized_mutual_information": 0.8128007470938247,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 195,
              "delta_rotation_deg_xyz": [
                0.28125,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2055378520487996,
              "mutual_information": 2.2055378520487996,
              "normalized_mutual_information": 0.8133693319002117,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 196,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.203315304031912,
              "mutual_information": 2.203315304031912,
              "normalized_mutual_information": 0.8122768860270551,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 197,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.46875,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.206170387425058,
              "mutual_information": 2.206170387425058,
              "normalized_mutual_information": 0.8135406063038232,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 198,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.34375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.205645075183283,
              "mutual_information": 2.205645075183283,
              "normalized_mutual_information": 0.8132227151346809,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 199,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2057813422127013,
              "mutual_information": 2.2057813422127013,
              "normalized_mutual_information": 0.8132410550205856,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 200,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.08750000000000001,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.197884525766988,
              "mutual_information": 2.197884525766988,
              "normalized_mutual_information": 0.810396842203513,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 201,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2074595128822225,
              "mutual_information": 2.2074595128822225,
              "normalized_mutual_information": 0.8140489251818265,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 202,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.31250000000000006,
                0.30000000000000004
              ],
              "objective": 2.1990603906761925,
              "mutual_information": 2.1990603906761925,
              "normalized_mutual_information": 0.8111956616122334,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 203,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.205642909781526,
              "mutual_information": 2.205642909781526,
              "normalized_mutual_information": 0.813282046380669,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 204,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.28750000000000003
              ],
              "objective": 2.2062683400431022,
              "mutual_information": 2.2062683400431022,
              "normalized_mutual_information": 0.813312973862109,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 205,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.31250000000000006
              ],
              "objective": 2.207097279354254,
              "mutual_information": 2.207097279354254,
              "normalized_mutual_information": 0.8138060149570151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 206,
              "delta_rotation_deg_xyz": [
                0.21875,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.207320476330377,
              "mutual_information": 2.207320476330377,
              "normalized_mutual_information": 0.8137880620161745,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 207,
              "delta_rotation_deg_xyz": [
                0.28125,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2054924909073628,
              "mutual_information": 2.2054924909073628,
              "normalized_mutual_information": 0.8135713071174063,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 208,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2077373181931352,
              "mutual_information": 2.2077373181931352,
              "normalized_mutual_information": 0.814163640036944,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 209,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.46875,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2050263700181145,
              "mutual_information": 2.2050263700181145,
              "normalized_mutual_information": 0.8132121086447501,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 210,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.34375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2071240634477127,
              "mutual_information": 2.2071240634477127,
              "normalized_mutual_information": 0.8138898432276211,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 211,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.207108833454464,
              "mutual_information": 2.207108833454464,
              "normalized_mutual_information": 0.8138862469863596,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 212,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2069201862187957,
              "mutual_information": 2.2069201862187957,
              "normalized_mutual_information": 0.8137013913216183,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 213,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.204742506904339,
              "mutual_information": 2.204742506904339,
              "normalized_mutual_information": 0.8130755800470055,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 214,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.31250000000000006,
                0.30000000000000004
              ],
              "objective": 2.1991051921519973,
              "mutual_information": 2.1991051921519973,
              "normalized_mutual_information": 0.8113933458655866,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 215,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2081805170300917,
              "mutual_information": 2.2081805170300917,
              "normalized_mutual_information": 0.8140968126224344,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 216,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.28750000000000003
              ],
              "objective": 2.207940253983139,
              "mutual_information": 2.207940253983139,
              "normalized_mutual_information": 0.814010566643964,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 217,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.31250000000000006
              ],
              "objective": 2.2077106686236543,
              "mutual_information": 2.2077106686236543,
              "normalized_mutual_information": 0.8141042684633476,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 218,
              "delta_rotation_deg_xyz": [
                0.21875,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.207679074881949,
              "mutual_information": 2.207679074881949,
              "normalized_mutual_information": 0.8138925690187481,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 219,
              "delta_rotation_deg_xyz": [
                0.28125,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2094016980078703,
              "mutual_information": 2.2094016980078703,
              "normalized_mutual_information": 0.8147127727666014,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 220,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2088736966454854,
              "mutual_information": 2.2088736966454854,
              "normalized_mutual_information": 0.8144113047630217,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 221,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.46875,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2053696124141857,
              "mutual_information": 2.2053696124141857,
              "normalized_mutual_information": 0.8131433943482826,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 222,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.34375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.20719309737887,
              "mutual_information": 2.20719309737887,
              "normalized_mutual_information": 0.8137705075845904,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 223,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2100184135301344,
              "mutual_information": 2.2100184135301344,
              "normalized_mutual_information": 0.8148450767003311,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 224,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.205642909781526,
              "mutual_information": 2.205642909781526,
              "normalized_mutual_information": 0.813282046380669,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 225,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2053123078498813,
              "mutual_information": 2.2053123078498813,
              "normalized_mutual_information": 0.8131876561348168,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 226,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.2074595128822225,
              "mutual_information": 2.2074595128822225,
              "normalized_mutual_information": 0.8140489251818265,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 227,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.275,
                0.30000000000000004
              ],
              "objective": 2.2084524243564894,
              "mutual_information": 2.2084524243564894,
              "normalized_mutual_information": 0.8141301227455372,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 228,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.28750000000000003
              ],
              "objective": 2.209843042104683,
              "mutual_information": 2.209843042104683,
              "normalized_mutual_information": 0.8145486695863368,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 229,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.31250000000000006
              ],
              "objective": 2.206333071452137,
              "mutual_information": 2.206333071452137,
              "normalized_mutual_information": 0.8134966427548828,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 230,
              "delta_rotation_deg_xyz": [
                0.21875,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2092645667349182,
              "mutual_information": 2.2092645667349182,
              "normalized_mutual_information": 0.8144232702198749,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 231,
              "delta_rotation_deg_xyz": [
                0.28125,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.209443760506104,
              "mutual_information": 2.209443760506104,
              "normalized_mutual_information": 0.8147231085549614,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 232,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.210984988757392,
              "mutual_information": 2.210984988757392,
              "normalized_mutual_information": 0.8151661450025437,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 233,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.46875,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2056781800518106,
              "mutual_information": 2.2056781800518106,
              "normalized_mutual_information": 0.8131958527213682,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 234,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2081805170300917,
              "mutual_information": 2.2081805170300917,
              "normalized_mutual_information": 0.8140968126224344,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 235,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2093758384032687,
              "mutual_information": 2.2093758384032687,
              "normalized_mutual_information": 0.8144848994918875,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 236,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.206672974692845,
              "mutual_information": 2.206672974692845,
              "normalized_mutual_information": 0.8134881428948755,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 237,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.205884317518599,
              "mutual_information": 2.205884317518599,
              "normalized_mutual_information": 0.8131992952040467,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 238,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.207108833454464,
              "mutual_information": 2.207108833454464,
              "normalized_mutual_information": 0.8138862469863596,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 239,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.275,
                0.30000000000000004
              ],
              "objective": 2.209625899860844,
              "mutual_information": 2.209625899860844,
              "normalized_mutual_information": 0.8146537914795254,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 240,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.28750000000000003
              ],
              "objective": 2.2102274954557153,
              "mutual_information": 2.2102274954557153,
              "normalized_mutual_information": 0.8147888710426271,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 241,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.31250000000000006
              ],
              "objective": 2.210408432175016,
              "mutual_information": 2.210408432175016,
              "normalized_mutual_information": 0.8149148340254936,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 242,
              "delta_rotation_deg_xyz": [
                0.21875,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.209675618377345,
              "mutual_information": 2.209675618377345,
              "normalized_mutual_information": 0.8145391113110728,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 243,
              "delta_rotation_deg_xyz": [
                0.28125,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.209998724144196,
              "mutual_information": 2.209998724144196,
              "normalized_mutual_information": 0.8149701532805832,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 244,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5625,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.208434143095205,
              "mutual_information": 2.208434143095205,
              "normalized_mutual_information": 0.8141114606897447,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 245,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.5,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2100184135301344,
              "mutual_information": 2.2100184135301344,
              "normalized_mutual_information": 0.8148450767003311,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 246,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2088736966454854,
              "mutual_information": 2.2088736966454854,
              "normalized_mutual_information": 0.8144113047630217,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 247,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.210518641035066,
              "mutual_information": 2.210518641035066,
              "normalized_mutual_information": 0.8149490272089791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 248,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2042143615285155,
              "mutual_information": 2.2042143615285155,
              "normalized_mutual_information": 0.8126464109138593,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 249,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2085943010918463,
              "mutual_information": 2.2085943010918463,
              "normalized_mutual_information": 0.8143093376752256,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 250,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.30000000000000004,
                0.30000000000000004
              ],
              "objective": 2.208075476754434,
              "mutual_information": 2.208075476754434,
              "normalized_mutual_information": 0.8141168674435693,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 251,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.275,
                0.30000000000000004
              ],
              "objective": 2.2092998402650914,
              "mutual_information": 2.2092998402650914,
              "normalized_mutual_information": 0.8144553263764909,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 252,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.28750000000000003
              ],
              "objective": 2.2099775839915208,
              "mutual_information": 2.2099775839915208,
              "normalized_mutual_information": 0.8146375436418759,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 253,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.31250000000000006
              ],
              "objective": 2.2101792846432855,
              "mutual_information": 2.2101792846432855,
              "normalized_mutual_information": 0.814994853973225,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 254,
              "delta_rotation_deg_xyz": [
                0.234375,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2089636503783994,
              "mutual_information": 2.2089636503783994,
              "normalized_mutual_information": 0.8143734468710472,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 255,
              "delta_rotation_deg_xyz": [
                0.265625,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.210803679103695,
              "mutual_information": 2.210803679103695,
              "normalized_mutual_information": 0.8151160762022803,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 256,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.546875,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2103846410609744,
              "mutual_information": 2.2103846410609744,
              "normalized_mutual_information": 0.8149285316293312,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 257,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.515625,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.210247505860799,
              "mutual_information": 2.210247505860799,
              "normalized_mutual_information": 0.81494231756365,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 258,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.390625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2100797886760204,
              "mutual_information": 2.2100797886760204,
              "normalized_mutual_information": 0.8148092468937201,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 259,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.421875
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.2104622153390747,
              "mutual_information": 2.2104622153390747,
              "normalized_mutual_information": 0.8149061399262321,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 260,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.10625,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.208172606901972,
              "mutual_information": 2.208172606901972,
              "normalized_mutual_information": 0.8141752837606718,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 261,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.11875000000000001,
                -0.28750000000000003,
                0.30000000000000004
              ],
              "objective": 2.210423903266977,
              "mutual_information": 2.210423903266977,
              "normalized_mutual_information": 0.8149391635019102,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 262,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.29375,
                0.30000000000000004
              ],
              "objective": 2.2095510109816296,
              "mutual_information": 2.2095510109816296,
              "normalized_mutual_information": 0.8146490470809952,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 263,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28125000000000006,
                0.30000000000000004
              ],
              "objective": 2.2109063656669794,
              "mutual_information": 2.2109063656669794,
              "normalized_mutual_information": 0.8150352603175252,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 264,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.29375000000000007
              ],
              "objective": 2.2098643633273927,
              "mutual_information": 2.2098643633273927,
              "normalized_mutual_information": 0.8146980141471613,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 265,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.53125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.1125,
                -0.28750000000000003,
                0.30625
              ],
              "objective": 2.210216618727666,
              "mutual_information": 2.210216618727666,
              "normalized_mutual_information": 0.814906748819831,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 265,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.5767034400050761,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.8183596186703753,
          "translation_m": 0.27669929526473325,
          "recovered": false
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.1828178122486033,
              -0.12397474510889377,
              0.32170729192258374
            ],
            "rotation_quat_xyzw": [
              0.01685024957220716,
              -0.02516282017070742,
              0.009564657139054742,
              0.9994955822334701
            ]
          },
          "delta": [
            0.8982219817957094,
            -0.4151037471433318,
            0.7853685811639699,
            0.13281781224860328,
            -0.12397474510889377,
            0.12170729192258377
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 134,
          "nfev": 26,
          "njev": 18,
          "initial_support": [
            3783,
            3776,
            3780
          ],
          "final_support": [
            3783,
            3776,
            3780
          ],
          "support_retained": true,
          "cost": 41.329115034353634,
          "optimality": 0.12290055518305608
        },
        "seconds": 0.36090465501183644,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.14325580047440117,
          "translation_m": 0.03662270472770877,
          "recovered": true
        },
        "holdout": [
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.02234135129226278,
            "p90_absolute_z_m": 0.05105859709704567,
            "behind_surface_gt_20cm": 48,
            "in_front_gt_20cm": 12
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.021226967578102496,
            "p90_absolute_z_m": 0.04322691859293765,
            "behind_surface_gt_20cm": 63,
            "in_front_gt_20cm": 6
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.022878742707591826,
            "p90_absolute_z_m": 0.05199869164742452,
            "behind_surface_gt_20cm": 58,
            "in_front_gt_20cm": 10
          }
        ]
      }
    },
    {
      "condition": "exact_range_visible",
      "sign": 0,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.2,
              -0.1,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.017674160904072974,
              -0.026019717990453804,
              0.009179049840112002,
              0.9994630275083051
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.2,
              -0.1,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.017617352669064033,
              -0.02605821507508966,
              0.006998539652581811,
              0.9994806745279098
            ]
          },
          "best_delta_rotation_deg_xyz": [
            0.0,
            0.0,
            -0.25
          ],
          "best_delta_translation_m_xyz": [
            0.0,
            0.0,
            0.0
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 2.245966295806202,
            "normalized_mutual_information": 0.826605848490923,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 2.309458503467515,
                "normalized_mutual_information": 0.8329675438106259,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 2.0402254980958014,
                "normalized_mutual_information": 0.8117689691634986,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 2.3882148858552896,
                "normalized_mutual_information": 0.8350810324986445,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 2.248469142167124,
            "normalized_mutual_information": 0.8277316744368441,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 2.309892137558803,
                "normalized_mutual_information": 0.8326674842519077,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 2.0418212559634856,
                "normalized_mutual_information": 0.8128995018990915,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 2.393694032979083,
                "normalized_mutual_information": 0.837628037159533,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.245966295806202,
              "mutual_information": 2.245966295806202,
              "normalized_mutual_information": 0.826605848490923,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2071847673757654,
              "mutual_information": 2.2071847673757654,
              "normalized_mutual_information": 0.8114327703916134,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.220654737065213,
              "mutual_information": 2.220654737065213,
              "normalized_mutual_information": 0.8177452865797723,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.23475841484102,
              "mutual_information": 2.23475841484102,
              "normalized_mutual_information": 0.8219510820156165,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.1935396971123153,
              "mutual_information": 2.1935396971123153,
              "normalized_mutual_information": 0.807524210418232,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.248469142167124,
              "mutual_information": 2.248469142167124,
              "normalized_mutual_information": 0.8277316744368441,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.241418644610018,
              "mutual_information": 2.241418644610018,
              "normalized_mutual_information": 0.8250156019269733,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 2.1914606022933394,
              "mutual_information": 2.1914606022933394,
              "normalized_mutual_information": 0.8060896118370637,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 2.1369230082197457,
              "mutual_information": 2.1369230082197457,
              "normalized_mutual_information": 0.7876735991145019,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 2.173140259827058,
              "mutual_information": 2.173140259827058,
              "normalized_mutual_information": 0.8002136003515243,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 2.1654038534680438,
              "mutual_information": 2.1654038534680438,
              "normalized_mutual_information": 0.796012943846692,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 2.2234312613842397,
              "mutual_information": 2.2234312613842397,
              "normalized_mutual_information": 0.8172367303996412,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 2.235719005097986,
              "mutual_information": 2.235719005097986,
              "normalized_mutual_information": 0.8242490505534863,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2074862735416336,
              "mutual_information": 2.2074862735416336,
              "normalized_mutual_information": 0.8117946634244032,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.221515128323446,
              "mutual_information": 2.221515128323446,
              "normalized_mutual_information": 0.8184126824950401,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2294219667930673,
              "mutual_information": 2.2294219667930673,
              "normalized_mutual_information": 0.8200421425449133,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.1942232276674978,
              "mutual_information": 2.1942232276674978,
              "normalized_mutual_information": 0.8081717561208089,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2349826574971883,
              "mutual_information": 2.2349826574971883,
              "normalized_mutual_information": 0.8227063101824256,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.245966295806202,
              "mutual_information": 2.245966295806202,
              "normalized_mutual_information": 0.826605848490923,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 2.189758522945418,
              "mutual_information": 2.189758522945418,
              "normalized_mutual_information": 0.805959400505317,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 2.142134119196039,
              "mutual_information": 2.142134119196039,
              "normalized_mutual_information": 0.7897759265474544,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 2.1757266877308705,
              "mutual_information": 2.1757266877308705,
              "normalized_mutual_information": 0.8013155149542164,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 2.1596356550482647,
              "mutual_information": 2.1596356550482647,
              "normalized_mutual_information": 0.7942689595112635,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 2.223285806979714,
              "mutual_information": 2.223285806979714,
              "normalized_mutual_information": 0.8174802854407207,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 2.2321542421048046,
              "mutual_information": 2.2321542421048046,
              "normalized_mutual_information": 0.8228708527702787,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.232090842867722,
              "mutual_information": 2.232090842867722,
              "normalized_mutual_information": 0.8214991634992778,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.241949029754149,
              "mutual_information": 2.241949029754149,
              "normalized_mutual_information": 0.8256622987860203,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2399683485478366,
              "mutual_information": 2.2399683485478366,
              "normalized_mutual_information": 0.8242103022016334,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.221622167788782,
              "mutual_information": 2.221622167788782,
              "normalized_mutual_information": 0.8181490169891581,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.242780511427421,
              "mutual_information": 2.242780511427421,
              "normalized_mutual_information": 0.8256837179325814,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2452994550842402,
              "mutual_information": 2.2452994550842402,
              "normalized_mutual_information": 0.8267091090455466,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.0,
                0.0
              ],
              "objective": 2.2192461113495705,
              "mutual_information": 2.2192461113495705,
              "normalized_mutual_information": 0.8166117636181619,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                0.0,
                0.0
              ],
              "objective": 2.2004915455640393,
              "mutual_information": 2.2004915455640393,
              "normalized_mutual_information": 0.810679757901691,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.05,
                0.0
              ],
              "objective": 2.223839397083695,
              "mutual_information": 2.223839397083695,
              "normalized_mutual_information": 0.8188564675650559,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.05,
                0.0
              ],
              "objective": 2.2071399751092935,
              "mutual_information": 2.2071399751092935,
              "normalized_mutual_information": 0.8124639870228324,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.05
              ],
              "objective": 2.240307976827853,
              "mutual_information": 2.240307976827853,
              "normalized_mutual_information": 0.8241463738315665,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.05
              ],
              "objective": 2.2386414982040086,
              "mutual_information": 2.2386414982040086,
              "normalized_mutual_information": 0.8248762043827621,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.241326551200349,
              "mutual_information": 2.241326551200349,
              "normalized_mutual_information": 0.8250145328972224,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.246909769399818,
              "mutual_information": 2.246909769399818,
              "normalized_mutual_information": 0.8273189201801263,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.0625,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.243022147903216,
              "mutual_information": 2.243022147903216,
              "normalized_mutual_information": 0.8255829075523105,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.234520391894154,
              "mutual_information": 2.234520391894154,
              "normalized_mutual_information": 0.8226683540306631,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.3125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.246791549928213,
              "mutual_information": 2.246791549928213,
              "normalized_mutual_information": 0.8270264310516598,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.1875
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2470215815820294,
              "mutual_information": 2.2470215815820294,
              "normalized_mutual_information": 0.8271885419281509,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.0,
                0.0
              ],
              "objective": 2.2386086085246784,
              "mutual_information": 2.2386086085246784,
              "normalized_mutual_information": 0.8238874370698802,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.025,
                0.0,
                0.0
              ],
              "objective": 2.226562631253203,
              "mutual_information": 2.226562631253203,
              "normalized_mutual_information": 0.8199947195413891,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.025,
                0.0
              ],
              "objective": 2.2437284634959105,
              "mutual_information": 2.2437284634959105,
              "normalized_mutual_information": 0.8261504368229492,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.025,
                0.0
              ],
              "objective": 2.231246223166965,
              "mutual_information": 2.231246223166965,
              "normalized_mutual_information": 0.8215087141446701,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.025
              ],
              "objective": 2.241120097177339,
              "mutual_information": 2.241120097177339,
              "normalized_mutual_information": 0.824906685666463,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.025
              ],
              "objective": 2.243508005004608,
              "mutual_information": 2.243508005004608,
              "normalized_mutual_information": 0.8262265067540205,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.24408165672658,
              "mutual_information": 2.24408165672658,
              "normalized_mutual_information": 0.8259952081629768,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2468281842488733,
              "mutual_information": 2.2468281842488733,
              "normalized_mutual_information": 0.8271934922413133,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.03125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.246298807153113,
              "mutual_information": 2.246298807153113,
              "normalized_mutual_information": 0.8268801264565795,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.241459085267961,
              "mutual_information": 2.241459085267961,
              "normalized_mutual_information": 0.8252049845222001,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.28125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2475994351510638,
              "mutual_information": 2.2475994351510638,
              "normalized_mutual_information": 0.8273491683054419,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.21875
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2477002534993855,
              "mutual_information": 2.2477002534993855,
              "normalized_mutual_information": 0.8273663438858324,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                0.0,
                0.0
              ],
              "objective": 2.243471962508257,
              "mutual_information": 2.243471962508257,
              "normalized_mutual_information": 0.8260174017191834,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0125,
                0.0,
                0.0
              ],
              "objective": 2.2398723313523132,
              "mutual_information": 2.2398723313523132,
              "normalized_mutual_information": 0.8246557484407971,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 2.2462790899211424,
              "mutual_information": 2.2462790899211424,
              "normalized_mutual_information": 0.826949104412266,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0125,
                0.0
              ],
              "objective": 2.242283207381616,
              "mutual_information": 2.242283207381616,
              "normalized_mutual_information": 0.8254138979249528,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.0125
              ],
              "objective": 2.2453078558997706,
              "mutual_information": 2.2453078558997706,
              "normalized_mutual_information": 0.8263572732719194,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0125
              ],
              "objective": 2.2462919832479487,
              "mutual_information": 2.2462919832479487,
              "normalized_mutual_information": 0.8270216006012796,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2474489283159795,
              "mutual_information": 2.2474489283159795,
              "normalized_mutual_information": 0.827260434104975,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2484494826842925,
              "mutual_information": 2.2484494826842925,
              "normalized_mutual_information": 0.8276867003195673,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.015625,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.247249354841816,
              "mutual_information": 2.247249354841816,
              "normalized_mutual_information": 0.8271863026922647,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.245265420506943,
              "mutual_information": 2.245265420506943,
              "normalized_mutual_information": 0.8266431587273319,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.265625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2481133127397572,
              "mutual_information": 2.2481133127397572,
              "normalized_mutual_information": 0.827588590095193,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.234375
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 2.2476840656481794,
              "mutual_information": 2.2476840656481794,
              "normalized_mutual_information": 0.8273471729244778,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                0.0,
                0.0
              ],
              "objective": 2.2440870770773813,
              "mutual_information": 2.2440870770773813,
              "normalized_mutual_information": 0.8260944538191871,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.00625,
                0.0,
                0.0
              ],
              "objective": 2.243239152307305,
              "mutual_information": 2.243239152307305,
              "normalized_mutual_information": 0.8258875202092476,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 2.2484115955899795,
              "mutual_information": 2.2484115955899795,
              "normalized_mutual_information": 0.8277556299870076,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.00625,
                0.0
              ],
              "objective": 2.2449732828964435,
              "mutual_information": 2.2449732828964435,
              "normalized_mutual_information": 0.8263406356721777,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.00625
              ],
              "objective": 2.247881260924519,
              "mutual_information": 2.247881260924519,
              "normalized_mutual_information": 0.8273998664369331,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.00625
              ],
              "objective": 2.247778772663034,
              "mutual_information": 2.247778772663034,
              "normalized_mutual_information": 0.8276119689325023,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 73,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.15277467700070702,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.24999999999999975,
          "translation_m": 0.0,
          "recovered": true
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.18268089298495999,
              -0.1232981764267974,
              0.3218247325560382
            ],
            "rotation_quat_xyzw": [
              0.016879328943642677,
              -0.025160497143642747,
              0.009569397294649258,
              0.9994951046770135
            ]
          },
          "delta": [
            -0.09312760085541158,
            0.09691139722862133,
            0.0439643219455342,
            -0.017319107015040025,
            -0.023298176426797393,
            0.02182473255603823
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 142,
          "nfev": 28,
          "njev": 19,
          "initial_support": [
            3783,
            3776,
            3780
          ],
          "final_support": [
            3783,
            3776,
            3780
          ],
          "support_retained": true,
          "cost": 41.3271939290731,
          "optimality": 0.5041626178824882
        },
        "seconds": 0.3874660250003217,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.14143674481275784,
          "translation_m": 0.03631907823383161,
          "recovered": true
        },
        "holdout": [
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.022413542967196776,
            "p90_absolute_z_m": 0.05121728639620108,
            "behind_surface_gt_20cm": 48,
            "in_front_gt_20cm": 12
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.021260411348391628,
            "p90_absolute_z_m": 0.04337134564727609,
            "behind_surface_gt_20cm": 63,
            "in_front_gt_20cm": 6
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.023005829314708848,
            "p90_absolute_z_m": 0.051981861867558085,
            "behind_surface_gt_20cm": 58,
            "in_front_gt_20cm": 10
          }
        ]
      }
    },
    {
      "condition": "biased_z_visible",
      "sign": 1,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.35,
              -0.2,
              0.4
            ],
            "rotation_quat_xyzw": [
              0.026554813331940996,
              -0.030285556445752447,
              0.015605887359136183,
              0.9990666060075328
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.24374999999999997,
              0.10000000000000003,
              0.23125
            ],
            "rotation_quat_xyzw": [
              0.026325854334361357,
              -0.028222467958798906,
              0.01105642113050782,
              0.9991937736233475
            ]
          },
          "best_delta_rotation_deg_xyz": [
            -0.015625,
            0.25,
            -0.515625
          ],
          "best_delta_translation_m_xyz": [
            -0.10625000000000001,
            0.30000000000000004,
            -0.16875
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.5266042379592133,
            "normalized_mutual_information": 0.5537840167251592,
            "visible_point_count": 11262,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.5557259524003237,
                "normalized_mutual_information": 0.55779954023252,
                "visible_point_count": 3762,
                "projected_count_before_visibility": 3762
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.3296676537740568,
                "normalized_mutual_information": 0.5067242948876239,
                "visible_point_count": 3738,
                "projected_count_before_visibility": 3741
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.69441910770326,
                "normalized_mutual_information": 0.5968282150553336,
                "visible_point_count": 3762,
                "projected_count_before_visibility": 3764
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.720657807082968,
            "normalized_mutual_information": 0.6203286041013254,
            "visible_point_count": 11326,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.7722461675467893,
                "normalized_mutual_information": 0.6317458526787055,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.5230991792568842,
                "normalized_mutual_information": 0.5760033722135672,
                "visible_point_count": 3765,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.86662807444523,
                "normalized_mutual_information": 0.6532365874117034,
                "visible_point_count": 3778,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5266042379592133,
              "mutual_information": 1.5266042379592133,
              "normalized_mutual_information": 0.5537840167251592,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5542059227410696,
              "mutual_information": 1.5542059227410696,
              "normalized_mutual_information": 0.5628717256273804,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.4937316370930194,
              "mutual_information": 1.4937316370930194,
              "normalized_mutual_information": 0.541725173814735,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5230629014049841,
              "mutual_information": 1.5230629014049841,
              "normalized_mutual_information": 0.552312450413505,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5202678468655613,
              "mutual_information": 1.5202678468655613,
              "normalized_mutual_information": 0.5520883006341136,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.527374675730168,
              "mutual_information": 1.527374675730168,
              "normalized_mutual_information": 0.5537892760844961,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5235810561658603,
              "mutual_information": 1.5235810561658603,
              "normalized_mutual_information": 0.5526941490551406,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.5336431052660888,
              "mutual_information": 1.5336431052660888,
              "normalized_mutual_information": 0.5557833026630118,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.4981109568471644,
              "mutual_information": 1.4981109568471644,
              "normalized_mutual_information": 0.5442676202197638,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.4563168208358104,
              "mutual_information": 1.4563168208358104,
              "normalized_mutual_information": 0.5283284949992101,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.587036869832921,
              "mutual_information": 1.587036869832921,
              "normalized_mutual_information": 0.5743059314960846,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.5196027754988568,
              "mutual_information": 1.5196027754988568,
              "normalized_mutual_information": 0.551223297075777,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.52607292771526,
              "mutual_information": 1.52607292771526,
              "normalized_mutual_information": 0.5530422505332937,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.6203404146441727,
              "mutual_information": 1.6203404146441727,
              "normalized_mutual_information": 0.5862007794533461,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5556307597818295,
              "mutual_information": 1.5556307597818295,
              "normalized_mutual_information": 0.5640535128600138,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5885854557210044,
              "mutual_information": 1.5885854557210044,
              "normalized_mutual_information": 0.5746675937929947,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5782615136576397,
              "mutual_information": 1.5782615136576397,
              "normalized_mutual_information": 0.5719592465392115,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5919686068990728,
              "mutual_information": 1.5919686068990728,
              "normalized_mutual_information": 0.5760674692271378,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.5854504861544791,
              "mutual_information": 1.5854504861544791,
              "normalized_mutual_information": 0.5740638085969643,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.1,
                0.0
              ],
              "objective": 1.600270455066991,
              "mutual_information": 1.600270455066991,
              "normalized_mutual_information": 0.5783512076325735,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.1,
                0.0
              ],
              "objective": 1.5541363604736251,
              "mutual_information": 1.5541363604736251,
              "normalized_mutual_information": 0.5636633173077822,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5266042379592133,
              "mutual_information": 1.5266042379592133,
              "normalized_mutual_information": 0.5537840167251592,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6480352531299196,
              "mutual_information": 1.6480352531299196,
              "normalized_mutual_information": 0.5960182568040747,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                -0.1
              ],
              "objective": 1.5839055036724161,
              "mutual_information": 1.5839055036724161,
              "normalized_mutual_information": 0.5733064083621208,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.1
              ],
              "objective": 1.5841007438005115,
              "mutual_information": 1.5841007438005115,
              "normalized_mutual_information": 0.573245943559442,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.673199538487702,
              "mutual_information": 1.673199538487702,
              "normalized_mutual_information": 0.6049895663931649,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6187666878443119,
              "mutual_information": 1.6187666878443119,
              "normalized_mutual_information": 0.5850538372680716,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6406382188954602,
              "mutual_information": 1.6406382188954602,
              "normalized_mutual_information": 0.5926193343608578,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6362313908967006,
              "mutual_information": 1.6362313908967006,
              "normalized_mutual_information": 0.5926414068041156,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.64995068766106,
              "mutual_information": 1.64995068766106,
              "normalized_mutual_information": 0.5966289233461426,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.645681418606067,
              "mutual_information": 1.645681418606067,
              "normalized_mutual_information": 0.5949584624095786,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.2,
                0.0
              ],
              "objective": 1.6612826500284097,
              "mutual_information": 1.6612826500284097,
              "normalized_mutual_information": 0.599437388733247,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.2,
                0.0
              ],
              "objective": 1.6039027282598983,
              "mutual_information": 1.6039027282598983,
              "normalized_mutual_information": 0.5814155192527726,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.587036869832921,
              "mutual_information": 1.587036869832921,
              "normalized_mutual_information": 0.5743059314960846,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6763645086659438,
              "mutual_information": 1.6763645086659438,
              "normalized_mutual_information": 0.6060252002429775,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                -0.1
              ],
              "objective": 1.6535453414929924,
              "mutual_information": 1.6535453414929924,
              "normalized_mutual_information": 0.5976689296358665,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.1
              ],
              "objective": 1.635384718746175,
              "mutual_information": 1.635384718746175,
              "normalized_mutual_information": 0.5915588776899978,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6711888889929074,
              "mutual_information": 1.6711888889929074,
              "normalized_mutual_information": 0.6042908426186725,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6625036007665919,
              "mutual_information": 1.6625036007665919,
              "normalized_mutual_information": 0.6011208364769383,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6722500046565563,
              "mutual_information": 1.6722500046565563,
              "normalized_mutual_information": 0.603748498430436,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6599101932372686,
              "mutual_information": 1.6599101932372686,
              "normalized_mutual_information": 0.6013308612532348,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6839320018098245,
              "mutual_information": 1.6839320018098245,
              "normalized_mutual_information": 0.6087895698807756,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6731795022020926,
              "mutual_information": 1.6731795022020926,
              "normalized_mutual_information": 0.6049642493061876,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6778704020304815,
              "mutual_information": 1.6778704020304815,
              "normalized_mutual_information": 0.6055904414002778,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6280707963112604,
              "mutual_information": 1.6280707963112604,
              "normalized_mutual_information": 0.5905923586764357,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                0.0
              ],
              "objective": 1.6480352531299196,
              "mutual_information": 1.6480352531299196,
              "normalized_mutual_information": 0.5960182568040747,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                0.0
              ],
              "objective": 1.638577999796172,
              "mutual_information": 1.638577999796172,
              "normalized_mutual_information": 0.5925383520465394,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6787370089795146,
              "mutual_information": 1.6787370089795146,
              "normalized_mutual_information": 0.6064855200582396,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.1
              ],
              "objective": 1.6583911117105121,
              "mutual_information": 1.6583911117105121,
              "normalized_mutual_information": 0.5999097286661975,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6759671433706709,
              "mutual_information": 1.6759671433706709,
              "normalized_mutual_information": 0.6060430406235845,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6624825262138891,
              "mutual_information": 1.6624825262138891,
              "normalized_mutual_information": 0.6009469896497256,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6754325899406968,
              "mutual_information": 1.6754325899406968,
              "normalized_mutual_information": 0.6047833845033924,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.665096114026343,
              "mutual_information": 1.665096114026343,
              "normalized_mutual_information": 0.6031265495506611,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6819124901633906,
              "mutual_information": 1.6819124901633906,
              "normalized_mutual_information": 0.6078951281527872,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6763645086659438,
              "mutual_information": 1.6763645086659438,
              "normalized_mutual_information": 0.6060252002429775,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.67890599781998,
              "mutual_information": 1.67890599781998,
              "normalized_mutual_information": 0.6059410615295673,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6299533704141325,
              "mutual_information": 1.6299533704141325,
              "normalized_mutual_information": 0.5913912359877956,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                0.0
              ],
              "objective": 1.64995068766106,
              "mutual_information": 1.64995068766106,
              "normalized_mutual_information": 0.5966289233461426,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                0.0
              ],
              "objective": 1.6440567471043028,
              "mutual_information": 1.6440567471043028,
              "normalized_mutual_information": 0.5947414759675151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.684723044847675,
              "mutual_information": 1.684723044847675,
              "normalized_mutual_information": 0.6083314763667762,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.1
              ],
              "objective": 1.6675226688972635,
              "mutual_information": 1.6675226688972635,
              "normalized_mutual_information": 0.6030993546106432,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6802144074187089,
              "mutual_information": 1.6802144074187089,
              "normalized_mutual_information": 0.6073779312186942,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6686444503817752,
              "mutual_information": 1.6686444503817752,
              "normalized_mutual_information": 0.6029821216927487,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.686338679206122,
              "mutual_information": 1.686338679206122,
              "normalized_mutual_information": 0.6081818428042681,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6698803829508198,
              "mutual_information": 1.6698803829508198,
              "normalized_mutual_information": 0.604680955844326,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6845594093620697,
              "mutual_information": 1.6845594093620697,
              "normalized_mutual_information": 0.6085903759027104,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6787370089795146,
              "mutual_information": 1.6787370089795146,
              "normalized_mutual_information": 0.6064855200582396,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6936409373589913,
              "mutual_information": 1.6936409373589913,
              "normalized_mutual_information": 0.6103764886020001,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6288344275615227,
              "mutual_information": 1.6288344275615227,
              "normalized_mutual_information": 0.5908150772028132,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6583602356705012,
              "mutual_information": 1.6583602356705012,
              "normalized_mutual_information": 0.5992444508812196,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                -0.1
              ],
              "objective": 1.645146478367586,
              "mutual_information": 1.645146478367586,
              "normalized_mutual_information": 0.5946203135428986,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6791259286837004,
              "mutual_information": 1.6791259286837004,
              "normalized_mutual_information": 0.6063070934126237,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6839320018098245,
              "mutual_information": 1.6839320018098245,
              "normalized_mutual_information": 0.6087895698807756,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6832008449828386,
              "mutual_information": 1.6832008449828386,
              "normalized_mutual_information": 0.6067723997202662,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6847369925924809,
              "mutual_information": 1.6847369925924809,
              "normalized_mutual_information": 0.6071644951824676,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6660219918539187,
              "mutual_information": 1.6660219918539187,
              "normalized_mutual_information": 0.5996283573106019,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7050621594445319,
              "mutual_information": 1.7050621594445319,
              "normalized_mutual_information": 0.6152469335572955,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6916913488268799,
              "mutual_information": 1.6916913488268799,
              "normalized_mutual_information": 0.6098305315784973,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6926869538959537,
              "mutual_information": 1.6926869538959537,
              "normalized_mutual_information": 0.6100289814082321,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.644972048297735,
              "mutual_information": 1.644972048297735,
              "normalized_mutual_information": 0.5923141906584307,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.684723044847675,
              "mutual_information": 1.684723044847675,
              "normalized_mutual_information": 0.6083314763667762,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6705003689624565,
              "mutual_information": 1.6705003689624565,
              "normalized_mutual_information": 0.6023412823204274,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.1
              ],
              "objective": 1.6476446061242134,
              "mutual_information": 1.6476446061242134,
              "normalized_mutual_information": 0.5943306132515468,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.697516357740417,
              "mutual_information": 1.697516357740417,
              "normalized_mutual_information": 0.6110576831992462,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.67890599781998,
              "mutual_information": 1.67890599781998,
              "normalized_mutual_information": 0.6059410615295673,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.697543456842902,
              "mutual_information": 1.697543456842902,
              "normalized_mutual_information": 0.6126851719287739,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6965944571425773,
              "mutual_information": 1.6965944571425773,
              "normalized_mutual_information": 0.6118895349835333,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6936409373589913,
              "mutual_information": 1.6936409373589913,
              "normalized_mutual_information": 0.6103764886020001,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.0,
                0.5,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6947615806625678,
              "mutual_information": 1.6947615806625678,
              "normalized_mutual_information": 0.6125573789579647,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7125304629568439,
              "mutual_information": 1.7125304629568439,
              "normalized_mutual_information": 0.6178452625794716,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6999308471917924,
              "mutual_information": 1.6999308471917924,
              "normalized_mutual_information": 0.6135626874654704,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.677644242514986,
              "mutual_information": 1.677644242514986,
              "normalized_mutual_information": 0.6048004197980713,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6698803829508198,
              "mutual_information": 1.6698803829508198,
              "normalized_mutual_information": 0.604680955844326,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6745559823713858,
              "mutual_information": 1.6745559823713858,
              "normalized_mutual_information": 0.6045207544762178,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.1
              ],
              "objective": 1.6606601450475482,
              "mutual_information": 1.6606601450475482,
              "normalized_mutual_information": 0.5996304111256746,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.710202210180287,
              "mutual_information": 1.710202210180287,
              "normalized_mutual_information": 0.6167520771110793,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.698882334827015,
              "mutual_information": 1.698882334827015,
              "normalized_mutual_information": 0.6137160880867838,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7005565215811507,
              "mutual_information": 1.7005565215811507,
              "normalized_mutual_information": 0.6137649330261715,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7014734932325055,
              "mutual_information": 1.7014734932325055,
              "normalized_mutual_information": 0.6134901405186984,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.6916913488268799,
              "mutual_information": 1.6916913488268799,
              "normalized_mutual_information": 0.6098305315784973,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.0,
                0.5,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7008982005755717,
              "mutual_information": 1.7008982005755717,
              "normalized_mutual_information": 0.6148003703096202,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.75
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7162941428625895,
              "mutual_information": 1.7162941428625895,
              "normalized_mutual_information": 0.6192010991671075,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7050621594445319,
              "mutual_information": 1.7050621594445319,
              "normalized_mutual_information": 0.6152469335572955,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.676089441988639,
              "mutual_information": 1.676089441988639,
              "normalized_mutual_information": 0.6041345555052419,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.669596389381389,
              "mutual_information": 1.669596389381389,
              "normalized_mutual_information": 0.6045429441736118,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.1
              ],
              "objective": 1.6814512403442856,
              "mutual_information": 1.6814512403442856,
              "normalized_mutual_information": 0.6069603529922136,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.1
              ],
              "objective": 1.6647315678559922,
              "mutual_information": 1.6647315678559922,
              "normalized_mutual_information": 0.6010518340914304,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7175246634508714,
              "mutual_information": 1.7175246634508714,
              "normalized_mutual_information": 0.6190595237758955,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7008748252101704,
              "mutual_information": 1.7008748252101704,
              "normalized_mutual_information": 0.6141921374798712,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7003081417599335,
              "mutual_information": 1.7003081417599335,
              "normalized_mutual_information": 0.6133660501703893,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7045611902827182,
              "mutual_information": 1.7045611902827182,
              "normalized_mutual_information": 0.6141855998402787,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.699989309327438,
              "mutual_information": 1.699989309327438,
              "normalized_mutual_information": 0.6119080047881758,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                0.0,
                0.5,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7054333698578896,
              "mutual_information": 1.7054333698578896,
              "normalized_mutual_information": 0.6159395451235882,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.75
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.714359778147139,
              "mutual_information": 1.714359778147139,
              "normalized_mutual_information": 0.6179119914310297,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.710202210180287,
              "mutual_information": 1.710202210180287,
              "normalized_mutual_information": 0.6167520771110793,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.2,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6853644744962117,
              "mutual_information": 1.6853644744962117,
              "normalized_mutual_information": 0.6065263452661528,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6640561869332755,
              "mutual_information": 1.6640561869332755,
              "normalized_mutual_information": 0.6022973146595696,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.20000000000000004,
                -0.2
              ],
              "objective": 1.686523337229744,
              "mutual_information": 1.686523337229744,
              "normalized_mutual_information": 0.6083082201467435,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.4,
                -0.2
              ],
              "objective": 1.666856697654146,
              "mutual_information": 1.666856697654146,
              "normalized_mutual_information": 0.6012782956468504,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.30000000000000004
              ],
              "objective": 1.7050145801047247,
              "mutual_information": 1.7050145801047247,
              "normalized_mutual_information": 0.6144749356360518,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7125304629568439,
              "mutual_information": 1.7125304629568439,
              "normalized_mutual_information": 0.6178452625794716,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.710222610693463,
              "mutual_information": 1.710222610693463,
              "normalized_mutual_information": 0.6167004727934157,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                0.125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7101485989184144,
              "mutual_information": 1.7101485989184144,
              "normalized_mutual_information": 0.6163391347666117,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7109537424736245,
              "mutual_information": 1.7109537424736245,
              "normalized_mutual_information": 0.6165377069192753,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                0.0,
                0.375,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.71169850179359,
              "mutual_information": 1.71169850179359,
              "normalized_mutual_information": 0.617599591116389,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7162617014943742,
              "mutual_information": 1.7162617014943742,
              "normalized_mutual_information": 0.6187718431573795,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.711746034635869,
              "mutual_information": 1.711746034635869,
              "normalized_mutual_information": 0.6171155081343341,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.15000000000000002,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7105593817090927,
              "mutual_information": 1.7105593817090927,
              "normalized_mutual_information": 0.6160721319870704,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.6917803448297484,
              "mutual_information": 1.6917803448297484,
              "normalized_mutual_information": 0.6106636264458487,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.25000000000000006,
                -0.2
              ],
              "objective": 1.709178418135554,
              "mutual_information": 1.709178418135554,
              "normalized_mutual_information": 0.6161069761410486,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.35000000000000003,
                -0.2
              ],
              "objective": 1.6887176508040327,
              "mutual_information": 1.6887176508040327,
              "normalized_mutual_information": 0.6092063150969024,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.25
              ],
              "objective": 1.7120402271872683,
              "mutual_information": 1.7120402271872683,
              "normalized_mutual_information": 0.6172002982665696,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.15000000000000002
              ],
              "objective": 1.7148169783200042,
              "mutual_information": 1.7148169783200042,
              "normalized_mutual_information": 0.6185055083120167,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 134,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7157268261510499,
              "mutual_information": 1.7157268261510499,
              "normalized_mutual_information": 0.618634854005465,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 135,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.71051425305968,
              "mutual_information": 1.71051425305968,
              "normalized_mutual_information": 0.616572820514085,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 136,
              "delta_rotation_deg_xyz": [
                0.0,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7161809763195912,
              "mutual_information": 1.7161809763195912,
              "normalized_mutual_information": 0.6185637746506665,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 137,
              "delta_rotation_deg_xyz": [
                0.0,
                0.3125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7138019048463373,
              "mutual_information": 1.7138019048463373,
              "normalized_mutual_information": 0.618040511957841,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 138,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7165682005232632,
              "mutual_information": 1.7165682005232632,
              "normalized_mutual_information": 0.6189629765187922,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 139,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.4375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7136970755357004,
              "mutual_information": 1.7136970755357004,
              "normalized_mutual_information": 0.6177341343119537,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 140,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.125,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7115221844624682,
              "mutual_information": 1.7115221844624682,
              "normalized_mutual_information": 0.6168433397005474,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 141,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.07500000000000001,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7076890758335495,
              "mutual_information": 1.7076890758335495,
              "normalized_mutual_information": 0.6163446122051545,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 142,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.275,
                -0.2
              ],
              "objective": 1.713808828372844,
              "mutual_information": 1.713808828372844,
              "normalized_mutual_information": 0.6176860717386411,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 143,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.32500000000000007,
                -0.2
              ],
              "objective": 1.7026534679380727,
              "mutual_information": 1.7026534679380727,
              "normalized_mutual_information": 0.6140369684799952,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 144,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.225
              ],
              "objective": 1.715287960607383,
              "mutual_information": 1.715287960607383,
              "normalized_mutual_information": 0.618326706847629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 145,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7186260347131885,
              "mutual_information": 1.7186260347131885,
              "normalized_mutual_information": 0.6196730866886105,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 146,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7139944883804432,
              "mutual_information": 1.7139944883804432,
              "normalized_mutual_information": 0.6182564749428822,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 147,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.712270705000963,
              "mutual_information": 1.712270705000963,
              "normalized_mutual_information": 0.6173331892863215,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 148,
              "delta_rotation_deg_xyz": [
                0.0,
                0.1875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7153771531879574,
              "mutual_information": 1.7153771531879574,
              "normalized_mutual_information": 0.6183380010486749,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 149,
              "delta_rotation_deg_xyz": [
                0.0,
                0.3125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7129378227458145,
              "mutual_information": 1.7129378227458145,
              "normalized_mutual_information": 0.6179365665284461,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 150,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7170942534466092,
              "mutual_information": 1.7170942534466092,
              "normalized_mutual_information": 0.6192634351920874,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 151,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.4375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7152539624154086,
              "mutual_information": 1.7152539624154086,
              "normalized_mutual_information": 0.6185739697082894,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 152,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.125,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7164556491304594,
              "mutual_information": 1.7164556491304594,
              "normalized_mutual_information": 0.6187714731621636,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 153,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.07500000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.702960778317168,
              "mutual_information": 1.702960778317168,
              "normalized_mutual_information": 0.6147985948528206,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 154,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.275,
                -0.17500000000000002
              ],
              "objective": 1.7138779768842347,
              "mutual_information": 1.7138779768842347,
              "normalized_mutual_information": 0.6178193674281202,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 155,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.32500000000000007,
                -0.17500000000000002
              ],
              "objective": 1.703985380510579,
              "mutual_information": 1.703985380510579,
              "normalized_mutual_information": 0.6145599822890423,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 156,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.2
              ],
              "objective": 1.7175246634508714,
              "mutual_information": 1.7175246634508714,
              "normalized_mutual_information": 0.6190595237758955,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 157,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.15000000000000002
              ],
              "objective": 1.7148169783200042,
              "mutual_information": 1.7148169783200042,
              "normalized_mutual_information": 0.6185055083120167,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 158,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.71709871357053,
              "mutual_information": 1.71709871357053,
              "normalized_mutual_information": 0.6192813627131589,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 159,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7151579853176486,
              "mutual_information": 1.7151579853176486,
              "normalized_mutual_information": 0.6184426856821362,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 160,
              "delta_rotation_deg_xyz": [
                0.0,
                0.21875,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7179894474173665,
              "mutual_information": 1.7179894474173665,
              "normalized_mutual_information": 0.6192947167100195,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 161,
              "delta_rotation_deg_xyz": [
                0.0,
                0.28125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7155066341197982,
              "mutual_information": 1.7155066341197982,
              "normalized_mutual_information": 0.6186815757729164,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 162,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.718081968908268,
              "mutual_information": 1.718081968908268,
              "normalized_mutual_information": 0.6195023174837269,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 163,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.46875
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7179325100118834,
              "mutual_information": 1.7179325100118834,
              "normalized_mutual_information": 0.619439954523259,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 164,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1125,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7165428617341636,
              "mutual_information": 1.7165428617341636,
              "normalized_mutual_information": 0.6187695483371539,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 165,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.08750000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.713465776449339,
              "mutual_information": 1.713465776449339,
              "normalized_mutual_information": 0.6180533384829785,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 166,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.28750000000000003,
                -0.17500000000000002
              ],
              "objective": 1.717236732356237,
              "mutual_information": 1.717236732356237,
              "normalized_mutual_information": 0.6192843371628954,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 167,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.31250000000000006,
                -0.17500000000000002
              ],
              "objective": 1.711311503472178,
              "mutual_information": 1.711311503472178,
              "normalized_mutual_information": 0.6170956467402235,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 168,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.18750000000000003
              ],
              "objective": 1.717341119678075,
              "mutual_information": 1.717341119678075,
              "normalized_mutual_information": 0.6192338223185317,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 169,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.1625
              ],
              "objective": 1.7154948334332805,
              "mutual_information": 1.7154948334332805,
              "normalized_mutual_information": 0.6186738997371002,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 170,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.718645602934487,
              "mutual_information": 1.718645602934487,
              "normalized_mutual_information": 0.619755298058314,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 171,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7164702360490047,
              "mutual_information": 1.7164702360490047,
              "normalized_mutual_information": 0.6189434125815034,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 172,
              "delta_rotation_deg_xyz": [
                0.0,
                0.234375,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7179981711493177,
              "mutual_information": 1.7179981711493177,
              "normalized_mutual_information": 0.6192956851262243,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 173,
              "delta_rotation_deg_xyz": [
                0.0,
                0.265625,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7181996863702462,
              "mutual_information": 1.7181996863702462,
              "normalized_mutual_information": 0.6195372602415904,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 174,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7178579544492925,
              "mutual_information": 1.7178579544492925,
              "normalized_mutual_information": 0.6194735530629728,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 175,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.484375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7179672150784322,
              "mutual_information": 1.7179672150784322,
              "normalized_mutual_information": 0.6194872424167701,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 176,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7188228101375886,
              "mutual_information": 1.7188228101375886,
              "normalized_mutual_information": 0.6195748536858151,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 177,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.09375,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.715230949529408,
              "mutual_information": 1.715230949529408,
              "normalized_mutual_information": 0.6185579669728122,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 178,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.29375000000000007,
                -0.17500000000000002
              ],
              "objective": 1.7171797448648818,
              "mutual_information": 1.7171797448648818,
              "normalized_mutual_information": 0.6191322309881189,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 179,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30625,
                -0.17500000000000002
              ],
              "objective": 1.713656371604544,
              "mutual_information": 1.713656371604544,
              "normalized_mutual_information": 0.6180342771385718,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 180,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.18125000000000002
              ],
              "objective": 1.717095867939829,
              "mutual_information": 1.717095867939829,
              "normalized_mutual_information": 0.6191493787742336,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 181,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.7172019846044886,
              "mutual_information": 1.7172019846044886,
              "normalized_mutual_information": 0.6192290461866686,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 182,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7194086670885618,
              "mutual_information": 1.7194086670885618,
              "normalized_mutual_information": 0.6198594193872645,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 183,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7160437258965644,
              "mutual_information": 1.7160437258965644,
              "normalized_mutual_information": 0.6186336370411584,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 184,
              "delta_rotation_deg_xyz": [
                0.0,
                0.234375,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7167291278116539,
              "mutual_information": 1.7167291278116539,
              "normalized_mutual_information": 0.6188158256260663,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 185,
              "delta_rotation_deg_xyz": [
                0.0,
                0.265625,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7182070660163715,
              "mutual_information": 1.7182070660163715,
              "normalized_mutual_information": 0.6195256158947312,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 186,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.720004233681978,
              "mutual_information": 1.720004233681978,
              "normalized_mutual_information": 0.620073455807726,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 187,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.484375
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7172117177743746,
              "mutual_information": 1.7172117177743746,
              "normalized_mutual_information": 0.6190303604192543,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 188,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.11250000000000002,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7165428617341636,
              "mutual_information": 1.7165428617341636,
              "normalized_mutual_information": 0.6187695483371539,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 189,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7186260347131885,
              "mutual_information": 1.7186260347131885,
              "normalized_mutual_information": 0.6196730866886105,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 190,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.29375000000000007,
                -0.17500000000000002
              ],
              "objective": 1.7171839686731072,
              "mutual_information": 1.7171839686731072,
              "normalized_mutual_information": 0.618985215348705,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 191,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30625,
                -0.17500000000000002
              ],
              "objective": 1.7133117397869064,
              "mutual_information": 1.7133117397869064,
              "normalized_mutual_information": 0.617763811747811,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 192,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.18125000000000002
              ],
              "objective": 1.7155555414982533,
              "mutual_information": 1.7155555414982533,
              "normalized_mutual_information": 0.6184502087726717,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 193,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.719483596771098,
              "mutual_information": 1.719483596771098,
              "normalized_mutual_information": 0.6198710222118393,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 194,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7201579200499928,
              "mutual_information": 1.7201579200499928,
              "normalized_mutual_information": 0.6201194093695033,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 195,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7176002095095952,
              "mutual_information": 1.7176002095095952,
              "normalized_mutual_information": 0.6192572195297785,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 196,
              "delta_rotation_deg_xyz": [
                0.0,
                0.234375,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7157462359532534,
              "mutual_information": 1.7157462359532534,
              "normalized_mutual_information": 0.6185145234779953,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 197,
              "delta_rotation_deg_xyz": [
                0.0,
                0.265625,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7182494955973198,
              "mutual_information": 1.7182494955973198,
              "normalized_mutual_information": 0.6196093567842138,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 198,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7190900584273898,
              "mutual_information": 1.7190900584273898,
              "normalized_mutual_information": 0.6197720085210018,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 199,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7188228101375886,
              "mutual_information": 1.7188228101375886,
              "normalized_mutual_information": 0.6195748536858151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 200,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.11250000000000002,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7152917549629987,
              "mutual_information": 1.7152917549629987,
              "normalized_mutual_information": 0.6184267525773174,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 201,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7178579544492925,
              "mutual_information": 1.7178579544492925,
              "normalized_mutual_information": 0.6194735530629728,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 202,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.29375000000000007,
                -0.17500000000000002
              ],
              "objective": 1.7186359626550312,
              "mutual_information": 1.7186359626550312,
              "normalized_mutual_information": 0.6194714558875435,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 203,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30625,
                -0.17500000000000002
              ],
              "objective": 1.7144775028352173,
              "mutual_information": 1.7144775028352173,
              "normalized_mutual_information": 0.6181586528649805,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 204,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.18125000000000002
              ],
              "objective": 1.7155780051250449,
              "mutual_information": 1.7155780051250449,
              "normalized_mutual_information": 0.6185261342245348,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 205,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.719956480369108,
              "mutual_information": 1.719956480369108,
              "normalized_mutual_information": 0.6200670288548692,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 206,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7189532140245622,
              "mutual_information": 1.7189532140245622,
              "normalized_mutual_information": 0.6197366335878747,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 207,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.720004233681978,
              "mutual_information": 1.720004233681978,
              "normalized_mutual_information": 0.620073455807726,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 208,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.234375,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7163540730661513,
              "mutual_information": 1.7163540730661513,
              "normalized_mutual_information": 0.6187186511088776,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 209,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.265625,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7187200301366594,
              "mutual_information": 1.7187200301366594,
              "normalized_mutual_information": 0.6197585786042498,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 210,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7205300574619216,
              "mutual_information": 1.7205300574619216,
              "normalized_mutual_information": 0.6202624554066539,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 211,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7194086670885618,
              "mutual_information": 1.7194086670885618,
              "normalized_mutual_information": 0.6198594193872645,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 212,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.11250000000000002,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7160049233386958,
              "mutual_information": 1.7160049233386958,
              "normalized_mutual_information": 0.618653850531806,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 213,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7187436799744826,
              "mutual_information": 1.7187436799744826,
              "normalized_mutual_information": 0.6197719464181367,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 214,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.29375000000000007,
                -0.17500000000000002
              ],
              "objective": 1.718963713764535,
              "mutual_information": 1.718963713764535,
              "normalized_mutual_information": 0.6196388983733422,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 215,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30625,
                -0.17500000000000002
              ],
              "objective": 1.7134030967369018,
              "mutual_information": 1.7134030967369018,
              "normalized_mutual_information": 0.6178284464996284,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 216,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.18125000000000002
              ],
              "objective": 1.717283757544702,
              "mutual_information": 1.717283757544702,
              "normalized_mutual_information": 0.6190613079569781,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 217,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.720657807082968,
              "mutual_information": 1.720657807082968,
              "normalized_mutual_information": 0.6203286041013254,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 218,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.719032967693576,
              "mutual_information": 1.719032967693576,
              "normalized_mutual_information": 0.6197729867192002,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 219,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.719956480369108,
              "mutual_information": 1.719956480369108,
              "normalized_mutual_information": 0.6200670288548692,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 220,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.234375,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.7183839537318706,
              "mutual_information": 1.7183839537318706,
              "normalized_mutual_information": 0.6195475353177758,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 221,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.265625,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.7191342626594477,
              "mutual_information": 1.7191342626594477,
              "normalized_mutual_information": 0.6199862425437762,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 222,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.53125
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.719605413736485,
              "mutual_information": 1.719605413736485,
              "normalized_mutual_information": 0.6199495187754643,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 223,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.7196533644161527,
              "mutual_information": 1.7196533644161527,
              "normalized_mutual_information": 0.6199949227737619,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 224,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.11250000000000002,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.716326943354325,
              "mutual_information": 1.716326943354325,
              "normalized_mutual_information": 0.6188489330113197,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 225,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.16875
              ],
              "objective": 1.7182660915667443,
              "mutual_information": 1.7182660915667443,
              "normalized_mutual_information": 0.6196231022329299,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 226,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.29375000000000007,
                -0.16875
              ],
              "objective": 1.7190660026841726,
              "mutual_information": 1.7190660026841726,
              "normalized_mutual_information": 0.6197191063835562,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 227,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30625,
                -0.16875
              ],
              "objective": 1.7151155909603497,
              "mutual_information": 1.7151155909603497,
              "normalized_mutual_information": 0.6183904501477969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 228,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.17500000000000002
              ],
              "objective": 1.7201579200499928,
              "mutual_information": 1.7201579200499928,
              "normalized_mutual_information": 0.6201194093695033,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 229,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.25,
                -0.515625
              ],
              "delta_translation_m_xyz": [
                -0.10625000000000001,
                0.30000000000000004,
                -0.1625
              ],
              "objective": 1.7196932689594713,
              "mutual_information": 1.7196932689594713,
              "normalized_mutual_information": 0.6200792992450045,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 229,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.4834799579984974,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 1.04587324520418,
          "translation_m": 0.21596440678963746,
          "recovered": false
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.1338999922865611,
              -0.14781716906726505,
              0.5066804355562735
            ],
            "rotation_quat_xyzw": [
              0.01692700438663098,
              -0.022964226270794925,
              0.010308870442377233,
              0.9995398181285632
            ]
          },
          "delta": [
            -1.1030004579644377,
            0.8327515153062547,
            -0.6264716411095014,
            -0.21610000771343887,
            0.052182830932734944,
            0.10668043555627349
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 202,
          "nfev": 40,
          "njev": 27,
          "initial_support": [
            3746,
            3738,
            3747
          ],
          "final_support": [
            3783,
            3776,
            3780
          ],
          "support_retained": true,
          "cost": 77.12975057453038,
          "optimality": 0.5563366881993633
        },
        "seconds": 0.34633444699284155,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.3830971542916261,
          "translation_m": 0.2221992239389126,
          "recovered": false
        },
        "holdout": [
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.059848505685197395,
            "p90_absolute_z_m": 0.11754402048286536,
            "behind_surface_gt_20cm": 71,
            "in_front_gt_20cm": 17
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05956854471048967,
            "p90_absolute_z_m": 0.1180097980644831,
            "behind_surface_gt_20cm": 69,
            "in_front_gt_20cm": 35
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05792660179861642,
            "p90_absolute_z_m": 0.11905540866663174,
            "behind_surface_gt_20cm": 79,
            "in_front_gt_20cm": 27
          }
        ]
      }
    },
    {
      "condition": "biased_z_visible",
      "sign": -1,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.05000000000000002,
              0.0,
              0.19999999999999998
            ],
            "rotation_quat_xyzw": [
              0.008851181257931221,
              -0.021635299615473294,
              0.0028235510433918818,
              0.9997227605493402
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.06250000000000001,
              -0.2,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.013354748414455277,
              -0.01951033057069955,
              0.009654047461073758,
              0.999673845343284
            ]
          },
          "best_delta_rotation_deg_xyz": [
            0.5,
            0.234375,
            0.796875
          ],
          "best_delta_translation_m_xyz": [
            0.0125,
            -0.2,
            0.1
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.578340148350076,
            "normalized_mutual_information": 0.5679838481680649,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.6025081279917943,
                "normalized_mutual_information": 0.5703670797974898,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.3848482313932742,
                "normalized_mutual_information": 0.5224482375905176,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.7476640856651597,
                "normalized_mutual_information": 0.6111362271161875,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7562974644709832,
            "normalized_mutual_information": 0.6332169234432482,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.7900160936145229,
                "normalized_mutual_information": 0.6386198772798837,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.5755036271894882,
                "normalized_mutual_information": 0.5942694133124927,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.9033726726089388,
                "normalized_mutual_information": 0.6667614797373682,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.578340148350076,
              "mutual_information": 1.578340148350076,
              "normalized_mutual_information": 0.5679838481680649,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5373083548047282,
              "mutual_information": 1.5373083548047282,
              "normalized_mutual_information": 0.5537535553571948,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.6027917528943572,
              "mutual_information": 1.6027917528943572,
              "normalized_mutual_information": 0.5771336822329021,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.573248421864941,
              "mutual_information": 1.573248421864941,
              "normalized_mutual_information": 0.5658452320406643,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5716630814491699,
              "mutual_information": 1.5716630814491699,
              "normalized_mutual_information": 0.565989212399466,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.572112482288059,
              "mutual_information": 1.572112482288059,
              "normalized_mutual_information": 0.5655719696554652,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5788603442118652,
              "mutual_information": 1.5788603442118652,
              "normalized_mutual_information": 0.5684648885894502,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.5648634329220723,
              "mutual_information": 1.5648634329220723,
              "normalized_mutual_information": 0.5628312630776442,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.570045314780776,
              "mutual_information": 1.570045314780776,
              "normalized_mutual_information": 0.5655898094327192,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6408718304607455,
              "mutual_information": 1.6408718304607455,
              "normalized_mutual_information": 0.5905034589393151,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.499321157115041,
              "mutual_information": 1.499321157115041,
              "normalized_mutual_information": 0.5402010360765914,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.5702006572128961,
              "mutual_information": 1.5702006572128961,
              "normalized_mutual_information": 0.5648811776756854,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.5723393290758712,
              "mutual_information": 1.5723393290758712,
              "normalized_mutual_information": 0.5660257874595422,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6144392028232446,
              "mutual_information": 1.6144392028232446,
              "normalized_mutual_information": 0.580798735226984,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.671974365238345,
              "mutual_information": 1.671974365238345,
              "normalized_mutual_information": 0.6019212289516988,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.637247946981745,
              "mutual_information": 1.637247946981745,
              "normalized_mutual_information": 0.5887163934178877,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6414154628623276,
              "mutual_information": 1.6414154628623276,
              "normalized_mutual_information": 0.5910747631829577,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6380387757282888,
              "mutual_information": 1.6380387757282888,
              "normalized_mutual_information": 0.5894065502358395,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.64654699379245,
              "mutual_information": 1.64654699379245,
              "normalized_mutual_information": 0.5928037815646017,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.1,
                0.0
              ],
              "objective": 1.6202474713735089,
              "mutual_information": 1.6202474713735089,
              "normalized_mutual_information": 0.5829489519781631,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.1,
                0.0
              ],
              "objective": 1.6393927440987666,
              "mutual_information": 1.6393927440987666,
              "normalized_mutual_information": 0.5905701408519647,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7110092165742437,
              "mutual_information": 1.7110092165742437,
              "normalized_mutual_information": 0.6154763928950816,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.578340148350076,
              "mutual_information": 1.578340148350076,
              "normalized_mutual_information": 0.5679838481680649,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                -0.1
              ],
              "objective": 1.6433217904480697,
              "mutual_information": 1.6433217904480697,
              "normalized_mutual_information": 0.5910560778526045,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 1.6357105263454061,
              "mutual_information": 1.6357105263454061,
              "normalized_mutual_information": 0.5891297888167618,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.6765210457781514,
              "mutual_information": 1.6765210457781514,
              "normalized_mutual_information": 0.6030639472230577,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7246161539432965,
              "mutual_information": 1.7246161539432965,
              "normalized_mutual_information": 0.621659466833902,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.6933508672535238,
              "mutual_information": 1.6933508672535238,
              "normalized_mutual_information": 0.6088076541542501,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7079097546802882,
              "mutual_information": 1.7079097546802882,
              "normalized_mutual_information": 0.6151157732753609,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7052079971954388,
              "mutual_information": 1.7052079971954388,
              "normalized_mutual_information": 0.61325316097896,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.713145724616495,
              "mutual_information": 1.713145724616495,
              "normalized_mutual_information": 0.6164663523493865,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.667734577012859,
              "mutual_information": 1.667734577012859,
              "normalized_mutual_information": 0.6001221932453338,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7079213513129279,
              "mutual_information": 1.7079213513129279,
              "normalized_mutual_information": 0.6153339235712848,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7240374771785103,
              "mutual_information": 1.7240374771785103,
              "normalized_mutual_information": 0.621412602575277,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6408718304607455,
              "mutual_information": 1.6408718304607455,
              "normalized_mutual_information": 0.5905034589393151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.7065834535529847,
              "mutual_information": 1.7065834535529847,
              "normalized_mutual_information": 0.6135309027854897,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7023512421274098,
              "mutual_information": 1.7023512421274098,
              "normalized_mutual_information": 0.6126940566612742,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7110092165742437,
              "mutual_information": 1.7110092165742437,
              "normalized_mutual_information": 0.6154763928950816,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7276320746091047,
              "mutual_information": 1.7276320746091047,
              "normalized_mutual_information": 0.6231017596585977,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7059800538672576,
              "mutual_information": 1.7059800538672576,
              "normalized_mutual_information": 0.6139822834847505,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7307412513260099,
              "mutual_information": 1.7307412513260099,
              "normalized_mutual_information": 0.6237846904743468,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7205028792604082,
              "mutual_information": 1.7205028792604082,
              "normalized_mutual_information": 0.62032925340706,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7331340409468634,
              "mutual_information": 1.7331340409468634,
              "normalized_mutual_information": 0.6242595909345826,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.6709219738779026,
              "mutual_information": 1.6709219738779026,
              "normalized_mutual_information": 0.6020923683478813,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7186903439539798,
              "mutual_information": 1.7186903439539798,
              "normalized_mutual_information": 0.6200069627469341,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7071691702732466,
              "mutual_information": 1.7071691702732466,
              "normalized_mutual_information": 0.6159403970472805,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.671974365238345,
              "mutual_information": 1.671974365238345,
              "normalized_mutual_information": 0.6019212289516988,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.7233096591984383,
              "mutual_information": 1.7233096591984383,
              "normalized_mutual_information": 0.6208078985580735,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7206032792657642,
              "mutual_information": 1.7206032792657642,
              "normalized_mutual_information": 0.6200710886880364,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.713145724616495,
              "mutual_information": 1.713145724616495,
              "normalized_mutual_information": 0.6164663523493865,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7310530590258082,
              "mutual_information": 1.7310530590258082,
              "normalized_mutual_information": 0.6241692213917648,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.25,
                -0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.707683054366419,
              "mutual_information": 1.707683054366419,
              "normalized_mutual_information": 0.6146396685458063,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7362541179778501,
              "mutual_information": 1.7362541179778501,
              "normalized_mutual_information": 0.6254267868336486,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7246161539432965,
              "mutual_information": 1.7246161539432965,
              "normalized_mutual_information": 0.621659466833902,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.731466509799504,
              "mutual_information": 1.731466509799504,
              "normalized_mutual_information": 0.6237733570987966,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.6781840932374597,
              "mutual_information": 1.6781840932374597,
              "normalized_mutual_information": 0.6045590998196669,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7275851936458864,
              "mutual_information": 1.7275851936458864,
              "normalized_mutual_information": 0.6228244422284304,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7121284968682506,
              "mutual_information": 1.7121284968682506,
              "normalized_mutual_information": 0.6178126341710262,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6749440386637593,
              "mutual_information": 1.6749440386637593,
              "normalized_mutual_information": 0.60321301494093,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.7267890020691075,
              "mutual_information": 1.7267890020691075,
              "normalized_mutual_information": 0.6219164411491308,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7309624858564039,
              "mutual_information": 1.7309624858564039,
              "normalized_mutual_information": 0.623868444567019,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.710792394307785,
              "mutual_information": 1.710792394307785,
              "normalized_mutual_information": 0.6162521453505352,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7361279274199461,
              "mutual_information": 1.7361279274199461,
              "normalized_mutual_information": 0.6263437711128178,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7331340409468634,
              "mutual_information": 1.7331340409468634,
              "normalized_mutual_information": 0.6242595909345826,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.25,
                0.5,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.723948486926621,
              "mutual_information": 1.723948486926621,
              "normalized_mutual_information": 0.6217128015195584,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7307412513260099,
              "mutual_information": 1.7307412513260099,
              "normalized_mutual_information": 0.6237846904743468,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.739341661355471,
              "mutual_information": 1.739341661355471,
              "normalized_mutual_information": 0.6266341486731696,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7042933002077547,
              "mutual_information": 1.7042933002077547,
              "normalized_mutual_information": 0.6142146676716175,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.6943761471437273,
              "mutual_information": 1.6943761471437273,
              "normalized_mutual_information": 0.6116618251561846,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7202928011822571,
              "mutual_information": 1.7202928011822571,
              "normalized_mutual_information": 0.6212776319760218,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.677404455644498,
              "mutual_information": 1.677404455644498,
              "normalized_mutual_information": 0.6042213095254968,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.726849557924863,
              "mutual_information": 1.726849557924863,
              "normalized_mutual_information": 0.6219843737216996,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.73744013001904,
              "mutual_information": 1.73744013001904,
              "normalized_mutual_information": 0.6266049343654151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7169687212350464,
              "mutual_information": 1.7169687212350464,
              "normalized_mutual_information": 0.6182609953123316,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7453107196668676,
              "mutual_information": 1.7453107196668676,
              "normalized_mutual_information": 0.6293974863653422,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.731466509799504,
              "mutual_information": 1.731466509799504,
              "normalized_mutual_information": 0.6237733570987966,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.25,
                0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7316728653278346,
              "mutual_information": 1.7316728653278346,
              "normalized_mutual_information": 0.6244650371067048,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7362541179778501,
              "mutual_information": 1.7362541179778501,
              "normalized_mutual_information": 0.6254267868336486,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.73930936588011,
              "mutual_information": 1.73930936588011,
              "normalized_mutual_information": 0.6267082568643024,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7045772933118817,
              "mutual_information": 1.7045772933118817,
              "normalized_mutual_information": 0.6143403618178386,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.6945176041593804,
              "mutual_information": 1.6945176041593804,
              "normalized_mutual_information": 0.6118809077115471,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7205548111468758,
              "mutual_information": 1.7205548111468758,
              "normalized_mutual_information": 0.621147500874134,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6822617426383168,
              "mutual_information": 1.6822617426383168,
              "normalized_mutual_information": 0.6059656679446325,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.733982349367403,
              "mutual_information": 1.733982349367403,
              "normalized_mutual_information": 0.6244859668126717,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7382989686360713,
              "mutual_information": 1.7382989686360713,
              "normalized_mutual_information": 0.6269013098430212,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.739341661355471,
              "mutual_information": 1.739341661355471,
              "normalized_mutual_information": 0.6266341486731696,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.75,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7353779414060542,
              "mutual_information": 1.7353779414060542,
              "normalized_mutual_information": 0.6259895715942209,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7340625697231031,
              "mutual_information": 1.7340625697231031,
              "normalized_mutual_information": 0.6253414971092365,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.5,
                0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7324956949348274,
              "mutual_information": 1.7324956949348274,
              "normalized_mutual_information": 0.6251721937242305,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7361279274199461,
              "mutual_information": 1.7361279274199461,
              "normalized_mutual_information": 0.6263437711128178,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7443231258748149,
              "mutual_information": 1.7443231258748149,
              "normalized_mutual_information": 0.6289915217515235,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.707546616705593,
              "mutual_information": 1.707546616705593,
              "normalized_mutual_information": 0.6160339267000475,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7015986620308674,
              "mutual_information": 1.7015986620308674,
              "normalized_mutual_information": 0.6152255214867907,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.694680244078995,
              "mutual_information": 1.694680244078995,
              "normalized_mutual_information": 0.6126595137641438,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.7118725923200644,
              "mutual_information": 1.7118725923200644,
              "normalized_mutual_information": 0.6169157131100951,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.7299761044702189,
              "mutual_information": 1.7299761044702189,
              "normalized_mutual_information": 0.6235630738948328,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.750831016610406,
              "mutual_information": 1.750831016610406,
              "normalized_mutual_information": 0.6314980547783197,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7382989686360713,
              "mutual_information": 1.7382989686360713,
              "normalized_mutual_information": 0.6269013098430212,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.75,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7352315524188853,
              "mutual_information": 1.7352315524188853,
              "normalized_mutual_information": 0.6265920169309344,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7382793414838966,
              "mutual_information": 1.7382793414838966,
              "normalized_mutual_information": 0.6273443529443943,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.5,
                0.5,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7354546493486749,
              "mutual_information": 1.7354546493486749,
              "normalized_mutual_information": 0.6266496769482451,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7433958714757551,
              "mutual_information": 1.7433958714757551,
              "normalized_mutual_information": 0.6293195563570239,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7515703432852738,
              "mutual_information": 1.7515703432852738,
              "normalized_mutual_information": 0.6314935437074319,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7018450287996811,
              "mutual_information": 1.7018450287996811,
              "normalized_mutual_information": 0.6145782063295321,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7007113682833666,
              "mutual_information": 1.7007113682833666,
              "normalized_mutual_information": 0.6151329895591745,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6962337667441654,
              "mutual_information": 1.6962337667441654,
              "normalized_mutual_information": 0.6136371579842909,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 1.7074582270952856,
              "mutual_information": 1.7074582270952856,
              "normalized_mutual_information": 0.6158138916336583,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7453107196668676,
              "mutual_information": 1.7453107196668676,
              "normalized_mutual_information": 0.6293974863653422,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.2
              ],
              "objective": 1.7372849401048673,
              "mutual_information": 1.7372849401048673,
              "normalized_mutual_information": 0.6273881705653834,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7381698715381855,
              "mutual_information": 1.7381698715381855,
              "normalized_mutual_information": 0.6267770232918423,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.75,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7344531442207989,
              "mutual_information": 1.7344531442207989,
              "normalized_mutual_information": 0.6263492375686907,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7397754656760578,
              "mutual_information": 1.7397754656760578,
              "normalized_mutual_information": 0.6275948652969441,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                0.5,
                0.5,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7392841254946851,
              "mutual_information": 1.7392841254946851,
              "normalized_mutual_information": 0.6278323792486371,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.750831016610406,
              "mutual_information": 1.750831016610406,
              "normalized_mutual_information": 0.6314980547783197,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7516771203709898,
              "mutual_information": 1.7516771203709898,
              "normalized_mutual_information": 0.6314819091641736,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7051938774187976,
              "mutual_information": 1.7051938774187976,
              "normalized_mutual_information": 0.6152402501312486,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7046767408302628,
              "mutual_information": 1.7046767408302628,
              "normalized_mutual_information": 0.6163946327137946,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.695339382385394,
              "mutual_information": 1.695339382385394,
              "normalized_mutual_information": 0.6132912099422133,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 1.710770329579626,
              "mutual_information": 1.710770329579626,
              "normalized_mutual_information": 0.6169864899645162,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7443231258748149,
              "mutual_information": 1.7443231258748149,
              "normalized_mutual_information": 0.6289915217515235,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.2
              ],
              "objective": 1.741804887169632,
              "mutual_information": 1.741804887169632,
              "normalized_mutual_information": 0.6286406801245066,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                0.25,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7393117452312261,
              "mutual_information": 1.7393117452312261,
              "normalized_mutual_information": 0.627179623365413,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                0.75,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7295917817159463,
              "mutual_information": 1.7295917817159463,
              "normalized_mutual_information": 0.6244092769769389,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                0.5,
                0.0,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7399006308766483,
              "mutual_information": 1.7399006308766483,
              "normalized_mutual_information": 0.6275606335611928,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                0.5,
                0.5,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7393877946333582,
              "mutual_information": 1.7393877946333582,
              "normalized_mutual_information": 0.6275775133685909,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7515703432852738,
              "mutual_information": 1.7515703432852738,
              "normalized_mutual_information": 0.6314935437074319,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7488718875697487,
              "mutual_information": 1.7488718875697487,
              "normalized_mutual_information": 0.6305865197812793,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7033685054246448,
              "mutual_information": 1.7033685054246448,
              "normalized_mutual_information": 0.6144969358360063,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.1
              ],
              "objective": 1.7048944468635778,
              "mutual_information": 1.7048944468635778,
              "normalized_mutual_information": 0.616233095979528,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.6933126589409209,
              "mutual_information": 1.6933126589409209,
              "normalized_mutual_information": 0.6121830792226929,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 1.7088560451394528,
              "mutual_information": 1.7088560451394528,
              "normalized_mutual_information": 0.6167126756269554,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7442823725762515,
              "mutual_information": 1.7442823725762515,
              "normalized_mutual_information": 0.6288562062375747,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.2
              ],
              "objective": 1.7431590740303606,
              "mutual_information": 1.7431590740303606,
              "normalized_mutual_information": 0.6290922396289198,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 134,
              "delta_rotation_deg_xyz": [
                0.375,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7451104387569396,
              "mutual_information": 1.7451104387569396,
              "normalized_mutual_information": 0.6293521464500552,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 135,
              "delta_rotation_deg_xyz": [
                0.625,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7455616463428136,
              "mutual_information": 1.7455616463428136,
              "normalized_mutual_information": 0.6297670005487853,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 136,
              "delta_rotation_deg_xyz": [
                0.5,
                0.125,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.74827117396217,
              "mutual_information": 1.74827117396217,
              "normalized_mutual_information": 0.6306424918911752,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 137,
              "delta_rotation_deg_xyz": [
                0.5,
                0.375,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7492555431631007,
              "mutual_information": 1.7492555431631007,
              "normalized_mutual_information": 0.6309082925606382,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 138,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7523937147053765,
              "mutual_information": 1.7523937147053765,
              "normalized_mutual_information": 0.6318767293434133,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 139,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7516050187713048,
              "mutual_information": 1.7516050187713048,
              "normalized_mutual_information": 0.6316898662993548,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 140,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.2,
                0.1
              ],
              "objective": 1.7343272406082086,
              "mutual_information": 1.7343272406082086,
              "normalized_mutual_information": 0.6256403916031107,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 141,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.2,
                0.1
              ],
              "objective": 1.743805148828702,
              "mutual_information": 1.743805148828702,
              "normalized_mutual_information": 0.6293421119857056,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 142,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25,
                0.1
              ],
              "objective": 1.7289559094896105,
              "mutual_information": 1.7289559094896105,
              "normalized_mutual_information": 0.6244854043968365,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 143,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.15000000000000002,
                0.1
              ],
              "objective": 1.7385934751386307,
              "mutual_information": 1.7385934751386307,
              "normalized_mutual_information": 0.6271104572486074,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 144,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.05
              ],
              "objective": 1.7500189589776405,
              "mutual_information": 1.7500189589776405,
              "normalized_mutual_information": 0.6309141796588742,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 145,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.15000000000000002
              ],
              "objective": 1.7517864261068263,
              "mutual_information": 1.7517864261068263,
              "normalized_mutual_information": 0.6317745504684629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 146,
              "delta_rotation_deg_xyz": [
                0.375,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7465555858198254,
              "mutual_information": 1.7465555858198254,
              "normalized_mutual_information": 0.6297621777264889,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 147,
              "delta_rotation_deg_xyz": [
                0.625,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.746244716222818,
              "mutual_information": 1.746244716222818,
              "normalized_mutual_information": 0.6299652975419933,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 148,
              "delta_rotation_deg_xyz": [
                0.5,
                0.125,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.75122448810687,
              "mutual_information": 1.75122448810687,
              "normalized_mutual_information": 0.6316197122672486,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 149,
              "delta_rotation_deg_xyz": [
                0.5,
                0.375,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7485068002479547,
              "mutual_information": 1.7485068002479547,
              "normalized_mutual_information": 0.6307416732120631,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 150,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7515703432852738,
              "mutual_information": 1.7515703432852738,
              "normalized_mutual_information": 0.6314935437074319,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 151,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                1.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7516771203709898,
              "mutual_information": 1.7516771203709898,
              "normalized_mutual_information": 0.6314819091641736,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 152,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.2,
                0.1
              ],
              "objective": 1.7352226740250523,
              "mutual_information": 1.7352226740250523,
              "normalized_mutual_information": 0.6260265556696242,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 153,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.2,
                0.1
              ],
              "objective": 1.7413954934340925,
              "mutual_information": 1.7413954934340925,
              "normalized_mutual_information": 0.6286300967427879,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 154,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25,
                0.1
              ],
              "objective": 1.7316389318853271,
              "mutual_information": 1.7316389318853271,
              "normalized_mutual_information": 0.6252804532232076,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 155,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.15000000000000002,
                0.1
              ],
              "objective": 1.7386753712012062,
              "mutual_information": 1.7386753712012062,
              "normalized_mutual_information": 0.6270676952577829,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 156,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.05
              ],
              "objective": 1.7476466457470476,
              "mutual_information": 1.7476466457470476,
              "normalized_mutual_information": 0.6302167496559274,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 157,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.15000000000000002
              ],
              "objective": 1.7522892382859308,
              "mutual_information": 1.7522892382859308,
              "normalized_mutual_information": 0.6318499578201705,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 158,
              "delta_rotation_deg_xyz": [
                0.4375,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.750518879406064,
              "mutual_information": 1.750518879406064,
              "normalized_mutual_information": 0.6311612601654099,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 159,
              "delta_rotation_deg_xyz": [
                0.5625,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.751028656350633,
              "mutual_information": 1.751028656350633,
              "normalized_mutual_information": 0.6315757060676274,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 160,
              "delta_rotation_deg_xyz": [
                0.5,
                0.1875,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7529484868221008,
              "mutual_information": 1.7529484868221008,
              "normalized_mutual_information": 0.632195858433418,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 161,
              "delta_rotation_deg_xyz": [
                0.5,
                0.3125,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7505218035922328,
              "mutual_information": 1.7505218035922328,
              "normalized_mutual_information": 0.6314238718127627,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 162,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.75463930701538,
              "mutual_information": 1.75463930701538,
              "normalized_mutual_information": 0.6325778175434836,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 163,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.9375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7522373620696878,
              "mutual_information": 1.7522373620696878,
              "normalized_mutual_information": 0.6317280553702567,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 164,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                -0.025,
                -0.2,
                0.1
              ],
              "objective": 1.7497363794431215,
              "mutual_information": 1.7497363794431215,
              "normalized_mutual_information": 0.6311588506340876,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 165,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.2,
                0.1
              ],
              "objective": 1.7498670529565352,
              "mutual_information": 1.7498670529565352,
              "normalized_mutual_information": 0.6312700861325276,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 166,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.225,
                0.1
              ],
              "objective": 1.7420462198998752,
              "mutual_information": 1.7420462198998752,
              "normalized_mutual_information": 0.628775980044615,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 167,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.17500000000000002,
                0.1
              ],
              "objective": 1.7475122471352222,
              "mutual_information": 1.7475122471352222,
              "normalized_mutual_information": 0.630312168300229,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 168,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.07500000000000001
              ],
              "objective": 1.7504569825469194,
              "mutual_information": 1.7504569825469194,
              "normalized_mutual_information": 0.6310238200374485,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 169,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.125
              ],
              "objective": 1.7522212222523077,
              "mutual_information": 1.7522212222523077,
              "normalized_mutual_information": 0.6318400640668528,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 170,
              "delta_rotation_deg_xyz": [
                0.4375,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.752355413789067,
              "mutual_information": 1.752355413789067,
              "normalized_mutual_information": 0.6317063962727173,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 171,
              "delta_rotation_deg_xyz": [
                0.5625,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7497713481417467,
              "mutual_information": 1.7497713481417467,
              "normalized_mutual_information": 0.631139529356751,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 172,
              "delta_rotation_deg_xyz": [
                0.5,
                0.1875,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.75377548917628,
              "mutual_information": 1.75377548917628,
              "normalized_mutual_information": 0.6325218322443097,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 173,
              "delta_rotation_deg_xyz": [
                0.5,
                0.3125,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7533236825901213,
              "mutual_information": 1.7533236825901213,
              "normalized_mutual_information": 0.632372101040248,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 174,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.75
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7515703432852738,
              "mutual_information": 1.7515703432852738,
              "normalized_mutual_information": 0.6314935437074319,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 175,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7523937147053765,
              "mutual_information": 1.7523937147053765,
              "normalized_mutual_information": 0.6318767293434133,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 176,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                -0.025,
                -0.2,
                0.1
              ],
              "objective": 1.7514896563349283,
              "mutual_information": 1.7514896563349283,
              "normalized_mutual_information": 0.6317677969720878,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 177,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.2,
                0.1
              ],
              "objective": 1.7510444903085496,
              "mutual_information": 1.7510444903085496,
              "normalized_mutual_information": 0.6316852489266664,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 178,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.225,
                0.1
              ],
              "objective": 1.7424867546282616,
              "mutual_information": 1.7424867546282616,
              "normalized_mutual_information": 0.6288324479481183,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 179,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.17500000000000002,
                0.1
              ],
              "objective": 1.74861063409952,
              "mutual_information": 1.74861063409952,
              "normalized_mutual_information": 0.6306195542715561,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 180,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.07500000000000001
              ],
              "objective": 1.7502906169725427,
              "mutual_information": 1.7502906169725427,
              "normalized_mutual_information": 0.6311045239785399,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 181,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.125
              ],
              "objective": 1.7521081170769053,
              "mutual_information": 1.7521081170769053,
              "normalized_mutual_information": 0.6317497695366046,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 182,
              "delta_rotation_deg_xyz": [
                0.46875,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7523377937599018,
              "mutual_information": 1.7523377937599018,
              "normalized_mutual_information": 0.6316991506910931,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 183,
              "delta_rotation_deg_xyz": [
                0.53125,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7511318100859345,
              "mutual_information": 1.7511318100859345,
              "normalized_mutual_information": 0.6314485127016135,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 184,
              "delta_rotation_deg_xyz": [
                0.5,
                0.21875,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7532929974362352,
              "mutual_information": 1.7532929974362352,
              "normalized_mutual_information": 0.6321743004916657,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 185,
              "delta_rotation_deg_xyz": [
                0.5,
                0.28125,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7522944346147946,
              "mutual_information": 1.7522944346147946,
              "normalized_mutual_information": 0.6318935627286876,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 186,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.78125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7539461662309523,
              "mutual_information": 1.7539461662309523,
              "normalized_mutual_information": 0.6322624261309929,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 187,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.84375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7532151304771633,
              "mutual_information": 1.7532151304771633,
              "normalized_mutual_information": 0.632154775021593,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 188,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.752799291548998,
              "mutual_information": 1.752799291548998,
              "normalized_mutual_information": 0.6320763825097372,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 189,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.753363371181651,
              "mutual_information": 1.753363371181651,
              "normalized_mutual_information": 0.6323489443449216,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 190,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.21250000000000002,
                0.1
              ],
              "objective": 1.7491155870595747,
              "mutual_information": 1.7491155870595747,
              "normalized_mutual_information": 0.6308159332434707,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 191,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1875,
                0.1
              ],
              "objective": 1.753036865911297,
              "mutual_information": 1.753036865911297,
              "normalized_mutual_information": 0.6320976239916312,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 192,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.08750000000000001
              ],
              "objective": 1.7515982181796976,
              "mutual_information": 1.7515982181796976,
              "normalized_mutual_information": 0.6314974024978746,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 193,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1125
              ],
              "objective": 1.7534343194678776,
              "mutual_information": 1.7534343194678776,
              "normalized_mutual_information": 0.632130863047243,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 194,
              "delta_rotation_deg_xyz": [
                0.484375,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7531911553732407,
              "mutual_information": 1.7531911553732407,
              "normalized_mutual_information": 0.6320152222052154,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 195,
              "delta_rotation_deg_xyz": [
                0.515625,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.753718784726818,
              "mutual_information": 1.753718784726818,
              "normalized_mutual_information": 0.6322904069303402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 196,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7539598666437914,
              "mutual_information": 1.7539598666437914,
              "normalized_mutual_information": 0.6322890295276417,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 197,
              "delta_rotation_deg_xyz": [
                0.5,
                0.265625,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.753817076996312,
              "mutual_information": 1.753817076996312,
              "normalized_mutual_information": 0.6323096452769587,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 198,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.754714002925736,
              "mutual_information": 1.754714002925736,
              "normalized_mutual_information": 0.6325298860036379,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 199,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.828125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7539986767051339,
              "mutual_information": 1.7539986767051339,
              "normalized_mutual_information": 0.6323536403676715,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 200,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7537135223453777,
              "mutual_information": 1.7537135223453777,
              "normalized_mutual_information": 0.6322147509253352,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 201,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7534917736225293,
              "mutual_information": 1.7534917736225293,
              "normalized_mutual_information": 0.6322868199210516,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 202,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20625000000000002,
                0.1
              ],
              "objective": 1.749701604394972,
              "mutual_information": 1.749701604394972,
              "normalized_mutual_information": 0.6309001002423494,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 203,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.19375,
                0.1
              ],
              "objective": 1.7533525841775817,
              "mutual_information": 1.7533525841775817,
              "normalized_mutual_information": 0.6320795361307197,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 204,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.09375
              ],
              "objective": 1.753015431197417,
              "mutual_information": 1.753015431197417,
              "normalized_mutual_information": 0.6320371837139911,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 205,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.10625000000000001
              ],
              "objective": 1.753327307585504,
              "mutual_information": 1.753327307585504,
              "normalized_mutual_information": 0.6321011352987383,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 206,
              "delta_rotation_deg_xyz": [
                0.484375,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7527821467511988,
              "mutual_information": 1.7527821467511988,
              "normalized_mutual_information": 0.6318399584032223,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 207,
              "delta_rotation_deg_xyz": [
                0.515625,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7533504091086671,
              "mutual_information": 1.7533504091086671,
              "normalized_mutual_information": 0.6321983906732228,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 208,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7552715075864267,
              "mutual_information": 1.7552715075864267,
              "normalized_mutual_information": 0.6327229016739294,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 209,
              "delta_rotation_deg_xyz": [
                0.5,
                0.265625,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7535346529798979,
              "mutual_information": 1.7535346529798979,
              "normalized_mutual_information": 0.6322285718729629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 210,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.78125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7539461662309523,
              "mutual_information": 1.7539461662309523,
              "normalized_mutual_information": 0.6322624261309929,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 211,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.75463930701538,
              "mutual_information": 1.75463930701538,
              "normalized_mutual_information": 0.6325778175434836,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 212,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7542621885281042,
              "mutual_information": 1.7542621885281042,
              "normalized_mutual_information": 0.6324053446172706,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 213,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7547361379377049,
              "mutual_information": 1.7547361379377049,
              "normalized_mutual_information": 0.6327325623156238,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 214,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20625000000000002,
                0.1
              ],
              "objective": 1.7492035290788117,
              "mutual_information": 1.7492035290788117,
              "normalized_mutual_information": 0.6307145811453642,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 215,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.19375,
                0.1
              ],
              "objective": 1.7524234373874819,
              "mutual_information": 1.7524234373874819,
              "normalized_mutual_information": 0.6316944658120401,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 216,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.09375
              ],
              "objective": 1.7537848676923347,
              "mutual_information": 1.7537848676923347,
              "normalized_mutual_information": 0.6322499578666152,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 217,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.10625000000000001
              ],
              "objective": 1.7527784609155876,
              "mutual_information": 1.7527784609155876,
              "normalized_mutual_information": 0.6318914392597111,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 218,
              "delta_rotation_deg_xyz": [
                0.484375,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7542225229315533,
              "mutual_information": 1.7542225229315533,
              "normalized_mutual_information": 0.6322962175748444,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 219,
              "delta_rotation_deg_xyz": [
                0.515625,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.753062293010533,
              "mutual_information": 1.753062293010533,
              "normalized_mutual_information": 0.6320547530075645,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 220,
              "delta_rotation_deg_xyz": [
                0.5,
                0.21875,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7545546574209363,
              "mutual_information": 1.7545546574209363,
              "normalized_mutual_information": 0.6325738099780273,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 221,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.754714002925736,
              "mutual_information": 1.754714002925736,
              "normalized_mutual_information": 0.6325298860036379,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 222,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.78125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7545350128202213,
              "mutual_information": 1.7545350128202213,
              "normalized_mutual_information": 0.632453263151682,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 223,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7539598666437914,
              "mutual_information": 1.7539598666437914,
              "normalized_mutual_information": 0.6322890295276417,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 224,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.75410024438437,
              "mutual_information": 1.75410024438437,
              "normalized_mutual_information": 0.6324908974234581,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 225,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.75588540286898,
              "mutual_information": 1.75588540286898,
              "normalized_mutual_information": 0.6331451957284117,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 226,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20625000000000002,
                0.1
              ],
              "objective": 1.7498311179546826,
              "mutual_information": 1.7498311179546826,
              "normalized_mutual_information": 0.6308872589708697,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 227,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.19375,
                0.1
              ],
              "objective": 1.7535500799639276,
              "mutual_information": 1.7535500799639276,
              "normalized_mutual_information": 0.6320308778237361,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 228,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.09375
              ],
              "objective": 1.7536295506016473,
              "mutual_information": 1.7536295506016473,
              "normalized_mutual_information": 0.6320890527489559,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 229,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.10625000000000001
              ],
              "objective": 1.754170128688144,
              "mutual_information": 1.754170128688144,
              "normalized_mutual_information": 0.6323678873485415,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 230,
              "delta_rotation_deg_xyz": [
                0.484375,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.753442259939164,
              "mutual_information": 1.753442259939164,
              "normalized_mutual_information": 0.6322482528658879,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 231,
              "delta_rotation_deg_xyz": [
                0.515625,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.753200349763371,
              "mutual_information": 1.753200349763371,
              "normalized_mutual_information": 0.6323069005665934,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 232,
              "delta_rotation_deg_xyz": [
                0.5,
                0.21875,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7558529276007189,
              "mutual_information": 1.7558529276007189,
              "normalized_mutual_information": 0.6329628294667909,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 233,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7547361379377049,
              "mutual_information": 1.7547361379377049,
              "normalized_mutual_information": 0.6327325623156238,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 234,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.78125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7545003037348739,
              "mutual_information": 1.7545003037348739,
              "normalized_mutual_information": 0.6326185452691337,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 235,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.7548081437123955,
              "mutual_information": 1.7548081437123955,
              "normalized_mutual_information": 0.6327932364612167,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 236,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7552715075864267,
              "mutual_information": 1.7552715075864267,
              "normalized_mutual_information": 0.6327229016739294,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 237,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.7562974644709832,
              "mutual_information": 1.7562974644709832,
              "normalized_mutual_information": 0.6332169234432482,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 238,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.20625000000000002,
                0.1
              ],
              "objective": 1.7509900172335044,
              "mutual_information": 1.7509900172335044,
              "normalized_mutual_information": 0.6314694627181153,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 239,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.19375,
                0.1
              ],
              "objective": 1.7528311954087752,
              "mutual_information": 1.7528311954087752,
              "normalized_mutual_information": 0.6320168737933548,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 240,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.09375
              ],
              "objective": 1.754013903938634,
              "mutual_information": 1.754013903938634,
              "normalized_mutual_information": 0.6325064739511028,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 241,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.10625000000000001
              ],
              "objective": 1.7537280742460133,
              "mutual_information": 1.7537280742460133,
              "normalized_mutual_information": 0.6323487199761564,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 242,
              "delta_rotation_deg_xyz": [
                0.484375,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.753943700352993,
              "mutual_information": 1.753943700352993,
              "normalized_mutual_information": 0.6323574718591313,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 243,
              "delta_rotation_deg_xyz": [
                0.515625,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.7534872445490715,
              "mutual_information": 1.7534872445490715,
              "normalized_mutual_information": 0.6323538413438233,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 244,
              "delta_rotation_deg_xyz": [
                0.5,
                0.21875,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.7560330806822169,
              "mutual_information": 1.7560330806822169,
              "normalized_mutual_information": 0.6331764373302676,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 245,
              "delta_rotation_deg_xyz": [
                0.5,
                0.25,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.754314993269219,
              "mutual_information": 1.754314993269219,
              "normalized_mutual_information": 0.6326916649836534,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 246,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.78125
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.7555672925225327,
              "mutual_information": 1.7555672925225327,
              "normalized_mutual_information": 0.6329349084562548,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 247,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.8125
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.1
              ],
              "objective": 1.7550766188830906,
              "mutual_information": 1.7550766188830906,
              "normalized_mutual_information": 0.6328189730927233,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 248,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.2,
                0.1
              ],
              "objective": 1.75588540286898,
              "mutual_information": 1.75588540286898,
              "normalized_mutual_information": 0.6331451957284117,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 249,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.018750000000000003,
                -0.2,
                0.1
              ],
              "objective": 1.7550844719109981,
              "mutual_information": 1.7550844719109981,
              "normalized_mutual_information": 0.6329080527073838,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 250,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.20625000000000002,
                0.1
              ],
              "objective": 1.7510633844900976,
              "mutual_information": 1.7510633844900976,
              "normalized_mutual_information": 0.6314952609772629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 251,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.19375,
                0.1
              ],
              "objective": 1.7543078126736413,
              "mutual_information": 1.7543078126736413,
              "normalized_mutual_information": 0.6324540611559608,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 252,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.09375
              ],
              "objective": 1.7540543978425163,
              "mutual_information": 1.7540543978425163,
              "normalized_mutual_information": 0.6325908713469373,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 253,
              "delta_rotation_deg_xyz": [
                0.5,
                0.234375,
                0.796875
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.2,
                0.10625000000000001
              ],
              "objective": 1.753588205214425,
              "mutual_information": 1.753588205214425,
              "normalized_mutual_information": 0.6322728074577221,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 253,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.5335302050079918,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.8971855270380646,
          "translation_m": 0.17001838135919306,
          "recovered": false
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.1336465999502065,
              -0.14789201203478097,
              0.5067863652342639
            ],
            "rotation_quat_xyzw": [
              0.01692442255588231,
              -0.022956770860189116,
              0.010317127108247745,
              0.9995399479165678
            ]
          },
          "delta": [
            0.9056886388323379,
            -0.1637619796415016,
            0.8759392035682485,
            0.08364659995020647,
            -0.14789201203478097,
            0.3067863652342639
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 144,
          "nfev": 30,
          "njev": 19,
          "initial_support": [
            3783,
            3776,
            3780
          ],
          "final_support": [
            3783,
            3776,
            3780
          ],
          "support_retained": true,
          "cost": 77.12952411334169,
          "optimality": 1.242509813034062
        },
        "seconds": 0.24478896299842745,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.38426464158406487,
          "translation_m": 0.22238934183477843,
          "recovered": false
        },
        "holdout": [
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05995208956538001,
            "p90_absolute_z_m": 0.11760279415533344,
            "behind_surface_gt_20cm": 71,
            "in_front_gt_20cm": 17
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05951432094601028,
            "p90_absolute_z_m": 0.11802006494497554,
            "behind_surface_gt_20cm": 69,
            "in_front_gt_20cm": 35
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.058105271570030315,
            "p90_absolute_z_m": 0.11914037261300833,
            "behind_surface_gt_20cm": 79,
            "in_front_gt_20cm": 27
          }
        ]
      }
    },
    {
      "condition": "biased_z_visible",
      "sign": 0,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.2,
              -0.1,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.017674160904072974,
              -0.026019717990453804,
              0.009179049840112002,
              0.9994630275083051
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.2,
              -0.10625000000000001,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.017682470293680284,
              -0.025878615936068057,
              0.009449201694429863,
              0.9994640264005926
            ]
          },
          "best_delta_rotation_deg_xyz": [
            0.0,
            0.015625,
            0.03125
          ],
          "best_delta_translation_m_xyz": [
            0.0,
            -0.00625,
            0.0
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7679953103265411,
            "normalized_mutual_information": 0.63763552036969,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.8108771432788848,
                "normalized_mutual_information": 0.6462465655822907,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.5701969675672256,
                "normalized_mutual_information": 0.5933848484907732,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.9229118201335123,
                "normalized_mutual_information": 0.6732751470360059,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7695428017375356,
            "normalized_mutual_information": 0.638354575811753,
            "visible_point_count": 11339,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.8111259699511413,
                "normalized_mutual_information": 0.6464355441990725,
                "visible_point_count": 3783,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.569273064985869,
                "normalized_mutual_information": 0.5932193193500834,
                "visible_point_count": 3776,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.9282293702755964,
                "normalized_mutual_information": 0.675408863886103,
                "visible_point_count": 3780,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7679953103265411,
              "mutual_information": 1.7679953103265411,
              "normalized_mutual_information": 0.63763552036969,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7402170962437065,
              "mutual_information": 1.7402170962437065,
              "normalized_mutual_information": 0.6275032599883567,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7404843568194905,
              "mutual_information": 1.7404843568194905,
              "normalized_mutual_information": 0.6283226347766263,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7322409034364419,
              "mutual_information": 1.7322409034364419,
              "normalized_mutual_information": 0.6243474558245522,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7359877301784217,
              "mutual_information": 1.7359877301784217,
              "normalized_mutual_information": 0.6273741331088595,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.763205076799151,
              "mutual_information": 1.763205076799151,
              "normalized_mutual_information": 0.6360817735568879,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.764308218192709,
              "mutual_information": 1.764308218192709,
              "normalized_mutual_information": 0.6363479414917598,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.7002653044075708,
              "mutual_information": 1.7002653044075708,
              "normalized_mutual_information": 0.6129870243746703,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.687785508123202,
              "mutual_information": 1.687785508123202,
              "normalized_mutual_information": 0.6109452758975707,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6972376577513417,
              "mutual_information": 1.6972376577513417,
              "normalized_mutual_information": 0.6135380331771235,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.6992489346544757,
              "mutual_information": 1.6992489346544757,
              "normalized_mutual_information": 0.6129596151715979,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.7540091510543085,
              "mutual_information": 1.7540091510543085,
              "normalized_mutual_information": 0.6324426482656623,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.74862142119374,
              "mutual_information": 1.74862142119374,
              "normalized_mutual_information": 0.6314610009411402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.756823726885706,
              "mutual_information": 1.756823726885706,
              "normalized_mutual_information": 0.6338092145078358,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.75934204765972,
              "mutual_information": 1.75934204765972,
              "normalized_mutual_information": 0.6347452666749098,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.753483817748761,
              "mutual_information": 1.753483817748761,
              "normalized_mutual_information": 0.6319705651822779,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.755385539870827,
              "mutual_information": 1.755385539870827,
              "normalized_mutual_information": 0.6337751523857891,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7638978461646069,
              "mutual_information": 1.7638978461646069,
              "normalized_mutual_information": 0.6364968416758982,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768178273470004,
              "mutual_information": 1.768178273470004,
              "normalized_mutual_information": 0.6376815931012517,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.0,
                0.0
              ],
              "objective": 1.7390206989544128,
              "mutual_information": 1.7390206989544128,
              "normalized_mutual_information": 0.6272615791292435,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.05,
                0.0,
                0.0
              ],
              "objective": 1.7284883005459737,
              "mutual_information": 1.7284883005459737,
              "normalized_mutual_information": 0.6245952991751257,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.05,
                0.0
              ],
              "objective": 1.741948896423459,
              "mutual_information": 1.741948896423459,
              "normalized_mutual_information": 0.6290075181998258,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.05,
                0.0
              ],
              "objective": 1.7374985321687453,
              "mutual_information": 1.7374985321687453,
              "normalized_mutual_information": 0.6271240574026083,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.05
              ],
              "objective": 1.765953299436008,
              "mutual_information": 1.765953299436008,
              "normalized_mutual_information": 0.6367767859824331,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.05
              ],
              "objective": 1.7597491628059345,
              "mutual_information": 1.7597491628059345,
              "normalized_mutual_information": 0.6353442199941641,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7566941616816676,
              "mutual_information": 1.7566941616816676,
              "normalized_mutual_information": 0.6335983640229866,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7582171469934025,
              "mutual_information": 1.7582171469934025,
              "normalized_mutual_information": 0.6342552054497516,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7564624595440337,
              "mutual_information": 1.7564624595440337,
              "normalized_mutual_information": 0.633181622273364,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7555496698011723,
              "mutual_information": 1.7555496698011723,
              "normalized_mutual_information": 0.6337891342077427,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7679953103265411,
              "mutual_information": 1.7679953103265411,
              "normalized_mutual_information": 0.63763552036969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.764308218192709,
              "mutual_information": 1.764308218192709,
              "normalized_mutual_information": 0.6363479414917598,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.0,
                0.0
              ],
              "objective": 1.742770628274197,
              "mutual_information": 1.742770628274197,
              "normalized_mutual_information": 0.628598535313996,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.05,
                0.0,
                0.0
              ],
              "objective": 1.7274579346596195,
              "mutual_information": 1.7274579346596195,
              "normalized_mutual_information": 0.6243862150671915,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.05,
                0.0
              ],
              "objective": 1.7382142809920413,
              "mutual_information": 1.7382142809920413,
              "normalized_mutual_information": 0.6276385110853149,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.05,
                0.0
              ],
              "objective": 1.7397714929462846,
              "mutual_information": 1.7397714929462846,
              "normalized_mutual_information": 0.6278089627598388,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.05
              ],
              "objective": 1.7626482434453188,
              "mutual_information": 1.7626482434453188,
              "normalized_mutual_information": 0.6354784060603609,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.05
              ],
              "objective": 1.7595970792713054,
              "mutual_information": 1.7595970792713054,
              "normalized_mutual_information": 0.634975507516952,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7643888375961998,
              "mutual_information": 1.7643888375961998,
              "normalized_mutual_information": 0.636340309750629,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7636993573037978,
              "mutual_information": 1.7636993573037978,
              "normalized_mutual_information": 0.6361896824524175,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.0625,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7642111552894943,
              "mutual_information": 1.7642111552894943,
              "normalized_mutual_information": 0.6361989697444864,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7614596362679205,
              "mutual_information": 1.7614596362679205,
              "normalized_mutual_information": 0.6355369794504884,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768505349801026,
              "mutual_information": 1.768505349801026,
              "normalized_mutual_information": 0.6377871066629869,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.1875
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7666567314312207,
              "mutual_information": 1.7666567314312207,
              "normalized_mutual_information": 0.6370886842555082,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.0,
                0.0
              ],
              "objective": 1.7592996511939372,
              "mutual_information": 1.7592996511939372,
              "normalized_mutual_information": 0.6343411032084626,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.025,
                0.0,
                0.0
              ],
              "objective": 1.7523034765950405,
              "mutual_information": 1.7523034765950405,
              "normalized_mutual_information": 0.632527929775483,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.025,
                0.0
              ],
              "objective": 1.7573893555271975,
              "mutual_information": 1.7573893555271975,
              "normalized_mutual_information": 0.6341033483384003,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.025,
                0.0
              ],
              "objective": 1.7534744341607829,
              "mutual_information": 1.7534744341607829,
              "normalized_mutual_information": 0.6325895217456416,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.025
              ],
              "objective": 1.7666991263783587,
              "mutual_information": 1.7666991263783587,
              "normalized_mutual_information": 0.6370712971937791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.025
              ],
              "objective": 1.7638030645366314,
              "mutual_information": 1.7638030645366314,
              "normalized_mutual_information": 0.6363742087272586,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7655439883956312,
              "mutual_information": 1.7655439883956312,
              "normalized_mutual_information": 0.6367139731977299,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7663045607877261,
              "mutual_information": 1.7663045607877261,
              "normalized_mutual_information": 0.637068124680312,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.0625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.762977602651589,
              "mutual_information": 1.762977602651589,
              "normalized_mutual_information": 0.6356945348773031,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7625395010832177,
              "mutual_information": 1.7625395010832177,
              "normalized_mutual_information": 0.635884362307941,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7679953103265411,
              "mutual_information": 1.7679953103265411,
              "normalized_mutual_information": 0.63763552036969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768178273470004,
              "mutual_information": 1.768178273470004,
              "normalized_mutual_information": 0.6376815931012517,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.0,
                0.0
              ],
              "objective": 1.7588927138613328,
              "mutual_information": 1.7588927138613328,
              "normalized_mutual_information": 0.63418861471111,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.025,
                0.0,
                0.0
              ],
              "objective": 1.753401744181114,
              "mutual_information": 1.753401744181114,
              "normalized_mutual_information": 0.6328559335795378,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.025,
                0.0
              ],
              "objective": 1.7585909976513203,
              "mutual_information": 1.7585909976513203,
              "normalized_mutual_information": 0.634617319425636,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.025,
                0.0
              ],
              "objective": 1.7549708871390273,
              "mutual_information": 1.7549708871390273,
              "normalized_mutual_information": 0.6330372849363225,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.025
              ],
              "objective": 1.7655052870554506,
              "mutual_information": 1.7655052870554506,
              "normalized_mutual_information": 0.6366714927524768,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.025
              ],
              "objective": 1.763938276922815,
              "mutual_information": 1.763938276922815,
              "normalized_mutual_information": 0.636526075470175,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7662326269025022,
              "mutual_information": 1.7662326269025022,
              "normalized_mutual_information": 0.6370594292453192,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7674147395187407,
              "mutual_information": 1.7674147395187407,
              "normalized_mutual_information": 0.6374888839560878,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.03125,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7664656490608033,
              "mutual_information": 1.7664656490608033,
              "normalized_mutual_information": 0.6369840755595424,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7671881468883914,
              "mutual_information": 1.7671881468883914,
              "normalized_mutual_information": 0.6374366616557211,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7686904566958817,
              "mutual_information": 1.7686904566958817,
              "normalized_mutual_information": 0.6379059752061852,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.09375
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768255080954621,
              "mutual_information": 1.768255080954621,
              "normalized_mutual_information": 0.6376463284011484,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                0.0,
                0.0
              ],
              "objective": 1.7633336092032195,
              "mutual_information": 1.7633336092032195,
              "normalized_mutual_information": 0.6359689609630679,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0125,
                0.0,
                0.0
              ],
              "objective": 1.7610490647421162,
              "mutual_information": 1.7610490647421162,
              "normalized_mutual_information": 0.6355398668630229,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7657887990992875,
              "mutual_information": 1.7657887990992875,
              "normalized_mutual_information": 0.6369410941993869,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0125,
                0.0
              ],
              "objective": 1.7627259636908914,
              "mutual_information": 1.7627259636908914,
              "normalized_mutual_information": 0.6358160943549165,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.0125
              ],
              "objective": 1.7683514979483164,
              "mutual_information": 1.7683514979483164,
              "normalized_mutual_information": 0.6377361396441281,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0125
              ],
              "objective": 1.7668038676198616,
              "mutual_information": 1.7668038676198616,
              "normalized_mutual_information": 0.6372301031597732,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.765644258461789,
              "mutual_information": 1.765644258461789,
              "normalized_mutual_information": 0.6368962266332744,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7658492734393736,
              "mutual_information": 1.7658492734393736,
              "normalized_mutual_information": 0.637067562788403,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.03125,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7667896037661617,
              "mutual_information": 1.7667896037661617,
              "normalized_mutual_information": 0.637151353508308,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.76716322001901,
              "mutual_information": 1.76716322001901,
              "normalized_mutual_information": 0.6374665655908739,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7679953103265411,
              "mutual_information": 1.7679953103265411,
              "normalized_mutual_information": 0.63763552036969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768505349801026,
              "mutual_information": 1.768505349801026,
              "normalized_mutual_information": 0.6377871066629869,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                0.0,
                0.0
              ],
              "objective": 1.76182584874912,
              "mutual_information": 1.76182584874912,
              "normalized_mutual_information": 0.6354072889077997,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0125,
                0.0,
                0.0
              ],
              "objective": 1.7608523080947858,
              "mutual_information": 1.7608523080947858,
              "normalized_mutual_information": 0.6355702656225019,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.767164053189428,
              "mutual_information": 1.767164053189428,
              "normalized_mutual_information": 0.6375403921445333,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0125,
                0.0
              ],
              "objective": 1.7633974031961042,
              "mutual_information": 1.7633974031961042,
              "normalized_mutual_information": 0.6360754310617843,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.0125
              ],
              "objective": 1.7663947046011688,
              "mutual_information": 1.7663947046011688,
              "normalized_mutual_information": 0.6370711552519662,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0125
              ],
              "objective": 1.7674312567196988,
              "mutual_information": 1.7674312567196988,
              "normalized_mutual_information": 0.6375441007216801,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768105736799957,
              "mutual_information": 1.768105736799957,
              "normalized_mutual_information": 0.6376373144296035,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7689549710031816,
              "mutual_information": 1.7689549710031816,
              "normalized_mutual_information": 0.6380326785620075,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7679841538520724,
              "mutual_information": 1.7679841538520724,
              "normalized_mutual_information": 0.6376685063886866,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7687801784002086,
              "mutual_information": 1.7687801784002086,
              "normalized_mutual_information": 0.6380009158704311,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.768532148264106,
              "mutual_information": 1.768532148264106,
              "normalized_mutual_information": 0.6378856360944379,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.046875
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7675941754175426,
              "mutual_information": 1.7675941754175426,
              "normalized_mutual_information": 0.637504287032601,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                0.0,
                0.0
              ],
              "objective": 1.7658900579447685,
              "mutual_information": 1.7658900579447685,
              "normalized_mutual_information": 0.6369137069985106,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                0.0,
                0.0
              ],
              "objective": 1.7660012370014477,
              "mutual_information": 1.7660012370014477,
              "normalized_mutual_information": 0.6371182203189804,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7689892992361254,
              "mutual_information": 1.7689892992361254,
              "normalized_mutual_information": 0.6380475799776989,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.00625,
                0.0
              ],
              "objective": 1.7654042807891948,
              "mutual_information": 1.7654042807891948,
              "normalized_mutual_information": 0.6368161674364715,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.00625
              ],
              "objective": 1.7687845020313606,
              "mutual_information": 1.7687845020313606,
              "normalized_mutual_information": 0.6378898186246152,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.00625
              ],
              "objective": 1.767533600317649,
              "mutual_information": 1.767533600317649,
              "normalized_mutual_information": 0.6375775741973687,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7688232772260069,
              "mutual_information": 1.7688232772260069,
              "normalized_mutual_information": 0.6380148938205451,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7679066381044521,
              "mutual_information": 1.7679066381044521,
              "normalized_mutual_information": 0.6376844646043898,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7683949183187295,
              "mutual_information": 1.7683949183187295,
              "normalized_mutual_information": 0.6378385961815285,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7695428017375356,
              "mutual_information": 1.7695428017375356,
              "normalized_mutual_information": 0.638354575811753,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7681377419952515,
              "mutual_information": 1.7681377419952515,
              "normalized_mutual_information": 0.6378899065987454,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.046875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7680031290756189,
              "mutual_information": 1.7680031290756189,
              "normalized_mutual_information": 0.6377007449070701,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.00625,
                0.0
              ],
              "objective": 1.7664788549472508,
              "mutual_information": 1.7664788549472508,
              "normalized_mutual_information": 0.6371420506981892,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.00625,
                0.0
              ],
              "objective": 1.7661962385624015,
              "mutual_information": 1.7661962385624015,
              "normalized_mutual_information": 0.6372803719418537,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.767164053189428,
              "mutual_information": 1.767164053189428,
              "normalized_mutual_information": 0.6375403921445333,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7686904566958817,
              "mutual_information": 1.7686904566958817,
              "normalized_mutual_information": 0.6379059752061852,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                -0.00625
              ],
              "objective": 1.768800737446633,
              "mutual_information": 1.768800737446633,
              "normalized_mutual_information": 0.6380143461289438,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.00625
              ],
              "objective": 1.767826959329969,
              "mutual_information": 1.767826959329969,
              "normalized_mutual_information": 0.6377107585891318,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.769458856355609,
              "mutual_information": 1.769458856355609,
              "normalized_mutual_information": 0.6382947505188036,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7670547293005427,
              "mutual_information": 1.7670547293005427,
              "normalized_mutual_information": 0.6375648862201313,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7689892992361254,
              "mutual_information": 1.7689892992361254,
              "normalized_mutual_information": 0.6380475799776989,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7661243513347238,
              "mutual_information": 1.7661243513347238,
              "normalized_mutual_information": 0.6372859221910506,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.015625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7687978478284847,
              "mutual_information": 1.7687978478284847,
              "normalized_mutual_information": 0.6382233808260904,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.046875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7684134383755346,
              "mutual_information": 1.7684134383755346,
              "normalized_mutual_information": 0.6379955876371078,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.00625,
                0.0
              ],
              "objective": 1.7675849918393343,
              "mutual_information": 1.7675849918393343,
              "normalized_mutual_information": 0.637551442842649,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.00625,
                0.0
              ],
              "objective": 1.7651218228602452,
              "mutual_information": 1.7651218228602452,
              "normalized_mutual_information": 0.6368739053631004,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7667058768513038,
              "mutual_information": 1.7667058768513038,
              "normalized_mutual_information": 0.6375347203789969,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7687801784002086,
              "mutual_information": 1.7687801784002086,
              "normalized_mutual_information": 0.6380009158704311,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                -0.00625
              ],
              "objective": 1.7689809354836108,
              "mutual_information": 1.7689809354836108,
              "normalized_mutual_information": 0.6382744648486706,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                0.0,
                0.015625,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.00625
              ],
              "objective": 1.7676885451393183,
              "mutual_information": 1.7676885451393183,
              "normalized_mutual_information": 0.6378151223218977,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 121,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.25617994599451777,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.034938562061821894,
          "translation_m": 0.0062500000000000056,
          "recovered": true
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.13364160307340997,
              -0.14782960771232526,
              0.5067960612946301
            ],
            "rotation_quat_xyzw": [
              0.016925715558916376,
              -0.022956431000511424,
              0.010317584885720245,
              0.9995399291027164
            ]
          },
          "delta": [
            -0.09208544221613649,
            0.3480830755017068,
            0.13400904492486126,
            -0.06635839692659004,
            -0.04782960771232526,
            0.20679606129463002
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 158,
          "nfev": 32,
          "njev": 21,
          "initial_support": [
            3783,
            3776,
            3780
          ],
          "final_support": [
            3783,
            3776,
            3780
          ],
          "support_retained": true,
          "cost": 77.12959211723675,
          "optimality": 0.7733568035228345
        },
        "seconds": 0.2797356810042402,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.3842848743959568,
          "translation_m": 0.2223864186130848,
          "recovered": false
        },
        "holdout": [
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.05997193007483581,
            "p90_absolute_z_m": 0.11759703470696578,
            "behind_surface_gt_20cm": 71,
            "in_front_gt_20cm": 17
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.059492275477362355,
            "p90_absolute_z_m": 0.11799980302376412,
            "behind_surface_gt_20cm": 69,
            "in_front_gt_20cm": 35
          },
          {
            "accepted": false,
            "total": 3840,
            "supported": 3840,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 0,
            "support_fraction": 1.0,
            "median_absolute_z_m": 0.058103077194281205,
            "p90_absolute_z_m": 0.11913286979257905,
            "behind_surface_gt_20cm": 79,
            "in_front_gt_20cm": 27
          }
        ]
      }
    },
    {
      "condition": "holes_z_visible",
      "sign": 1,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.35,
              -0.2,
              0.4
            ],
            "rotation_quat_xyzw": [
              0.026554813331940996,
              -0.030285556445752447,
              0.015605887359136183,
              0.9990666060075328
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.3,
              0.10000000000000003,
              0.34375
            ],
            "rotation_quat_xyzw": [
              0.026470995477523768,
              -0.029554971176302132,
              0.01231456160955913,
              0.9991366981797642
            ]
          },
          "best_delta_rotation_deg_xyz": [
            0.0,
            0.09375,
            -0.375
          ],
          "best_delta_translation_m_xyz": [
            -0.05,
            0.30000000000000004,
            -0.05625
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.567987882647034,
            "normalized_mutual_information": 0.5736670266314129,
            "visible_point_count": 9284,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.5897674242778361,
                "normalized_mutual_information": 0.577644957748076,
                "visible_point_count": 3109,
                "projected_count_before_visibility": 3762
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.3920272035211685,
                "normalized_mutual_information": 0.5308095415649927,
                "visible_point_count": 3073,
                "projected_count_before_visibility": 3741
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.722169020142097,
                "normalized_mutual_information": 0.61254658058117,
                "visible_point_count": 3102,
                "projected_count_before_visibility": 3764
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7427379162336,
            "normalized_mutual_information": 0.6335378597144284,
            "visible_point_count": 9375,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.7847116780668144,
                "normalized_mutual_information": 0.6449235077010356,
                "visible_point_count": 3120,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.5627626102798096,
                "normalized_mutual_information": 0.5909527162571873,
                "visible_point_count": 3138,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.8807394603541763,
                "normalized_mutual_information": 0.6647373551850626,
                "visible_point_count": 3117,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.567987882647034,
              "mutual_information": 1.567987882647034,
              "normalized_mutual_information": 0.5736670266314129,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5966159287029271,
              "mutual_information": 1.5966159287029271,
              "normalized_mutual_information": 0.5829425628931045,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5419695382984842,
              "mutual_information": 1.5419695382984842,
              "normalized_mutual_information": 0.5637307217865125,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.566726813903463,
              "mutual_information": 1.566726813903463,
              "normalized_mutual_information": 0.5729193670551563,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5586717899572509,
              "mutual_information": 1.5586717899572509,
              "normalized_mutual_information": 0.5703006983628899,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5693675910313205,
              "mutual_information": 1.5693675910313205,
              "normalized_mutual_information": 0.5737753035137189,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5640447471373307,
              "mutual_information": 1.5640447471373307,
              "normalized_mutual_information": 0.5721794791511406,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.5823092558799188,
              "mutual_information": 1.5823092558799188,
              "normalized_mutual_information": 0.5783077353894824,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.535349820701276,
              "mutual_information": 1.535349820701276,
              "normalized_mutual_information": 0.5618513187572151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.5105099182830666,
              "mutual_information": 1.5105099182830666,
              "normalized_mutual_information": 0.5525254019499352,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.6250795162060534,
              "mutual_information": 1.6250795162060534,
              "normalized_mutual_information": 0.5927209396514943,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.5565369421080224,
              "mutual_information": 1.5565369421080224,
              "normalized_mutual_information": 0.5694191813247406,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.5729471018623402,
              "mutual_information": 1.5729471018623402,
              "normalized_mutual_information": 0.5744442964469031,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.655645587270844,
              "mutual_information": 1.655645587270844,
              "normalized_mutual_information": 0.603559504686627,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.594598534919518,
              "mutual_information": 1.594598534919518,
              "normalized_mutual_information": 0.5831194800901617,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.6309914757443043,
              "mutual_information": 1.6309914757443043,
              "normalized_mutual_information": 0.5943887903039791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.6138808984356696,
              "mutual_information": 1.6138808984356696,
              "normalized_mutual_information": 0.5891000145184924,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.631243267067516,
              "mutual_information": 1.631243267067516,
              "normalized_mutual_information": 0.5949369363238143,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.6251362243850955,
              "mutual_information": 1.6251362243850955,
              "normalized_mutual_information": 0.5929798878577369,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.1,
                0.0
              ],
              "objective": 1.6470497252576057,
              "mutual_information": 1.6470497252576057,
              "normalized_mutual_information": 0.6002645263594658,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.1,
                0.0
              ],
              "objective": 1.5862485506000759,
              "mutual_information": 1.5862485506000759,
              "normalized_mutual_information": 0.5790201340899291,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.567987882647034,
              "mutual_information": 1.567987882647034,
              "normalized_mutual_information": 0.5736670266314129,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6849040681196759,
              "mutual_information": 1.6849040681196759,
              "normalized_mutual_information": 0.6138436654335379,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                -0.1
              ],
              "objective": 1.6176088869122334,
              "mutual_information": 1.6176088869122334,
              "normalized_mutual_information": 0.5901525242920619,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.1
              ],
              "objective": 1.6246678793914704,
              "mutual_information": 1.6246678793914704,
              "normalized_mutual_information": 0.5922530154544575,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.7109565584131048,
              "mutual_information": 1.7109565584131048,
              "normalized_mutual_information": 0.6230622112344223,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6550903310940541,
              "mutual_information": 1.6550903310940541,
              "normalized_mutual_information": 0.6027029649782893,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6788414494586874,
              "mutual_information": 1.6788414494586874,
              "normalized_mutual_information": 0.6109539077614057,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.6694335504296547,
              "mutual_information": 1.6694335504296547,
              "normalized_mutual_information": 0.6086058161451228,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.688780091287068,
              "mutual_information": 1.688780091287068,
              "normalized_mutual_information": 0.615195207187388,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.0
              ],
              "objective": 1.681747822009313,
              "mutual_information": 1.681747822009313,
              "normalized_mutual_information": 0.6126030310096577,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.2,
                0.0
              ],
              "objective": 1.7019467837854931,
              "mutual_information": 1.7019467837854931,
              "normalized_mutual_information": 0.6192388410927893,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.2,
                0.0
              ],
              "objective": 1.6389408175839877,
              "mutual_information": 1.6389408175839877,
              "normalized_mutual_information": 0.5973923894058338,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.6250795162060534,
              "mutual_information": 1.6250795162060534,
              "normalized_mutual_information": 0.5927209396514943,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7215812980738738,
              "mutual_information": 1.7215812980738738,
              "normalized_mutual_information": 0.6268004266471946,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                -0.1
              ],
              "objective": 1.682950089151509,
              "mutual_information": 1.682950089151509,
              "normalized_mutual_information": 0.6126642285375289,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.2,
                0.1
              ],
              "objective": 1.6772662604463473,
              "mutual_information": 1.6772662604463473,
              "normalized_mutual_information": 0.6110441468629519,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.715226492306038,
              "mutual_information": 1.715226492306038,
              "normalized_mutual_information": 0.624280847032998,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7063435127433841,
              "mutual_information": 1.7063435127433841,
              "normalized_mutual_information": 0.6213530031609589,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.715669496861168,
              "mutual_information": 1.715669496861168,
              "normalized_mutual_information": 0.6240802079252697,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7022562398461343,
              "mutual_information": 1.7022562398461343,
              "normalized_mutual_information": 0.6208933333919384,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.72917220805602,
              "mutual_information": 1.72917220805602,
              "normalized_mutual_information": 0.629654015510274,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.717841556065763,
              "mutual_information": 1.717841556065763,
              "normalized_mutual_information": 0.625601077132838,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7163170902521154,
              "mutual_information": 1.7163170902521154,
              "normalized_mutual_information": 0.6247428779499565,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6689949781495577,
              "mutual_information": 1.6689949781495577,
              "normalized_mutual_information": 0.6089827711275408,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                0.0
              ],
              "objective": 1.6849040681196759,
              "mutual_information": 1.6849040681196759,
              "normalized_mutual_information": 0.6138436654335379,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                0.0
              ],
              "objective": 1.679001638506854,
              "mutual_information": 1.679001638506854,
              "normalized_mutual_information": 0.6111446393620895,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7154446143899797,
              "mutual_information": 1.7154446143899797,
              "normalized_mutual_information": 0.6238206025991623,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.1
              ],
              "objective": 1.7093049368496651,
              "mutual_information": 1.7093049368496651,
              "normalized_mutual_information": 0.622757681753307,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7214193502223676,
              "mutual_information": 1.7214193502223676,
              "normalized_mutual_information": 0.626491515045502,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7063141279693241,
              "mutual_information": 1.7063141279693241,
              "normalized_mutual_information": 0.6213007330719406,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.718112877543468,
              "mutual_information": 1.718112877543468,
              "normalized_mutual_information": 0.6248030010564639,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7067172395061758,
              "mutual_information": 1.7067172395061758,
              "normalized_mutual_information": 0.622482839656992,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.725854081209487,
              "mutual_information": 1.725854081209487,
              "normalized_mutual_information": 0.6283115603584634,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7215812980738738,
              "mutual_information": 1.7215812980738738,
              "normalized_mutual_information": 0.6268004266471946,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.717348149429336,
              "mutual_information": 1.717348149429336,
              "normalized_mutual_information": 0.6251993949973194,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.6693552312111326,
              "mutual_information": 1.6693552312111326,
              "normalized_mutual_information": 0.6092547426479774,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.20000000000000004,
                0.0
              ],
              "objective": 1.688780091287068,
              "mutual_information": 1.688780091287068,
              "normalized_mutual_information": 0.615195207187388,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.4,
                0.0
              ],
              "objective": 1.6823572138255651,
              "mutual_information": 1.6823572138255651,
              "normalized_mutual_information": 0.6128631507287513,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.721627310624471,
              "mutual_information": 1.721627310624471,
              "normalized_mutual_information": 0.6257928492146853,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.1
              ],
              "objective": 1.7193328407698234,
              "mutual_information": 1.7193328407698234,
              "normalized_mutual_information": 0.6264817499396855,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.727288105846333,
              "mutual_information": 1.727288105846333,
              "normalized_mutual_information": 0.6287392547998257,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7195630851408357,
              "mutual_information": 1.7195630851408357,
              "normalized_mutual_information": 0.6261120772434664,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7301002983705613,
              "mutual_information": 1.7301002983705613,
              "normalized_mutual_information": 0.6293574930651307,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7218658898483845,
              "mutual_information": 1.7218658898483845,
              "normalized_mutual_information": 0.6272029713321212,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.729816415947863,
              "mutual_information": 1.729816415947863,
              "normalized_mutual_information": 0.6298098137928387,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7246646515450788,
              "mutual_information": 1.7246646515450788,
              "normalized_mutual_information": 0.6277876940916857,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7226296666875245,
              "mutual_information": 1.7226296666875245,
              "normalized_mutual_information": 0.6267501199563764,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7059768781152058,
              "mutual_information": 1.7059768781152058,
              "normalized_mutual_information": 0.6218004823072512,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.25000000000000006,
                0.0
              ],
              "objective": 1.7140058678684522,
              "mutual_information": 1.7140058678684522,
              "normalized_mutual_information": 0.6239184882666869,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.35000000000000003,
                0.0
              ],
              "objective": 1.7131424456327966,
              "mutual_information": 1.7131424456327966,
              "normalized_mutual_information": 0.6233349686040559,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7302277703594315,
              "mutual_information": 1.7302277703594315,
              "normalized_mutual_information": 0.6294030636787048,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.05
              ],
              "objective": 1.7218830416213642,
              "mutual_information": 1.7218830416213642,
              "normalized_mutual_information": 0.627128348222156,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7253554594402516,
              "mutual_information": 1.7253554594402516,
              "normalized_mutual_information": 0.6278159416338224,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.717880154652456,
              "mutual_information": 1.717880154652456,
              "normalized_mutual_information": 0.6251794753638625,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7312872502977026,
              "mutual_information": 1.7312872502977026,
              "normalized_mutual_information": 0.6292521725404793,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7179478015478271,
              "mutual_information": 1.7179478015478271,
              "normalized_mutual_information": 0.6259345535920318,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7277068516176832,
              "mutual_information": 1.7277068516176832,
              "normalized_mutual_information": 0.6286214582336656,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7258360896917793,
              "mutual_information": 1.7258360896917793,
              "normalized_mutual_information": 0.6278580648265244,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7322625108989944,
              "mutual_information": 1.7322625108989944,
              "normalized_mutual_information": 0.629602245465405,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7014664230866714,
              "mutual_information": 1.7014664230866714,
              "normalized_mutual_information": 0.6199974003050527,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.25000000000000006,
                -0.05
              ],
              "objective": 1.7119297984986517,
              "mutual_information": 1.7119297984986517,
              "normalized_mutual_information": 0.6232073639783638,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.35000000000000003,
                -0.05
              ],
              "objective": 1.709424402243636,
              "mutual_information": 1.709424402243636,
              "normalized_mutual_information": 0.6217498210443693,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.721627310624471,
              "mutual_information": 1.721627310624471,
              "normalized_mutual_information": 0.6257928492146853,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.72917220805602,
              "mutual_information": 1.72917220805602,
              "normalized_mutual_information": 0.629654015510274,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.731434691785589,
              "mutual_information": 1.731434691785589,
              "normalized_mutual_information": 0.62937059160499,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7292057675189116,
              "mutual_information": 1.7292057675189116,
              "normalized_mutual_information": 0.6285177935701284,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7229249730438394,
              "mutual_information": 1.7229249730438394,
              "normalized_mutual_information": 0.6263777211261007,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7359276018354477,
              "mutual_information": 1.7359276018354477,
              "normalized_mutual_information": 0.6316243304656487,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7351425872104649,
              "mutual_information": 1.7351425872104649,
              "normalized_mutual_information": 0.6307231082150057,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7306569376756868,
              "mutual_information": 1.7306569376756868,
              "normalized_mutual_information": 0.6290021752857906,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7273564662924084,
              "mutual_information": 1.7273564662924084,
              "normalized_mutual_information": 0.6279518013836151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7302277703594315,
              "mutual_information": 1.7302277703594315,
              "normalized_mutual_information": 0.6294030636787048,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.25000000000000006,
                -0.05
              ],
              "objective": 1.7335033290651627,
              "mutual_information": 1.7335033290651627,
              "normalized_mutual_information": 0.6300456578907316,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.35000000000000003,
                -0.05
              ],
              "objective": 1.7177622255825493,
              "mutual_information": 1.7177622255825493,
              "normalized_mutual_information": 0.6240601732757142,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7331156564244334,
              "mutual_information": 1.7331156564244334,
              "normalized_mutual_information": 0.6295442946160343,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7226296666875245,
              "mutual_information": 1.7226296666875245,
              "normalized_mutual_information": 0.6267501199563764,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7352214587325434,
              "mutual_information": 1.7352214587325434,
              "normalized_mutual_information": 0.6313769389035614,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.125,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7295517609032,
              "mutual_information": 1.7295517609032,
              "normalized_mutual_information": 0.6293368969625306,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7322625108989944,
              "mutual_information": 1.7322625108989944,
              "normalized_mutual_information": 0.629602245465405,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7339570778108182,
              "mutual_information": 1.7339570778108182,
              "normalized_mutual_information": 0.6311113747362902,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7395488436186541,
              "mutual_information": 1.7395488436186541,
              "normalized_mutual_information": 0.632690690118855,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.125
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7332270486953139,
              "mutual_information": 1.7332270486953139,
              "normalized_mutual_information": 0.6304923292931415,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7353828981709103,
              "mutual_information": 1.7353828981709103,
              "normalized_mutual_information": 0.6311421142492998,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7179478015478271,
              "mutual_information": 1.7179478015478271,
              "normalized_mutual_information": 0.6259345535920318,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.25000000000000006,
                -0.05
              ],
              "objective": 1.7299384891039897,
              "mutual_information": 1.7299384891039897,
              "normalized_mutual_information": 0.6294346729146052,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.35000000000000003,
                -0.05
              ],
              "objective": 1.7204524374361976,
              "mutual_information": 1.7204524374361976,
              "normalized_mutual_information": 0.6256525549915181,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.73287078640646,
              "mutual_information": 1.73287078640646,
              "normalized_mutual_information": 0.629566709908134,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.736089500111112,
              "mutual_information": 1.736089500111112,
              "normalized_mutual_information": 0.6319211821410383,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7375996726751293,
              "mutual_information": 1.7375996726751293,
              "normalized_mutual_information": 0.6320619710074933,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.125,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.733013832901858,
              "mutual_information": 1.733013832901858,
              "normalized_mutual_information": 0.6306210492321842,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7351425872104649,
              "mutual_information": 1.7351425872104649,
              "normalized_mutual_information": 0.6307231082150057,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7368016421720764,
              "mutual_information": 1.7368016421720764,
              "normalized_mutual_information": 0.6321131941110039,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.5
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7369265086298027,
              "mutual_information": 1.7369265086298027,
              "normalized_mutual_information": 0.6317489002464459,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7359276018354477,
              "mutual_information": 1.7359276018354477,
              "normalized_mutual_information": 0.6316243304656487,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7345439373955547,
              "mutual_information": 1.7345439373955547,
              "normalized_mutual_information": 0.6307808438233967,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7208025017592954,
              "mutual_information": 1.7208025017592954,
              "normalized_mutual_information": 0.6268003679678177,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.25000000000000006,
                -0.05
              ],
              "objective": 1.7312478152256912,
              "mutual_information": 1.7312478152256912,
              "normalized_mutual_information": 0.6301079244300438,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.35000000000000003,
                -0.05
              ],
              "objective": 1.7200053130363369,
              "mutual_information": 1.7200053130363369,
              "normalized_mutual_information": 0.6255172955581211,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.1
              ],
              "objective": 1.7364530285135145,
              "mutual_information": 1.7364530285135145,
              "normalized_mutual_information": 0.6313665013480474,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                0.0
              ],
              "objective": 1.7355743251267006,
              "mutual_information": 1.7355743251267006,
              "normalized_mutual_information": 0.631754070936402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7365975761863408,
              "mutual_information": 1.7365975761863408,
              "normalized_mutual_information": 0.6316887361022526,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.733388644566008,
              "mutual_information": 1.733388644566008,
              "normalized_mutual_information": 0.6305913596088403,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7402447389671736,
              "mutual_information": 1.7402447389671736,
              "normalized_mutual_information": 0.6324245136106041,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                0.0,
                0.1875,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7383425379349455,
              "mutual_information": 1.7383425379349455,
              "normalized_mutual_information": 0.6327369160297274,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.4375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7394844713274455,
              "mutual_information": 1.7394844713274455,
              "normalized_mutual_information": 0.6326393148967372,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.3125
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7377673101357773,
              "mutual_information": 1.7377673101357773,
              "normalized_mutual_information": 0.6321732632067706,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.07500000000000001,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.740192428279767,
              "mutual_information": 1.740192428279767,
              "normalized_mutual_information": 0.6323718739893783,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7336253660021568,
              "mutual_information": 1.7336253660021568,
              "normalized_mutual_information": 0.6308749529148402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.275,
                -0.05
              ],
              "objective": 1.7370061417613758,
              "mutual_information": 1.7370061417613758,
              "normalized_mutual_information": 0.6318150784854936,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.32500000000000007,
                -0.05
              ],
              "objective": 1.7354465732169035,
              "mutual_information": 1.7354465732169035,
              "normalized_mutual_information": 0.6311572881442318,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.07500000000000001
              ],
              "objective": 1.738471363667882,
              "mutual_information": 1.738471363667882,
              "normalized_mutual_information": 0.6321620769633188,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.025
              ],
              "objective": 1.7374651678884974,
              "mutual_information": 1.7374651678884974,
              "normalized_mutual_information": 0.6321226921251188,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 134,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7385855198618063,
              "mutual_information": 1.7385855198618063,
              "normalized_mutual_information": 0.6319313593149046,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 135,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7355455189021265,
              "mutual_information": 1.7355455189021265,
              "normalized_mutual_information": 0.6307933708562848,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 136,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7351425872104649,
              "mutual_information": 1.7351425872104649,
              "normalized_mutual_information": 0.6307231082150057,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 137,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7395488436186541,
              "mutual_information": 1.7395488436186541,
              "normalized_mutual_information": 0.632690690118855,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 138,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.4375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7399734453066722,
              "mutual_information": 1.7399734453066722,
              "normalized_mutual_information": 0.6322819449878787,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 139,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.3125
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7388102518158888,
              "mutual_information": 1.7388102518158888,
              "normalized_mutual_information": 0.6319967159993327,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 140,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.07500000000000001,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7351915405391403,
              "mutual_information": 1.7351915405391403,
              "normalized_mutual_information": 0.6308473733275035,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 141,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7339883802730378,
              "mutual_information": 1.7339883802730378,
              "normalized_mutual_information": 0.6307959222596519,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 142,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.275,
                -0.05
              ],
              "objective": 1.740211432422192,
              "mutual_information": 1.740211432422192,
              "normalized_mutual_information": 0.6323672240821798,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 143,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.32500000000000007,
                -0.05
              ],
              "objective": 1.734710930872078,
              "mutual_information": 1.734710930872078,
              "normalized_mutual_information": 0.6304945908130346,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 144,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.07500000000000001
              ],
              "objective": 1.7399874841118352,
              "mutual_information": 1.7399874841118352,
              "normalized_mutual_information": 0.6323813189340045,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 145,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.025
              ],
              "objective": 1.737615650974296,
              "mutual_information": 1.737615650974296,
              "normalized_mutual_information": 0.6317771640910571,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 146,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.739445117491696,
              "mutual_information": 1.739445117491696,
              "normalized_mutual_information": 0.6322315739675171,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 147,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7387482418703986,
              "mutual_information": 1.7387482418703986,
              "normalized_mutual_information": 0.6318142135450473,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 148,
              "delta_rotation_deg_xyz": [
                0.0,
                0.03125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7384955905472814,
              "mutual_information": 1.7384955905472814,
              "normalized_mutual_information": 0.6318366921362734,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 149,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7422922879119553,
              "mutual_information": 1.7422922879119553,
              "normalized_mutual_information": 0.6335620942798338,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 150,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.40625
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7400571118669568,
              "mutual_information": 1.7400571118669568,
              "normalized_mutual_information": 0.6322852822165151,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 151,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.34375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7403286479715459,
              "mutual_information": 1.7403286479715459,
              "normalized_mutual_information": 0.6325377208420028,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 152,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.0625,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7365585147975604,
              "mutual_information": 1.7365585147975604,
              "normalized_mutual_information": 0.6311378559671402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 153,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.037500000000000006,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.734962373561836,
              "mutual_information": 1.734962373561836,
              "normalized_mutual_information": 0.6310933581926218,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 154,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.28750000000000003,
                -0.05
              ],
              "objective": 1.736661302185689,
              "mutual_information": 1.736661302185689,
              "normalized_mutual_information": 0.6312479274415219,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 155,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.31250000000000006,
                -0.05
              ],
              "objective": 1.7355031576677675,
              "mutual_information": 1.7355031576677675,
              "normalized_mutual_information": 0.6307751581472497,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 156,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.0625
              ],
              "objective": 1.7398489729561852,
              "mutual_information": 1.7398489729561852,
              "normalized_mutual_information": 0.6322951759077783,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 157,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.037500000000000006
              ],
              "objective": 1.739615172613575,
              "mutual_information": 1.739615172613575,
              "normalized_mutual_information": 0.6323827163923746,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 158,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7412394046760802,
              "mutual_information": 1.7412394046760802,
              "normalized_mutual_information": 0.6332211479141694,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 159,
              "delta_rotation_deg_xyz": [
                0.03125,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7405271341978878,
              "mutual_information": 1.7405271341978878,
              "normalized_mutual_information": 0.6328963288607508,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 160,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7402447389671736,
              "mutual_information": 1.7402447389671736,
              "normalized_mutual_information": 0.6324245136106041,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 161,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7395488436186541,
              "mutual_information": 1.7395488436186541,
              "normalized_mutual_information": 0.632690690118855,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 162,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.40625
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7416624179092353,
              "mutual_information": 1.7416624179092353,
              "normalized_mutual_information": 0.6331573103136513,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 163,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.34375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7403175163857523,
              "mutual_information": 1.7403175163857523,
              "normalized_mutual_information": 0.6328783494137711,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 164,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.0625,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7387142155396909,
              "mutual_information": 1.7387142155396909,
              "normalized_mutual_information": 0.6320322390423635,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 165,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.037500000000000006,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.735183558055948,
              "mutual_information": 1.735183558055948,
              "normalized_mutual_information": 0.6314699605811288,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 166,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.28750000000000003,
                -0.05
              ],
              "objective": 1.7394103850783151,
              "mutual_information": 1.7394103850783151,
              "normalized_mutual_information": 0.6327058634465353,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 167,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.31250000000000006,
                -0.05
              ],
              "objective": 1.737114733456383,
              "mutual_information": 1.737114733456383,
              "normalized_mutual_information": 0.6316594500407264,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 168,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.0625
              ],
              "objective": 1.74172799250928,
              "mutual_information": 1.74172799250928,
              "normalized_mutual_information": 0.6332012612956981,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 169,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.037500000000000006
              ],
              "objective": 1.7399807215586118,
              "mutual_information": 1.7399807215586118,
              "normalized_mutual_information": 0.6327711219679991,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 170,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7417502892918586,
              "mutual_information": 1.7417502892918586,
              "normalized_mutual_information": 0.6333922068093637,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 171,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7415110582351232,
              "mutual_information": 1.7415110582351232,
              "normalized_mutual_information": 0.6332057738706091,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 172,
              "delta_rotation_deg_xyz": [
                0.0,
                0.078125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.741178684220601,
              "mutual_information": 1.741178684220601,
              "normalized_mutual_information": 0.6330365740436492,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 173,
              "delta_rotation_deg_xyz": [
                0.0,
                0.109375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7402242254348754,
              "mutual_information": 1.7402242254348754,
              "normalized_mutual_information": 0.6328069464467726,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 174,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.390625
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.741763788319135,
              "mutual_information": 1.741763788319135,
              "normalized_mutual_information": 0.6333064402643328,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 175,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.359375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7423129033942626,
              "mutual_information": 1.7423129033942626,
              "normalized_mutual_information": 0.6335502980021058,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 176,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05625,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.740854831073264,
              "mutual_information": 1.740854831073264,
              "normalized_mutual_information": 0.6328396903750272,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 177,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.043750000000000004,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7358054598016226,
              "mutual_information": 1.7358054598016226,
              "normalized_mutual_information": 0.6314544849037307,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 178,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.29375000000000007,
                -0.05
              ],
              "objective": 1.740639536195891,
              "mutual_information": 1.740639536195891,
              "normalized_mutual_information": 0.6330130594415079,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 179,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30625,
                -0.05
              ],
              "objective": 1.7404567942276081,
              "mutual_information": 1.7404567942276081,
              "normalized_mutual_information": 0.6327979166535638,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 180,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05625
              ],
              "objective": 1.7427379162336,
              "mutual_information": 1.7427379162336,
              "normalized_mutual_information": 0.6335378597144284,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 181,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.043750000000000004
              ],
              "objective": 1.7405280241270191,
              "mutual_information": 1.7405280241270191,
              "normalized_mutual_information": 0.6329367348804036,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 182,
              "delta_rotation_deg_xyz": [
                -0.015625,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05625
              ],
              "objective": 1.7422785114168178,
              "mutual_information": 1.7422785114168178,
              "normalized_mutual_information": 0.6334531375260628,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 183,
              "delta_rotation_deg_xyz": [
                0.015625,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05625
              ],
              "objective": 1.740409331526234,
              "mutual_information": 1.740409331526234,
              "normalized_mutual_information": 0.6327514788202042,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 184,
              "delta_rotation_deg_xyz": [
                0.0,
                0.078125,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05625
              ],
              "objective": 1.7412224991444951,
              "mutual_information": 1.7412224991444951,
              "normalized_mutual_information": 0.6329927062785626,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 185,
              "delta_rotation_deg_xyz": [
                0.0,
                0.109375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05625
              ],
              "objective": 1.7417359769474405,
              "mutual_information": 1.7417359769474405,
              "normalized_mutual_information": 0.6334184438331175,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 186,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.390625
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05625
              ],
              "objective": 1.7427350121484506,
              "mutual_information": 1.7427350121484506,
              "normalized_mutual_information": 0.6335541212945303,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 187,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.359375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05625
              ],
              "objective": 1.7424190986425607,
              "mutual_information": 1.7424190986425607,
              "normalized_mutual_information": 0.6334821407250614,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 188,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05625,
                0.30000000000000004,
                -0.05625
              ],
              "objective": 1.7413527573084007,
              "mutual_information": 1.7413527573084007,
              "normalized_mutual_information": 0.6329542788330302,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 189,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.043750000000000004,
                0.30000000000000004,
                -0.05625
              ],
              "objective": 1.7358516701149211,
              "mutual_information": 1.7358516701149211,
              "normalized_mutual_information": 0.6313856802755232,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 190,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.29375000000000007,
                -0.05625
              ],
              "objective": 1.7406070153824647,
              "mutual_information": 1.7406070153824647,
              "normalized_mutual_information": 0.6327821775212487,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 191,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30625,
                -0.05625
              ],
              "objective": 1.741455681437553,
              "mutual_information": 1.741455681437553,
              "normalized_mutual_information": 0.6330029541284216,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 192,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.0625
              ],
              "objective": 1.74172799250928,
              "mutual_information": 1.74172799250928,
              "normalized_mutual_information": 0.6332012612956981,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 193,
              "delta_rotation_deg_xyz": [
                0.0,
                0.09375,
                -0.375
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.30000000000000004,
                -0.05
              ],
              "objective": 1.7422922879119553,
              "mutual_information": 1.7422922879119553,
              "normalized_mutual_information": 0.6335620942798338,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 193,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.4059056549886009,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 1.1448899312141287,
          "translation_m": 0.22784657666947733,
          "recovered": false
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.18183085062458346,
              -0.10862510127570618,
              0.32599829844595934
            ],
            "rotation_quat_xyzw": [
              0.01753405667828272,
              -0.02516997970461529,
              0.009583800402272654,
              0.9994834564653492
            ]
          },
          "delta": [
            -1.0259194824177877,
            0.5829647420441234,
            -0.7111827108504368,
            -0.16816914937541652,
            0.09137489872429383,
            -0.07400170155404069
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 132,
          "nfev": 30,
          "njev": 17,
          "initial_support": [
            3082,
            3068,
            3073
          ],
          "final_support": [
            3140,
            3129,
            3112
          ],
          "support_retained": true,
          "cost": 206.7166401213635,
          "optimality": 1.2940766375267787
        },
        "seconds": 0.23628286400344223,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.10906833838930666,
          "translation_m": 0.032869771570967155,
          "recovered": true
        },
        "holdout": [
          {
            "accepted": true,
            "total": 3840,
            "supported": 3181,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 659,
            "support_fraction": 0.8283854166666667,
            "median_absolute_z_m": 0.02645636873842605,
            "p90_absolute_z_m": 0.055730149986636945,
            "behind_surface_gt_20cm": 36,
            "in_front_gt_20cm": 3
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3191,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 649,
            "support_fraction": 0.8309895833333333,
            "median_absolute_z_m": 0.024260944877914525,
            "p90_absolute_z_m": 0.05081577480492783,
            "behind_surface_gt_20cm": 59,
            "in_front_gt_20cm": 10
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3165,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 675,
            "support_fraction": 0.82421875,
            "median_absolute_z_m": 0.027910872505373163,
            "p90_absolute_z_m": 0.05464876879663407,
            "behind_surface_gt_20cm": 40,
            "in_front_gt_20cm": 5
          }
        ]
      }
    },
    {
      "condition": "holes_z_visible",
      "sign": -1,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.05000000000000002,
              0.0,
              0.19999999999999998
            ],
            "rotation_quat_xyzw": [
              0.008851181257931221,
              -0.021635299615473294,
              0.0028235510433918818,
              0.9997227605493402
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.10000000000000002,
              -0.30000000000000004,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.007831455202348438,
              -0.02174301190030079,
              0.0061197919373267495,
              0.9997141881005595
            ]
          },
          "best_delta_rotation_deg_xyz": [
            -0.125,
            -0.015625,
            0.375
          ],
          "best_delta_translation_m_xyz": [
            0.05,
            -0.30000000000000004,
            0.1
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.6051397677812484,
            "normalized_mutual_information": 0.5832159634940179,
            "visible_point_count": 9454,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.6143185897214565,
                "normalized_mutual_information": 0.5835498725966234,
                "visible_point_count": 3169,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.4420724391820312,
                "normalized_mutual_information": 0.5449119651785211,
                "visible_point_count": 3142,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.7590282744402579,
                "normalized_mutual_information": 0.6211860527069094,
                "visible_point_count": 3143,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7731468736463725,
            "normalized_mutual_information": 0.6451642991812045,
            "visible_point_count": 9458,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.791649319001869,
                "normalized_mutual_information": 0.6479374020976078,
                "visible_point_count": 3157,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.6393272364317046,
                "normalized_mutual_information": 0.6192572869681069,
                "visible_point_count": 3131,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.888464065505544,
                "normalized_mutual_information": 0.6682982084778989,
                "visible_point_count": 3170,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.6051397677812484,
              "mutual_information": 1.6051397677812484,
              "normalized_mutual_information": 0.5832159634940179,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5641367928697942,
              "mutual_information": 1.5641367928697942,
              "normalized_mutual_information": 0.5691603090778236,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.6241278360730764,
              "mutual_information": 1.6241278360730764,
              "normalized_mutual_information": 0.591102578464296,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.596490628101261,
              "mutual_information": 1.596490628101261,
              "normalized_mutual_information": 0.5797708147191268,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5943839451896142,
              "mutual_information": 1.5943839451896142,
              "normalized_mutual_information": 0.5796957514183436,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.5953053835146356,
              "mutual_information": 1.5953053835146356,
              "normalized_mutual_information": 0.5796951406060832,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.607242729596096,
              "mutual_information": 1.607242729596096,
              "normalized_mutual_information": 0.5840608559457497,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.5913593363079517,
              "mutual_information": 1.5913593363079517,
              "normalized_mutual_information": 0.5780823907250714,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.5902530258932508,
              "mutual_information": 1.5902530258932508,
              "normalized_mutual_information": 0.5781632783822989,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6610130329200385,
              "mutual_information": 1.6610130329200385,
              "normalized_mutual_information": 0.604057244554791,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.530306909264506,
              "mutual_information": 1.530306909264506,
              "normalized_mutual_information": 0.5571503461918595,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.596608055988644,
              "mutual_information": 1.596608055988644,
              "normalized_mutual_information": 0.5794935156433144,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.5993420427559268,
              "mutual_information": 1.5993420427559268,
              "normalized_mutual_information": 0.5813905509646534,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6348815249718864,
              "mutual_information": 1.6348815249718864,
              "normalized_mutual_information": 0.5940856263352848,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6896686228930455,
              "mutual_information": 1.6896686228930455,
              "normalized_mutual_information": 0.6145829838843944,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.656072410795897,
              "mutual_information": 1.656072410795897,
              "normalized_mutual_information": 0.6013819532033962,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6614044546906275,
              "mutual_information": 1.6614044546906275,
              "normalized_mutual_information": 0.6039690093409652,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.657381298747622,
              "mutual_information": 1.657381298747622,
              "normalized_mutual_information": 0.6027960938402898,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6662841698830944,
              "mutual_information": 1.6662841698830944,
              "normalized_mutual_information": 0.6061088997194054,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.1,
                0.0
              ],
              "objective": 1.6442922869889944,
              "mutual_information": 1.6442922869889944,
              "normalized_mutual_information": 0.5974232722123876,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.1,
                0.0
              ],
              "objective": 1.6565466469125807,
              "mutual_information": 1.6565466469125807,
              "normalized_mutual_information": 0.6021625503473995,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7285738769778316,
              "mutual_information": 1.7285738769778316,
              "normalized_mutual_information": 0.6283431360675973,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.6051397677812484,
              "mutual_information": 1.6051397677812484,
              "normalized_mutual_information": 0.5832159634940179,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                -0.1
              ],
              "objective": 1.6611792154230836,
              "mutual_information": 1.6611792154230836,
              "normalized_mutual_information": 0.6034597613876125,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.1
              ],
              "objective": 1.660816645137239,
              "mutual_information": 1.660816645137239,
              "normalized_mutual_information": 0.6042952511617689,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.6931546070571581,
              "mutual_information": 1.6931546070571581,
              "normalized_mutual_information": 0.6156005187414385,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7451756455372225,
              "mutual_information": 1.7451756455372225,
              "normalized_mutual_information": 0.6352289029947756,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7153768443018242,
              "mutual_information": 1.7153768443018242,
              "normalized_mutual_information": 0.623063967700242,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.721560679926414,
              "mutual_information": 1.721560679926414,
              "normalized_mutual_information": 0.6260646661164982,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.7210352745821123,
              "mutual_information": 1.7210352745821123,
              "normalized_mutual_information": 0.6256036982982277,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.0
              ],
              "objective": 1.731940527065116,
              "mutual_information": 1.731940527065116,
              "normalized_mutual_information": 0.6296155955490402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.2,
                0.0
              ],
              "objective": 1.6981125378975201,
              "mutual_information": 1.6981125378975201,
              "normalized_mutual_information": 0.6172343583510375,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.2,
                0.0
              ],
              "objective": 1.7220619055711008,
              "mutual_information": 1.7220619055711008,
              "normalized_mutual_information": 0.6261425910482212,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7516106923048367,
              "mutual_information": 1.7516106923048367,
              "normalized_mutual_information": 0.6376648949515081,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.6610130329200385,
              "mutual_information": 1.6610130329200385,
              "normalized_mutual_information": 0.604057244554791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                -0.1
              ],
              "objective": 1.7211611375466376,
              "mutual_information": 1.7211611375466376,
              "normalized_mutual_information": 0.6248131440930549,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.2,
                0.1
              ],
              "objective": 1.7219899145805577,
              "mutual_information": 1.7219899145805577,
              "normalized_mutual_information": 0.6263510758487225,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7457465630802194,
              "mutual_information": 1.7457465630802194,
              "normalized_mutual_information": 0.6345034495144107,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7402303335591842,
              "mutual_information": 1.7402303335591842,
              "normalized_mutual_information": 0.633949277798663,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.731180975315968,
              "mutual_information": 1.731180975315968,
              "normalized_mutual_information": 0.6301483127895791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7475651633573517,
              "mutual_information": 1.7475651633573517,
              "normalized_mutual_information": 0.6365985989072368,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7469364121590232,
              "mutual_information": 1.7469364121590232,
              "normalized_mutual_information": 0.6363277697042419,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7572410808106553,
              "mutual_information": 1.7572410808106553,
              "normalized_mutual_information": 0.6395502218212651,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7077911912002453,
              "mutual_information": 1.7077911912002453,
              "normalized_mutual_information": 0.6217724793621164,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.72673994131225,
              "mutual_information": 1.72673994131225,
              "normalized_mutual_information": 0.6298106035444554,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.0
              ],
              "objective": 1.7031478098137753,
              "mutual_information": 1.7031478098137753,
              "normalized_mutual_information": 0.6218154798365968,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.0
              ],
              "objective": 1.7285738769778316,
              "mutual_information": 1.7285738769778316,
              "normalized_mutual_information": 0.6283431360675973,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                -0.1
              ],
              "objective": 1.7398521674342724,
              "mutual_information": 1.7398521674342724,
              "normalized_mutual_information": 0.6326074405551005,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.749142902240119,
              "mutual_information": 1.749142902240119,
              "normalized_mutual_information": 0.637909653549703,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7478540392569297,
              "mutual_information": 1.7478540392569297,
              "normalized_mutual_information": 0.6352702553879478,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7480102620727596,
              "mutual_information": 1.7480102620727596,
              "normalized_mutual_information": 0.6367453099345474,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7348397538093636,
              "mutual_information": 1.7348397538093636,
              "normalized_mutual_information": 0.6312916511230906,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7496459046460775,
              "mutual_information": 1.7496459046460775,
              "normalized_mutual_information": 0.6371795509273411,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7516106923048367,
              "mutual_information": 1.7516106923048367,
              "normalized_mutual_information": 0.6376648949515081,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7568817733054705,
              "mutual_information": 1.7568817733054705,
              "normalized_mutual_information": 0.6392196189927115,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.1,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7129415680757163,
              "mutual_information": 1.7129415680757163,
              "normalized_mutual_information": 0.6233126263935878,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7341029836893738,
              "mutual_information": 1.7341029836893738,
              "normalized_mutual_information": 0.6324628220122201,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.4,
                0.0
              ],
              "objective": 1.7113486999061667,
              "mutual_information": 1.7113486999061667,
              "normalized_mutual_information": 0.6245252680556209,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.20000000000000004,
                0.0
              ],
              "objective": 1.731940527065116,
              "mutual_information": 1.731940527065116,
              "normalized_mutual_information": 0.6296155955490402,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                -0.1
              ],
              "objective": 1.7465329260617193,
              "mutual_information": 1.7465329260617193,
              "normalized_mutual_information": 0.6350878514310042,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7565111211272215,
              "mutual_information": 1.7565111211272215,
              "normalized_mutual_information": 0.6404444167110959,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7540251379378704,
              "mutual_information": 1.7540251379378704,
              "normalized_mutual_information": 0.6377945602641466,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7527140232363747,
              "mutual_information": 1.7527140232363747,
              "normalized_mutual_information": 0.6381681057597686,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7463865422160196,
              "mutual_information": 1.7463865422160196,
              "normalized_mutual_information": 0.6358542277683249,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7587273199965214,
              "mutual_information": 1.7587273199965214,
              "normalized_mutual_information": 0.6399813466681522,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7564114364043835,
              "mutual_information": 1.7564114364043835,
              "normalized_mutual_information": 0.6393707534183243,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.757703311913982,
              "mutual_information": 1.757703311913982,
              "normalized_mutual_information": 0.6395830217126052,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7333641224802327,
              "mutual_information": 1.7333641224802327,
              "normalized_mutual_information": 0.6312768900382676,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.755827047316673,
              "mutual_information": 1.755827047316673,
              "normalized_mutual_information": 0.6390294291607842,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.35000000000000003,
                0.0
              ],
              "objective": 1.741093456958021,
              "mutual_information": 1.741093456958021,
              "normalized_mutual_information": 0.6342573835350044,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25000000000000006,
                0.0
              ],
              "objective": 1.753211256295576,
              "mutual_information": 1.753211256295576,
              "normalized_mutual_information": 0.6371808567491462,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                -0.05
              ],
              "objective": 1.752336256641022,
              "mutual_information": 1.752336256641022,
              "normalized_mutual_information": 0.6376967867585301,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7597798137818585,
              "mutual_information": 1.7597798137818585,
              "normalized_mutual_information": 0.6409441480113888,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7565892459297041,
              "mutual_information": 1.7565892459297041,
              "normalized_mutual_information": 0.6391530992260052,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7570975992033528,
              "mutual_information": 1.7570975992033528,
              "normalized_mutual_information": 0.6402419316188878,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7426160940421964,
              "mutual_information": 1.7426160940421964,
              "normalized_mutual_information": 0.6346301205727467,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7588924431805186,
              "mutual_information": 1.7588924431805186,
              "normalized_mutual_information": 0.6409203279481086,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7557420367607002,
              "mutual_information": 1.7557420367607002,
              "normalized_mutual_information": 0.6396206952859733,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.759425175406084,
              "mutual_information": 1.759425175406084,
              "normalized_mutual_information": 0.6406242218040977,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                -0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.736871371562686,
              "mutual_information": 1.736871371562686,
              "normalized_mutual_information": 0.6328322212806894,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7643026754330373,
              "mutual_information": 1.7643026754330373,
              "normalized_mutual_information": 0.642324367568106,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.35000000000000003,
                0.05
              ],
              "objective": 1.7435597570097183,
              "mutual_information": 1.7435597570097183,
              "normalized_mutual_information": 0.6352251495548455,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.25000000000000006,
                0.05
              ],
              "objective": 1.7550288135188559,
              "mutual_information": 1.7550288135188559,
              "normalized_mutual_information": 0.6385175222794033,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7572410808106553,
              "mutual_information": 1.7572410808106553,
              "normalized_mutual_information": 0.6395502218212651,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7565111211272215,
              "mutual_information": 1.7565111211272215,
              "normalized_mutual_information": 0.6404444167110959,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7661717654041105,
              "mutual_information": 1.7661717654041105,
              "normalized_mutual_information": 0.642652699415639,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7615088668260481,
              "mutual_information": 1.7615088668260481,
              "normalized_mutual_information": 0.6416076998345996,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.76466496591061,
              "mutual_information": 1.76466496591061,
              "normalized_mutual_information": 0.6422673081143818,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7526958073540975,
              "mutual_information": 1.7526958073540975,
              "normalized_mutual_information": 0.6385847344198564,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7633218150558243,
              "mutual_information": 1.7633218150558243,
              "normalized_mutual_information": 0.6423350717384259,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7661578704336207,
              "mutual_information": 1.7661578704336207,
              "normalized_mutual_information": 0.6426905418498515,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7597798137818585,
              "mutual_information": 1.7597798137818585,
              "normalized_mutual_information": 0.6409441480113888,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.736349820467171,
              "mutual_information": 1.736349820467171,
              "normalized_mutual_information": 0.6332332270818101,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.35000000000000003,
                0.05
              ],
              "objective": 1.74076387063615,
              "mutual_information": 1.74076387063615,
              "normalized_mutual_information": 0.6343050921814651,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.25000000000000006,
                0.05
              ],
              "objective": 1.7591819174608336,
              "mutual_information": 1.7591819174608336,
              "normalized_mutual_information": 0.6398966830992099,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.755827047316673,
              "mutual_information": 1.755827047316673,
              "normalized_mutual_information": 0.6390294291607842,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7649158031275582,
              "mutual_information": 1.7649158031275582,
              "normalized_mutual_information": 0.643148709904917,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7567660794457722,
              "mutual_information": 1.7567660794457722,
              "normalized_mutual_information": 0.6390762502165067,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7643026754330373,
              "mutual_information": 1.7643026754330373,
              "normalized_mutual_information": 0.642324367568106,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.125,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7660195542232573,
              "mutual_information": 1.7660195542232573,
              "normalized_mutual_information": 0.6422665201120537,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.756699505719345,
              "mutual_information": 1.756699505719345,
              "normalized_mutual_information": 0.6395813082868627,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7620658728334637,
              "mutual_information": 1.7620658728334637,
              "normalized_mutual_information": 0.6412315070869952,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7699849027293597,
              "mutual_information": 1.7699849027293597,
              "normalized_mutual_information": 0.6440708505006353,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7565892459297041,
              "mutual_information": 1.7565892459297041,
              "normalized_mutual_information": 0.6391530992260052,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.742953615648026,
              "mutual_information": 1.742953615648026,
              "normalized_mutual_information": 0.6349000536856851,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.35000000000000003,
                0.05
              ],
              "objective": 1.7500788837376031,
              "mutual_information": 1.7500788837376031,
              "normalized_mutual_information": 0.6376438438098463,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.25000000000000006,
                0.05
              ],
              "objective": 1.7528597530744061,
              "mutual_information": 1.7528597530744061,
              "normalized_mutual_information": 0.6376363974820116,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7562341907280654,
              "mutual_information": 1.7562341907280654,
              "normalized_mutual_information": 0.6388239185611224,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7674894444904758,
              "mutual_information": 1.7674894444904758,
              "normalized_mutual_information": 0.6434128811143066,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7579943247246774,
              "mutual_information": 1.7579943247246774,
              "normalized_mutual_information": 0.6394056271111513,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7661578704336207,
              "mutual_information": 1.7661578704336207,
              "normalized_mutual_information": 0.6426905418498515,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7685067743672362,
              "mutual_information": 1.7685067743672362,
              "normalized_mutual_information": 0.6432115065601147,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7595951442761433,
              "mutual_information": 1.7595951442761433,
              "normalized_mutual_information": 0.640944023694127,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7661717654041105,
              "mutual_information": 1.7661717654041105,
              "normalized_mutual_information": 0.642652699415639,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.764611538586383,
              "mutual_information": 1.764611538586383,
              "normalized_mutual_information": 0.6420889874803438,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.757383738977625,
              "mutual_information": 1.757383738977625,
              "normalized_mutual_information": 0.639419015217907,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7447378523076804,
              "mutual_information": 1.7447378523076804,
              "normalized_mutual_information": 0.6356556913601294,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.35000000000000003,
                0.05
              ],
              "objective": 1.7544022765424219,
              "mutual_information": 1.7544022765424219,
              "normalized_mutual_information": 0.6389524199782256,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.25000000000000006,
                0.05
              ],
              "objective": 1.7530434648651194,
              "mutual_information": 1.7530434648651194,
              "normalized_mutual_information": 0.6376433606883812,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.0
              ],
              "objective": 1.7592856324943085,
              "mutual_information": 1.7592856324943085,
              "normalized_mutual_information": 0.6397138802025828,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.77067761828565,
              "mutual_information": 1.77067761828565,
              "normalized_mutual_information": 0.6444447789932998,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7606642330059803,
              "mutual_information": 1.7606642330059803,
              "normalized_mutual_information": 0.6406639132662267,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7668902904481831,
              "mutual_information": 1.7668902904481831,
              "normalized_mutual_information": 0.6435619875879529,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7699611687174563,
              "mutual_information": 1.7699611687174563,
              "normalized_mutual_information": 0.6438979406162704,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.763920936112286,
              "mutual_information": 1.763920936112286,
              "normalized_mutual_information": 0.6424724586300052,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7674894444904758,
              "mutual_information": 1.7674894444904758,
              "normalized_mutual_information": 0.6434128811143066,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.5
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7685995666290744,
              "mutual_information": 1.7685995666290744,
              "normalized_mutual_information": 0.6439677036823928,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7596535024579694,
              "mutual_information": 1.7596535024579694,
              "normalized_mutual_information": 0.6406000442437635,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.1,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7500186511719305,
              "mutual_information": 1.7500186511719305,
              "normalized_mutual_information": 0.6377038468902742,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.35000000000000003,
                0.1
              ],
              "objective": 1.7515933159668087,
              "mutual_information": 1.7515933159668087,
              "normalized_mutual_information": 0.6382420316972008,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.25000000000000006,
                0.1
              ],
              "objective": 1.750633233697263,
              "mutual_information": 1.750633233697263,
              "normalized_mutual_information": 0.6370180258532955,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.05
              ],
              "objective": 1.7699849027293597,
              "mutual_information": 1.7699849027293597,
              "normalized_mutual_information": 0.6440708505006353,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.15000000000000002
              ],
              "objective": 1.7678571681842465,
              "mutual_information": 1.7678571681842465,
              "normalized_mutual_information": 0.6435393638640231,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 134,
              "delta_rotation_deg_xyz": [
                -0.1875,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7628535828787115,
              "mutual_information": 1.7628535828787115,
              "normalized_mutual_information": 0.6416611055237862,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 135,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7702506931929793,
              "mutual_information": 1.7702506931929793,
              "normalized_mutual_information": 0.644556651543362,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 136,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.0625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7691381546504619,
              "mutual_information": 1.7691381546504619,
              "normalized_mutual_information": 0.6435324434053115,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 137,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7698379564595152,
              "mutual_information": 1.7698379564595152,
              "normalized_mutual_information": 0.6443806081615054,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 138,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.3125
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.769462056554386,
              "mutual_information": 1.769462056554386,
              "normalized_mutual_information": 0.6440016301608686,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 139,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.4375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.769627682491004,
              "mutual_information": 1.769627682491004,
              "normalized_mutual_information": 0.6441608827225581,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 140,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.025,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7669364733789312,
              "mutual_information": 1.7669364733789312,
              "normalized_mutual_information": 0.6426898161664076,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 141,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.07500000000000001,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.767005326105326,
              "mutual_information": 1.767005326105326,
              "normalized_mutual_information": 0.6433939311240993,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 142,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.32500000000000007,
                0.1
              ],
              "objective": 1.7659290805322172,
              "mutual_information": 1.7659290805322172,
              "normalized_mutual_information": 0.6429968069525783,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 143,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.275,
                0.1
              ],
              "objective": 1.7637670407872097,
              "mutual_information": 1.7637670407872097,
              "normalized_mutual_information": 0.6417112454275135,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 144,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.07500000000000001
              ],
              "objective": 1.769468848203845,
              "mutual_information": 1.769468848203845,
              "normalized_mutual_information": 0.6438826849454237,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 145,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.125
              ],
              "objective": 1.768844943601524,
              "mutual_information": 1.768844943601524,
              "normalized_mutual_information": 0.6440104331195317,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 146,
              "delta_rotation_deg_xyz": [
                -0.15625,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7673218579844654,
              "mutual_information": 1.7673218579844654,
              "normalized_mutual_information": 0.6433638073805569,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 147,
              "delta_rotation_deg_xyz": [
                -0.09375,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7704113189785096,
              "mutual_information": 1.7704113189785096,
              "normalized_mutual_information": 0.6444403389502107,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 148,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7722034463383836,
              "mutual_information": 1.7722034463383836,
              "normalized_mutual_information": 0.6448173906165283,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 149,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7693332345414017,
              "mutual_information": 1.7693332345414017,
              "normalized_mutual_information": 0.6441316961110666,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 150,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.34375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7705509565719144,
              "mutual_information": 1.7705509565719144,
              "normalized_mutual_information": 0.6444032503612891,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 151,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7709917816426293,
              "mutual_information": 1.7709917816426293,
              "normalized_mutual_information": 0.6446343433092601,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 152,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.037500000000000006,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7693703027648608,
              "mutual_information": 1.7693703027648608,
              "normalized_mutual_information": 0.6438337602648153,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 153,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0625,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7702825606735864,
              "mutual_information": 1.7702825606735864,
              "normalized_mutual_information": 0.6444027332356298,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 154,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.31250000000000006,
                0.1
              ],
              "objective": 1.7679921527141984,
              "mutual_information": 1.7679921527141984,
              "normalized_mutual_information": 0.6437176307247632,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 155,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.28750000000000003,
                0.1
              ],
              "objective": 1.7664891711288744,
              "mutual_information": 1.7664891711288744,
              "normalized_mutual_information": 0.6430201478949943,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 156,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.08750000000000001
              ],
              "objective": 1.769551368052834,
              "mutual_information": 1.769551368052834,
              "normalized_mutual_information": 0.6439342034126918,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 157,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1125
              ],
              "objective": 1.7708690962953384,
              "mutual_information": 1.7708690962953384,
              "normalized_mutual_information": 0.6446719391154189,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 158,
              "delta_rotation_deg_xyz": [
                -0.15625,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7679286334501814,
              "mutual_information": 1.7679286334501814,
              "normalized_mutual_information": 0.643405804357236,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 159,
              "delta_rotation_deg_xyz": [
                -0.09375,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7710032180961293,
              "mutual_information": 1.7710032180961293,
              "normalized_mutual_information": 0.6443545652571633,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 160,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.0625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7691381546504619,
              "mutual_information": 1.7691381546504619,
              "normalized_mutual_information": 0.6435324434053115,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 161,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.77067761828565,
              "mutual_information": 1.77067761828565,
              "normalized_mutual_information": 0.6444447789932998,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 162,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.34375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7706374934418996,
              "mutual_information": 1.7706374934418996,
              "normalized_mutual_information": 0.6443093243977188,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 163,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.40625
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.770974771164207,
              "mutual_information": 1.770974771164207,
              "normalized_mutual_information": 0.6443685916248302,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 164,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.037500000000000006,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.76994551716244,
              "mutual_information": 1.76994551716244,
              "normalized_mutual_information": 0.6439235659880631,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 165,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.0625,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7717193787868293,
              "mutual_information": 1.7717193787868293,
              "normalized_mutual_information": 0.6448464279542834,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 166,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.31250000000000006,
                0.1
              ],
              "objective": 1.7701873715447032,
              "mutual_information": 1.7701873715447032,
              "normalized_mutual_information": 0.6441922289660713,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 167,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.28750000000000003,
                0.1
              ],
              "objective": 1.7675250405968075,
              "mutual_information": 1.7675250405968075,
              "normalized_mutual_information": 0.6432597014419106,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 168,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.08750000000000001
              ],
              "objective": 1.7689424645321565,
              "mutual_information": 1.7689424645321565,
              "normalized_mutual_information": 0.6435332297607914,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 169,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1125
              ],
              "objective": 1.7718306546781604,
              "mutual_information": 1.7718306546781604,
              "normalized_mutual_information": 0.644697986786094,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 170,
              "delta_rotation_deg_xyz": [
                -0.140625,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.770189425719839,
              "mutual_information": 1.770189425719839,
              "normalized_mutual_information": 0.6441596263436339,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 171,
              "delta_rotation_deg_xyz": [
                -0.109375,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7710815027722013,
              "mutual_information": 1.7710815027722013,
              "normalized_mutual_information": 0.6444263117340941,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 172,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.046875,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7697816139929012,
              "mutual_information": 1.7697816139929012,
              "normalized_mutual_information": 0.6438151491242315,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 173,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.015625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7731468736463725,
              "mutual_information": 1.7731468736463725,
              "normalized_mutual_information": 0.6451642991812045,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 174,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.359375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.771001952172904,
              "mutual_information": 1.771001952172904,
              "normalized_mutual_information": 0.6443590439903139,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 175,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.390625
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7708636961565212,
              "mutual_information": 1.7708636961565212,
              "normalized_mutual_information": 0.6443229791245823,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 176,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.043750000000000004,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7696508795854295,
              "mutual_information": 1.7696508795854295,
              "normalized_mutual_information": 0.6438186555718811,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 177,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05625,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7717858914147293,
              "mutual_information": 1.7717858914147293,
              "normalized_mutual_information": 0.6447577977806201,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 178,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30625,
                0.1
              ],
              "objective": 1.7707941320084188,
              "mutual_information": 1.7707941320084188,
              "normalized_mutual_information": 0.6443608433087876,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 179,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.29375000000000007,
                0.1
              ],
              "objective": 1.7700958296101736,
              "mutual_information": 1.7700958296101736,
              "normalized_mutual_information": 0.6441817417111594,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 180,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7691463248816721,
              "mutual_information": 1.7691463248816721,
              "normalized_mutual_information": 0.6437058425617052,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 181,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.10625000000000001
              ],
              "objective": 1.7711966201020088,
              "mutual_information": 1.7711966201020088,
              "normalized_mutual_information": 0.6444575971747127,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 182,
              "delta_rotation_deg_xyz": [
                -0.140625,
                -0.015625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7709125511567374,
              "mutual_information": 1.7709125511567374,
              "normalized_mutual_information": 0.6444536226841132,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 183,
              "delta_rotation_deg_xyz": [
                -0.109375,
                -0.015625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7717017354737308,
              "mutual_information": 1.7717017354737308,
              "normalized_mutual_information": 0.644700400939563,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 184,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.03125,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7722034463383836,
              "mutual_information": 1.7722034463383836,
              "normalized_mutual_information": 0.6448173906165283,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 185,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.77067761828565,
              "mutual_information": 1.77067761828565,
              "normalized_mutual_information": 0.6444447789932998,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 186,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.015625,
                0.359375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7720998655522784,
              "mutual_information": 1.7720998655522784,
              "normalized_mutual_information": 0.6447567107227479,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 187,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.015625,
                0.390625
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7719442042879079,
              "mutual_information": 1.7719442042879079,
              "normalized_mutual_information": 0.644769658703325,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 188,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.015625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.043750000000000004,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7694160269937054,
              "mutual_information": 1.7694160269937054,
              "normalized_mutual_information": 0.643845393851307,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 189,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.015625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05625,
                -0.30000000000000004,
                0.1
              ],
              "objective": 1.7719459031583344,
              "mutual_information": 1.7719459031583344,
              "normalized_mutual_information": 0.6449580482480238,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 190,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.015625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30625,
                0.1
              ],
              "objective": 1.7708730456535144,
              "mutual_information": 1.7708730456535144,
              "normalized_mutual_information": 0.644454661174846,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 191,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.015625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.29375000000000007,
                0.1
              ],
              "objective": 1.7707510922677223,
              "mutual_information": 1.7707510922677223,
              "normalized_mutual_information": 0.6444362634135475,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 192,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.015625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.09375
              ],
              "objective": 1.7713609420818799,
              "mutual_information": 1.7713609420818799,
              "normalized_mutual_information": 0.6444916759589683,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 193,
              "delta_rotation_deg_xyz": [
                -0.125,
                -0.015625,
                0.375
              ],
              "delta_translation_m_xyz": [
                0.05,
                -0.30000000000000004,
                0.10625000000000001
              ],
              "objective": 1.7727182841021483,
              "mutual_information": 1.7727182841021483,
              "normalized_mutual_information": 0.6450530612737897,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 193,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.40541196100821253,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 1.279082586084215,
          "translation_m": 0.22360679774997902,
          "recovered": false
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.18200037346554027,
              -0.1090252984496427,
              0.3262783171645318
            ],
            "rotation_quat_xyzw": [
              0.01751182222587377,
              -0.025170903289520357,
              0.009594984799251171,
              0.9994837157135784
            ]
          },
          "delta": [
            0.9739295146194702,
            -0.41643821042608464,
            0.790197758674679,
            0.13200037346554025,
            -0.1090252984496427,
            0.12627831716453183
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 157,
          "nfev": 37,
          "njev": 20,
          "initial_support": [
            3136,
            3121,
            3115
          ],
          "final_support": [
            3141,
            3129,
            3112
          ],
          "support_retained": true,
          "cost": 206.6338940691654,
          "optimality": 12.498091188043723
        },
        "seconds": 0.2633169080072548,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.1099285017580361,
          "translation_m": 0.03310577775079266,
          "recovered": true
        },
        "holdout": [
          {
            "accepted": true,
            "total": 3840,
            "supported": 3181,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 659,
            "support_fraction": 0.8283854166666667,
            "median_absolute_z_m": 0.026669281807240708,
            "p90_absolute_z_m": 0.05604736350045414,
            "behind_surface_gt_20cm": 36,
            "in_front_gt_20cm": 3
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3191,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 649,
            "support_fraction": 0.8309895833333333,
            "median_absolute_z_m": 0.024719374068219224,
            "p90_absolute_z_m": 0.051025740825375365,
            "behind_surface_gt_20cm": 59,
            "in_front_gt_20cm": 10
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3165,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 675,
            "support_fraction": 0.82421875,
            "median_absolute_z_m": 0.028239511240582438,
            "p90_absolute_z_m": 0.05506844204229111,
            "behind_surface_gt_20cm": 40,
            "in_front_gt_20cm": 5
          }
        ]
      }
    },
    {
      "condition": "holes_z_visible",
      "sign": 0,
      "baseline": {
        "result": {
          "method": "bounded_se3_pattern_search/v0.1",
          "primary_source": "https://arxiv.org/abs/2311.01905",
          "status": "converged",
          "initial_transform_camera_lidar": {
            "translation_m": [
              0.2,
              -0.1,
              0.3
            ],
            "rotation_quat_xyzw": [
              0.017674160904072974,
              -0.026019717990453804,
              0.009179049840112002,
              0.9994630275083051
            ]
          },
          "transform_camera_lidar": {
            "translation_m": [
              0.19375,
              -0.1125,
              0.30624999999999997
            ],
            "rotation_quat_xyzw": [
              0.01714322205761056,
              -0.026005361416804578,
              0.009738366329152086,
              0.9994673558132372
            ]
          },
          "best_delta_rotation_deg_xyz": [
            -0.0625,
            0.0,
            0.0625
          ],
          "best_delta_translation_m_xyz": [
            -0.00625,
            -0.0125,
            0.00625
          ],
          "initial_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7908691064533346,
            "normalized_mutual_information": 0.6513918182938961,
            "visible_point_count": 9413,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.8140754966796142,
                "normalized_mutual_information": 0.6565248873193479,
                "visible_point_count": 3150,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.6388752487280707,
                "normalized_mutual_information": 0.6194168883652369,
                "visible_point_count": 3135,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.9196565739523188,
                "normalized_mutual_information": 0.6782336791971039,
                "visible_point_count": 3128,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "final_evaluation": {
            "method": "borer_depth_to_depth_mutual_information/v0.2",
            "primary_source": "https://arxiv.org/abs/2311.01905",
            "mutual_information": 1.7950275942469565,
            "normalized_mutual_information": 0.6529734712028411,
            "visible_point_count": 9411,
            "evaluated_frame_count": 3,
            "skipped_frame_ids": [],
            "frames": [
              {
                "frame_id": "analytic-0",
                "mutual_information": 1.813052437912718,
                "normalized_mutual_information": 0.6560987477108536,
                "visible_point_count": 3151,
                "projected_count_before_visibility": 3783
              },
              {
                "frame_id": "analytic-1",
                "mutual_information": 1.6445448458016565,
                "normalized_mutual_information": 0.6217788292746703,
                "visible_point_count": 3134,
                "projected_count_before_visibility": 3776
              },
              {
                "frame_id": "analytic-2",
                "mutual_information": 1.9274854990264947,
                "normalized_mutual_information": 0.6810428366229994,
                "visible_point_count": 3126,
                "projected_count_before_visibility": 3780
              }
            ]
          },
          "trace": [
            {
              "evaluation": 1,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7908691064533346,
              "mutual_information": 1.7908691064533346,
              "normalized_mutual_information": 0.6513918182938961,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 2,
              "delta_rotation_deg_xyz": [
                -0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7635143124871326,
              "mutual_information": 1.7635143124871326,
              "normalized_mutual_information": 0.6407883567468518,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 3,
              "delta_rotation_deg_xyz": [
                0.25,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7711666177108885,
              "mutual_information": 1.7711666177108885,
              "normalized_mutual_information": 0.6451947644078904,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 4,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7623532522399155,
              "mutual_information": 1.7623532522399155,
              "normalized_mutual_information": 0.6406712431147613,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 5,
              "delta_rotation_deg_xyz": [
                0.0,
                0.25,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.758678864371695,
              "mutual_information": 1.758678864371695,
              "normalized_mutual_information": 0.6407194649278729,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 6,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7838954215745415,
              "mutual_information": 1.7838954215745415,
              "normalized_mutual_information": 0.6490801542074531,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 7,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7893569071388995,
              "mutual_information": 1.7893569071388995,
              "normalized_mutual_information": 0.650705026860153,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 8,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.1,
                0.0,
                0.0
              ],
              "objective": 1.7355487534234655,
              "mutual_information": 1.7355487534234655,
              "normalized_mutual_information": 0.6315520961920936,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 9,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.1,
                0.0,
                0.0
              ],
              "objective": 1.71231531730825,
              "mutual_information": 1.71231531730825,
              "normalized_mutual_information": 0.6242539559260313,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 10,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.1,
                0.0
              ],
              "objective": 1.7292036310640906,
              "mutual_information": 1.7292036310640906,
              "normalized_mutual_information": 0.6307129414207573,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 11,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.1,
                0.0
              ],
              "objective": 1.725476510302613,
              "mutual_information": 1.725476510302613,
              "normalized_mutual_information": 0.6275205018427618,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 12,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.1
              ],
              "objective": 1.772538181352128,
              "mutual_information": 1.772538181352128,
              "normalized_mutual_information": 0.6445037158431847,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 13,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.1
              ],
              "objective": 1.7766489778270966,
              "mutual_information": 1.7766489778270966,
              "normalized_mutual_information": 0.6472737692052445,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 14,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.782113810781998,
              "mutual_information": 1.782113810781998,
              "normalized_mutual_information": 0.6480174459499781,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 15,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7853856655508942,
              "mutual_information": 1.7853856655508942,
              "normalized_mutual_information": 0.6497683696694844,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 16,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7792756573655335,
              "mutual_information": 1.7792756573655335,
              "normalized_mutual_information": 0.646993036309638,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 17,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7791388232738798,
              "mutual_information": 1.7791388232738798,
              "normalized_mutual_information": 0.6476175463013923,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 18,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                -0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7854437874896185,
              "mutual_information": 1.7854437874896185,
              "normalized_mutual_information": 0.6497855843577008,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 19,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7910674410515,
              "mutual_information": 1.7910674410515,
              "normalized_mutual_information": 0.6514643026367447,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 20,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.0,
                0.0
              ],
              "objective": 1.7684028251866437,
              "mutual_information": 1.7684028251866437,
              "normalized_mutual_information": 0.6436842165026745,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 21,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.05,
                0.0,
                0.0
              ],
              "objective": 1.754735348611544,
              "mutual_information": 1.754735348611544,
              "normalized_mutual_information": 0.6389790948181374,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 22,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.05,
                0.0
              ],
              "objective": 1.7723563602529708,
              "mutual_information": 1.7723563602529708,
              "normalized_mutual_information": 0.6456307827835803,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 23,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.05,
                0.0
              ],
              "objective": 1.7648261064984043,
              "mutual_information": 1.7648261064984043,
              "normalized_mutual_information": 0.6419000445112074,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 24,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.05
              ],
              "objective": 1.7874406719328704,
              "mutual_information": 1.7874406719328704,
              "normalized_mutual_information": 0.6497680453029681,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 25,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.05
              ],
              "objective": 1.7861674201413333,
              "mutual_information": 1.7861674201413333,
              "normalized_mutual_information": 0.6504455673933932,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 26,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7845237265067269,
              "mutual_information": 1.7845237265067269,
              "normalized_mutual_information": 0.6486172843953355,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 27,
              "delta_rotation_deg_xyz": [
                0.125,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7831033089266015,
              "mutual_information": 1.7831033089266015,
              "normalized_mutual_information": 0.6489010700350699,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 28,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7803392483570244,
              "mutual_information": 1.7803392483570244,
              "normalized_mutual_information": 0.6476543044701248,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 29,
              "delta_rotation_deg_xyz": [
                0.0,
                0.125,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7795835058864327,
              "mutual_information": 1.7795835058864327,
              "normalized_mutual_information": 0.6477172123500256,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 30,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7908691064533346,
              "mutual_information": 1.7908691064533346,
              "normalized_mutual_information": 0.6513918182938961,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 31,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.25
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7893569071388995,
              "mutual_information": 1.7893569071388995,
              "normalized_mutual_information": 0.650705026860153,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 32,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.05,
                0.0,
                0.0
              ],
              "objective": 1.7711088602637899,
              "mutual_information": 1.7711088602637899,
              "normalized_mutual_information": 0.6446996230867442,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 33,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.05,
                0.0,
                0.0
              ],
              "objective": 1.7531320343383785,
              "mutual_information": 1.7531320343383785,
              "normalized_mutual_information": 0.6386474232828195,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 34,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.05,
                0.0
              ],
              "objective": 1.7684838022073395,
              "mutual_information": 1.7684838022073395,
              "normalized_mutual_information": 0.6442222927916746,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 35,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.05,
                0.0
              ],
              "objective": 1.7687381132069957,
              "mutual_information": 1.7687381132069957,
              "normalized_mutual_information": 0.6430837872388243,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 36,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.05
              ],
              "objective": 1.783804840535754,
              "mutual_information": 1.783804840535754,
              "normalized_mutual_information": 0.6483252674238673,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 37,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.05
              ],
              "objective": 1.7871853709807752,
              "mutual_information": 1.7871853709807752,
              "normalized_mutual_information": 0.6503999905483203,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 38,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7883613461860584,
              "mutual_information": 1.7883613461860584,
              "normalized_mutual_information": 0.6501660385463709,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 39,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7865030171263954,
              "mutual_information": 1.7865030171263954,
              "normalized_mutual_information": 0.6501348288231857,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 40,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.0625,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.788743000829576,
              "mutual_information": 1.788743000829576,
              "normalized_mutual_information": 0.65063119822316,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 41,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.784785266551829,
              "mutual_information": 1.784785266551829,
              "normalized_mutual_information": 0.6492944665233636,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 42,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7914691074816351,
              "mutual_information": 1.7914691074816351,
              "normalized_mutual_information": 0.6515878170230562,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 43,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.1875
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.791429863019412,
              "mutual_information": 1.791429863019412,
              "normalized_mutual_information": 0.6514201987752476,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 44,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.0,
                0.0
              ],
              "objective": 1.784422909063002,
              "mutual_information": 1.784422909063002,
              "normalized_mutual_information": 0.6490699473489896,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 45,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.025,
                0.0,
                0.0
              ],
              "objective": 1.7756165382688252,
              "mutual_information": 1.7756165382688252,
              "normalized_mutual_information": 0.6461134654269757,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 46,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.025,
                0.0
              ],
              "objective": 1.7841063229574565,
              "mutual_information": 1.7841063229574565,
              "normalized_mutual_information": 0.6493463852954928,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 47,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.025,
                0.0
              ],
              "objective": 1.780319225116859,
              "mutual_information": 1.780319225116859,
              "normalized_mutual_information": 0.6474494393302724,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 48,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.025
              ],
              "objective": 1.7894507759795,
              "mutual_information": 1.7894507759795,
              "normalized_mutual_information": 0.6506505492084894,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 49,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.025
              ],
              "objective": 1.7898977980696005,
              "mutual_information": 1.7898977980696005,
              "normalized_mutual_information": 0.6513251514924564,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 50,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.79165813383248,
              "mutual_information": 1.79165813383248,
              "normalized_mutual_information": 0.6513129263908923,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 51,
              "delta_rotation_deg_xyz": [
                0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7894292474966953,
              "mutual_information": 1.7894292474966953,
              "normalized_mutual_information": 0.6511220880729677,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 52,
              "delta_rotation_deg_xyz": [
                0.0,
                -0.0625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7875617767472602,
              "mutual_information": 1.7875617767472602,
              "normalized_mutual_information": 0.6501283965052919,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 53,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7856033095733108,
              "mutual_information": 1.7856033095733108,
              "normalized_mutual_information": 0.6495927253775006,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 54,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7908691064533346,
              "mutual_information": 1.7908691064533346,
              "normalized_mutual_information": 0.6513918182938961,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 55,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7910674410515,
              "mutual_information": 1.7910674410515,
              "normalized_mutual_information": 0.6514643026367447,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 56,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.0,
                0.0
              ],
              "objective": 1.7837023422278662,
              "mutual_information": 1.7837023422278662,
              "normalized_mutual_information": 0.6488525326907287,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 57,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.025,
                0.0,
                0.0
              ],
              "objective": 1.776358602432965,
              "mutual_information": 1.776358602432965,
              "normalized_mutual_information": 0.6463125686501322,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 58,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.025,
                0.0
              ],
              "objective": 1.7857823533351482,
              "mutual_information": 1.7857823533351482,
              "normalized_mutual_information": 0.6500707610319205,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 59,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.025,
                0.0
              ],
              "objective": 1.7815049930893532,
              "mutual_information": 1.7815049930893532,
              "normalized_mutual_information": 0.6477820110170791,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 60,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.025
              ],
              "objective": 1.7880937890982382,
              "mutual_information": 1.7880937890982382,
              "normalized_mutual_information": 0.6502222921368312,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 61,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.025
              ],
              "objective": 1.7899898478225562,
              "mutual_information": 1.7899898478225562,
              "normalized_mutual_information": 0.6514361572257297,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 62,
              "delta_rotation_deg_xyz": [
                -0.125,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.785731580159501,
              "mutual_information": 1.785731580159501,
              "normalized_mutual_information": 0.649077930354805,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 63,
              "delta_rotation_deg_xyz": [
                0.0,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7914691074816351,
              "mutual_information": 1.7914691074816351,
              "normalized_mutual_information": 0.6515878170230562,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 64,
              "delta_rotation_deg_xyz": [
                -0.0625,
                -0.0625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.78405141023031,
              "mutual_information": 1.78405141023031,
              "normalized_mutual_information": 0.648678945435614,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 65,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7857702267468447,
              "mutual_information": 1.7857702267468447,
              "normalized_mutual_information": 0.6494038394878983,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 66,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.789716540050988,
              "mutual_information": 1.789716540050988,
              "normalized_mutual_information": 0.6508712458838299,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 67,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7883613461860584,
              "mutual_information": 1.7883613461860584,
              "normalized_mutual_information": 0.6501660385463709,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 68,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.025,
                0.0,
                0.0
              ],
              "objective": 1.7828070926623152,
              "mutual_information": 1.7828070926623152,
              "normalized_mutual_information": 0.6483611031302258,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 69,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.025,
                0.0,
                0.0
              ],
              "objective": 1.776891558036299,
              "mutual_information": 1.776891558036299,
              "normalized_mutual_information": 0.6464043037797786,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 70,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.025,
                0.0
              ],
              "objective": 1.7910640601360353,
              "mutual_information": 1.7910640601360353,
              "normalized_mutual_information": 0.6519073920836367,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 71,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.025,
                0.0
              ],
              "objective": 1.7739880819321228,
              "mutual_information": 1.7739880819321228,
              "normalized_mutual_information": 0.6451100584408835,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 72,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.025
              ],
              "objective": 1.7839208187130093,
              "mutual_information": 1.7839208187130093,
              "normalized_mutual_information": 0.648685935077172,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 73,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.025
              ],
              "objective": 1.7882280670029338,
              "mutual_information": 1.7882280670029338,
              "normalized_mutual_information": 0.65024129904815,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 74,
              "delta_rotation_deg_xyz": [
                -0.09375,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7875199825629728,
              "mutual_information": 1.7875199825629728,
              "normalized_mutual_information": 0.6497362588837896,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 75,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.790981988159844,
              "mutual_information": 1.790981988159844,
              "normalized_mutual_information": 0.6512812650759714,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 76,
              "delta_rotation_deg_xyz": [
                -0.0625,
                -0.03125,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7881422304997112,
              "mutual_information": 1.7881422304997112,
              "normalized_mutual_information": 0.6501102830369565,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 77,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.03125,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.789157055293078,
              "mutual_information": 1.789157055293078,
              "normalized_mutual_information": 0.6506462984477176,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 78,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7902776398893312,
              "mutual_information": 1.7902776398893312,
              "normalized_mutual_information": 0.6508983308862906,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 79,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.09375
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.7891626983970255,
              "mutual_information": 1.7891626983970255,
              "normalized_mutual_information": 0.6505114221639474,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 80,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                0.0,
                0.0
              ],
              "objective": 1.7881604049729394,
              "mutual_information": 1.7881604049729394,
              "normalized_mutual_information": 0.6502257353574185,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 81,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0125,
                0.0,
                0.0
              ],
              "objective": 1.7837225216579606,
              "mutual_information": 1.7837225216579606,
              "normalized_mutual_information": 0.6488245951287154,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 82,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.793245216747818,
              "mutual_information": 1.793245216747818,
              "normalized_mutual_information": 0.6521823200523827,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 83,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0125,
                0.0
              ],
              "objective": 1.7850038670221053,
              "mutual_information": 1.7850038670221053,
              "normalized_mutual_information": 0.6490034538101949,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 84,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                -0.0125
              ],
              "objective": 1.78922784374142,
              "mutual_information": 1.78922784374142,
              "normalized_mutual_information": 0.6505690783395486,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 85,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0125
              ],
              "objective": 1.7887492354546524,
              "mutual_information": 1.7887492354546524,
              "normalized_mutual_information": 0.6504206939672077,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 86,
              "delta_rotation_deg_xyz": [
                -0.09375,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7912467446416216,
              "mutual_information": 1.7912467446416216,
              "normalized_mutual_information": 0.6513346834138053,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 87,
              "delta_rotation_deg_xyz": [
                -0.03125,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7920024914468,
              "mutual_information": 1.7920024914468,
              "normalized_mutual_information": 0.6520357441962915,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 88,
              "delta_rotation_deg_xyz": [
                -0.0625,
                -0.03125,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7912317879748823,
              "mutual_information": 1.7912317879748823,
              "normalized_mutual_information": 0.6515494608735024,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 89,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.03125,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7924034779752835,
              "mutual_information": 1.7924034779752835,
              "normalized_mutual_information": 0.6520654443698444,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 90,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.03125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7924370844815674,
              "mutual_information": 1.7924370844815674,
              "normalized_mutual_information": 0.6521188542270019,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 91,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.09375
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.792621953712523,
              "mutual_information": 1.792621953712523,
              "normalized_mutual_information": 0.6518599983048365,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 92,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                -0.0125,
                0.0
              ],
              "objective": 1.7904556854117024,
              "mutual_information": 1.7904556854117024,
              "normalized_mutual_information": 0.651322470134189,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 93,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0125,
                -0.0125,
                0.0
              ],
              "objective": 1.7869916750725363,
              "mutual_information": 1.7869916750725363,
              "normalized_mutual_information": 0.6501792530584898,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 94,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.025,
                0.0
              ],
              "objective": 1.7910640601360353,
              "mutual_information": 1.7910640601360353,
              "normalized_mutual_information": 0.6519073920836367,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 95,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                0.0,
                0.0
              ],
              "objective": 1.79165813383248,
              "mutual_information": 1.79165813383248,
              "normalized_mutual_information": 0.6513129263908923,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 96,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                -0.0125
              ],
              "objective": 1.7931130060974805,
              "mutual_information": 1.7931130060974805,
              "normalized_mutual_information": 0.6520867505934943,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 97,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0125
              ],
              "objective": 1.7911477224486552,
              "mutual_information": 1.7911477224486552,
              "normalized_mutual_information": 0.6516279162456421,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 98,
              "delta_rotation_deg_xyz": [
                -0.078125,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7930296931566696,
              "mutual_information": 1.7930296931566696,
              "normalized_mutual_information": 0.6520347303946366,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 99,
              "delta_rotation_deg_xyz": [
                -0.046875,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7937005300081907,
              "mutual_information": 1.7937005300081907,
              "normalized_mutual_information": 0.652496147819582,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 100,
              "delta_rotation_deg_xyz": [
                -0.0625,
                -0.015625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.793514800036931,
              "mutual_information": 1.793514800036931,
              "normalized_mutual_information": 0.6523904528689385,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 101,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.015625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7924385369202136,
              "mutual_information": 1.7924385369202136,
              "normalized_mutual_information": 0.652004015715321,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 102,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.046875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7935178858943956,
              "mutual_information": 1.7935178858943956,
              "normalized_mutual_information": 0.6523827855292502,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 103,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.078125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.7928636070678643,
              "mutual_information": 1.7928636070678643,
              "normalized_mutual_information": 0.6520123163635515,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 104,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.0125,
                0.0
              ],
              "objective": 1.792071265866585,
              "mutual_information": 1.792071265866585,
              "normalized_mutual_information": 0.6518119825465258,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 105,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.0125,
                0.0
              ],
              "objective": 1.7907551499009238,
              "mutual_information": 1.7907551499009238,
              "normalized_mutual_information": 0.6513592722296226,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 106,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.018750000000000003,
                0.0
              ],
              "objective": 1.7938856409417478,
              "mutual_information": 1.7938856409417478,
              "normalized_mutual_information": 0.6526122308983405,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 107,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.0
              ],
              "objective": 1.7908736761730555,
              "mutual_information": 1.7908736761730555,
              "normalized_mutual_information": 0.6512953084325935,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 108,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                -0.00625
              ],
              "objective": 1.7935492928660783,
              "mutual_information": 1.7935492928660783,
              "normalized_mutual_information": 0.6522579183649487,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 109,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.00625
              ],
              "objective": 1.7941330621537517,
              "mutual_information": 1.7941330621537517,
              "normalized_mutual_information": 0.6526222289973186,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 110,
              "delta_rotation_deg_xyz": [
                -0.078125,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.00625
              ],
              "objective": 1.791591005523289,
              "mutual_information": 1.791591005523289,
              "normalized_mutual_information": 0.6516563558793024,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 111,
              "delta_rotation_deg_xyz": [
                -0.046875,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.00625
              ],
              "objective": 1.792827762517394,
              "mutual_information": 1.792827762517394,
              "normalized_mutual_information": 0.6522946247051781,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 112,
              "delta_rotation_deg_xyz": [
                -0.0625,
                -0.015625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.00625
              ],
              "objective": 1.7931001688148374,
              "mutual_information": 1.7931001688148374,
              "normalized_mutual_information": 0.6523052086254936,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 113,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.015625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.00625
              ],
              "objective": 1.7916024194979754,
              "mutual_information": 1.7916024194979754,
              "normalized_mutual_information": 0.6518191160739489,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 114,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.046875
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.00625
              ],
              "objective": 1.7933499846858656,
              "mutual_information": 1.7933499846858656,
              "normalized_mutual_information": 0.6523916704079035,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 115,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.078125
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.00625
              ],
              "objective": 1.7925362192758125,
              "mutual_information": 1.7925362192758125,
              "normalized_mutual_information": 0.6520640943005325,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 116,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.0125,
                0.00625
              ],
              "objective": 1.7950275942469565,
              "mutual_information": 1.7950275942469565,
              "normalized_mutual_information": 0.6529734712028411,
              "evaluated_frame_count": 3,
              "accepted": true
            },
            {
              "evaluation": 117,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.00625,
                -0.0125,
                0.00625
              ],
              "objective": 1.7906669207555563,
              "mutual_information": 1.7906669207555563,
              "normalized_mutual_information": 0.651369148090344,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 118,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.018750000000000003,
                0.00625
              ],
              "objective": 1.7930447303325672,
              "mutual_information": 1.7930447303325672,
              "normalized_mutual_information": 0.6524086876422762,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 119,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.00625,
                0.00625
              ],
              "objective": 1.790244549524882,
              "mutual_information": 1.790244549524882,
              "normalized_mutual_information": 0.6510290160496902,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 120,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0
              ],
              "objective": 1.793245216747818,
              "mutual_information": 1.793245216747818,
              "normalized_mutual_information": 0.6521823200523827,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 121,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.0125
              ],
              "objective": 1.7911477224486552,
              "mutual_information": 1.7911477224486552,
              "normalized_mutual_information": 0.6516279162456421,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 122,
              "delta_rotation_deg_xyz": [
                -0.078125,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.0125,
                0.00625
              ],
              "objective": 1.793494452301644,
              "mutual_information": 1.793494452301644,
              "normalized_mutual_information": 0.6523513548038217,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 123,
              "delta_rotation_deg_xyz": [
                -0.046875,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.0125,
                0.00625
              ],
              "objective": 1.7944908276878548,
              "mutual_information": 1.7944908276878548,
              "normalized_mutual_information": 0.6528772593414912,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 124,
              "delta_rotation_deg_xyz": [
                -0.0625,
                -0.015625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.0125,
                0.00625
              ],
              "objective": 1.7902380308588208,
              "mutual_information": 1.7902380308588208,
              "normalized_mutual_information": 0.651194769724523,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 125,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.015625,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.0125,
                0.00625
              ],
              "objective": 1.7939523959252759,
              "mutual_information": 1.7939523959252759,
              "normalized_mutual_information": 0.6526444041708873,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 126,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.046875
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.0125,
                0.00625
              ],
              "objective": 1.794895320342694,
              "mutual_information": 1.794895320342694,
              "normalized_mutual_information": 0.652905783931655,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 127,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.078125
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.0125,
                0.00625
              ],
              "objective": 1.7939132109625142,
              "mutual_information": 1.7939132109625142,
              "normalized_mutual_information": 0.6525390735860253,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 128,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.0125,
                -0.0125,
                0.00625
              ],
              "objective": 1.789276176869027,
              "mutual_information": 1.789276176869027,
              "normalized_mutual_information": 0.6509121211700012,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 129,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                0.0,
                -0.0125,
                0.00625
              ],
              "objective": 1.7941330621537517,
              "mutual_information": 1.7941330621537517,
              "normalized_mutual_information": 0.6526222289973186,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 130,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.018750000000000003,
                0.00625
              ],
              "objective": 1.794459458652429,
              "mutual_information": 1.794459458652429,
              "normalized_mutual_information": 0.6528713206344555,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 131,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.00625,
                0.00625
              ],
              "objective": 1.7917471884827159,
              "mutual_information": 1.7917471884827159,
              "normalized_mutual_information": 0.6516459127776405,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 132,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.0125,
                0.0
              ],
              "objective": 1.792071265866585,
              "mutual_information": 1.792071265866585,
              "normalized_mutual_information": 0.6518119825465258,
              "evaluated_frame_count": 3,
              "accepted": false
            },
            {
              "evaluation": 133,
              "delta_rotation_deg_xyz": [
                -0.0625,
                0.0,
                0.0625
              ],
              "delta_translation_m_xyz": [
                -0.00625,
                -0.0125,
                0.0125
              ],
              "objective": 1.7928545251298313,
              "mutual_information": 1.7928545251298313,
              "normalized_mutual_information": 0.6522097559443027,
              "evaluated_frame_count": 3,
              "accepted": false
            }
          ],
          "evaluation_count": 133,
          "final_rotation_step_deg": 0.0078125,
          "final_translation_step_m": 0.003125,
          "stopping_reason": "minimum SE(3) steps reached",
          "projection_backend": "calibrex.numpy_depth_pair_projector/v0.2"
        },
        "seconds": 0.2735615320125362,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.08838834545718657,
          "translation_m": 0.015309310892394854,
          "recovered": true
        }
      },
      "metric": {
        "result": {
          "transform": {
            "translation_m": [
              0.18363908414158972,
              -0.10915337494134722,
              0.3256405735185286
            ],
            "rotation_quat_xyzw": [
              0.017505487142039235,
              -0.025224077530978443,
              0.009551071756114209,
              0.9994829067377494
            ]
          },
          "delta": [
            -0.021270198895963682,
            0.09026124290270084,
            0.04367852525619231,
            -0.016360915858410294,
            -0.009153374941347207,
            0.02564057351852863
          ],
          "converged": true,
          "optimizer_success": true,
          "status": 2,
          "message": "`ftol` termination condition is satisfied.",
          "actual_residual_calls": 127,
          "nfev": 31,
          "njev": 16,
          "initial_support": [
            3137,
            3129,
            3119
          ],
          "final_support": [
            3142,
            3129,
            3112
          ],
          "support_retained": true,
          "cost": 206.57043837598843,
          "optimality": 1351262.566512253
        },
        "seconds": 0.21577077399706468,
        "metrics": {
          "valid_output": true,
          "rotation_deg": 0.10251238937689064,
          "translation_m": 0.03176323111558292,
          "recovered": true
        },
        "holdout": [
          {
            "accepted": true,
            "total": 3840,
            "supported": 3181,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 659,
            "support_fraction": 0.8283854166666667,
            "median_absolute_z_m": 0.02581195756950372,
            "p90_absolute_z_m": 0.05395659945713138,
            "behind_surface_gt_20cm": 35,
            "in_front_gt_20cm": 4
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3191,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 649,
            "support_fraction": 0.8309895833333333,
            "median_absolute_z_m": 0.023798396710237313,
            "p90_absolute_z_m": 0.04888002961079252,
            "behind_surface_gt_20cm": 58,
            "in_front_gt_20cm": 9
          },
          {
            "accepted": true,
            "total": 3840,
            "supported": 3165,
            "nonpositive_or_nonfinite": 0,
            "outside_image": 0,
            "invalid_depth": 675,
            "support_fraction": 0.82421875,
            "median_absolute_z_m": 0.027561842303111206,
            "p90_absolute_z_m": 0.05323450774655,
            "behind_surface_gt_20cm": 40,
            "in_front_gt_20cm": 5
          }
        ]
      }
    }
  ]
}
